Merge pull request #126 from carla-simulator/issue2

Create a random engine instance for each vehicle

.gitignore

@@ -25,6 +25,5 @@ Util/Build
 .vs
 __pycache__
 _benchmarks_results
-_images
+_images*
 core
-

PythonClient/test/test_repeatability.py

@@ -0,0 +1,168 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB), and the INTEL Visual Computing Lab.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""Client that runs two servers simultaneously to test repeatability."""
+
+import argparse
+import logging
+import os
+import random
+import sys
+import time
+
+sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
+
+from carla.client import make_carla_client
+from carla.sensor import Camera, Image
+from carla.settings import CarlaSettings
+from carla.tcp import TCPConnectionError
+
+
+def run_carla_clients(args):
+    filename = '_images_repeatability/server{:d}/{:0>6d}.png'
+    with make_carla_client(args.host1, args.port1) as client1:
+        logging.info('1st client connected')
+        with make_carla_client(args.host2, args.port2) as client2:
+            logging.info('2nd client connected')
+
+            settings = CarlaSettings()
+            settings.set(
+                SynchronousMode=True,
+                SendNonPlayerAgentsInfo=True,
+                NumberOfVehicles=50,
+                NumberOfPedestrians=50,
+                WeatherId=random.choice([1, 3, 7, 8, 14]))
+            settings.randomize_seeds()
+
+            if args.images_to_disk:
+                camera = Camera('DefaultCamera')
+                camera.set_image_size(800, 600)
+                settings.add_sensor(camera)
+
+            scene1 = client1.load_settings(settings)
+            scene2 = client2.load_settings(settings)
+
+            number_of_player_starts = len(scene1.player_start_spots)
+            assert number_of_player_starts == len(scene2.player_start_spots)
+            player_start = random.randint(0, max(0, number_of_player_starts - 1))
+            logging.info(
+                'start episode at %d/%d player start (run forever, press ctrl+c to cancel)',
+                player_start,
+                number_of_player_starts)
+
+            client1.start_episode(player_start)
+            client2.start_episode(player_start)
+
+            frame = 0
+            while True:
+                frame += 1
+
+                meas1, sensor_data1 = client1.read_data()
+                meas2, sensor_data2 = client2.read_data()
+
+                player1 = meas1.player_measurements
+                player2 = meas2.player_measurements
+
+                images1 = [x for x in sensor_data1.values() if isinstance(x, Image)]
+                images2 = [x for x in sensor_data2.values() if isinstance(x, Image)]
+
+                control1 = player1.autopilot_control
+                control2 = player2.autopilot_control
+
+                try:
+                    assert len(images1) == len(images2)
+                    assert len(meas1.non_player_agents) == len(meas2.non_player_agents)
+                    assert player1.transform.location.x == player2.transform.location.x
+                    assert player1.transform.location.y == player2.transform.location.y
+                    assert player1.transform.location.z == player2.transform.location.z
+                    assert control1.steer == control2.steer
+                    assert control1.throttle == control2.throttle
+                    assert control1.brake == control2.brake
+                    assert control1.hand_brake == control2.hand_brake
+                    assert control1.reverse == control2.reverse
+                except AssertionError:
+                    logging.exception('assertion failed')
+
+                if args.images_to_disk:
+                    assert len(images1) == 1
+                    images1[0].save_to_disk(filename.format(1, frame))
+                    images2[0].save_to_disk(filename.format(2, frame))
+
+                client1.send_control(control1)
+                client2.send_control(control2)
+
+
+def main():
+    argparser = argparse.ArgumentParser(description=__doc__)
+    argparser.add_argument(
+        '-v', '--verbose',
+        action='store_true',
+        dest='debug',
+        help='print debug information')
+    argparser.add_argument(
+        '--log',
+        metavar='LOG_FILE',
+        default=None,
+        help='print output to file')
+    argparser.add_argument(
+        '--host1',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the first host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p1', '--port1',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to the first server (default: 2000)')
+    argparser.add_argument(
+        '--host2',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the second host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p2', '--port2',
+        metavar='P',
+        default=3000,
+        type=int,
+        help='TCP port to listen to the second server (default: 3000)')
+    argparser.add_argument(
+        '-i', '--images-to-disk',
+        action='store_true',
+        help='save images to disk')
+
+    args = argparser.parse_args()
+
+    logging_config = {
+        'format': '%(levelname)s: %(message)s',
+        'level': logging.DEBUG if args.debug else logging.INFO
+    }
+    if args.log:
+        logging_config['filename'] = args.log
+        logging_config['filemode'] = 'w+'
+    logging.basicConfig(**logging_config)
+
+    logging.info('listening to 1st server at %s:%s', args.host1, args.port1)
+    logging.info('listening to 2nd server at %s:%s', args.host2, args.port2)
+
+    while True:
+        try:
+
+            run_carla_clients(args)
+
+        except TCPConnectionError as error:
+            logging.error(error)
+            time.sleep(1)
+
+
+if __name__ == '__main__':
+
+    try:
+        main()
+    except KeyboardInterrupt:
+        print('\nCancelled by user. Bye!')

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleSpawnerBase.cpp

@@ -104,7 +104,7 @@ void AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint(
     Vehicle->SpawnDefaultController();
     auto Controller = GetController(Vehicle);
     if (Controller != nullptr) { // Sometimes fails...
-      Controller->SetRandomEngine(GetRandomEngine());
+      Controller->GetRandomEngine()->Seed(GetRandomEngine()->GenerateSeed());
       Controller->SetRoadMap(GetRoadMap());
       Controller->SetAutopilot(true);
       Vehicles.Add(Vehicle);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp

@@ -73,6 +73,8 @@ static void ClearQueue(std::queue<T> &Queue)
 AWheeledVehicleAIController::AWheeledVehicleAIController(const FObjectInitializer& ObjectInitializer) :
   Super(ObjectInitializer)
 {
+  RandomEngine = CreateDefaultSubobject<URandomEngine>(TEXT("RandomEngine"));
+
   PrimaryActorTick.bCanEverTick = true;
   PrimaryActorTick.TickGroup = TG_PrePhysics;
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h

@@ -98,14 +98,10 @@ class CARLA_API AWheeledVehicleAIController : public APlayerController
   /// @{
 public:
 
-  void SetRandomEngine(URandomEngine *InRandomEngine)
-  {
-    RandomEngine = InRandomEngine;
-  }
-
   UFUNCTION(Category = "Random Engine", BlueprintCallable)
   URandomEngine *GetRandomEngine()
   {
+    check(RandomEngine != nullptr);
     return RandomEngine;
   }
 
@@ -221,13 +217,13 @@ class CARLA_API AWheeledVehicleAIController : public APlayerController
 private:
 
   UPROPERTY()
-  ACarlaWheeledVehicle *Vehicle;
+  ACarlaWheeledVehicle *Vehicle = nullptr;
 
   UPROPERTY()
-  URoadMap *RoadMap;
+  URoadMap *RoadMap = nullptr;
 
   UPROPERTY()
-  URandomEngine *RandomEngine;
+  URandomEngine *RandomEngine = nullptr;
 
   UPROPERTY(VisibleAnywhere)
   bool bAutopilotEnabled = false;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp

@@ -176,7 +176,8 @@ void ACarlaGameModeBase::BeginPlay()
     VehicleSpawner->SetSeed(CarlaSettings.SeedVehicles);
     VehicleSpawner->SetRoadMap(RoadMap);
     if (PlayerController != nullptr) {
-      PlayerController->SetRandomEngine(VehicleSpawner->GetRandomEngine());
+      PlayerController->GetRandomEngine()->Seed(
+          VehicleSpawner->GetRandomEngine()->GenerateSeed());
     }
   } else {
     UE_LOG(LogCarla, Error, TEXT("Missing vehicle spawner actor!"));

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.cpp

@@ -17,3 +17,10 @@ int32 URandomEngine::GenerateRandomSeed()
       std::numeric_limits<int32>::max());
   return Distribution(RandomDevice);
 }
+
+int32 URandomEngine::GenerateSeed()
+{
+  return GetUniformIntInRange(
+      std::numeric_limits<int32>::lowest(),
+      std::numeric_limits<int32>::max());
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RandomEngine.h

@@ -18,13 +18,19 @@ class URandomEngine : public UObject
 public:
 
   // ===========================================================================
-  /// @name Set and get seed
+  /// @name Seed
   // ===========================================================================
   /// @{
 
+  /// Generate a non-deterministic random seed.
   UFUNCTION(BlueprintCallable)
   static int32 GenerateRandomSeed();
 
+  /// Generate a seed derived from previous seed.
+  UFUNCTION(BlueprintCallable)
+  int32 GenerateSeed();
+
+  /// Seed the random engine.
   UFUNCTION(BlueprintCallable)
   void Seed(int32 InSeed)
   {