carla-multiplayer

Multiplayer Carla using a ghetto game-streaming concept; in summary:

• A vehicle and a sensor are created in Carla using Carla's PythonAPI
• Controls are received as JSON via UDP and applied to the vehicle (using the PythonAPI)
  • The controls are originally sourced from a PS4 or Xbox 360 controller
• Images are pulled (using the PythonAPI), converted to .webp and sent via UDP
  • The images are displayed using pyame

So, all the work and rendering is done server-side, the client-side merely captures input and displays the sensor images.

Install (MacOS)

• Create a virtualenv
  • virtualenv -p `which python3` venv
• Activate the virtualenv
  • source venv/bin/activate
• install the requirements
  • pip install -r requirements.txt
• Install pygame (special process for MacOS)
  • brew install sdl sdl_image sdl_mixer sdl_ttf portmidi
  • pip install https://github.com/pygame/pygame/archive/master.zip
• If you're using an Xbox 360 controller; install 360Controller/360Controller
  • https://github.com/360Controller/360Controller/releases/tag/v1.0.0-alpha.5

Run

• Server (for a single client)
  • python3 -m carla_multiplayer.server 13337 13338 vehicle.komatsu.830e 192.168.137.196
    • 13337 = vehicle port
    • 13338 = screen port
    • vehicle.komatsu.830e = vehicle blueprint
    • 192.168.137.196 = client host
• Client (to connect to a server)
  • python3 -m carla_multiplayer.client 192.168.137.251 13337 13338
    • 13337 = vehicle port
    • 13338 = screen port
    • 192.168.137.251 = server host
• Coordinator (TODO)
  • Use Pyro4 to create all the required objects and instruct a Player object on what to do

Main components

• Server (you need one of these per Client)
  • Vehicle
    • Create a vehicle actor in Carla
    • Apply controls to that actor
  • Sensor
    • Create a sensor actor in Carla (attached to the vehicle)
    • Pull images from it
• Client (you need one per server)
  • Controller
    • Read axis and button data from a PS4 or Xbox 360 controller
    • Send controls to the Vehicle
  • Screen
    • Read images from the Sensor
    • Write them to the local display

Supporting components

• Looper
  • Provide start/stop semantics for threading w/ before loop, before work, work, after work and after loop calls
• TimedLooper
  • Same as above but on a strict loop period
• Threader
  • Provide start/stop semantics for one or more threads
• UDP
  • Sender
    • Send datagrams with minimal waiting using queues
  • Receiver
    • Receive datagrams and invoke callbacks with minimal waiting using queues