Release candiadate (#2310)

carla-simulator · Dec 21, 2019 · b9fbbf7 · b9fbbf7
1 parent ab97355
commit b9fbbf7
Show file tree

Hide file tree

Showing 41 changed files with 944 additions and 1,344 deletions.
diff --git a/LibCarla/source/carla/client/Vehicle.cpp b/LibCarla/source/carla/client/Vehicle.cpp
@@ -34,9 +34,11 @@ namespace client {
       _is_control_sticky(GetControlIsSticky(GetAttributes())) {}
 
   void Vehicle::SetAutopilot(bool enabled) {
+    TM &tm = TM::GetInstance(TM::GetUniqueLocalClient());
     if (enabled) {
-      TM &tm = TM::GetInstance(TM::GetUniqueLocalClient());
       tm.RegisterVehicles({shared_from_this()});
+    } else {
+      tm.UnregisterVehicles({shared_from_this()});
     }
   }
 

diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
@@ -47,7 +47,7 @@ namespace detail {
       : endpoint(host + ":" + std::to_string(port)),
         rpc_client(host, port),
         streaming_client(host) {
-      rpc_client.set_timeout(1000u);
+      rpc_client.set_timeout(5000u);
       streaming_client.AsyncRun(
           worker_threads > 0u ? worker_threads : std::thread::hardware_concurrency());
     }

diff --git a/LibCarla/source/carla/trafficmanager/BatchControlStage.cpp b/LibCarla/source/carla/trafficmanager/BatchControlStage.cpp
@@ -17,8 +17,6 @@ namespace traffic_manager {
       messenger(messenger),
       carla_client(carla_client) {
 
-    // Initializing messenger state.
-    messenger_state = messenger->GetState();
     // Initializing number of vehicles to zero in the beginning.
     number_of_vehicles = 0u;
   }
@@ -28,7 +26,7 @@ namespace traffic_manager {
   void BatchControlStage::Action() {
 
     // Looping over registered actors.
-    for (uint64_t i = 0u; i < number_of_vehicles; ++i) {
+    for (uint64_t i = 0u; i < number_of_vehicles && data_frame != nullptr; ++i) {
 
       cr::VehicleControl vehicle_control;
 
@@ -44,15 +42,13 @@ namespace traffic_manager {
 
   void BatchControlStage::DataReceiver() {
 
-    auto packet = messenger->ReceiveData(messenger_state);
-    data_frame = packet.data;
-    messenger_state = packet.id;
+    data_frame = messenger->Peek();
 
     // Allocating new containers for the changed number of registered vehicles.
     if (data_frame != nullptr &&
         number_of_vehicles != (*data_frame.get()).size()) {
 
-      number_of_vehicles = static_cast<uint>((*data_frame.get()).size());
+      number_of_vehicles = static_cast<uint64_t>((*data_frame.get()).size());
       // Allocating array for command batching.
       commands = std::make_shared<std::vector<cr::Command>>(number_of_vehicles);
     }
@@ -61,12 +57,16 @@ namespace traffic_manager {
 
   void BatchControlStage::DataSender() {
 
+    messenger->Pop();
+
     if (commands != nullptr) {
       carla_client.ApplyBatch(*commands.get());
+
     }
 
     // Limiting updates to 100 frames per second.
     std::this_thread::sleep_for(10ms);
+
   }
 
 } // namespace traffic_manager

diff --git a/LibCarla/source/carla/trafficmanager/BatchControlStage.h b/LibCarla/source/carla/trafficmanager/BatchControlStage.h
@@ -30,8 +30,6 @@ namespace traffic_manager {
 
   private:
 
-    /// Variable to remember messenger state.
-    int messenger_state;
     /// Pointer to frame received from MotionPlanner.
     std::shared_ptr<PlannerToControlFrame> data_frame;
     /// Pointer to a messenger from MotionPlanner.

diff --git a/LibCarla/source/carla/trafficmanager/CarlaDataAccessLayer.cpp b/LibCarla/source/carla/trafficmanager/CarlaDataAccessLayer.cpp
diff --git a/LibCarla/source/carla/trafficmanager/CarlaDataAccessLayer.h b/LibCarla/source/carla/trafficmanager/CarlaDataAccessLayer.h