FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
const FString &MapName,
const TArray<APlayerStart *> &AvailableStartSpots,
const TArray<USensorDescription *> &SensorDescriptions,
const bool bBlocking)
{
carla_scene_description scene;
// Encode map name.
const auto MapNameBuffer = FCarlaEncoder::Encode(MapName);
scene.map_name = MapNameBuffer.Get();
// Encode start spots.
TArray<carla_transform> Transforms;
FCarlaEncoder::Encode(AvailableStartSpots, Transforms);
scene.player_start_spots = (Transforms.Num() > 0 ? Transforms.GetData() : nullptr);;
scene.number_of_player_start_spots = Transforms.Num();
// Encode sensors.
TArray<TUniquePtr<const char[]>> SensorNames; // This holds the memory while we send it.
TArray<carla_sensor_definition> Sensors;
FCarlaEncoder::Encode(SensorDescriptions, Sensors, SensorNames);
scene.sensors = (Sensors.Num() > 0 ? Sensors.GetData() : nullptr);;
scene.number_of_sensors = Sensors.Num();
// Send scene description.
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), scene.number_of_player_start_spots);
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d sensor descriptions"), scene.number_of_sensors);
return ParseErrorCode(carla_write_scene_description(Server, scene, GetTimeOut(TimeOut, bBlocking)));
}
// ---------------------------------------------------------------------------
// CMceIceErrorTrigger::ParsePropertyL
// If observer has not yet been set don't make the callback.
// ---------------------------------------------------------------------------
//
void CMceIceErrorTrigger::ParsePropertyL()
{
if ( iObserver )
{
TInt errorCode = ParseErrorCode();
if ( Value().Left( KIcmp().Length() ).CompareF( KIcmp ) == 0 )
{
RDebug::Print(
_L( "ICEPlugin Dummy: IcmpErrorOccurred id=%d err=%d" ),
iSessionId, errorCode );
iObserver->IcmpErrorOccurred( iSessionId, errorCode );
}
else
{
RDebug::Print( _L( "ICEPlugin Dummy: ErrorOccurred id=%d err=%d" ),
iSessionId, errorCode );
iObserver->ErrorOccurred( iSessionId, errorCode );
}
}
else
{
RDebug::Print(
_L( "ICEPlugin Dummy: ErrorTrigger no observer" ) );
}
}
FCarlaServer::ErrorCode FCarlaServer::ReadEpisodeStart(uint32 &StartPositionIndex, const bool bBlocking)
{
carla_episode_start values;
auto ec = ParseErrorCode(carla_read_episode_start(Server, values, GetTimeOut(TimeOut, bBlocking)));
if (Success == ec) {
StartPositionIndex = values.player_start_spot_index;
UE_LOG(LogCarlaServer, Log, TEXT("Episode start received: { StartIndex = %d }"), StartPositionIndex);
}
return ec;
}
FCarlaServer::ErrorCode FCarlaServer::ReadNewEpisode(FString &IniFile, const bool bBlocking)
{
carla_request_new_episode values;
auto ec = ParseErrorCode(carla_read_request_new_episode(Server, values, GetTimeOut(TimeOut, bBlocking)));
if (Success == ec) {
FCarlaEncoder::Decode(values, IniFile);
UE_LOG(LogCarlaServer, Log, TEXT("Received new episode"));
#ifdef CARLA_SERVER_EXTRA_LOG
UE_LOG(LogCarlaServer, Log, TEXT("Received CarlaSettings.ini:\n%s"), *IniFile);
#endif // CARLA_SERVER_EXTRA_LOG
}
return ec;
}
FCarlaServer::ErrorCode FCarlaServer::SendMeasurements(
const ACarlaPlayerState &PlayerState,
const TArray<const UAgentComponent *> &Agents,
const bool bSendNonPlayerAgentsInfo)
{
// Encode measurements.
carla_measurements values;
FCarlaEncoder::Encode(PlayerState, values);
// Encode agents.
TArray<carla_agent> AgentsData;
if (bSendNonPlayerAgentsInfo) {
FCarlaEncoder::Encode(Agents, AgentsData);
}
values.non_player_agents = (AgentsData.Num() > 0 ? AgentsData.GetData() : nullptr);;
values.number_of_non_player_agents = AgentsData.Num();
// Send measurements.
#ifdef CARLA_SERVER_EXTRA_LOG
UE_LOG(LogCarlaServer, Log, TEXT("Sending data of %d agents"), values.number_of_non_player_agents);
#endif // CARLA_SERVER_EXTRA_LOG
return ParseErrorCode(carla_write_measurements(Server, values));
}
FCarlaServer::ErrorCode FCarlaServer::ReadControl(FVehicleControl &Control, const bool bBlocking)
{
carla_control values;
auto ec = ParseErrorCode(carla_read_control(Server, values, GetTimeOut(TimeOut, bBlocking)));
if (Success == ec) {
#ifdef CARLA_SERVER_EXTRA_LOG
UE_LOG(
LogCarlaServer,
Log,
TEXT("Read control (%s): { Steer = %f, Throttle = %f, Brake = %f, Handbrake = %s, Reverse = %s }"),
(bBlocking ? TEXT("Sync") : TEXT("Async")),
values.steer,
values.throttle,
values.brake,
(values.hand_brake ? TEXT("True") : TEXT("False")),
(values.reverse ? TEXT("True") : TEXT("False")));
#endif // CARLA_SERVER_EXTRA_LOG
FCarlaEncoder::Decode(values, Control);
} else if ((!bBlocking) && (TryAgain == ec)) {
UE_LOG(LogCarlaServer, Warning, TEXT("No control received from the client this frame!"));
}
return ec;
}
FCarlaServer::ErrorCode FCarlaServer::Connect()
{
UE_LOG(LogCarlaServer, Log, TEXT("Waiting for the client to connect..."));
return ParseErrorCode(carla_server_connect(Server, WorldPort, TimeOut));
}
FCarlaServer::ErrorCode FCarlaServer::SendSensorData(const FSensorDataView &Data)
{
carla_sensor_data values;
FCarlaEncoder::Encode(Data, values);
return ParseErrorCode(carla_write_sensor_data(Server, values));
}
FCarlaServer::ErrorCode FCarlaServer::SendEpisodeReady(const bool bBlocking)
{
UE_LOG(LogCarlaServer, Log, TEXT("Ready to play, notifying client"));
const carla_episode_ready values = {true};
return ParseErrorCode(carla_write_episode_ready(Server, values, GetTimeOut(TimeOut, bBlocking)));
}
