diff --git a/.ci/cloud_ci.py b/.ci/cloud_ci.py index 968bda4b..32dbabc1 100644 --- a/.ci/cloud_ci.py +++ b/.ci/cloud_ci.py @@ -78,7 +78,7 @@ def set_version(problem_def, version): sim_url=build_results.gcs_url, supported_problems=problem_constants.constants.SUPPORTED_PROBLEMS) - if passed_ci: + if passed_ci and branch in ['master']: # TODO: Use botleague helpers release branches # Copy sim/release_candidates/ to sim/ copy_release_candidate_to_release() promote_python_bindings(sim_version, commit, job) diff --git a/.gitignore b/.gitignore index cf3544bd..ff1c92a5 100644 --- a/.gitignore +++ b/.gitignore @@ -79,6 +79,7 @@ Plugins/*/Binaries/* # Plugin builds #Plugins/DeepDriveCityPlugin/* Plugins/DeepDriveKevindalePlugin/* +Plugins/ActorEventLogging/* # Configuration files generated by the Editor Saved/* diff --git a/Config/DefaultEngine.ini b/Config/DefaultEngine.ini index a8382600..474aa862 100644 --- a/Config/DefaultEngine.ini +++ b/Config/DefaultEngine.ini @@ -66,24 +66,6 @@ UIScaleRule=ShortestSide CustomScalingRuleClass=None UIScaleCurve=(EditorCurveData=(PreInfinityExtrap=RCCE_Constant,PostInfinityExtrap=RCCE_Constant,Keys=((Time=480.000000,Value=0.444000),(Time=720.000000,Value=0.666000),(Time=1080.000000,Value=1.000000),(Time=8640.000000,Value=8.000000)),DefaultValue=340282346638528859811704183484516925440.000000),ExternalCurve=None) -[/Script/EngineSettings.GameMapsSettings] -EditorStartupMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo -LocalMapOptions= -TransitionMap=/Game/DeepDrive/Maps/ServerTransition.ServerTransition -bUseSplitscreen=True -TwoPlayerSplitscreenLayout=Horizontal -ThreePlayerSplitscreenLayout=FavorTop -bOffsetPlayerGamepadIds=False -GameInstanceClass=/Game/DeepDrive/Blueprints/DeepDriveSimGameInstance.DeepDriveSimGameInstance_C -GameDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo -ServerDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo -GlobalDefaultGameMode=/Game/DeepDrive/Blueprints/DeepDriveSimGameMode.DeepDriveSimGameMode_C -GlobalDefaultServerGameMode=None - -;[Python] -;RelativeHome = python_libs -;RelativeZipPath = deepdrive-site-packages.zip - [/Script/IOSRuntimeSettings.IOSRuntimeSettings] bSupportsPortraitOrientation=False bSupportsUpsideDownOrientation=False @@ -98,6 +80,21 @@ OcclusionPlugin= -TargetedRHIs=GLSL_430 +TargetedRHIs=GLSL_430 +[/Script/EngineSettings.GameMapsSettings] +EditorStartupMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo +LocalMapOptions= +TransitionMap=/Game/DeepDrive/Maps/ServerTransition.ServerTransition +bUseSplitscreen=True +TwoPlayerSplitscreenLayout=Horizontal +ThreePlayerSplitscreenLayout=FavorTop +FourPlayerSplitscreenLayout=Grid +bOffsetPlayerGamepadIds=False +GameInstanceClass=/Game/DeepDrive/Blueprints/DeepDriveSimGameInstance.DeepDriveSimGameInstance_C +GameDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo +ServerDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo +GlobalDefaultGameMode=/Game/DeepDrive/Blueprints/DeepDriveSimGameMode.DeepDriveSimGameMode_C +GlobalDefaultServerGameMode=None + [/Script/Engine.PhysicsSettings] DefaultGravityZ=-980.000000 DefaultTerminalVelocity=4000.000000 @@ -142,5 +139,3 @@ AsyncSceneSmoothingFactor=0.990000 InitialAverageFrameRate=0.016667 PhysXTreeRebuildRate=10 DefaultBroadphaseSettings=(bUseMBPOnClient=False,bUseMBPOnServer=False,MBPBounds=(Min=(X=0.000000,Y=0.000000,Z=0.000000),Max=(X=0.000000,Y=0.000000,Z=0.000000),IsValid=0),MBPNumSubdivs=2) - - diff --git a/Config/DefaultInput.ini b/Config/DefaultInput.ini index 6765c59b..8f14471d 100644 --- a/Config/DefaultInput.ini +++ b/Config/DefaultInput.ini @@ -65,9 +65,6 @@ DoubleClickTime=0.200000 +ActionMappings=(ActionName="Flip",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=Gamepad_DPad_Up) +ActionMappings=(ActionName="PauseMenu",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=Gamepad_Special_Right) +ActionMappings=(ActionName="FreeCamera",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=Four) -+ActionMappings=(ActionName="ManualMode",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=M) -+ActionMappings=(ActionName="SplineMode",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=T) -+ActionMappings=(ActionName="RemoteAI",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=X) +ActionMappings=(ActionName="DayTime",bShift=False,bCtrl=True,bAlt=False,bCmd=False,Key=One) +ActionMappings=(ActionName="DayTime",bShift=False,bCtrl=True,bAlt=False,bCmd=False,Key=Two) +ActionMappings=(ActionName="DayTime",bShift=False,bCtrl=True,bAlt=False,bCmd=False,Key=Three) diff --git a/Content/Data/VERSION b/Content/Data/VERSION index a24587f5..b17f81ca 100644 --- a/Content/Data/VERSION +++ b/Content/Data/VERSION @@ -1 +1 @@ -3.1.20191111204348 \ No newline at end of file +3.1.20200326084259 \ No newline at end of file diff --git a/Content/DeepDrive/Blueprints/DeepDriveInputController.uasset b/Content/DeepDrive/Blueprints/DeepDriveInputController.uasset index 6a90df08..9651e423 100644 Binary files a/Content/DeepDrive/Blueprints/DeepDriveInputController.uasset and b/Content/DeepDrive/Blueprints/DeepDriveInputController.uasset differ diff --git a/Content/DeepDrive/Maps/DeepDriveSimCity_Demo.umap b/Content/DeepDrive/Maps/DeepDriveSimCity_Demo.umap index 2553308d..a7bd3533 100644 Binary files a/Content/DeepDrive/Maps/DeepDriveSimCity_Demo.umap and b/Content/DeepDrive/Maps/DeepDriveSimCity_Demo.umap differ diff --git a/Content/DeepDrive/Maps/DeepDriveSim_Demo.umap b/Content/DeepDrive/Maps/DeepDriveSim_Demo.umap index 267aed8d..acc0da40 100644 Binary files a/Content/DeepDrive/Maps/DeepDriveSim_Demo.umap and b/Content/DeepDrive/Maps/DeepDriveSim_Demo.umap differ diff --git a/Content/DeepDrive/Maps/DeepDriveSim_RoadOnly_Demo.umap b/Content/DeepDrive/Maps/DeepDriveSim_RoadOnly_Demo.umap index e33eb9a2..989972bf 100644 Binary files a/Content/DeepDrive/Maps/DeepDriveSim_RoadOnly_Demo.umap and b/Content/DeepDrive/Maps/DeepDriveSim_RoadOnly_Demo.umap differ diff --git a/Content/DeepDrive/Maps/Mesa.umap b/Content/DeepDrive/Maps/Mesa.umap index 6a125f67..4d2abce1 100644 Binary files a/Content/DeepDrive/Maps/Mesa.umap and b/Content/DeepDrive/Maps/Mesa.umap differ diff --git a/Content/DeepDrive/Maps/Mesa_Maik.umap b/Content/DeepDrive/Maps/Mesa_Maik.umap index 64564828..572af2c4 100644 Binary files a/Content/DeepDrive/Maps/Mesa_Maik.umap and b/Content/DeepDrive/Maps/Mesa_Maik.umap differ diff --git a/Content/DeepDrive/Maps/OvertakingTestMap.umap b/Content/DeepDrive/Maps/OvertakingTestMap.umap index 586f92f7..9e9c0cb3 100644 Binary files a/Content/DeepDrive/Maps/OvertakingTestMap.umap and b/Content/DeepDrive/Maps/OvertakingTestMap.umap differ diff --git a/Content/DeepDrive/Maps/SplineTestMap.umap b/Content/DeepDrive/Maps/SplineTestMap.umap index 9e3669c1..8a8eef08 100644 Binary files a/Content/DeepDrive/Maps/SplineTestMap.umap and b/Content/DeepDrive/Maps/SplineTestMap.umap differ diff --git a/Content/DeepDrive/Maps/Tests/MultiAgentTest_Map.umap b/Content/DeepDrive/Maps/Tests/MultiAgentTest_Map.umap new file mode 100644 index 00000000..7df4d104 Binary files /dev/null and b/Content/DeepDrive/Maps/Tests/MultiAgentTest_Map.umap differ diff --git a/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap b/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap new file mode 100644 index 00000000..8ccef9ed Binary files /dev/null and b/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap differ diff --git a/Content/DeepDrive/Maps/Tutorials/Tutorial_RoadNetwork_Map.umap b/Content/DeepDrive/Maps/Tutorials/Tutorial_RoadNetwork_Map.umap new file mode 100644 index 00000000..e1bc396e Binary files /dev/null and b/Content/DeepDrive/Maps/Tutorials/Tutorial_RoadNetwork_Map.umap differ diff --git a/Content/DeepDrive/Materials/MI_TurnLight.uasset b/Content/DeepDrive/Materials/MI_TurnLight.uasset new file mode 100644 index 00000000..e1224345 Binary files /dev/null and b/Content/DeepDrive/Materials/MI_TurnLight.uasset differ diff --git a/Content/DeepDrive/Materials/M_TrafficLight.uasset b/Content/DeepDrive/Materials/M_TrafficLight.uasset index 40835866..f9590ae9 100644 Binary files a/Content/DeepDrive/Materials/M_TrafficLight.uasset and b/Content/DeepDrive/Materials/M_TrafficLight.uasset differ diff --git a/Content/DeepDrive/Materials/M_TurnLight.uasset b/Content/DeepDrive/Materials/M_TurnLight.uasset new file mode 100644 index 00000000..30ea8bb6 Binary files /dev/null and b/Content/DeepDrive/Materials/M_TurnLight.uasset differ diff --git a/Content/DeepDrive/Simulation/Agents/ControllerCreators/CityAIControllerCreator.uasset b/Content/DeepDrive/Simulation/Agents/ControllerCreators/CityAIControllerCreator.uasset deleted file mode 100644 index 97e2ec2a..00000000 Binary files a/Content/DeepDrive/Simulation/Agents/ControllerCreators/CityAIControllerCreator.uasset and /dev/null differ diff --git a/Content/DeepDrive/Simulation/Agents/ControllerCreators/ManualControllerCreator.uasset b/Content/DeepDrive/Simulation/Agents/ControllerCreators/ManualControllerCreator.uasset deleted file mode 100644 index f02f8748..00000000 Binary files a/Content/DeepDrive/Simulation/Agents/ControllerCreators/ManualControllerCreator.uasset and /dev/null differ diff --git a/Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteAIControllerCreator.uasset b/Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteAIControllerCreator.uasset deleted file mode 100644 index 6ba53bb4..00000000 Binary files a/Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteAIControllerCreator.uasset and /dev/null differ diff --git a/Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteTrafficAIControllerCreator.uasset b/Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteTrafficAIControllerCreator.uasset deleted file mode 100644 index d29a0692..00000000 Binary files a/Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteTrafficAIControllerCreator.uasset and /dev/null differ diff --git a/Content/DeepDrive/Simulation/Agents/ControllerCreators/TrafficAIControllerCreator.uasset b/Content/DeepDrive/Simulation/Agents/ControllerCreators/TrafficAIControllerCreator.uasset index c5e06196..4bf1310e 100644 Binary files a/Content/DeepDrive/Simulation/Agents/ControllerCreators/TrafficAIControllerCreator.uasset and b/Content/DeepDrive/Simulation/Agents/ControllerCreators/TrafficAIControllerCreator.uasset differ diff --git a/Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset b/Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset new file mode 100644 index 00000000..782d5b89 Binary files /dev/null and b/Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset differ diff --git a/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset b/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset index d7006eb2..c8c1120a 100644 Binary files a/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset and b/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset differ diff --git a/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_SUV.uasset b/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_SUV.uasset index 54a081ab..b0c05680 100644 Binary files a/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_SUV.uasset and b/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_SUV.uasset differ diff --git a/Content/DeepDrive/Simulation/DeepDriveSim.uasset b/Content/DeepDrive/Simulation/DeepDriveSim.uasset index 19369b40..50b6f908 100644 Binary files a/Content/DeepDrive/Simulation/DeepDriveSim.uasset and b/Content/DeepDrive/Simulation/DeepDriveSim.uasset differ diff --git a/Content/DeepDrive/Simulation/Environment/DeepDriveSimulationLightingManager.uasset b/Content/DeepDrive/Simulation/Environment/DeepDriveSimulationLightingManager.uasset index 13c00336..1cd16c78 100644 Binary files a/Content/DeepDrive/Simulation/Environment/DeepDriveSimulationLightingManager.uasset and b/Content/DeepDrive/Simulation/Environment/DeepDriveSimulationLightingManager.uasset differ diff --git a/Content/Scripts/dummy_py_actor.py b/Content/Scripts/dummy_py_actor.py index 6b9d96a2..639ce7a8 100644 --- a/Content/Scripts/dummy_py_actor.py +++ b/Content/Scripts/dummy_py_actor.py @@ -135,7 +135,7 @@ def valid_world(world): def valid_ai_controller_name(actor): full_name = actor.get_full_name().lower() - substrings = ['.LocalAIControllerCreator_'.lower()] + substrings = ['.TrafficAIControllerCreator_'.lower()] for s in substrings: if s in full_name: return True diff --git a/Content/Scripts/show_map_annotations.py b/Content/Scripts/show_map_annotations.py new file mode 100644 index 00000000..6cc75048 --- /dev/null +++ b/Content/Scripts/show_map_annotations.py @@ -0,0 +1,50 @@ +import json +try: + import unreal_engine as ue + from unreal_engine.classes import Blueprint + from unreal_engine import FVector, FRotator + DRY_RUN = False + WORLD = ue.get_editor_world() +except ImportError: + DRY_RUN = True + + +with open(r'C:\Users\a\src\deepdrive-sim\Tools\deepdrive-canyons-map.json') as f: + geojson = json.load(f) + +def spawn_point_marker(point, map_point_class): + if not DRY_RUN: + actor = WORLD.actor_spawn(map_point_class, + FVector(*point), FRotator(0, 0, 0)) + +def to_unreal(point, lift_cm): + return point[0] * 100, point[1] * 100, point[2] * 100 + lift_cm + + +def main(): + """ + Output https://youtu.be/kqfTDl2p9ts + """ + if DRY_RUN: + right_orb = None + left_orb = None + center_orb = None + else: + right_orb = ue.load_object(Blueprint, '/Game/DeepDrive/Blueprints/MapPointRight').GeneratedClass + left_orb = ue.load_object(Blueprint, '/Game/DeepDrive/Blueprints/MapPointLeft').GeneratedClass + center_orb = ue.load_object(Blueprint, '/Game/DeepDrive/Blueprints/MapPoint').GeneratedClass + for i, lane_seg in enumerate(geojson['lanes']['features']): + center = lane_seg['geometry']['coordinates'] + left = lane_seg['properties']['left_line']['geometry']['coordinates'] + right = lane_seg['properties']['right_line']['geometry']['coordinates'] + + spawn_point_marker(to_unreal(left[0], 0), left_orb) + spawn_point_marker(to_unreal(left[1], 0), left_orb) + spawn_point_marker(to_unreal(right[0], 60), right_orb) + spawn_point_marker(to_unreal(right[1], 60), right_orb) + spawn_point_marker(to_unreal(center[0], 30), center_orb) + spawn_point_marker(to_unreal(center[1], 30), center_orb) + + +if __name__ == '__main__': + main() diff --git a/DeepDrive.uproject b/DeepDrive.uproject index d6559c6c..f29dee78 100644 --- a/DeepDrive.uproject +++ b/DeepDrive.uproject @@ -18,6 +18,10 @@ "Name": "DeepDrivePlugin", "Enabled": true }, + { + "Name": "ActorEventLogging", + "Enabled": true + }, { "Name": "Substance", "Enabled": true, diff --git a/LICENSE.md b/LICENSE.md index 2a262317..cf3944d9 100644 --- a/LICENSE.md +++ b/LICENSE.md @@ -2,7 +2,7 @@ The MIT License -Copyright (c) 2016 Deepdrive (https://deepdrive.io) +Copyright (c) 2019 Voyage (https://deepdrive.voyage.auto) Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal diff --git a/Plugins/ActorEventLoggingStub/.gitignore b/Plugins/ActorEventLoggingStub/.gitignore new file mode 100644 index 00000000..8248311f --- /dev/null +++ b/Plugins/ActorEventLoggingStub/.gitignore @@ -0,0 +1,3 @@ + +Binaries/* +Intermediate/* diff --git a/Plugins/ActorEventLoggingStub/ActorEventLogging.uplugin b/Plugins/ActorEventLoggingStub/ActorEventLogging.uplugin new file mode 100644 index 00000000..cd153486 --- /dev/null +++ b/Plugins/ActorEventLoggingStub/ActorEventLogging.uplugin @@ -0,0 +1,23 @@ +{ + "FileVersion": 3, + "Version": 1, + "VersionName": "1.0", + "FriendlyName": "ActorEventLogging", + "Description": "", + "Category": "Other", + "CreatedBy": "Maik Ernst", + "CreatedByURL": "", + "DocsURL": "", + "MarketplaceURL": "", + "SupportURL": "", + "CanContainContent": true, + "IsBetaVersion": false, + "Installed": false, + "Modules": [ + { + "Name": "ActorEventLogging", + "Type": "Runtime", + "LoadingPhase": "Default" + } + ] +} \ No newline at end of file diff --git a/Plugins/ActorEventLoggingStub/Resources/Icon128.png b/Plugins/ActorEventLoggingStub/Resources/Icon128.png new file mode 100644 index 00000000..1231d4aa Binary files /dev/null and b/Plugins/ActorEventLoggingStub/Resources/Icon128.png differ diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/ActorEventLogging.Build.cs b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/ActorEventLogging.Build.cs new file mode 100644 index 00000000..77405162 --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/ActorEventLogging.Build.cs @@ -0,0 +1,53 @@ +// Copyright 1998-2018 Epic Games, Inc. All Rights Reserved. + +using UnrealBuildTool; + +public class ActorEventLogging : ModuleRules +{ + public ActorEventLogging(ReadOnlyTargetRules Target) : base(Target) + { + PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs; + + PublicIncludePaths.AddRange( + new string[] { + // ... add public include paths required here ... + } + ); + + + PrivateIncludePaths.AddRange( + new string[] { + // ... add other private include paths required here ... + } + ); + + + PublicDependencyModuleNames.AddRange( + new string[] + { + "Core", + // ... add other public dependencies that you statically link with here ... + } + ); + + + PrivateDependencyModuleNames.AddRange( + new string[] + { + "CoreUObject", + "Engine", + "Slate", + "SlateCore", + "Json" + } + ); + + + DynamicallyLoadedModuleNames.AddRange( + new string[] + { + // ... add any modules that your module loads dynamically here ... + } + ); + } +} diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Private/ActorEventLogging.cpp b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Private/ActorEventLogging.cpp new file mode 100644 index 00000000..9046fe97 --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Private/ActorEventLogging.cpp @@ -0,0 +1,20 @@ +// Copyright 1998-2018 Epic Games, Inc. All Rights Reserved. + +#include "ActorEventLogging.h" + +#define LOCTEXT_NAMESPACE "FActorEventLoggingModule" + +void FActorEventLoggingModule::StartupModule() +{ + // This code will execute after your module is loaded into memory; the exact timing is specified in the .uplugin file per-module +} + +void FActorEventLoggingModule::ShutdownModule() +{ + // This function may be called during shutdown to clean up your module. For modules that support dynamic reloading, + // we call this function before unloading the module. +} + +#undef LOCTEXT_NAMESPACE + +IMPLEMENT_MODULE(FActorEventLoggingModule, ActorEventLogging) \ No newline at end of file diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLogging.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLogging.h new file mode 100644 index 00000000..06448913 --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLogging.h @@ -0,0 +1,15 @@ +// Copyright 1998-2018 Epic Games, Inc. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" +#include "Modules/ModuleManager.h" + +class FActorEventLoggingModule : public IModuleInterface +{ +public: + + /** IModuleInterface implementation */ + virtual void StartupModule() override; + virtual void ShutdownModule() override; +}; diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLoggingMacros.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLoggingMacros.h new file mode 100644 index 00000000..3036b69b --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLoggingMacros.h @@ -0,0 +1,15 @@ + +#pragma once + +/* + * + * Empty actor event looging macros to compile against + * + */ + +#define AEL_LOG_TRANSFORM(ActorRef, Transform) + +#define AEL_MESSAGE(ActorRef, Format, ...) + +#define AEL_ENSURE_TICK_ORDER(ActorRef) + diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingComponent.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingComponent.h new file mode 100644 index 00000000..2e48ac7f --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingComponent.h @@ -0,0 +1,73 @@ + + +#pragma once + +#include "CoreMinimal.h" +#include "Components/ActorComponent.h" + +#include + +#include "ActorEventLoggingComponent.generated.h" + + +DECLARE_LOG_CATEGORY_EXTERN(LogActorEventLogger, Log, All); + +struct ActorEvent; +class AActorEventLoggingManager; + +UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) ) +class ACTOREVENTLOGGING_API UActorEventLoggingComponent : public UActorComponent +{ + GENERATED_BODY() + +public: + // Sets default values for this component's properties + UActorEventLoggingComponent() + { } + +protected: + +public: + + void StartLogging(const FString &BasePath) + { } + + void StopLogging() + { } + + void BeginFrame(uint32 FrameCounter, double Timestamp) + { } + + void EndFrame(double Timestamp) + { } + + UFUNCTION(BlueprintCallable, Category = "Event Logging") + void LogMessage(const FString &Message) + { } + + UFUNCTION(BlueprintCallable, Category = "Event Logging") + void LogActorTransform(const FTransform &Transform) + { } + + void LogEvent(const ActorEvent &Event) + { } + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration) + FString ActorName = ""; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration) + FString ActorDescription = ""; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration) + FString ActorClassName = ""; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration) + FString LogFileName = ""; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration) + bool KeepTransformFixed = false; + + +private: +}; + diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingManager.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingManager.h new file mode 100644 index 00000000..86723ae9 --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingManager.h @@ -0,0 +1,37 @@ + + +#pragma once + +#include "CoreMinimal.h" +#include "GameFramework/Actor.h" +#include "ActorEventLoggingManager.generated.h" + +class UActorEventLoggerComponent; + +UCLASS() +class ACTOREVENTLOGGING_API AActorEventLoggingManager : public AActor +{ + GENERATED_BODY() + +public: + // Sets default values for this actor's properties + AActorEventLoggingManager() + { } + +protected: + // Called when the game starts or when spawned + virtual void BeginPlay() override + { } + + virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override + { } + +public: + // Called every frame + virtual void Tick(float DeltaTime) override + { } + + void RegisterActorEventLogger(UActorEventLoggerComponent& ActorEventLogger) + { } + +}; diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayComponent.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayComponent.h new file mode 100644 index 00000000..d8266fba --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayComponent.h @@ -0,0 +1,24 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "Components/ActorComponent.h" +#include "ActorEventLoggingReplayComponent.generated.h" + + +UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) ) +class ACTOREVENTLOGGING_API UActorEventLoggingReplayComponent : public UActorComponent +{ + GENERATED_BODY() + +public: + + UFUNCTION(BlueprintNativeEvent, Category = "Replay") + void SetActorTransform(const FTransform &Transform); + +}; + +inline void UActorEventLoggingReplayComponent::SetActorTransform_Implementation(const FTransform &Transform) +{ +} diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayManager.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayManager.h new file mode 100644 index 00000000..fff62d31 --- /dev/null +++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayManager.h @@ -0,0 +1,149 @@ + + +#pragma once + +#include "CoreMinimal.h" +#include "GameFramework/Actor.h" +#include "ActorEventLoggingReplayManager.generated.h" + +DECLARE_LOG_CATEGORY_EXTERN(LogActorEventReplayManager, Log, All); + +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameCountChanged, int32, FrameCount); +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameIndexChanged, int32, FrameIndex); +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FReplayStateChanged, bool, IsPlaying); + +DECLARE_DYNAMIC_MULTICAST_DELEGATE(FBeginReplayFrame); + +DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FMessageEvent, int32, Id, FString, Message); + +USTRUCT(BlueprintType) +struct FActorEventLogData +{ + GENERATED_USTRUCT_BODY() + + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default) + int32 Id = -1; + + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default) + FString ActorName; + + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default) + FString ActorDescription; + + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default) + AActor *Actor = 0;; + +}; + +UCLASS() +class ACTOREVENTLOGGING_API ActorEventLoggingReplayManager : public AActor +{ + GENERATED_BODY() + +public: + // Sets default values for this actor's properties + ActorEventLoggingReplayManager() + { } + +protected: + // Called when the game starts or when spawned + virtual void BeginPlay() override + { } + +public: + // Called every frame + virtual void Tick(float DeltaTime) override + { } + + UFUNCTION(BlueprintCallable, Category = "FileHandling") + FActorEventLogData LoadActorEventLog(FString FileName) + { + return FActorEventLogData(); + } + + UFUNCTION(BlueprintCallable, Category = "FileHandling") + TArray GetAvailableActorEventLogs(FString BasePath) + { + return TArray(); + } + + UFUNCTION(BlueprintCallable, Category = "Filter") + void AddFilter(int32 ActorId, FName EventType) + { } + + UFUNCTION(BlueprintCallable, Category = "Filter") + void RemoveFilter(int32 ActorId, FName EventType) + { } + + UFUNCTION(BlueprintCallable, Category = "Filter") + void ClearFilters(int32 ActorId) + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void GoToFrame(int32 FrameIndex) + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void GoToFirstFrame() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void GoToLastFrame() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void NextFrame() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void PreviousFrame() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void Replay() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void SetReplayRate(float Rate) + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void ReplayForward() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void ReplayBackward() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void StopReplay() + { } + + UFUNCTION(BlueprintCallable, Category = "Control") + void TogglePause() + { } + + UPROPERTY(BlueprintReadOnly, Category = Configuration) + TSubclassOf DummyActor = 0; + + UPROPERTY(BlueprintReadOnly, Category = Configuration) + bool DisablePhysics = true; + + UPROPERTY(BlueprintAssignable) + FFrameCountChanged OnFrameCountChanged; + + UPROPERTY(BlueprintAssignable) + FFrameIndexChanged OnFrameIndexChanged; + + UPROPERTY(BlueprintAssignable) + FBeginReplayFrame OnBeginReplayFrame; + + UPROPERTY(BlueprintAssignable) + FReplayStateChanged OnReplayStateChanged; + + UPROPERTY(BlueprintAssignable) + FMessageEvent OnMessageEvent; + +}; + + diff --git a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap index fd680539..9e26052b 100644 Binary files a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap and b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap differ diff --git a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMap_Demo.umap b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMap_Demo.umap index b15660ff..c2acfdef 100644 Binary files a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMap_Demo.umap and b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMap_Demo.umap differ diff --git a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/Sublevels/Kevindale/DeepDrive_Kevindale_Replay.umap b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/Sublevels/Kevindale/DeepDrive_Kevindale_Replay.umap new file mode 100644 index 00000000..bba72829 Binary files /dev/null and b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/Sublevels/Kevindale/DeepDrive_Kevindale_Replay.umap differ diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap index 9cdc877d..73cac157 100644 Binary files a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap and b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap differ diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap index 6d3f7368..db707b79 100644 Binary files a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap and b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap differ diff --git a/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin b/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin index 9b9deaf7..39866100 100644 --- a/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin +++ b/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin @@ -19,5 +19,15 @@ "Type": "Runtime", "LoadingPhase": "PreDefault" } + ], + "Plugins": [ + { + "Name": "ActorEventLogging", + "Enabled": true + }, + { + "Name": "PhysXVehicles", + "Enabled": true + } ] } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs index bcaaaaf9..6df796fe 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs @@ -36,7 +36,8 @@ public DeepDrivePlugin(ReadOnlyTargetRules Target) : base(Target) new string[] { "Core", - "Sockets","Networking" + "Sockets","Networking", + "ActorEventLogging" // ... add other public dependencies that you statically link with here ... } ); @@ -52,7 +53,8 @@ public DeepDrivePlugin(ReadOnlyTargetRules Target) : base(Target) "RenderCore", "RHI", "PhysXVehicles", - "Landscape" + "Landscape", + "Json" } ); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp index c1fb6120..dbea2892 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp @@ -24,9 +24,11 @@ void UCaptureCameraComponent::Initialize(UTextureRenderTarget2D *colorRenderTarg m_SceneCapture = NewObject(owningActor, FName( *("ColorCaptureComponent_" + FString::FromInt(CameraId)) )); m_SceneCapture->RegisterComponent(); + m_SceneCapture->ProfilingEventName = "DeepDriveCapture_Scene"; m_DepthCapture = NewObject(owningActor, FName( *("DepthCaptureComponent_" + FString::FromInt(CameraId)) )); m_DepthCapture->RegisterComponent(); + m_DepthCapture->ProfilingEventName = "DeepDriveCapture_Depth"; if (m_SceneCapture && m_DepthCapture) { @@ -43,17 +45,22 @@ void UCaptureCameraComponent::Initialize(UTextureRenderTarget2D *colorRenderTarg if(IsCapturingActive) { + m_SceneCapture->bCaptureEveryFrame = true; + m_SceneCapture->bCaptureOnMovement = true; m_SceneCapture->Activate(); + + m_DepthCapture->bCaptureEveryFrame = m_needsSeparateDepthCapture; + m_DepthCapture->bCaptureOnMovement = m_needsSeparateDepthCapture; m_DepthCapture->Activate(); - m_SceneCapture->bCaptureEveryFrame = CaptureSceneEveryFrame; - m_SceneCapture->bCaptureOnMovement = CaptureSceneEveryFrame; } else { m_SceneCapture->Deactivate(); - m_DepthCapture->Deactivate(); m_SceneCapture->bCaptureEveryFrame = false; m_SceneCapture->bCaptureOnMovement = false; + m_DepthCapture->Deactivate(); + m_DepthCapture->bCaptureEveryFrame = false; + m_DepthCapture->bCaptureOnMovement = false; } m_SceneCapture->AttachToComponent(this, FAttachmentTransformRules(EAttachmentRule::KeepRelative, false)); @@ -87,10 +94,12 @@ void UCaptureCameraComponent::ActivateCapturing() if (m_SceneCapture) { m_SceneCapture->Activate(); - m_SceneCapture->bCaptureEveryFrame = CaptureSceneEveryFrame; - m_SceneCapture->bCaptureOnMovement = CaptureSceneEveryFrame; + m_SceneCapture->bCaptureEveryFrame = true; + m_SceneCapture->bCaptureOnMovement = true; m_DepthCapture->Activate(); + m_DepthCapture->bCaptureEveryFrame = m_needsSeparateDepthCapture; + m_DepthCapture->bCaptureOnMovement = m_needsSeparateDepthCapture; } IsCapturingActive = true; } @@ -105,6 +114,8 @@ void UCaptureCameraComponent::DeactivateCapturing() m_SceneCapture->bCaptureOnMovement = false; m_DepthCapture->Deactivate(); + m_DepthCapture->bCaptureEveryFrame = false; + m_DepthCapture->bCaptureOnMovement = false; } IsCapturingActive = false; } @@ -120,31 +131,9 @@ bool UCaptureCameraComponent::capture(SCaptureRequest &reqData) FTextureRenderTargetResource *sceneSrc = m_SceneCapture ? m_SceneCapture->TextureTarget->GameThread_GetRenderTargetResource() : 0; if (sceneSrc) { - if (!CaptureSceneEveryFrame) - { - if(m_hasValidViewMode) - m_SceneCapture->bCaptureEveryFrame = true; - - m_SceneCapture->CaptureScene(); - - if(m_hasValidViewMode) - m_SceneCapture->bCaptureEveryFrame = false; - } reqData.scene_capture_source = sceneSrc; - FTextureRenderTargetResource *depthSrc = m_hasValidViewMode && m_needsSeparateDepthCapture && m_DepthCapture ? m_DepthCapture->TextureTarget->GameThread_GetRenderTargetResource() : 0; - if(depthSrc) - { - if (!CaptureSceneEveryFrame) - { - m_DepthCapture->bCaptureEveryFrame = true; - m_DepthCapture->CaptureScene(); - m_DepthCapture->bCaptureEveryFrame = false; - } - reqData.depth_capture_source = depthSrc; - } - else - reqData.depth_capture_source = 0; + reqData.depth_capture_source = m_hasValidViewMode && m_needsSeparateDepthCapture && m_DepthCapture ? m_DepthCapture->TextureTarget->GameThread_GetRenderTargetResource() : 0; reqData.camera_type = CameraType; reqData.camera_id = CameraId; @@ -168,14 +157,23 @@ void UCaptureCameraComponent::setViewMode(const FDeepDriveViewMode *viewMode) m_hasValidViewMode = true; m_InternalCaptureEncoding = viewMode->ViewModeEncoding; m_needsSeparateDepthCapture = m_InternalCaptureEncoding == EDeepDriveInternalCaptureEncoding::SEPARATE ? true : false; - } - if(m_hasValidViewMode) m_SceneCapture->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR; + } + else + { + m_hasValidViewMode = false; + m_needsSeparateDepthCapture = false; + } } else { m_SceneCapture->CaptureSource = ESceneCaptureSource::SCS_SceneColorSceneDepth; m_InternalCaptureEncoding = EDeepDriveInternalCaptureEncoding::RGB_DEPTH; + m_hasValidViewMode = false; + m_needsSeparateDepthCapture = false; } + + m_DepthCapture->bCaptureEveryFrame = m_needsSeparateDepthCapture; + m_DepthCapture->bCaptureOnMovement = m_needsSeparateDepthCapture; } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp index 6f96f37f..9f3b8d89 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp @@ -468,27 +468,6 @@ void DeepDriveServer::setViewMode(const deepdrive::server::MessageHeader &messag } } -#if 0 -void DeepDriveServer::resetSimulation(const deepdrive::server::MessageHeader &message) -{ - if (m_Clients.Num() > 0) - { - const deepdrive::server::ResetSimulationRequest &req = static_cast (message); - DeepDriveClientConnection *client = m_Clients.Find(req.client_id)->connection; - if (client) - { - if(client->isMaster()) - { - m_Proxy->ConfigureSimulation(req.configuration, req.graphics_settings, false); - client->enqueueResponse(new deepdrive::server::ResetSimulationResponse(true)); - } - else - client->enqueueResponse(new deepdrive::server::ResetSimulationResponse(false)); - } - } -} -#endif - void DeepDriveServer::onCaptureFinished(int32 seqNr) { UE_LOG(LogDeepDriveServer, Verbose, TEXT("DeepDriveServer::onCaptureFinished %d"), seqNr); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp index cc808a14..fc87a184 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp @@ -153,7 +153,11 @@ bool DeepDriveSimulationServer::checkForMessages() bool connected = m_ClientSocket->Recv(m_ReceiveBuffer, m_curReceiveBufferSize, bytesRead, ESocketReceiveFlags::None); if (connected && bytesRead > 0) { - // UE_LOG(LogDeepDriveSimulationServer, Log, TEXT("[%d] Received %d bytes: %d"), m_ClientId, bytesRead, bytesRead > 4 ? *(reinterpret_cast(m_ReceiveBuffer)) : 0); + if (bytesRead >= 8) + { + // uint32 *buffer = reinterpret_cast(m_ReceiveBuffer); + // UE_LOG(LogDeepDriveSimulationServer, Log, TEXT("Received %d bytes: %d %d"), bytesRead, buffer[0], buffer[1]); + } m_MessageAssembler.add(m_ReceiveBuffer, bytesRead); } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.cpp deleted file mode 100644 index ba67d624..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.cpp +++ /dev/null @@ -1,242 +0,0 @@ - - -#include "DeepDrivePluginPrivatePCH.h" -#include "DeepDriveAgentCityAIController.h" -#include "Public/Simulation/DeepDriveSimulation.h" -#include "Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h" -#include "Public/Simulation/RoadNetwork/DeepDriveRoute.h" -#include "Public/Simulation/Agent/DeepDriveAgent.h" -#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSpeedController.h" -#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSteeringController.h" - -ADeepDriveAgentCityAIController::ADeepDriveAgentCityAIController() -{ - m_ControllerName = "City AI Controller"; - - // for testing purposes - m_isCollisionEnabled = true; -} - -void ADeepDriveAgentCityAIController::Tick( float DeltaSeconds ) -{ - if(m_Route && m_Agent && m_SpeedController && m_SteeringController) - { - m_Route->update(*m_Agent); - - switch(m_State) - { - case ActiveRouteGuidance: - { - if (m_Route->getRemainingDistance() - m_Agent->getFrontBumperDistance() < 800.0f) - { - m_State = m_StartIndex < 0 && m_OperationMode == OperationMode::Standard ? Waiting : Idle; - m_WaitTimer = FMath::RandRange(3.0f, 4.0f); - - } - float desiredSpeed = m_DesiredSpeed; - - desiredSpeed = m_SpeedController->limitSpeedByTrack(desiredSpeed, 1.0f); - const float safetyDistance = calculateSafetyDistance(); - float dist2Obstacle = checkForObstacle(safetyDistance); - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("SafetyDistance %f Dist2Obstalce %f"), safetyDistance, dist2Obstacle); - if(dist2Obstacle < 0.0f) - m_SpeedController->update(DeltaSeconds, desiredSpeed, -1.0f, 0.0f); - else - m_SpeedController->update(DeltaSeconds, desiredSpeed, safetyDistance, dist2Obstacle); - m_SteeringController->update(DeltaSeconds, desiredSpeed, 0.0f); - } - break; - - case Waiting: - m_WaitTimer -= DeltaSeconds; - if(m_WaitTimer <= 0.0f) - { - FVector start = m_Agent->GetActorLocation(); - FVector destination; - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentCityAIController::Activate Random start pos %s"), *(start.ToString()) ); - - TArray routeLinks = m_DeepDriveSimulation->RoadNetwork->calculateRandomRoute(start, destination); - if (routeLinks.Num() > 0) - { - ADeepDriveRoute *route = GetWorld()->SpawnActor(FVector(0.0f, 0.0f, 0.0f), FRotator(0.0f, 0.0f, 0.0f), FActorSpawnParameters()); - - SDeepDriveRouteData routeData; - routeData.Start = start; - routeData.Destination = destination; - routeData.Links = routeLinks; - - UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork; - route->initialize(roadNetwork->getRoadNetwork(), routeData); - - route->convert(start); - - m_SteeringController->setRoute(*route); - m_SpeedController->setRoute(*route); - route->update(*m_Agent); - - m_Route->Destroy(); - m_Route = route; - - m_State = ActiveRouteGuidance; - } - else - { - m_State = Idle; - } - } // fall through - - case Idle: - m_Agent->SetThrottle(0.0f); - m_Agent->SetBrake(1.0f); - m_Agent->SetSteering(0.0f); - break; - } - } -} - -bool ADeepDriveAgentCityAIController::Activate(ADeepDriveAgent &agent, bool keepPosition) -{ - bool res = false; - - UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork; - - TArray routeLinks; - FVector start = FVector(0.0f, 0.0f, 0.0f); - FVector destination = m_ScenarionConfiguration.EndPosition; - - switch(m_OperationMode) - { - case OperationMode::Standard: - if(m_StartIndex < 0 || m_StartIndex < m_Configuration.Routes.Num()) - { - if(m_StartIndex < 0) - { - do - { - start = roadNetwork->GetRandomLocation(EDeepDriveLaneType::MAJOR_LANE, -1); - } while(m_DeepDriveSimulation->isLocationOccupied(start, 300.0f)); - - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentCityAIController::Activate Random start pos %s"), *(start.ToString()) ); - - routeLinks = roadNetwork->calculateRandomRoute(start, destination); - } - else - { - start = m_Configuration.Routes[m_StartIndex].Start; - destination = m_Configuration.Routes[m_StartIndex].Destination; - routeLinks = roadNetwork->CalculateRoute(start, destination); - } - } - else if(m_StartIndex < m_Configuration.StartPositions.Num()) - { - roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true); - } - break; - - case OperationMode::Scenario: - start = m_ScenarionConfiguration.StartPosition; - roadNetwork->PlaceAgentOnRoad(&agent, start, true); - routeLinks = roadNetwork->CalculateRoute(start, m_ScenarionConfiguration.EndPosition); - break; - } - - if (routeLinks.Num() > 0) - { - ADeepDriveRoute *route = GetWorld()->SpawnActor(FVector(0.0f, 0.0f, 0.0f), FRotator(0.0f, 0.0f, 0.0f), FActorSpawnParameters()); - - SDeepDriveRouteData routeData; - routeData.Start = start; - routeData.Destination = destination; - routeData.Links = routeLinks; - route->initialize(roadNetwork->getRoadNetwork(), routeData); - - route->convert(start); - route->placeAgentAtStart(agent); - - m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake); - m_SpeedController->initialize(agent, *route, m_Configuration.SafetyDistanceFactor); - - m_SteeringController = new DeepDriveAgentSteeringController(m_Configuration.PIDSteering); - m_SteeringController->initialize(agent, *route); - m_State = ActiveRouteGuidance; - - res = true; - m_Route = route; - } - else - { - roadNetwork->PlaceAgentOnRoad(&agent, start, true); - } - - if(res) - activateController(agent); - - return res; -} - -bool ADeepDriveAgentCityAIController::ResetAgent() -{ - bool res = false; - if(m_Agent) - { - res = true; - m_Agent->reset(); - } - return res; -} - -void ADeepDriveAgentCityAIController::Configure(const FDeepDriveCityAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation) -{ - m_Configuration = Configuration; - m_DeepDriveSimulation = DeepDriveSimulation; - m_StartIndex = StartPositionSlot; - - m_OperationMode = OperationMode::Standard; - - m_DesiredSpeed = FMath::RandRange(Configuration.SpeedRange.X, Configuration.SpeedRange.Y); -} - -void ADeepDriveAgentCityAIController::ConfigureScenario(const FDeepDriveCityAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation) -{ - m_Configuration = Configuration; - m_DeepDriveSimulation = DeepDriveSimulation; - m_StartIndex = -1; - - m_OperationMode = OperationMode::Scenario; - m_ScenarionConfiguration.StartPosition = ScenarioConfiguration.StartPosition; - m_ScenarionConfiguration.EndPosition = ScenarioConfiguration.EndPosition; - - m_DesiredSpeed = ScenarioConfiguration.MaxSpeed; -} - -float ADeepDriveAgentCityAIController::checkForObstacle(float maxDistance) -{ - float distance = -1.0f; - - FHitResult hitResult; - - FVector forward = m_Agent-> GetActorForwardVector(); - FVector start = m_Agent->GetActorLocation() + forward * m_Agent->getFrontBumperDistance() + FVector(0.0f, 0.0f, 100.0f); - FVector end = start + forward * maxDistance; - - DrawDebugLine(GetWorld(), start, end, FColor::Green, false, 0.0f, 100, 4.0f); - - FCollisionQueryParams params; - params.AddIgnoredActor(m_Agent); - if(GetWorld()->LineTraceSingleByChannel(hitResult, start, end, ECollisionChannel::ECC_Visibility, params, FCollisionResponseParams() )) - { - distance = hitResult.Distance; - } - - return distance; -} - -float ADeepDriveAgentCityAIController::calculateSafetyDistance() -{ - const float brakingDeceleration = 400.0f; - const float curSpeed = m_Agent->getSpeed(); - const float safetyDistance = curSpeed * curSpeed / (2.0f * brakingDeceleration); - - return FMath::Max(100.0f, safetyDistance); -} - diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp index b2b919d4..88052f61 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp @@ -17,6 +17,8 @@ #include "Private/Simulation/Agent/Controllers/LocalAI/States/DeepDriveAgentAbortOvertakingState.h" +#include "WheeledVehicleMovementComponent.h" + DEFINE_LOG_CATEGORY(LogDeepDriveAgentLocalAIController); ADeepDriveAgentLocalAIController::ADeepDriveAgentLocalAIController() @@ -28,7 +30,6 @@ ADeepDriveAgentLocalAIController::ADeepDriveAgentLocalAIController() m_isCollisionEnabled = true; } - bool ADeepDriveAgentLocalAIController::Activate(ADeepDriveAgent &agent, bool keepPosition) { bool activated = false; @@ -74,6 +75,12 @@ bool ADeepDriveAgentLocalAIController::Activate(ADeepDriveAgent &agent, bool kee return activated; } +void ADeepDriveAgentLocalAIController::Reset() +{ + if (m_Track && m_Agent) + resetAgentPosOnSpline(*m_Agent, m_Track->GetSpline(), m_StartDistance); +} + bool ADeepDriveAgentLocalAIController::ResetAgent() { if(m_Track && m_Agent) @@ -109,11 +116,26 @@ void ADeepDriveAgentLocalAIController::Configure(const FDeepDriveLocalAIControll m_SafetyDistanceFactor = Configuration.SafetyDistanceFactor; } +void ADeepDriveAgentLocalAIController::ConfigureScenario(const FDeepDriveLocalAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation *DeepDriveSimulation) +{ + m_Configuration = Configuration; + m_DeepDriveSimulation = DeepDriveSimulation; + + m_DesiredSpeed = FMath::RandRange(Configuration.SpeedRange.X, Configuration.SpeedRange.Y); + m_Track = Configuration.Track; + +} void ADeepDriveAgentLocalAIController::Tick( float DeltaSeconds ) { - if (m_Agent && m_Track) + if (m_InputTimer > 0.0f) + { + m_InputTimer -= DeltaSeconds; + } + else if (m_Agent && m_Track && !m_isRemotelyControlled) { + m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false); + FVector curAgentLocation = m_Agent->GetActorLocation(); m_Track->setBaseLocation(curAgentLocation); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentManualController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentManualController.cpp deleted file mode 100644 index ddadd564..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentManualController.cpp +++ /dev/null @@ -1,89 +0,0 @@ - - -#include "DeepDrivePluginPrivatePCH.h" -#include "Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h" -#include "Public/Simulation/DeepDriveSimulation.h" -#include "Public/Simulation/Misc/DeepDriveRandomStream.h" -#include "Public/Simulation/Misc/DeepDriveSplineTrack.h" - -#include "Public/Simulation/Agent/DeepDriveAgent.h" -#include "Components/SplineComponent.h" - -#include "WheeledVehicleMovementComponent.h" - -ADeepDriveAgentManualController::ADeepDriveAgentManualController() - : ADeepDriveAgentControllerBase() -{ - m_ControllerName = "Manual Controller"; - - // for testing purposes - m_isCollisionEnabled = true; -} - -bool ADeepDriveAgentManualController::Activate(ADeepDriveAgent &agent, bool keepPosition) -{ - bool res = false; - if(keepPosition || initAgentOnTrack(agent)) - { - activateController(agent); - res = true; - } - return res; -} - -bool ADeepDriveAgentManualController::ResetAgent() -{ - bool res = false; - if(m_Track && m_Agent) - { - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("Reset Agent") ); - resetAgentPosOnSpline(*m_Agent, m_Track->GetSpline(), m_StartDistance); - m_Agent->reset(); - } - return res; -} - -void ADeepDriveAgentManualController::MoveForward(float axisValue) -{ - if(m_Agent) - { - if(axisValue > 0.0f) - { - m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false); - } - else if( axisValue < 0.0f) - { - m_Agent->GetVehicleMovementComponent()->SetTargetGear(-1, false); - } - - m_Agent->SetThrottle(axisValue); - m_Agent->setIsGameDriving(true); - } -} - -void ADeepDriveAgentManualController::MoveRight(float axisValue) -{ - if(m_Agent) - { - m_Agent->SetSteering(axisValue); - m_Agent->setIsGameDriving(true); - } -} - -void ADeepDriveAgentManualController::Brake(float axisValue) -{ - if(m_Agent) - { - const float curBrakeValue = FMath::Clamp(axisValue, 0.0f, 1.0f); - m_Agent->SetBrake(curBrakeValue); - } -} - - -void ADeepDriveAgentManualController::Configure(const FDeepDriveManualControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation) -{ - m_DeepDriveSimulation = DeepDriveSimulation; - m_Track = Configuration.Track; - m_StartDistance = StartPositionSlot >= 0 && StartPositionSlot < Configuration.StartDistances.Num() ? Configuration.StartDistances[StartPositionSlot] : -1.0f; -} - diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp index 21c86df0..8b861f0b 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp @@ -60,3 +60,15 @@ bool ADeepDriveAgentOneOffController::Activate(ADeepDriveAgent &agent, bool keep } return res; } + +void ADeepDriveAgentOneOffController::MoveForward(float axisValue) +{ +} + +void ADeepDriveAgentOneOffController::MoveRight(float axisValue) +{ +} + +void ADeepDriveAgentOneOffController::Brake(float axisValue) +{ +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp deleted file mode 100644 index a5c38156..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp +++ /dev/null @@ -1,122 +0,0 @@ - - -#include "DeepDrivePluginPrivatePCH.h" -#include "Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h" -#include "Public/Simulation/DeepDriveSimulation.h" -#include "Public/Simulation/Agent/DeepDriveAgent.h" -#include "Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h" -#include "Public/Simulation/RoadNetwork/DeepDriveRoute.h" -#include "Public/Simulation/Misc/DeepDriveSplineTrack.h" -#include "Public/Simulation/Misc/DeepDriveRandomStream.h" - -#include "Public/Simulation/DeepDriveSimulationTypes.h" - -#include "Components/SplineComponent.h" - -ADeepDriveAgentRemoteAIController::ADeepDriveAgentRemoteAIController() - : ADeepDriveAgentControllerBase() -{ - m_ControllerName = "Remote AI Controller"; - m_isCollisionEnabled = true; -} - -void ADeepDriveAgentRemoteAIController::OnConfigureSimulation(const SimulationConfiguration &configuration, bool initialConfiguration) -{ - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentRemoteAIController Reconfigure %f"), configuration.agent_start_location); - if (m_Agent) - { - m_StartDistance = configuration.agent_start_location; - initAgentOnTrack(*m_Agent); - } -} - - -void ADeepDriveAgentRemoteAIController::SetControlValues(float steering, float throttle, float brake, bool handbrake) -{ - if (m_Agent) - { - m_Agent->SetControlValues(steering, throttle, brake, handbrake); - m_Agent->setIsGameDriving(false); - } -} - - -bool ADeepDriveAgentRemoteAIController::Activate(ADeepDriveAgent &agent, bool keepPosition) -{ - bool activated = false; - switch(m_OperationMode) - { - case OperationMode::Standard: - if(keepPosition || initAgentOnTrack(agent)) - { - activateController(agent); - m_hasCollisionOccured = false; - } - break; - - case OperationMode::Scenario: - { - UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork; - FVector start = m_ScenarionConfiguration.StartPosition; - FVector destination = m_ScenarionConfiguration.EndPosition; - TArray routeLinks = roadNetwork->CalculateRoute(start, destination); - - if (routeLinks.Num() > 0) - { - m_Route = GetWorld()->SpawnActor(FVector(0.0f, 0.0f, 0.0f), FRotator(0.0f, 0.0f, 0.0f), FActorSpawnParameters()); - - SDeepDriveRouteData routeData; - routeData.Start = start; - routeData.Destination = destination; - routeData.Links = routeLinks; - m_Route->initialize(roadNetwork->getRoadNetwork(), routeData); - m_Route->convert(start); - m_Route->placeAgentAtStart(agent); - } - else - { - roadNetwork->PlaceAgentOnRoad(&agent, start, true); - } - activated = true; - } - break; - } - return true; -} - -bool ADeepDriveAgentRemoteAIController::ResetAgent() -{ - bool res = false; - if(m_Agent) - { - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("Reset Agent at %d"), m_StartPositionSlot); - if(m_StartPositionSlot < 0) - m_StartDistance = m_Track->getRandomDistanceAlongTrack(*m_DeepDriveSimulation->GetRandomStream(FName("AgentPlacement"))); - - resetAgentPosOnSpline(*m_Agent, m_Track->GetSpline(), m_StartDistance); - m_Agent->reset(); - m_hasCollisionOccured = false; - res = true; - } - return res; -} - - -void ADeepDriveAgentRemoteAIController::Configure(const FDeepDriveRemoteAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation) -{ - m_DeepDriveSimulation = DeepDriveSimulation; - m_OperationMode = OperationMode::Standard; - - m_Track = Configuration.Track; - m_StartPositionSlot = StartPositionSlot; - m_StartDistance = StartPositionSlot >= 0 && StartPositionSlot < Configuration.StartDistances.Num() ? Configuration.StartDistances[StartPositionSlot] : -1.0f; -} - -void ADeepDriveAgentRemoteAIController::ConfigureScenario(const FDeepDriveRemoteAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation) -{ - m_DeepDriveSimulation = DeepDriveSimulation; - - m_OperationMode = OperationMode::Scenario; - m_ScenarionConfiguration.StartPosition = ScenarioConfiguration.StartPosition; - m_ScenarionConfiguration.EndPosition = ScenarioConfiguration.EndPosition; -} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.cpp deleted file mode 100644 index ff15a514..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.cpp +++ /dev/null @@ -1,189 +0,0 @@ - - -#include "DeepDrivePluginPrivatePCH.h" -#include "DeepDriveAgentRemoteTrafficAIController.h" -#include "Public/Simulation/DeepDriveSimulation.h" -#include "Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h" -#include "Public/Simulation/RoadNetwork/DeepDriveRoute.h" -#include "Public/Simulation/Agent/DeepDriveAgent.h" -#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSpeedController.h" -#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSteeringController.h" -#include "Public/Simulation/Misc/BezierCurveComponent.h" - -#include "Private/Simulation/Traffic/Path/DeepDrivePathDefines.h" -#include "Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h" -#include "Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h" - -ADeepDriveAgentRemoteTrafficAIController::ADeepDriveAgentRemoteTrafficAIController() -{ - m_ControllerName = "Remote Traffic AI Controller"; - // for testing purposes - m_isCollisionEnabled = true; - - m_BezierCurve = CreateDefaultSubobject(TEXT("BezierCurve")); -} - -void ADeepDriveAgentRemoteTrafficAIController::Tick(float DeltaSeconds) -{ - if(m_Agent && m_PathPlanner) - { - float speed = 0.0f; - float brake = 1.0f; - float heading = 0.0f; - m_PathPlanner->advance(DeltaSeconds, speed, heading, brake); - } -} - -void ADeepDriveAgentRemoteTrafficAIController::SetControlValues(float steering, float throttle, float brake, bool handbrake) -{ - if (m_Agent) - { - m_Agent->SetControlValues(steering, throttle, brake, handbrake); - m_Agent->setIsGameDriving(false); - } -} - - - -bool ADeepDriveAgentRemoteTrafficAIController::Activate(ADeepDriveAgent &agent, bool keepPosition) -{ - bool res = false; - - UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork; - - m_showPath = roadNetwork->ShowRoutes; - - SDeepDriveRoute route; - - switch(m_OperationMode) - { - case OperationMode::Standard: - if(m_StartIndex < 0 || m_StartIndex < m_Configuration.Routes.Num()) - { - if(m_StartIndex < 0) - { - uint32_t fromLinkId = 0; - do - { - fromLinkId = roadNetwork->getRandomRoadLink(false, true); - if(fromLinkId) - route.Start = roadNetwork->getRoadNetwork().getLocationOnLink(fromLinkId, EDeepDriveLaneType::MAJOR_LANE, 0.25f); - - } while(fromLinkId == 0 || m_DeepDriveSimulation->isLocationOccupied(route.Start, 300.0f)); - - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentRemoteTrafficAIController::Activate Random start pos %s"), *(route.Start.ToString()) ); - - roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true); - route.Links = roadNetwork->calculateRandomRoute(route.Start, route.Destination); - } - else - { - route.Start = m_Configuration.Routes[m_StartIndex].Start; - route.Destination = m_Configuration.Routes[m_StartIndex].Destination; - roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true); - route.Links = roadNetwork->CalculateRoute(route.Start, route.Destination); - } - } - else if(m_StartIndex < m_Configuration.StartPositions.Num()) - { - roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true); - } - break; - - case OperationMode::Scenario: - route.Start = m_ScenarionConfiguration.StartPosition; - route.Destination = m_ScenarionConfiguration.EndPosition; - roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true); - route.Links = roadNetwork->CalculateRoute(route.Start, route.Destination); - break; - } - - if (route.Links.Num() > 0) - { - //route->convert(start); - //route->placeAgentAtStart(agent); - - m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake); - m_SpeedController->initialize(agent); - - m_PathConfiguration = new SDeepDrivePathConfiguration; - m_PathConfiguration->PIDSteering = m_Configuration.PIDSteering; - m_PathPlanner = new DeepDrivePathPlanner(agent, roadNetwork->getRoadNetwork(), *m_BezierCurve, *m_PathConfiguration); - - DeepDriveManeuverCalculator *manCalc = m_DeepDriveSimulation->getManeuverCalculator(); - if(manCalc) - manCalc->calculate(route, agent); - m_PathPlanner->setRoute(route); - - { - float speed = 0.0f; - float brake = 1.0f; - float heading = 0.0f; - m_PathPlanner->advance(0.0f, speed, heading, brake); - } - - res = true; - m_State = ActiveRouteGuidance; - m_Route = 0; - } - else - { - roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true); - } - - if(res) - activateController(agent); - - return res; -} - -bool ADeepDriveAgentRemoteTrafficAIController::ResetAgent() -{ - bool res = false; - if(m_Agent) - { - res = true; - m_Agent->reset(); - } - return res; -} - -float ADeepDriveAgentRemoteTrafficAIController::getDistanceAlongRoute() -{ - return m_PathPlanner && m_Agent ? m_PathPlanner->getDistanceAlongRoute() : 0.0f; -} - -float ADeepDriveAgentRemoteTrafficAIController::getRouteLength() -{ - return m_PathPlanner && m_Agent ? m_PathPlanner->getRouteLength() : 0.0f; -} - -float ADeepDriveAgentRemoteTrafficAIController::getDistanceToCenterOfTrack() -{ - return m_PathPlanner && m_Agent ? m_PathPlanner->getDistanceToCenterOfTrack() : 0.0f; -} - -void ADeepDriveAgentRemoteTrafficAIController::Configure(const FDeepDriveTrafficAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation) -{ - m_Configuration = Configuration; - m_DeepDriveSimulation = DeepDriveSimulation; - m_StartIndex = StartPositionSlot; - - m_OperationMode = OperationMode::Standard; - - m_DesiredSpeed = FMath::RandRange(Configuration.SpeedRange.X, Configuration.SpeedRange.Y); -} - -void ADeepDriveAgentRemoteTrafficAIController::ConfigureScenario(const FDeepDriveTrafficAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation) -{ - m_Configuration = Configuration; - m_DeepDriveSimulation = DeepDriveSimulation; - m_StartIndex = -1; - - m_OperationMode = OperationMode::Scenario; - m_ScenarionConfiguration.StartPosition = ScenarioConfiguration.StartPosition; - m_ScenarionConfiguration.EndPosition = ScenarioConfiguration.EndPosition; - - m_DesiredSpeed = ScenarioConfiguration.MaxSpeed; -} - diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp index cd5de60d..7cc4d875 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp @@ -14,6 +14,10 @@ #include "Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h" #include "Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h" +#include "WheeledVehicleMovementComponent.h" + +#include "ActorEventLogging/Public/ActorEventLoggingMacros.h" + ADeepDriveAgentTrafficAIController::ADeepDriveAgentTrafficAIController() { m_ControllerName = "Traffic AI Controller"; @@ -34,7 +38,11 @@ bool ADeepDriveAgentTrafficAIController::updateAgentOnPath( float DeltaSeconds ) const float safetyDistance = calculateSafetyDistance(); float dist2Obstacle = checkForObstacle(safetyDistance); if(dist2Obstacle >= 0.0f) + { + const float speedBefore = speed; speed *= FMath::SmoothStep(300.0f, FMath::Max(500.0f, safetyDistance * 0.8f), dist2Obstacle); + AEL_MESSAGE(*m_Agent, TEXT("Distance to obstacle %f speed of %f reduced to %f"), dist2Obstacle, speedBefore, speed ); + } brake = speed > 0.0f ? 0.0f : 1.0f; @@ -44,20 +52,27 @@ bool ADeepDriveAgentTrafficAIController::updateAgentOnPath( float DeltaSeconds ) // m_SteeringController->update(DeltaSeconds, heading); - return m_PathPlanner->isCloseToEnd(200.0f); + const bool hasReachedDestination = m_PathPlanner->hasReachedDestination(); + + return hasReachedDestination; } void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds ) { - if(m_Agent && m_SpeedController) + if(m_InputTimer > 0.0f) { - switch(m_State) + m_InputTimer -= DeltaSeconds; + } + else if(m_Agent && m_SpeedController && !m_isRemotelyControlled) + { + m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false); + switch (m_State) { case ActiveRouteGuidance: { - const bool isCloseToEnd = updateAgentOnPath(DeltaSeconds); + const bool hasReachedDestination = updateAgentOnPath(DeltaSeconds); - if (isCloseToEnd) + if (hasReachedDestination) { m_State = m_StartIndex < 0 && m_OperationMode == OperationMode::Standard ? Waiting : Idle; m_Agent->SetThrottle(0.0f); @@ -78,7 +93,7 @@ void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds ) { FVector start = m_Agent->GetActorLocation(); FVector destination; - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate Random start pos %s"), *(start.ToString()) ); + UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Tick %d) Calculate new random route starting from %s"), m_Agent->GetAgentId(), *(start.ToString()) ); SDeepDriveRoute route; @@ -87,6 +102,7 @@ void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds ) { route.Start = start; route.Destination = destination; + UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Tick %d) to destination %s"), m_Agent->GetAgentId(), *(destination.ToString())); DeepDriveManeuverCalculator *manCalc = m_DeepDriveSimulation->getManeuverCalculator(); if(manCalc) manCalc->calculate(route, *m_Agent); @@ -113,6 +129,8 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k { bool res = false; + AEL_ENSURE_TICK_ORDER(*this); + UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork; m_showPath = roadNetwork->ShowRoutes; @@ -135,10 +153,11 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k } while(fromLinkId == 0 || m_DeepDriveSimulation->isLocationOccupied(route.Start, 300.0f)); - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate Random start pos %s"), *(route.Start.ToString()) ); + UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate %d) Random start pos %s"), agent.GetAgentId(), *(route.Start.ToString()) ); roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true); route.Links = roadNetwork->calculateRandomRoute(route.Start, route.Destination); + UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate %d) Random Destination %s"), agent.GetAgentId(), *(route.Destination.ToString())); } else { @@ -150,7 +169,11 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k } else if(m_StartIndex < m_Configuration.StartPositions.Num()) { - roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true); + if(roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true) == false) + { + FTransform transform(FRotator(0.0f, 0.0f, 0.0f), m_Configuration.StartPositions[m_StartIndex], FVector(1.0f, 1.0f, 1.0f)); + agent.SetActorTransform(transform, false, 0, ETeleportType::TeleportPhysics); + } } break; @@ -162,17 +185,23 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k break; } + bool firstActivate = false; if (route.Links.Num() > 0) { - //route->convert(start); - //route->placeAgentAtStart(agent); - - m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake); - m_SpeedController->initialize(agent); + if(m_SpeedController == 0) + { + m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake); + m_SpeedController->initialize(agent); + firstActivate = true; + } - m_PathConfiguration = new SDeepDrivePathConfiguration; - m_PathConfiguration->PIDSteering = m_Configuration.PIDSteering; - m_PathPlanner = new DeepDrivePathPlanner(agent, roadNetwork->getRoadNetwork(), *m_BezierCurve, *m_PathConfiguration); + if(m_PathConfiguration == 0) + { + m_PathConfiguration = new SDeepDrivePathConfiguration; + m_PathConfiguration->PIDSteering = m_Configuration.PIDSteering; + } + if(m_PathPlanner == 0) + m_PathPlanner = new DeepDrivePathPlanner(agent, roadNetwork->getRoadNetwork(), *m_BezierCurve, *m_PathConfiguration); DeepDriveManeuverCalculator *manCalc = m_DeepDriveSimulation->getManeuverCalculator(); if(manCalc) @@ -180,20 +209,28 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k m_PathPlanner->setRoute(route); res = true; + if (firstActivate) + activateController(agent); m_State = ActiveRouteGuidance; m_Route = 0; } else { - roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true); - } + if (roadNetwork->getRoadNetwork().Junctions.Num() > 0) + roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true); - if(res) + res = true; activateController(agent); + } return res; } +void ADeepDriveAgentTrafficAIController::Reset() +{ + Activate(*m_Agent, false); +} + bool ADeepDriveAgentTrafficAIController::ResetAgent() { bool res = false; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp index 91ea7330..1d6c20d0 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp @@ -8,6 +8,8 @@ #include "Simulation/Agent/DeepDriveAgentControllerBase.h" #include "Private/Capture/DeepDriveCapture.h" +#include "ActorEventLogging/Public/ActorEventLoggingMacros.h" + #include "WheeledVehicleMovementComponent.h" #include "Runtime/Engine/Classes/Kismet/KismetRenderingLibrary.h" @@ -69,6 +71,12 @@ ADeepDriveAgent::ADeepDriveAgent() } +void ADeepDriveAgent::PostInitializeComponents() +{ + Super::PostInitializeComponents(); +} + + void ADeepDriveAgent::BeginPlay() { Super::BeginPlay(); @@ -117,6 +125,8 @@ void ADeepDriveAgent::Tick( float DeltaSeconds ) ++m_NumberOfLaps; UE_LOG(LogDeepDriveAgent, Log, TEXT("Laps finished %d"), m_NumberOfLaps ); } + + AEL_LOG_TRANSFORM(*this, GetActorTransform()); } int32 ADeepDriveAgent::RegisterCaptureCamera(float fieldOfView, int32 captureWidth, int32 captureHeight, FVector relativePosition, FVector relativeRotation, const FString &label) @@ -472,6 +482,10 @@ void ADeepDriveAgent::OnBeginOverlap(UPrimitiveComponent *OverlappedComponent, A { // UE_LOG(LogDeepDriveAgent, Log, TEXT("OnBeginOverlap %s with %s"), *(OverlappedComponent->GetName()), *(OtherActor->GetName()) ); + ADeepDriveAgent *otherAgent = Cast(OtherActor); + + AEL_MESSAGE(*this, TEXT("Collision of %s with %s other agent %d"), *(OverlappedComponent->GetReadableName()), *(OtherComp->GetReadableName()), otherAgent ? otherAgent->GetAgentId() : -1 ); + ADeepDriveAgentControllerBase *ctrl = getAgentController(); if (ctrl) { @@ -498,13 +512,22 @@ void ADeepDriveAgent::SetSpeedRange(float MinSpeed, float MaxSpeed) ctrl->SetSpeedRange(MinSpeed, MaxSpeed); } -void ADeepDriveAgent::SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState DirectionIndicator) +void ADeepDriveAgent::setTurnSignalState(EDeepDriveAgentTurnSignalState TurnSignal) { - m_DirectionIndicator = DirectionIndicator; - UE_LOG(LogDeepDriveAgent, Log, TEXT("SetDirectionIndicatorState %d"), static_cast (m_DirectionIndicator) ); + if(m_TurnSignal != TurnSignal) + { + m_TurnSignal = TurnSignal; + UE_LOG(LogDeepDriveAgent, Log, TEXT("SetTurnSignalState for agent %d to %d"), m_AgentId, static_cast(m_TurnSignal)); + + if (OnTurnSignalStateChanged.IsBound()) + { + OnTurnSignalStateChanged.Broadcast(m_TurnSignal); + } + } + } -EDeepDriveAgentDirectionIndicatorState ADeepDriveAgent::GetDirectionIndicatorState() +EDeepDriveAgentTurnSignalState ADeepDriveAgent::GetTurnSignalState() { - return m_DirectionIndicator; + return m_TurnSignal; } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp index 7411ea3f..e95e31de 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp @@ -10,6 +10,8 @@ #include "Runtime/Engine/Classes/Components/SplineComponent.h" #include "Runtime/Landscape/Classes/Landscape.h" +#include "WheeledVehicleMovementComponent.h" + DEFINE_LOG_CATEGORY(LogDeepDriveAgentControllerBase); ADeepDriveAgentControllerBase::ADeepDriveAgentControllerBase() @@ -30,28 +32,84 @@ bool ADeepDriveAgentControllerBase::Activate(ADeepDriveAgent &agent, bool keepPo return false; } -void ADeepDriveAgentControllerBase::Deactivate() +void ADeepDriveAgentControllerBase::RequestControl() +{ + m_isRemotelyControlled = true; +} + +void ADeepDriveAgentControllerBase::ReleaseControl() +{ + m_isRemotelyControlled = false; +} + +void ADeepDriveAgentControllerBase::Reset() { } void ADeepDriveAgentControllerBase::MoveForward(float axisValue) { + if (m_Agent) + { + if(FMath::Abs(axisValue) > InputThreshold) + m_InputTimer = 0.1f; + if(m_InputTimer > 0.0f) + { + if (axisValue > 0.0f) + { + m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false); + } + else if (axisValue < 0.0f) + { + m_Agent->GetVehicleMovementComponent()->SetTargetGear(-1, false); + } + + m_Agent->SetThrottle(axisValue); + m_Agent->setIsGameDriving(true); + } + } } void ADeepDriveAgentControllerBase::MoveRight(float axisValue) { + if (m_Agent) + { + if(FMath::Abs(axisValue) > InputThreshold) + m_InputTimer = 0.1f; + if (m_InputTimer > 0.0f) + { + m_Agent->SetSteering(axisValue); + m_Agent->setIsGameDriving(true); + } + } } void ADeepDriveAgentControllerBase::Brake(float axisValue) { + if (m_Agent) + { + if(axisValue > InputThreshold) + m_InputTimer = 0.1f; + if(m_InputTimer > 0.0f) + { + const float curBrakeValue = FMath::Clamp(axisValue, 0.0f, 1.0f); + m_Agent->SetBrake(curBrakeValue); + } + } } void ADeepDriveAgentControllerBase::SetControlValues(float steering, float throttle, float brake, bool handbrake) { - + if ( m_Agent + && m_InputTimer <= 0.0f + && m_isRemotelyControlled + ) + { + m_Agent->SetControlValues(steering, throttle, brake, handbrake); + m_Agent->setIsGameDriving(false); + } } bool ADeepDriveAgentControllerBase::ResetAgent() @@ -84,10 +142,12 @@ void ADeepDriveAgentControllerBase::OnAgentCollision(AActor *OtherActor, const F m_CollisionData.CollisionNormal = HitResult.ImpactNormal; m_hasCollisionOccured = true; - UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentControllerBase::OnAgentCollision %ld"), now.ToUnixTimestamp() ); + ADeepDriveAgent *otherAgent = Cast(OtherActor); + UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentControllerBase::OnAgentCollision %d) with other agent %d at %ld"), m_Agent->GetAgentId(), otherAgent ? otherAgent->GetAgentId() : -1, now.ToUnixTimestamp()); } - else { + else + { UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentControllerBase::OnAgentCollision ignored due to m_isCollisionEnabled == false")); } } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp index de567f3a..adc1cb72 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp @@ -3,14 +3,16 @@ #include "DeepDrivePluginPrivatePCH.h" #include "DeepDriveSimulation.h" #include "Private/Server/DeepDriveSimulationServer.h" -#include "Private/Simulation/DeepDriveSimulationMessageHandler.h" +#include "Private/Simulation/DeepDriveSimulationRequestHandler.h" #include "Private/Simulation/DeepDriveSimulationStateMachine.h" #include "Private/Simulation/States/DeepDriveSimulationInitializeState.h" #include "Private/Simulation/States/DeepDriveSimulationRunningState.h" #include "Private/Simulation/States/DeepDriveSimulationConfigureState.h" #include "Private/Simulation/States/DeepDriveSimulationResetState.h" #include "Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h" -#include "Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h" + +#include "Private/Simulation/Requests/DeepDriveSimulationRequests.h" +#include "Private/Simulation/Requests/DeepDriveMultiAgentRequests.h" #include "Private/Server/DeepDriveServer.h" #include "Public/Simulation/DeepDriveSimulationServerProxy.h" @@ -80,6 +82,7 @@ void ADeepDriveSimulation::PreInitializeComponents() } } + bool forceRemoteAI = false; { #if WITH_EDITOR ScenarioMode = InitialScenarioMode; @@ -94,11 +97,19 @@ void ADeepDriveSimulation::PreInitializeComponents() if(s == "scenario_mode") { ScenarioMode = true; - break; + } + else if (s == "remote_ai") + { + forceRemoteAI = true; } } } - UE_LOG(LogDeepDriveSimulation, Log, TEXT(">> Scenario Mode %c"), ScenarioMode ? 'T' :'F'); + UE_LOG(LogDeepDriveSimulation, Log, TEXT(">> Scenario Mode %c RemoteAI %c"), ScenarioMode ? 'T' :'F', forceRemoteAI ? 'T' : 'F'); + + if(forceRemoteAI && ScenarioMode == false) + { + UE_LOG(LogDeepDriveSimulation, Log, TEXT("Intital Controller Mode forced to be RemoteAI")); + } if (!alreadyRegistered) { @@ -111,7 +122,12 @@ void ADeepDriveSimulation::PreInitializeComponents() if (m_SimulationServer) { m_SimulationServer->start(); - m_MessageHandler = new DeepDriveSimulationMessageHandler(*this, *m_SimulationServer); + m_RequestHandler = new DeepDriveSimulationRequestHandler(*this, *m_SimulationServer); + if(m_RequestHandler) + { + DeepDriveSimulationRequests::registerHandlers(*m_RequestHandler); + DeepDriveMultiAgentRequests::registerHandlers(*m_RequestHandler); + } } } @@ -206,8 +222,8 @@ void ADeepDriveSimulation::Tick( float DeltaTime ) { Super::Tick( DeltaTime ); - if(m_MessageHandler) - m_MessageHandler->handleMessages(); + if(m_RequestHandler) + m_RequestHandler->handleRequests(); if (m_StateMachine) m_StateMachine->update(*this, DeltaTime); @@ -385,35 +401,6 @@ void ADeepDriveSimulation::switchToCamera(EDeepDriveAgentCameraType type) } } -void ADeepDriveSimulation::SelectMode(EDeepDriveAgentControlMode Mode) -{ - if(Mode != m_curAgentMode) - { - UEnum* pEnum = FindObject(ANY_PACKAGE, TEXT("EDeepDriveAgentControlMode") , true); - UE_LOG(LogDeepDriveSimulation, Log, TEXT("SelectMode activating new mode: %s"), *(pEnum ? pEnum->GetNameByIndex(static_cast(Mode)).ToString() : FString("UNKOWN")) ); - - ADeepDriveAgentControllerBase *controller = spawnController(Mode, 0, 0); - ADeepDriveAgentControllerBase *prevController = Cast (m_curAgent->GetController()); - - if ( controller - && controller->Activate(*m_curAgent, true) - ) - { - if(prevController) - { - prevController->Deactivate(); - prevController->Destroy(); - } - - controller->restoreStartPositionSlot(StartPositionSlot); - - m_curAgentMode = Mode; - m_curAgentController = controller; - } - - } -} - void ADeepDriveSimulation::NextAgent() { switchToAgent((m_curAgentIndex + 1) % m_Agents.Num()); @@ -432,8 +419,8 @@ void ADeepDriveSimulation::enqueueMessage(deepdrive::server::MessageHeader *mess { if (message) { - if(m_MessageHandler) - m_MessageHandler->enqueueMessage(*message); + if(m_RequestHandler) + m_RequestHandler->enqueueRequest(*message); else FMemory::Free(message); } @@ -468,9 +455,26 @@ bool ADeepDriveSimulation::resetAgent() return m_curAgentController ? m_curAgentController->ResetAgent() : false; } +bool ADeepDriveSimulation::requestControl() +{ + bool res = false; + if(m_curAgentController) + { + m_curAgentController->RequestControl(); + res = true; + } + return true; +} + +void ADeepDriveSimulation::releaseControl() +{ + if(m_curAgentController) + m_curAgentController->ReleaseControl(); +} + void ADeepDriveSimulation::initializeAgents() { - m_curAgent = spawnAgent(InitialControllerMode, InitialConfigurationSlot, StartPositionSlot); + m_curAgent = spawnAgent(ControllerCreator, InitialConfigurationSlot, StartPositionSlot); if (m_curAgent) { spawnAdditionalAgents(); @@ -498,7 +502,7 @@ void ADeepDriveSimulation::removeAgents(bool removeEgo) m_Agents.SetNum(removeEgo ? 0 : 1); } -ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool isEgoAgent, bool remotelyControlled) +ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool remotelyControlled) { FTransform transform(scenarioCfg.StartPosition); @@ -513,18 +517,15 @@ ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioC agent->initialize(*this); agent->setResetTransform(transform); - EDeepDriveAgentControlMode mode = remotelyControlled ? EDeepDriveAgentControlMode::REMOTE_AI : EDeepDriveAgentControlMode::CITY_AI; - if(ControllerCreators.Contains(mode)) + ADeepDriveAgentControllerBase *controller = ControllerCreator->CreateAgentControllerForScenario(scenarioCfg, this); + if (controller) { - ADeepDriveAgentControllerBase *controller = ControllerCreators[mode]->CreateAgentControllerForScenario(scenarioCfg, this); - if (controller) + if (controller->Activate(*agent, false)) { - if (controller->Activate(*agent, false)) - { - if(isEgoAgent) - m_curAgentMode = mode; - OnAgentSpawned(agent); - } + if(remotelyControlled) + controller->RequestControl(); + + OnAgentSpawned(agent); } } } @@ -532,7 +533,7 @@ ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioC return agent; } -ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot) +ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(ADeepDriveAgentControllerCreator *ctrlCreator, int32 configSlot, int32 startPosSlot) { UE_LOG(LogDeepDriveSimulation, Log, TEXT("Try to spawn agent config slot %d startPosSlot %d"), configSlot, startPosSlot ); @@ -545,12 +546,11 @@ ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(EDeepDriveAgentControlMode mod agent->initialize(*this); agent->setResetTransform(transform); - ADeepDriveAgentControllerBase *controller = spawnController(mode, configSlot, startPosSlot); - if(controller) + ADeepDriveAgentControllerBase *controller = ctrlCreator->CreateAgentController(configSlot, startPosSlot, this); + if (controller) { if(controller->Activate(*agent, false)) { - m_curAgentMode = mode; OnAgentSpawned(agent); UE_LOG(LogDeepDriveSimulation, Log, TEXT("Spawning agent controlled by %s"), *(controller->getControllerName()) ); } @@ -580,7 +580,7 @@ void ADeepDriveSimulation::spawnAdditionalAgents() m_Agents.Add(agent); agent->setResetTransform(transform); - ADeepDriveAgentControllerBase *controller = spawnController(data.Mode, data.ConfigurationSlot, data.StartPositionSlot); + ADeepDriveAgentControllerBase *controller = (data.ControllerCreator ? data.ControllerCreator : ControllerCreator)->CreateAgentController(data.ConfigurationSlot, data.StartPositionSlot, this); if (controller) { if (controller->Activate(*agent, false)) @@ -600,22 +600,6 @@ void ADeepDriveSimulation::spawnAdditionalAgents() } } -ADeepDriveAgentControllerBase* ADeepDriveSimulation::spawnController(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot) -{ - ADeepDriveAgentControllerBase *controller = 0; - - if(ControllerCreators.Contains(mode)) - { - controller = ControllerCreators[mode]->CreateAgentController(configSlot, startPosSlot, this); - } - else - { - UE_LOG(LogDeepDriveSimulation, Error, TEXT("spawnController No controller creator found") ); - } - - return controller; -} - void ADeepDriveSimulation::switchToAgent(int32 index) { if(index >= 0 && index < m_Agents.Num()) diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp deleted file mode 100644 index b082686d..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp +++ /dev/null @@ -1,125 +0,0 @@ - -#include "DeepDrivePluginPrivatePCH.h" -#include "Private/Simulation/DeepDriveSimulationMessageHandler.h" -#include "Private/Server/DeepDriveSimulationServer.h" -#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h" -#include "Public/Simulation/Agent/DeepDriveAgent.h" -#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h" -#include "Public/Simulation/Misc/DeepDriveRandomStream.h" - -#include "Public/Simulation/DeepDriveSimulation.h" - -DEFINE_LOG_CATEGORY(LogDeepDriveSimulationMessageHandler); - -DeepDriveSimulationMessageHandler::DeepDriveSimulationMessageHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer) - : m_Simulation(sim) - , m_SimulationServer(simServer) -{ - - m_MessageHandlers[deepdrive::server::MessageId::ConfigureSimulationRequest] = std::bind(&DeepDriveSimulationMessageHandler::configure, this, std::placeholders::_1); - m_MessageHandlers[deepdrive::server::MessageId::ResetSimulationRequest] = std::bind(&DeepDriveSimulationMessageHandler::reset, this, std::placeholders::_1); - m_MessageHandlers[deepdrive::server::MessageId::SetGraphicsSettingsRequest] = std::bind(&DeepDriveSimulationMessageHandler::setGfxSettings, this, std::placeholders::_1); - m_MessageHandlers[deepdrive::server::MessageId::SetDateAndTimeRequest] = std::bind(&DeepDriveSimulationMessageHandler::setDateAndTime, this, std::placeholders::_1); - m_MessageHandlers[deepdrive::server::MessageId::SetSunSimulationSpeedRequest] = std::bind(&DeepDriveSimulationMessageHandler::setSunSimulationSpeed, this, std::placeholders::_1); - -} - -DeepDriveSimulationMessageHandler::~DeepDriveSimulationMessageHandler() -{ -} - -void DeepDriveSimulationMessageHandler::handleMessages() -{ - deepdrive::server::MessageHeader *message = 0; - if (m_MessageQueue.Dequeue(message) - && message - ) - { - MessageHandlers::iterator fIt = m_MessageHandlers.find(message->message_id); - if (fIt != m_MessageHandlers.end()) - fIt->second(*message); - - FMemory::Free(message); - } -} - -void DeepDriveSimulationMessageHandler::enqueueMessage(deepdrive::server::MessageHeader &message) -{ - m_MessageQueue.Enqueue(&message); -} - - -void DeepDriveSimulationMessageHandler::configure(const deepdrive::server::MessageHeader& message) -{ - UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation configure") ); - - const deepdrive::server::ConfigureSimulationRequest &req = static_cast (message); - const SimulationConfiguration &configuration = req.configuration; - const SimulationGraphicsSettings &graphicsSettings = req.graphics_settings; - - m_Simulation.Seed = configuration.seed; - for (auto &rsd : m_Simulation.RandomStreams) - rsd.Value.getRandomStream()->initialize(configuration.seed); - - for (auto &agent : m_Simulation.m_Agents) - { - agent->getAgentController()->OnConfigureSimulation(configuration, true); - } - - m_Simulation.applyGraphicsSettings(graphicsSettings); - - m_SimulationServer.enqueueResponse( new deepdrive::server::ConfigureSimulationResponse(true) ); -} - -void DeepDriveSimulationMessageHandler::reset(const deepdrive::server::MessageHeader& message) -{ - const deepdrive::server::ResetSimulationRequest &req = static_cast (message); - const SimulationConfiguration &configuration = req.configuration; - - UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation reset with seed %d time dilation %f agent start location %f"), configuration.seed, configuration.time_dilation, configuration.agent_start_location ); - - for (auto &rsd : m_Simulation.RandomStreams) - if(rsd.Value.ReSeedOnReset) - rsd.Value.getRandomStream()->initialize(m_Simulation.Seed); - - for (auto &agent : m_Simulation.m_Agents) - { - ADeepDriveAgentControllerBase *controller = agent->getAgentController(); - if (controller) - { - controller->OnConfigureSimulation(configuration, false); - controller->ResetAgent(); - } - } - - m_SimulationServer.enqueueResponse( new deepdrive::server::ResetSimulationResponse(true) ); -} - -void DeepDriveSimulationMessageHandler::setGfxSettings(const deepdrive::server::MessageHeader& message) -{ - UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation set graphics settings") ); - - const deepdrive::server::SetGraphicsSettingsRequest &req = static_cast (message); - m_Simulation.applyGraphicsSettings(req.graphics_settings); - m_SimulationServer.enqueueResponse( new deepdrive::server::SetGraphicsSettingsResponse(true) ); -} - -void DeepDriveSimulationMessageHandler::setDateAndTime(const deepdrive::server::MessageHeader& message) -{ - const deepdrive::server::SetDateAndTimeRequest &req = static_cast (message); - - UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation Set Date/Time to %d/%d/%d - %d/%d"), req.year, req.month, req.day, req.hour, req.minute ); - - m_Simulation.SetDateAndTime(req.year, req.month, req.day, req.hour, req.minute); - - m_SimulationServer.enqueueResponse( new deepdrive::server::SetDateAndTimeResponse(true) ); -} - -void DeepDriveSimulationMessageHandler::setSunSimulationSpeed(const deepdrive::server::MessageHeader& message) -{ - const deepdrive::server::SetSunSimulationSpeedRequest &req = static_cast (message); - - m_Simulation.SetSunSimulationSpeed(req.speed); - - m_SimulationServer.enqueueResponse( new deepdrive::server::SetSunSimulationSpeedResponse(true) ); -} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.h deleted file mode 100644 index ca73061a..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.h +++ /dev/null @@ -1,50 +0,0 @@ - -#pragma once - -#include "Engine.h" - -#include "Public/Server/Messages/DeepDriveMessageIds.h" - -#include -#include - -DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveSimulationMessageHandler, Log, All); - -namespace deepdrive { namespace server { -struct MessageHeader; -} } - - -class ADeepDriveSimulation; -class DeepDriveSimulationServer; - -class DeepDriveSimulationMessageHandler -{ - typedef TQueue MessageQueue; - - typedef std::function< void(const deepdrive::server::MessageHeader&) > HandleMessageFuncPtr; - typedef std::map MessageHandlers; - -public: - - DeepDriveSimulationMessageHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer); - ~DeepDriveSimulationMessageHandler(); - - void handleMessages(); - void enqueueMessage(deepdrive::server::MessageHeader &message); - -private: - - void configure(const deepdrive::server::MessageHeader& message); - void reset(const deepdrive::server::MessageHeader& message); - void setGfxSettings(const deepdrive::server::MessageHeader& message); - void setDateAndTime(const deepdrive::server::MessageHeader& message); - void setSunSimulationSpeed(const deepdrive::server::MessageHeader& message); - - ADeepDriveSimulation &m_Simulation; - DeepDriveSimulationServer &m_SimulationServer; - - MessageQueue m_MessageQueue; - MessageHandlers m_MessageHandlers; - -}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.cpp new file mode 100644 index 00000000..66d759c2 --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.cpp @@ -0,0 +1,48 @@ + +#include "DeepDrivePluginPrivatePCH.h" +#include "Private/Simulation/DeepDriveSimulationRequestHandler.h" +#include "Private/Server/DeepDriveSimulationServer.h" +#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h" +#include "Public/Simulation/Agent/DeepDriveAgent.h" +#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h" +#include "Public/Simulation/Misc/DeepDriveRandomStream.h" + +#include "Public/Simulation/DeepDriveSimulation.h" + +DEFINE_LOG_CATEGORY(LogDeepDriveSimulationRequestHandler); + +DeepDriveSimulationRequestHandler::DeepDriveSimulationRequestHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer) + : m_Simulation(sim) + , m_SimulationServer(simServer) +{ + +} + +DeepDriveSimulationRequestHandler::~DeepDriveSimulationRequestHandler() +{ +} + +void DeepDriveSimulationRequestHandler::registerHandler(deepdrive::server::MessageId id, HandleMessageFuncPtr handler) +{ + m_MessageHandlers[id] = handler; +} + +void DeepDriveSimulationRequestHandler::handleRequests() +{ + deepdrive::server::MessageHeader *message = 0; + if ( m_MessageQueue.Dequeue(message) + && message + ) + { + MessageHandlers::iterator fIt = m_MessageHandlers.find(message->message_id); + if (fIt != m_MessageHandlers.end()) + fIt->second(m_Simulation, m_SimulationServer, * message); + + FMemory::Free(message); + } +} + +void DeepDriveSimulationRequestHandler::enqueueRequest(deepdrive::server::MessageHeader &message) +{ + m_MessageQueue.Enqueue(&message); +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.h new file mode 100644 index 00000000..3659147f --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.h @@ -0,0 +1,46 @@ + +#pragma once + +#include "Engine.h" + +#include "Public/Server/Messages/DeepDriveMessageIds.h" + +#include +#include + +DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveSimulationRequestHandler, Log, All); + +namespace deepdrive { namespace server { +struct MessageHeader; +} } + + +class ADeepDriveSimulation; +class DeepDriveSimulationServer; + +class DeepDriveSimulationRequestHandler +{ + typedef TQueue MessageQueue; + + typedef std::function HandleMessageFuncPtr; + typedef std::map MessageHandlers; + +public: + + DeepDriveSimulationRequestHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer); + ~DeepDriveSimulationRequestHandler(); + + void registerHandler(deepdrive::server::MessageId id, HandleMessageFuncPtr handler); + + void handleRequests(); + void enqueueRequest(deepdrive::server::MessageHeader &message); + +private: + + ADeepDriveSimulation &m_Simulation; + DeepDriveSimulationServer &m_SimulationServer; + + MessageQueue m_MessageQueue; + MessageHandlers m_MessageHandlers; + +}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp index 588247bc..fec110d0 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp @@ -81,21 +81,17 @@ void DeepDriveSimulationServerProxy::UnregisterCaptureCamera(uint32 cameraId) bool DeepDriveSimulationServerProxy::RequestAgentControl() { - bool res = true; - - if (m_DeepDriveSim.getControllerMode() != EDeepDriveAgentControlMode::REMOTE_AI) - m_DeepDriveSim.SelectMode(EDeepDriveAgentControlMode::REMOTE_AI); + bool res = m_DeepDriveSim.requestControl(); UE_LOG(LogDeepDriveSimulationServerProxy, Log, TEXT("Control requested - ensuring agent controller is RemoteAI")); - return res; } void DeepDriveSimulationServerProxy::ReleaseAgentControl() { - m_DeepDriveSim.SelectMode(m_DeepDriveSim.InitialControllerMode); + m_DeepDriveSim.releaseControl(); - UE_LOG(LogDeepDriveSimulationServerProxy, Log, TEXT("Control released - switiching back to initial controller mode: %d"), static_cast(m_DeepDriveSim.InitialControllerMode)); + UE_LOG(LogDeepDriveSimulationServerProxy, Log, TEXT("Control released")); } void DeepDriveSimulationServerProxy::ResetAgent() diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.cpp new file mode 100644 index 00000000..1d9a8e13 --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.cpp @@ -0,0 +1,131 @@ + +#include "DeepDrivePluginPrivatePCH.h" +#include "Private/Simulation/Requests/DeepDriveMultiAgentRequests.h" +#include "Private/Simulation/DeepDriveSimulationRequestHandler.h" +#include "Private/Server/DeepDriveSimulationServer.h" +#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h" +#include "Public/Simulation/Agent/DeepDriveAgent.h" +#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h" + +#include "Public/Simulation/DeepDriveSimulation.h" + +#include "Public/Server/Messages/DeepDriveMessageIds.h" + +DEFINE_LOG_CATEGORY(LogDeepDriveMultiAgentRequests); + +void DeepDriveMultiAgentRequests::registerHandlers(DeepDriveSimulationRequestHandler &requestHandler) +{ + requestHandler.registerHandler(deepdrive::server::MessageId::GetAgentsListRequest, std::bind(&DeepDriveMultiAgentRequests::getAgentsList, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + requestHandler.registerHandler(deepdrive::server::MessageId::RequestControlRequest, std::bind(&DeepDriveMultiAgentRequests::requestControl, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + requestHandler.registerHandler(deepdrive::server::MessageId::ReleaseControlRequest, std::bind(&DeepDriveMultiAgentRequests::releaseControl, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + requestHandler.registerHandler(deepdrive::server::MessageId::SetControlValuesRequest, std::bind(&DeepDriveMultiAgentRequests::setControlValues, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); +} + +void DeepDriveMultiAgentRequests::getAgentsList(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message) +{ + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("DeepDriveSimulation getAgentsList") ); + + TArray ids; + + for(auto agent : simulation.m_Agents) + { + auto id = agent->GetAgentId(); + ids.Add(agent->GetAgentId()); + } + + const size_t msgSize = deepdrive::server::GetAgentsListResponse::getMessageSize(ids.Num()); + deepdrive::server::GetAgentsListResponse *response = new (FMemory::Malloc(msgSize, 4)) deepdrive::server::GetAgentsListResponse(ids.Num(), ids.GetData()); + + simulationServer.enqueueResponse(response); +} + +void DeepDriveMultiAgentRequests::requestControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + const deepdrive::server::RequestControlRequest &req = static_cast (message); + + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("request control for Agent Count %d"), req.agent_count); + + if(req.agent_count == 0) + { + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Granting control for all agents")); + for (auto agent : simulation.m_Agents) + { + agent->getAgentController()->RequestControl(); + } + } + else + { + for (uint32 i = 0; i < req.agent_count; ++i) + { + const uint32 id = req.agent_ids[i]; + const int32 index = id - 1; + if(index >= 0 && index < simulation.m_Agents.Num()) + simulation.m_Agents[index]->getAgentController()->RequestControl(); + } + } + + simulationServer.enqueueResponse(new deepdrive::server::RequestControlResponse(true)); +} + +void DeepDriveMultiAgentRequests::releaseControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + const deepdrive::server::ReleaseControlRequest &req = static_cast(message); + + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("release control for Agent Count %d"), req.agent_count); + + if (req.agent_count == 0) + { + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Releasing control for all agents")); + for (auto agent : simulation.m_Agents) + { + agent->getAgentController()->ReleaseControl(); + } + } + else + { + for (uint32 i = 0; i < req.agent_count; ++i) + { + const uint32 id = req.agent_ids[i]; + const int32 index = id - 1; + if (index >= 0 && index < simulation.m_Agents.Num()) + simulation.m_Agents[index]->getAgentController()->ReleaseControl(); + } + } + + simulationServer.enqueueResponse(new deepdrive::server::ReleaseControlResponse(true)); +} + +void DeepDriveMultiAgentRequests::setControlValues(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + const deepdrive::server::SetControlValuesRequest &req = static_cast(message); + + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Set control values for Agent Count %d"), req.agent_count); + + for (uint32 i = 0; i < req.agent_count; ++i) + { + for (uint32 i = 0; i < req.agent_count; ++i) + { + const uint32 id = req.control_values[i].agent_id; + const int32 index = id - 1; + if ( index >= 0 + && index < simulation.m_Agents.Num() + ) + { + ADeepDriveAgentControllerBase *controller = simulation.m_Agents[index]->getAgentController(); + if(controller && controller->isRemotelyControlled()) + controller->SetControlValues(req.control_values[i].steering, req.control_values[i].throttle, req.control_values[i].brake, req.control_values[i].handbrake); + else + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Agent %d has no controller (%p) or isn't remotely controlled"), id, controller); + } + else + UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Unknown agent %d"), id); + } + } + + simulationServer.enqueueResponse(new deepdrive::server::GenericBooleanResponse(true)); +} + +void DeepDriveMultiAgentRequests::step(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.h new file mode 100644 index 00000000..969579be --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.h @@ -0,0 +1,34 @@ + +#pragma once + +#include "Engine.h" + +DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveMultiAgentRequests, Log, All); + +namespace deepdrive { namespace server { +struct MessageHeader; +} } + + +class ADeepDriveSimulation; +class DeepDriveSimulationServer; +class DeepDriveSimulationRequestHandler; + +class DeepDriveMultiAgentRequests +{ +public: + + static void registerHandlers(DeepDriveSimulationRequestHandler &requestHandler); + +private: + + static void getAgentsList(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); + + static void requestControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); + + static void releaseControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); + + static void setControlValues(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); + + static void step(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); +}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.cpp new file mode 100644 index 00000000..a7803450 --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.cpp @@ -0,0 +1,101 @@ + +#include "DeepDrivePluginPrivatePCH.h" +#include "Private/Simulation/Requests/DeepDriveSimulationRequests.h" +#include "Private/Simulation/DeepDriveSimulationRequestHandler.h" +#include "Private/Server/DeepDriveSimulationServer.h" +#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h" +#include "Public/Simulation/Agent/DeepDriveAgent.h" +#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h" +#include "Public/Simulation/Misc/DeepDriveRandomStream.h" + +#include "Public/Simulation/DeepDriveSimulation.h" + +#include "Public/Server/Messages/DeepDriveMessageIds.h" + +DEFINE_LOG_CATEGORY(LogDeepDriveSimulationRequests); + +void DeepDriveSimulationRequests::registerHandlers(DeepDriveSimulationRequestHandler &requestHandler) +{ + requestHandler.registerHandler(deepdrive::server::MessageId::ConfigureSimulationRequest, std::bind(&DeepDriveSimulationRequests::configure, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + requestHandler.registerHandler(deepdrive::server::MessageId::ResetSimulationRequest, std::bind(&DeepDriveSimulationRequests::reset, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + requestHandler.registerHandler(deepdrive::server::MessageId::SetGraphicsSettingsRequest, std::bind(&DeepDriveSimulationRequests::setGfxSettings, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + requestHandler.registerHandler(deepdrive::server::MessageId::SetDateAndTimeRequest, std::bind(&DeepDriveSimulationRequests::setDateAndTime, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + requestHandler.registerHandler(deepdrive::server::MessageId::SetSunSimulationSpeedRequest, std::bind(&DeepDriveSimulationRequests::setSunSimulationSpeed, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); +} + + +void DeepDriveSimulationRequests::configure(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message) +{ + UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation configure") ); + + const deepdrive::server::ConfigureSimulationRequest &req = static_cast (message); + const SimulationConfiguration &configuration = req.configuration; + const SimulationGraphicsSettings &graphicsSettings = req.graphics_settings; + + simulation.Seed = configuration.seed; + for (auto &rsd : simulation.RandomStreams) + rsd.Value.getRandomStream()->initialize(configuration.seed); + + for (auto &agent : simulation.m_Agents) + { + agent->getAgentController()->OnConfigureSimulation(configuration, true); + } + + simulation.applyGraphicsSettings(graphicsSettings); + + simulationServer.enqueueResponse(new deepdrive::server::ConfigureSimulationResponse(true)); +} + +void DeepDriveSimulationRequests::reset(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + const deepdrive::server::ResetSimulationRequest &req = static_cast (message); + const SimulationConfiguration &configuration = req.configuration; + + UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation reset with seed %d time dilation %f agent start location %f"), configuration.seed, configuration.time_dilation, configuration.agent_start_location ); + + for (auto &rsd : simulation.RandomStreams) + if(rsd.Value.ReSeedOnReset) + rsd.Value.getRandomStream()->initialize(simulation.Seed); + + for (auto &agent : simulation.m_Agents) + { + ADeepDriveAgentControllerBase *controller = agent->getAgentController(); + if (controller) + { + controller->OnConfigureSimulation(configuration, false); + controller->Reset(); + } + } + + simulationServer.enqueueResponse( new deepdrive::server::ResetSimulationResponse(true) ); +} + +void DeepDriveSimulationRequests::setGfxSettings(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation set graphics settings") ); + + const deepdrive::server::SetGraphicsSettingsRequest &req = static_cast (message); + simulation.applyGraphicsSettings(req.graphics_settings); + simulationServer.enqueueResponse( new deepdrive::server::SetGraphicsSettingsResponse(true) ); +} + +void DeepDriveSimulationRequests::setDateAndTime(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + const deepdrive::server::SetDateAndTimeRequest &req = static_cast (message); + + UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation Set Date/Time to %d/%d/%d - %d/%d"), req.year, req.month, req.day, req.hour, req.minute ); + + simulation.SetDateAndTime(req.year, req.month, req.day, req.hour, req.minute); + + simulationServer.enqueueResponse( new deepdrive::server::SetDateAndTimeResponse(true) ); +} + +void DeepDriveSimulationRequests::setSunSimulationSpeed(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message) +{ + const deepdrive::server::SetSunSimulationSpeedRequest &req = static_cast (message); + + simulation.SetSunSimulationSpeed(req.speed); + + simulationServer.enqueueResponse( new deepdrive::server::SetSunSimulationSpeedResponse(true) ); +} + diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.h new file mode 100644 index 00000000..b1923857 --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.h @@ -0,0 +1,31 @@ + +#pragma once + +#include "Engine.h" + +DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveSimulationRequests, Log, All); + +namespace deepdrive { namespace server { +struct MessageHeader; +} } + + +class ADeepDriveSimulation; +class DeepDriveSimulationServer; +class DeepDriveSimulationRequestHandler; + +class DeepDriveSimulationRequests +{ +public: + + static void registerHandlers(DeepDriveSimulationRequestHandler &requestHandler); + +private: + + static void configure(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); + static void reset(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message); + static void setGfxSettings(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); + static void setDateAndTime(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message); + static void setSunSimulationSpeed(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message); + +}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp index 25e02897..db6dc636 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp @@ -72,7 +72,7 @@ bool SDeepDriveJunction::isTurningAllowed(uint32 fromLinkId, uint32 toLinkId) co for(auto &turnDefinition : entry.TurnDefinitions) { if (turnDefinition.ToLinkId == toLinkId) - return turnDefinition.ManeuverType != EDeepDriveManeuverType::TURN_BAN; + return turnDefinition.ManeuverType != EDeepDriveManeuverType::UNDEFINED; } } } @@ -94,7 +94,7 @@ EDeepDriveManeuverType SDeepDriveJunction::getManeuverType(uint32 fromLinkId, ui } } - return EDeepDriveManeuverType::TURN_BAN; + return EDeepDriveManeuverType::UNDEFINED; } @@ -165,6 +165,12 @@ FVector SDeepDriveRoadNetwork::getLocationOnLink(uint32 linkId, EDeepDriveLaneTy return location; } +FString SDeepDriveRoadNetwork::getDebugLinkName(uint32 linkId) const +{ + FString name = LinkNameMap.Contains(linkId) ? LinkNameMap[linkId] : "Unknown Link"; + + return "(" + FString::FromInt(linkId) + ") " + name; +} FVector SDeepDriveRoadSegment::findClosestPoint(const FVector &pos) const { diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp index 67087e8a..a6ccec72 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp @@ -87,8 +87,9 @@ FVector UDeepDriveRoadNetworkComponent::GetRandomLocation(EDeepDriveLaneType Pre return location; } -void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment) +bool UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment) { + bool res = false; if(OnClosestSegment) { const uint32 segmentId = m_RoadNetwork.findClosestSegment(Location, EDeepDriveLaneType::MAJOR_LANE); @@ -98,6 +99,7 @@ void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, co FVector posOnSegment = segment->findClosestPoint(Location); FTransform transform(FRotator(0.0f, segment->getHeading(posOnSegment), 0.0f), posOnSegment, FVector(1.0f, 1.0f, 1.0f)); Agent->SetActorTransform(transform, false, 0, ETeleportType::TeleportPhysics); + res = true; } } else @@ -108,8 +110,10 @@ void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, co const SDeepDriveRoadLink *link = &m_RoadNetwork.Links[linkId]; FTransform transform(FRotator(0.0f, link->Heading, 0.0f), link->StartPoint, FVector(1.0f, 1.0f, 1.0f)); Agent->SetActorTransform(transform, false, 0, ETeleportType::TeleportPhysics); + res = true; } } + return res; } void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoadRandomly(ADeepDriveAgent *Agent) diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp index 1346254e..27f75dd2 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp @@ -151,7 +151,13 @@ void DeepDriveRoadNetworkExtractor::extract() SDeepDriveTurnDefinition turnDefinition; turnDefinition.ToLinkId = m_LinkCache[toName]; turnDefinition.ManeuverType = turnDefinitionProxy.ManeuverType; - turnDefinition.WaitingLocation = turnDefinitionProxy.WaitingLocation; + if(turnDefinitionProxy.WaitingLocation.IsZero()) + { + UE_LOG(LogDeepDriveRoadNetworkExtractor, Log, TEXT("Link %s turning to %s has no WaitingLocation, using end of link instead"), *(m_RoadNetwork.getDebugLinkName(linkId)), *toName ); + turnDefinition.WaitingLocation = m_RoadNetwork.Links[linkId].EndPoint; + } + else + turnDefinition.WaitingLocation = turnDefinitionProxy.WaitingLocation; turnDefinition.TrafficLight = turnDefinitionProxy.TrafficLight ? turnDefinitionProxy.TrafficLight : entryProxy.TrafficLight; entry.TurnDefinitions.Add(turnDefinition); @@ -302,6 +308,7 @@ uint32 DeepDriveRoadNetworkExtractor::addLink(ADeepDriveRoadLinkProxy &linkProxy m_LinkCache.Add(proxyObjName, linkId); m_RoadNetwork.Links.Add(linkId, link); + m_RoadNetwork.LinkNameMap.Add(linkId, proxyObjName); m_LinkProxies.Add(&linkProxy); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp index d9534eed..e0b83315 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp @@ -90,12 +90,17 @@ bool DeepDriveRouteCalculator::calculate(const FVector &start, const FVector &de success = true; UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Route successfully calculated %d links total cost %f"), linksOut.Num(), totalCost ); for(auto &linkId : linksOut) - UE_LOG(LogDeepDriveRouteCalc, Log, TEXT(" %d"), linkId ); + UE_LOG(LogDeepDriveRouteCalc, Log, TEXT(" %s"), *(m_RoadNetwork.getDebugLinkName(linkId)) ); } else { UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Route calculation failed") ); + while(currentLink) + { + UE_LOG(LogDeepDriveRouteCalc, Log, TEXT(" %s"), *(m_RoadNetwork.getDebugLinkName(currentLink->LinkId)) ); + currentLink = currentLink->Predecessor; + } } } } @@ -112,7 +117,7 @@ bool DeepDriveRouteCalculator::expandLink(const Link ¤tLink) { bool found = false; const SDeepDriveJunction &junction = m_RoadNetwork.Junctions[ m_RoadNetwork.Links[ currentLink.LinkId ].ToJunctionId ]; - UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Expanding link %d with junction Link %d"), currentLink.LinkId, junction.JunctionId); + UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Expanding link %s with junction Link %d"), *(m_RoadNetwork.getDebugLinkName(currentLink.LinkId)), junction.JunctionId); for (auto &outLinkId : junction.LinksOut) { // UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Checking link %d"), outLinkId ); @@ -139,7 +144,7 @@ bool DeepDriveRouteCalculator::expandLink(const Link ¤tLink) float tentativeG = currentLink.CostG + curC; Link *successorLink = m_OpenList.get(outLinkId); - UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Successor Link %d %p with cost %f"), outLinkId, successorLink, tentativeG); + UE_LOG(LogDeepDriveRouteCalc, Log, TEXT(" Successor Link %s %p with cost %f"), *(m_RoadNetwork.getDebugLinkName(outLinkId)), successorLink, tentativeG); if (successorLink && tentativeG >= successorLink->CostG) continue; @@ -168,6 +173,7 @@ DeepDriveRouteCalculator::Link* DeepDriveRouteCalculator::acquireLink(uint32 lin link->Position = m_RoadNetwork.Junctions[ m_RoadNetwork.Links[linkId].ToJunctionId ].Center; link->CostG = costG; link->CostF = costG + (m_Destination - link->Position).Size(); + } return link; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp index 90ee11ee..f4fab18a 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp @@ -3,7 +3,7 @@ #include "Private/Simulation/States/DeepDriveSimulationConfigureState.h" #include "Public/Simulation/DeepDriveSimulation.h" #include "Public/Simulation/Agent/DeepDriveAgent.h" -#include "Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h" +#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h" #include "Public/Simulation/Misc/DeepDriveSplineTrack.h" #include "Public/Simulation/Misc/DeepDriveRandomStream.h" @@ -40,7 +40,7 @@ void DeepDriveSimulationConfigureState::update(ADeepDriveSimulation &deepDriveSi UE_LOG(LogDeepDriveSimulation, Log, TEXT("Spawning ego agent")); - deepDriveSim.m_curAgent = deepDriveSim.spawnAgent(m_Configuration.EgoAgent, true, m_Configuration.EgoAgent.IsRemotelyControlled); + deepDriveSim.m_curAgent = deepDriveSim.spawnAgent(m_Configuration.EgoAgent, m_Configuration.EgoAgent.IsRemotelyControlled); deepDriveSim.OnCurrentAgentChanged(deepDriveSim.m_curAgent); deepDriveSim.m_curAgentController = Cast(deepDriveSim.m_curAgent->GetController()); @@ -49,7 +49,7 @@ void DeepDriveSimulationConfigureState::update(ADeepDriveSimulation &deepDriveSi UE_LOG(LogDeepDriveSimulation, Log, TEXT("Spawning additional agents %d"), m_Configuration.Agents.Num()); for (auto &agentCfg : m_Configuration.Agents) { - ADeepDriveAgent *agent = deepDriveSim.spawnAgent(agentCfg, false, false); + ADeepDriveAgent *agent = deepDriveSim.spawnAgent(agentCfg, false); } m_StateMachine.setNextState("Running"); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp index 3bd4c4ca..ba7b0550 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp @@ -26,7 +26,7 @@ bool DeepDriveJunctionRightOfWayBTCreator::registerCreator() DeepDriveTrafficBehaviorTree* DeepDriveJunctionRightOfWayBTCreator::createBehaviorTree() { - DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree(); + DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("RightOfWay"); if (behaviorTree) { DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp index 2d869cd2..49789ec2 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp @@ -27,7 +27,7 @@ bool DeepDriveJunctionTrafficLightRightStraightBTCreator::registerCreator() DeepDriveTrafficBehaviorTree* DeepDriveJunctionTrafficLightRightStraightBTCreator::createBehaviorTree() { - DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree(); + DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("TL_StraightOrRight"); if (behaviorTree) { DeepDriveTrafficBehaviorTreeNode *greenNode = behaviorTree->createNode(0); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp index 37fb9715..46af4fc3 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp @@ -27,7 +27,7 @@ bool DeepDriveJunctionTurnGiveWayStrictBTCreator::registerCreator() DeepDriveTrafficBehaviorTree* DeepDriveJunctionTurnGiveWayStrictBTCreator::createBehaviorTree() { - DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree(); + DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("GiveWayStrict"); if (behaviorTree) { DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp index 9759cf5e..30775619 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp @@ -26,21 +26,21 @@ bool DeepDriveJunctionTurnYieldBTCreator::registerCreator() DeepDriveTrafficBehaviorTree* DeepDriveJunctionTurnYieldBTCreator::createBehaviorTree() { - DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree(); + DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("Yield"); if (behaviorTree) { DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0); - DeepDriveTrafficBehaviorTreeNode *waitUntilClearNode = behaviorTree->createNode(0); + // DeepDriveTrafficBehaviorTreeNode *waitUntilClearNode = behaviorTree->createNode(0); behaviorTree->getRootNode()->addDecorator( new DeepDriveTBTCheckFlagDecorator("IsJunctionClear", false, false) ); - TSharedPtr checkJunctionTask(new DeepDriveTBTCheckIsJunctionClearTask("StopLineLocation", 1500.0f, true, "IsJunctionClear")); + TSharedPtr checkJunctionTask(new DeepDriveTBTCheckIsJunctionClearTask("StopLineLocation", 0.0f, true, "IsJunctionClear")); stopAtNode->addTask(checkJunctionTask); stopAtNode->addTask(new DeepDriveTBTStopAtLocationTask("StopLineLocation", 0.6f)); - waitUntilClearNode->addTask(new DeepDriveTBTStopTask); - waitUntilClearNode->addTask(checkJunctionTask); + // waitUntilClearNode->addTask(new DeepDriveTBTStopTask); + // waitUntilClearNode->addTask(checkJunctionTask); } return behaviorTree; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp index 85223e39..72948fde 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp @@ -24,21 +24,21 @@ float DeepDriveBehaviorTreeHelpers::calculateJunctionClearValue(DeepDriveTraffic forward.Normalize(); uint32 agentDirectionMask = 0; - switch(curAgent->GetDirectionIndicatorState()) + switch(curAgent->GetTurnSignalState()) { - case EDeepDriveAgentDirectionIndicatorState::UNKNOWN: + case EDeepDriveAgentTurnSignalState::UNKNOWN: agentDirectionMask = 0xF; break; - case EDeepDriveAgentDirectionIndicatorState::LEFT: + case EDeepDriveAgentTurnSignalState::LEFT: agentDirectionMask = 1; break; - case EDeepDriveAgentDirectionIndicatorState::OFF: + case EDeepDriveAgentTurnSignalState::OFF: agentDirectionMask = 2; break; - case EDeepDriveAgentDirectionIndicatorState::RIGHT: + case EDeepDriveAgentTurnSignalState::RIGHT: agentDirectionMask = 4; break; - case EDeepDriveAgentDirectionIndicatorState::HAZARD_LIGHTS: + case EDeepDriveAgentTurnSignalState::HAZARD_LIGHTS: agentDirectionMask = 8; break; } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp index cc2dc76a..bd2c89e1 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp @@ -3,6 +3,10 @@ #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTreeNode.h" #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h" +#include "Agent/DeepDriveAgent.h" + +#include "ActorEventLogging/Public/ActorEventLoggingMacros.h" + DEFINE_LOG_CATEGORY(LogDeepDriveTrafficBehaviorTree); DeepDriveTrafficBehaviorTree::DeepDriveTrafficBehaviorTree(const FString &name) @@ -40,7 +44,9 @@ void DeepDriveTrafficBehaviorTree::execute(float deltaSeconds, float &speed, int if(m_isDebuggingActive) UE_LOG(LogDeepDriveTrafficBehaviorTree, Log, TEXT("DeepDriveTrafficBehaviorTree::execute %s started at index %d"), *m_Name, pathPointIndex); - if(m_RootNode) + AEL_MESSAGE((*m_Blackboard->getAgent()), TEXT("DeepDriveTrafficBehaviorTree::execute %s at index %d"), *m_Name, pathPointIndex); + + if (m_RootNode) { m_RootNode->execute(deltaSeconds, speed, pathPointIndex); } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h index 88fb9aa9..e16d1f79 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h @@ -33,7 +33,9 @@ class DeepDriveTrafficBehaviorTree void activateDebugging(); -private : + const FString& getName() const; + +private: FString m_Name; @@ -57,3 +59,8 @@ inline DeepDriveTrafficBlackboard &DeepDriveTrafficBehaviorTree::getBlackboard() { return *m_Blackboard; } + +inline const FString& DeepDriveTrafficBehaviorTree::getName() const +{ + return m_Name; +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp index 103a867b..3d1cdf9b 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp @@ -7,6 +7,8 @@ #include "Simulation/Agent/DeepDriveAgent.h" #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h" +#include "ActorEventLogging/Public/ActorEventLoggingMacros.h" + DEFINE_LOG_CATEGORY(LogDeepDriveTBTCheckIsJunctionClearTask); DeepDriveTBTCheckIsJunctionClearTask::DeepDriveTBTCheckIsJunctionClearTask(const FString &refLocationName, float distance, bool ignoreTrafficLights) @@ -53,6 +55,7 @@ bool DeepDriveTBTCheckIsJunctionClearTask::execute(DeepDriveTrafficBlackboard &b blackboard.setBooleanValue(m_FlagName, isJunctionClear); // UE_LOG(LogDeepDriveTBTCheckIsJunctionClearTask, Log, TEXT("LogDeepDriveTBTCheckIsJunctionClearTask::execute [%d] %d %c"), blackboard.getAgent()->GetAgentId(), pathPointIndex, isJunctionClear ? 'T' : 'F'); + AEL_MESSAGE((*(blackboard.getAgent())), TEXT("CheckIsJunctionClearTask::execute %d %c"), pathPointIndex, isJunctionClear ? 'T' : 'F'); } return true; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp index 99953e69..8a772af3 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp @@ -5,12 +5,16 @@ #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h" +#include "ActorEventLogging/Public/ActorEventLoggingMacros.h" + DEFINE_LOG_CATEGORY(LogDeepDriveTBTStopAtLocationTask); -DeepDriveTBTStopAtLocationTask::DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent) +DeepDriveTBTStopAtLocationTask::DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent, float stopBeginDistance, float slowDownBeginDistance) + : m_StopLocationName(stopLocationName) + , m_Exponent(exponent) + , StopBeginDistance(stopBeginDistance) + , SlowDownBeginDistance(slowDownBeginDistance) { - m_StopLocationName = stopLocationName; - m_Exponent = exponent; } void DeepDriveTBTStopAtLocationTask::bind(DeepDriveTrafficBlackboard &blackboard, DeepDrivePartialPath &path) @@ -45,9 +49,10 @@ bool DeepDriveTBTStopAtLocationTask::execute(DeepDriveTrafficBlackboard &blackbo const float speedFac = FMath::Pow(curT, m_Exponent); speed = pathPointIndex < m_StopLocationIndex ? speed * speedFac : 0.0f; - hasStopped = pathPointIndex > m_StopBeginIndex && agent->getSpeedKmh() < 1.0f; + hasStopped = pathPointIndex >= m_StopBeginIndex && agent->getSpeedKmh() < 1.0f; // UE_LOG(LogDeepDriveTBTStopAtLocationTask, Log, TEXT("DeepDriveTBTStopAtLocationTask[%p] %d spd %f spdFac %f curT %f agntSpd %f -> %c"), this, pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), m_hasStopped ? 'T' : 'F'); + AEL_MESSAGE((*agent), TEXT("StopAtLocationTask %d spd %f spdFac %f curT %f agntSpd %f -> %c"), pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), hasStopped ? 'T' : 'F'); } } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h index 7628d7f6..d5a9912d 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h @@ -8,8 +8,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveTBTStopAtLocationTask, Log, All); class DeepDriveTBTStopAtLocationTask : public DeepDriveTBTTaskBase { public: - - DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent); + DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent, float stopBeginDistance = 400.0f, float slowDownBeginDistance = 2000.0f); virtual ~DeepDriveTBTStopAtLocationTask() { } @@ -29,6 +28,6 @@ class DeepDriveTBTStopAtLocationTask : public DeepDriveTBTTaskBase int32 m_IndexDelta = 0; - const float StopBeginDistance = 400.0f; - const float SlowDownBeginDistance = 2000.0f; + const float StopBeginDistance; + const float SlowDownBeginDistance; }; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp index f88311c8..f0458a9b 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp @@ -103,7 +103,8 @@ void DeepDriveFourWayJunctionCalculator::extractCrossRoadTraffic(uint32 curEntry { if ((mask & (1 << static_cast(turnDef.ManeuverType))) != 0) { - maneuver.CrossTrafficRoads.Add(SDeepDriveCrossTrafficRoad(turnDef.ManeuverType, entry.getTrafficLight(turnDef.ToLinkId), curEntryLinkId, turnDef.ToLinkId, 2500.0f, 1000.0f)); + // ToDo: have some heuristic for from and to length based on road type, that is speed + maneuver.CrossTrafficRoads.Add(SDeepDriveCrossTrafficRoad(turnDef.ManeuverType, entry.getTrafficLight(turnDef.ToLinkId), curEntryLinkId, turnDef.ToLinkId, 2500.0f, 10.0f)); } } } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp index 8d810e94..e56ada63 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp @@ -13,6 +13,9 @@ #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTreeNode.h" #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h" +#include "Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h" +#include "Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTHasPassedLocationTask.h" + #include "Simulation/Agent/DeepDriveAgent.h" DEFINE_LOG_CATEGORY(LogDeepDriveManeuverCalculator); @@ -40,7 +43,7 @@ void DeepDriveManeuverCalculator::calculate(SDeepDriveRoute &route, ADeepDriveAg const SDeepDriveJunctionEntry *junctionEntry = 0; if(junction.findJunctionEntry(fromLinkId, junctionEntry)) { - UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("Calc maneuver from %d to %d"), fromLinkId, toLinkId ); + UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("Calc maneuver from %s to %s"), *(m_RoadNetwork.getDebugLinkName(fromLinkId)), *(m_RoadNetwork.getDebugLinkName(toLinkId)) ); SDeepDriveManeuver maneuver; maneuver.JunctionType = junction.JunctionType; @@ -82,12 +85,46 @@ void DeepDriveManeuverCalculator::calculate(SDeepDriveRoute &route, ADeepDriveAg } for(auto crt : maneuver.CrossTrafficRoads) - UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("CrossTraffic from %d to %d as %d"), crt.FromLinkId, crt.ToLinkId, static_cast (crt.ManeuverType)); - + UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("CrossTraffic from %s to %s as %d"), *(m_RoadNetwork.getDebugLinkName(crt.FromLinkId)), *(m_RoadNetwork.getDebugLinkName(crt.ToLinkId)), static_cast (crt.ManeuverType)); } } route.Maneuvers.Add(maneuver); } } + addFinalManeuver(route, agent); +} + +void DeepDriveManeuverCalculator::addFinalManeuver(SDeepDriveRoute &route, ADeepDriveAgent &agent) +{ + TArray &routeLinks = route.Links; + const SDeepDriveRoadLink &finalLink = m_RoadNetwork.Links[routeLinks.Last()]; + + SDeepDriveManeuver maneuver; + maneuver.FromLinkId = finalLink.LinkId; + maneuver.ToLinkId = finalLink.LinkId; + + maneuver.JunctionType = EDeepDriveJunctionType::DESTINATION_REACHED; + + maneuver.EntryPoint = finalLink.StartPoint; + maneuver.ExitPoint = route.Destination; + + DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("StopAtEnd"); + if (behaviorTree) + { + maneuver.BehaviorTree = behaviorTree; + + DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0); + + stopAtNode->addTask(new DeepDriveTBTStopAtLocationTask("DestinationLocation", 0.25f, 0.0f)); + stopAtNode->addTask(new DeepDriveTBTHasPassedLocationTask("DestinationLocation", 0.0f, "DestinationReached")); + + DeepDriveTrafficBlackboard &blackboard = behaviorTree->getBlackboard(); + blackboard.setSimulation(m_Simulation); + blackboard.setAgent(agent); + blackboard.setIntegerValue("AgentId", agent.GetAgentId()); + blackboard.setVectorValue("DestinationLocation", route.Destination); + + route.Maneuvers.Add(maneuver); + } } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h index a12bb398..71fe999b 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h @@ -8,6 +8,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveManeuverCalculator, Log, All); struct SDeepDriveRoadNetwork; struct SDeepDriveRoute; struct SDeepDriveManeuver; +struct SDeepDriveRoadLink; class ADeepDriveAgent; class ADeepDriveSimulation; @@ -30,6 +31,8 @@ class DeepDriveManeuverCalculator void calculateFakedManeuver(SDeepDriveRoute &route, ADeepDriveAgent &agent); + void addFinalManeuver(SDeepDriveRoute &route, ADeepDriveAgent &agent); + const SDeepDriveRoadNetwork &m_RoadNetwork; ADeepDriveSimulation &m_Simulation; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp index 11c358d6..c0a5a203 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp @@ -47,9 +47,9 @@ void DeepDriveBasePath::advance(float deltaSeconds, float &speed, float &steerin } } -bool DeepDriveBasePath::isCloseToEnd(float distanceFromEnd) const +bool DeepDriveBasePath::hasReachedDestination() const { - return m_PartialPath ? m_PartialPath->isCloseToEnd(distanceFromEnd) : true; + return m_PartialPath ? m_PartialPath->hasReachedDestination() : true; } float DeepDriveBasePath::getRouteLength() const @@ -89,7 +89,12 @@ void DeepDriveBasePath::convertRouteLinks() const SDeepDriveLane &lane = link.Lanes[curLane]; basePathSegment.Segments.Append(lane.Segments); - if (!lastLink) + if (lastLink) + { + if (curManeuverInd < m_Route.Maneuvers.Num()) + basePathSegment.Maneuver = m_Route.Maneuvers[curManeuverInd++]; + } + else { const SDeepDriveRoadLink &nextLink = m_RoadNetwork.Links[m_Route.Links[i + 1]]; const SDeepDriveRoadSegment &segment = m_RoadNetwork.Segments[lane.Segments[lane.Segments.Num() - 1]]; @@ -121,7 +126,7 @@ void DeepDriveBasePath::extractCrossTrafficRoads(SDeepDriveManeuver &maneuver, c for(auto &crossTrafficRoad : maneuver.CrossTrafficRoads) { - UE_LOG(LogDeepDriveBasePath, Log, TEXT("Extracting cross traffic roads for junction %d from link %d to link %d"), junction.JunctionId, crossTrafficRoad.FromLinkId, crossTrafficRoad.ToLinkId); + UE_LOG(LogDeepDriveBasePath, Log, TEXT("Extracting cross traffic roads for junction %d from link %s to link %s"), junction.JunctionId, *(m_RoadNetwork.getDebugLinkName(crossTrafficRoad.FromLinkId)), *(m_RoadNetwork.getDebugLinkName(crossTrafficRoad.ToLinkId)) ); crossTrafficRoad.Paths.Add(TDeepDrivePathPoints()); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h index 3ebef35e..7d474e7b 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h @@ -27,7 +27,7 @@ class DeepDriveBasePath void advance(float deltaSeconds, float &speed, float &steering, float &brake); - bool isCloseToEnd(float distanceFromEnd) const; + bool hasReachedDestination() const; float getRouteLength() const; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp index 8a559334..fcafb0fc 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp @@ -6,11 +6,14 @@ #include "Private/Simulation/Traffic/Path/Annotations/DeepDrivePathSpeedAnnotation.h" #include "Private/Simulation/Traffic/Path/Annotations/DeepDrivePathDistanceAnnotation.h" #include "Private/Simulation/Traffic/Path/Annotations/DeepDrivePathManeuverAnnotations.h" +#include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h" #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h" #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h" +#include "ActorEventLogging/Public/ActorEventLoggingMacros.h" + DEFINE_LOG_CATEGORY(LogDeepDrivePartialPath); DeepDrivePartialPath::DeepDrivePartialPath(ADeepDriveAgent &agent, const SDeepDriveRoadNetwork &roadNetwork, UBezierCurveComponent &bezierCmp, const SDeepDrivePathConfiguration &pathCfg) @@ -141,6 +144,7 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee { curManeuver = &m; // UE_LOG(LogDeepDrivePartialPath, Log, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex); + AEL_MESSAGE(m_Agent, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex); break; } } @@ -156,13 +160,13 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee switch(curManeuver->ManeuverType) { case EDeepDriveManeuverType::TURN_RIGHT: - m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::RIGHT); + m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::RIGHT); break; case EDeepDriveManeuverType::GO_ON_STRAIGHT: - m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::OFF); + m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::OFF); break; case EDeepDriveManeuverType::TURN_LEFT: - m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::LEFT); + m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::LEFT); break; } curManeuver->DirectionIndicationBeginIndex = -1; @@ -172,11 +176,19 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee && m_curPathPointIndex >= curManeuver->DirectionIndicationEndIndex ) { - m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::UNKNOWN); + m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::UNKNOWN); curManeuver->DirectionIndicationEndIndex = -1; } curManeuver->BehaviorTree->execute(deltaSeconds, speed, m_curPathPointIndex); + + if ( curManeuver->JunctionType == EDeepDriveJunctionType::DESTINATION_REACHED + && m_hasReachedDestination == false + ) + { + m_hasReachedDestination = curManeuver->BehaviorTree->getBlackboard().getBooleanValue("DestinationReached", false); + AEL_MESSAGE(m_Agent, TEXT("Destination reached at %d"), m_curPathPointIndex); + } } // UE_LOG(LogDeepDrivePartialPath, Log, TEXT("%5d) dist2ctr %f steering %f corr %f totE %f"), m_curPathPointIndex, dist2Ctr, steering, steeringCorrection, m_totalTrackError); @@ -205,11 +217,6 @@ float DeepDrivePartialPath::getDistanceToCenterOfTrack() const } -bool DeepDrivePartialPath::isCloseToEnd(float distanceFromEnd) const -{ - return m_PathPoints[m_curPathPointIndex].RemainingDistance <= distanceFromEnd; -} - float DeepDrivePartialPath::calcSteering(float dT) { const int32 ind0 = FMath::Min(m_curPathPointIndex + 4, m_PathPoints.Num() - 1); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h index bd8681bf..77cd2103 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h @@ -36,7 +36,7 @@ class DeepDrivePartialPath float getRouteLength() const; - bool isCloseToEnd(float distanceFromEnd) const; + bool hasReachedDestination() const; float getDistanceAlongRoute() const; @@ -71,6 +71,8 @@ class DeepDrivePartialPath float m_curPathSegmentT = 0.0f; float m_Length = 0.0f; + bool m_hasReachedDestination = false; + TDeepDriveManeuvers m_Maneuvers; FVector m_curAgentLocation; @@ -85,3 +87,8 @@ class DeepDrivePartialPath float m_totalTrackError = 0.0f; }; + +inline bool DeepDrivePartialPath::hasReachedDestination() const +{ + return m_hasReachedDestination; +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp index eb042537..f350caad 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp @@ -29,7 +29,7 @@ void DeepDrivePathBuilder::buildPath(const TArray &ba { maneuvers.Add(baseSegment.Maneuver); curManeuver = &maneuvers.Last(); - curManeuver->DirectionIndicationBeginIndex = m_PathPoints.Num() - 1; + curManeuver->DirectionIndicationBeginIndex = curManeuver->JunctionType == EDeepDriveJunctionType::DESTINATION_REACHED ? -1 : m_PathPoints.Num() - 1; UE_LOG(LogDeepDrivePathBuilder, Log, TEXT("Maneuver from %d to %d ind %d"), baseSegment.Maneuver.FromLinkId, baseSegment.Maneuver.ToLinkId, curManeuver->DirectionIndicationBeginIndex); } @@ -44,7 +44,7 @@ void DeepDrivePathBuilder::buildPath(const TArray &ba } if(curManeuver) - curManeuver->DirectionIndicationEndIndex = m_PathPoints.Num() - 1; + curManeuver->DirectionIndicationEndIndex = curManeuver->JunctionType == EDeepDriveJunctionType::DESTINATION_REACHED ? -1 : m_PathPoints.Num() - 1; } } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h index 81002c15..37932201 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h @@ -67,7 +67,7 @@ struct SDeepDriveManeuver EDeepDriveJunctionType JunctionType = EDeepDriveJunctionType::PASS_THROUGH; EDeepDriveJunctionSubType JunctionSubType = EDeepDriveJunctionSubType::AUTO_DETECT; - EDeepDriveManeuverType ManeuverType = EDeepDriveManeuverType::TURN_BAN; + EDeepDriveManeuverType ManeuverType = EDeepDriveManeuverType::UNDEFINED; EDeepDriveRightOfWay RightOfWay = EDeepDriveRightOfWay::RIGHT_OF_WAY; EDeepDriveRoadPriority FromRoadPriority = EDeepDriveRoadPriority::MINOR_ROAD; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp index ba00398c..698abaa4 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp @@ -29,9 +29,9 @@ void DeepDrivePathPlanner::advance(float deltaSeconds, float &speed, float &stee } } -bool DeepDrivePathPlanner::isCloseToEnd(float distanceFromEnd) const +bool DeepDrivePathPlanner::hasReachedDestination() const { - return m_curBasePath ? m_curBasePath->isCloseToEnd(distanceFromEnd) : true; + return m_curBasePath ? m_curBasePath->hasReachedDestination() : true; } float DeepDrivePathPlanner::getRouteLength() const diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h index d6884f03..e4201ec1 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h @@ -20,7 +20,7 @@ class DeepDrivePathPlanner void advance(float deltaSeconds, float &speed, float &steering, float &brake); - bool isCloseToEnd(float distanceFromEnd) const; + bool hasReachedDestination() const; float getRouteLength() const; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h index cef5c551..f847fc06 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h @@ -32,9 +32,6 @@ class DEEPDRIVEPLUGIN_API UCaptureCameraComponent : public UCameraComponent UPROPERTY(EditDefaultsOnly, BlueprintReadOnly, Category = "CaptureCamera") bool IsCapturingActive = true; - UPROPERTY(EditDefaultsOnly, Category = "CaptureCamera") - bool CaptureSceneEveryFrame = false; - UFUNCTION(BlueprintCallable, Category = "CaptureCamera") void Initialize(UTextureRenderTarget2D *colorRenderTarget, UTextureRenderTarget2D *depthRenderTarget, float FoV); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h index 4ee604cf..ec37371d 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h @@ -5,12 +5,14 @@ namespace deepdrive { namespace server { -enum class MessageId : uint32 +enum class MessageId : uint32 { /* Connection handling */ Undefined, + GenericBooleanResponse, + RegisterClientRequest, RegisterClientResponse, UnregisterClientRequest, @@ -18,7 +20,6 @@ enum class MessageId : uint32 KeepAliveRequest, KeepAliveResponse, - /* Configuration */ @@ -31,7 +32,6 @@ enum class MessageId : uint32 SetCaptureConfigurationRequest, SetCaptureConfigurationResponse, - /* Control */ @@ -51,7 +51,6 @@ enum class MessageId : uint32 SetViewModeRequest, SetViewModeResponse, - /* Simulation */ @@ -65,8 +64,20 @@ enum class MessageId : uint32 SetDateAndTimeRequest, SetDateAndTimeResponse, SetSunSimulationSpeedRequest, - SetSunSimulationSpeedResponse + SetSunSimulationSpeedResponse, + /* + Multi Agent + */ + GetAgentsListRequest, + GetAgentsListResponse, + RequestControlRequest, + RequestControlResponse, + ReleaseControlRequest, + ReleaseControlResponse, + SetControlValuesRequest, + SetControlValuesResponse, + StepRequest, + StepResponse }; - } } // namespaces diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h index 29e786b1..bc39f21d 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h @@ -6,6 +6,17 @@ namespace deepdrive { namespace server { +struct GenericBooleanResponse : public MessageHeader +{ + GenericBooleanResponse(bool _result = false) + : MessageHeader(MessageId::GenericBooleanResponse, sizeof(GenericBooleanResponse)) + , result(_result ? 1 : 0) + { } + + uint32 result; +}; + + struct ConfigureSimulationRequest : public MessageHeader { ConfigureSimulationRequest() @@ -118,4 +129,207 @@ struct SetSunSimulationSpeedResponse : public MessageHeader uint32 result; }; -} } // namespaces +struct GetAgentsListRequest : public server::MessageHeader +{ + GetAgentsListRequest() + : MessageHeader(MessageId::GetAgentsListRequest, sizeof(GetAgentsListRequest)) + { + } +}; + +struct GetAgentsListResponse : public server::MessageHeader +{ + GetAgentsListResponse(uint32 agentCount = 0, const uint32 *agentIds = 0) + : MessageHeader(MessageId::GetAgentsListResponse, sizeof(GetAgentsListResponse) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0) ) + , agent_count(agentCount) + { + if (agentIds) + { + for (uint32 i = 0; i < agentCount; ++i) + agent_ids[i] = agentIds[i]; + } + } + + uint32 agent_count; + + uint32 agent_ids[1]; + + static size_t getMessageSize(uint32 agentCount) + { + return sizeof(GetAgentsListResponse) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0); + } + +}; + +struct RequestControlRequest : public MessageHeader +{ + RequestControlRequest(uint32 agentCount = 0, const uint32 *agentIds = 0) + : MessageHeader(MessageId::RequestControlRequest, getMessageSize(agentCount)) + , agent_count(agentCount) + { + if (agentIds) + { + for (uint32 i = 0; i < agentCount; ++i) + agent_ids[i] = agentIds[i]; + } + } + + uint32 agent_count; + + uint32 agent_ids[1]; + + static size_t getMessageSize(uint32 agentCount) + { + return sizeof(RequestControlRequest) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0); + } +}; + +struct RequestControlResponse : public MessageHeader +{ + RequestControlResponse(bool _result = false) + : MessageHeader(MessageId::RequestControlResponse, sizeof(RequestControlResponse)) + , result(_result ? 1 : 0) + { + } + + uint32 result; +}; + +struct ReleaseControlRequest : public MessageHeader +{ + ReleaseControlRequest(uint32 agentCount = 0, const uint32 *agentIds = 0) + : MessageHeader(MessageId::ReleaseControlRequest, getMessageSize(agentCount)) + , agent_count(agentCount) + { + if (agentIds) + { + for (uint32 i = 0; i < agentCount; ++i) + agent_ids[i] = agentIds[i]; + } + } + + uint32 agent_count; + + uint32 agent_ids[1]; + + static size_t getMessageSize(uint32 agentCount) + { + return sizeof(ReleaseControlRequest) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0); + } +}; + +struct ReleaseControlResponse : public MessageHeader +{ + ReleaseControlResponse(bool _result = false) + : MessageHeader(MessageId::ReleaseControlResponse, sizeof(ReleaseControlResponse)), result(_result ? 1 : 0) + { + } + + uint32 result; +}; + +struct SetControlValuesRequest : public MessageHeader +{ + struct ControlValueSet + { + ControlValueSet(uint32 id = 0, float s = 0.0f, float t = 0.0f, float b = 0.0f, uint32 hb = 0) + : agent_id(id) + , steering(s) + , throttle(t) + , brake(b) + , handbrake(hb) + { + + } + + uint32 agent_id; + float steering; + float throttle; + float brake; + uint32 handbrake; + }; + + SetControlValuesRequest(uint32 agentCount = 0, const ControlValueSet *controlValues = 0) + : MessageHeader(MessageId::SetControlValuesRequest, getMessageSize(agentCount)) + , agent_count(agentCount) + { + if (controlValues) + { + for (uint32 i = 0; i < agentCount; ++i) + control_values[i] = controlValues[i]; + } + } + + uint32 agent_count; + + ControlValueSet control_values[1]; + + static size_t getMessageSize(uint32 agentCount) + { + return sizeof(SetControlValuesRequest) + (agentCount > 0 ? (sizeof(ControlValueSet) * (agentCount - 1)) : 0); + } +}; + +struct StepRequest : public MessageHeader +{ + StepRequest() + : MessageHeader(MessageId::StepRequest, sizeof(StepRequest)) + { + } + +}; + +struct StepResponse : public MessageHeader +{ + struct SnapshotData + { + SnapshotData(uint32 id = 0) + : agent_id(id) + { + } + + uint32 agent_id; + double snapshot_timestamp; + float speed; + + float steering; + float throttle; + float brake; + uint32 handbrake; + float position[3]; + float rotation[3]; + float velocity[3]; + float acceleration[3]; + float angular_velocity[3]; + float angular_acceleration[3]; + float forward_vector[3]; + float up_vector[3]; + float right_vector[3]; + float dimension[3]; + float distance_along_route; + float route_length; + float distance_to_center_of_lane; + }; + + StepResponse(uint32 agentCount = 0, const SnapshotData *_snapshots = 0) + : MessageHeader(MessageId::StepResponse, getMessageSize(agentCount)) + , agent_count(agentCount) + { + if (_snapshots) + { + for (uint32 i = 0; i < agentCount; ++i) + snapshots[i] = _snapshots[i]; + } + } + + uint32 agent_count; + SnapshotData snapshots[1]; + + static size_t getMessageSize(uint32 agentCount) + { + return sizeof(StepResponse) + (agentCount > 0 ? (sizeof(SnapshotData) * (agentCount - 1)) : 0); + } +}; + + +} } // deepdrive diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h deleted file mode 100644 index 05445663..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h +++ /dev/null @@ -1,94 +0,0 @@ - - -#pragma once - -#include "CoreMinimal.h" -#include "Simulation/Agent/DeepDriveAgentControllerBase.h" -#include "DeepDriveAgentCityAIController.generated.h" - -class DeepDriveAgentSpeedController; -class DeepDriveAgentSteeringController; -class ADeepDriveRoadLinkProxy; - -USTRUCT(BlueprintType) struct FDeepDriveCityAIControllerConfiguration -{ - GENERATED_USTRUCT_BODY() - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - FString ConfigurationName; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Debug) - TArray Routes; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - TArray StartPositions; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - FVector PIDThrottle; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - FVector PIDSteering; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - FVector PIDBrake; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - FVector2D SpeedRange; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Safety) - float SafetyDistanceFactor = 1.0f; - -}; - -/** - * - */ -UCLASS() -class DEEPDRIVEPLUGIN_API ADeepDriveAgentCityAIController : public ADeepDriveAgentControllerBase -{ - GENERATED_BODY() - -public: - - ADeepDriveAgentCityAIController(); - - virtual void Tick( float DeltaSeconds ) override; - - virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); - - virtual bool ResetAgent(); - - UFUNCTION(BlueprintCallable, Category = "Configuration") - void Configure(const FDeepDriveCityAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation); - - UFUNCTION(BlueprintCallable, Category = "Configuration") - void ConfigureScenario(const FDeepDriveCityAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation); - -protected: - - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") - FDeepDriveCityAIControllerConfiguration m_Configuration; - -private: - - float checkForObstacle(float maxDistance); - float calculateSafetyDistance(); - - enum State - { - Idle, - ActiveRouteGuidance, - Waiting - }; - - DeepDriveAgentSpeedController *m_SpeedController = 0; - DeepDriveAgentSteeringController *m_SteeringController = 0; - - int32 m_StartIndex; - - float m_DesiredSpeed = 0.0f; - - State m_State = Idle; - - float m_WaitTimer = 0.0f; -}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h index b7513a04..24cf53e3 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h @@ -110,6 +110,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentLocalAIController : public ADeepDriveAg virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); + virtual void Reset(); + virtual bool ResetAgent(); virtual void SetSpeedRange(float MinSpeed, float MaxSpeed); @@ -121,6 +123,9 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentLocalAIController : public ADeepDriveAg UFUNCTION(BlueprintCallable, Category = "Configuration") void Configure(const FDeepDriveLocalAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation); + UFUNCTION(BlueprintCallable, Category = "Configuration") + void ConfigureScenario(const FDeepDriveLocalAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation *DeepDriveSimulation); + //float calculateOvertakingScore(); //float calculateOvertakingScore(int32 maxAgentsToOvertake, float overtakingSpeed, ADeepDriveAgent* &finalAgent); //float calculateAbortOvertakingScore(); @@ -142,31 +147,22 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentLocalAIController : public ADeepDriveAg protected: - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") FDeepDriveLocalAIControllerConfiguration m_Configuration; -// UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") DeepDriveAgentLocalAIStateMachineContext *m_StateMachineCtx = 0; -// UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") DeepDriveAgentSpeedController *m_SpeedController = 0; -// UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") DeepDriveAgentSteeringController *m_SteeringController = 0; -// UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") ADeepDriveSplineTrack *m_OppositeTrack = 0; - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") float m_DesiredSpeed; - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") float m_SafetyDistanceFactor = 1.0f; - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") float m_BrakingDeceleration = 800.0f; - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") bool m_isPaused = false; private: diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h deleted file mode 100644 index 8db54065..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h +++ /dev/null @@ -1,53 +0,0 @@ - -#pragma once - -#include "Simulation/Agent/DeepDriveAgentControllerBase.h" -#include "DeepDriveAgentManualController.generated.h" - -class ADeepDriveSplineTrack; - -USTRUCT(BlueprintType) -struct FDeepDriveManualControllerConfiguration -{ - GENERATED_USTRUCT_BODY() - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - FString ConfigurationName; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - ADeepDriveSplineTrack *Track; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - TArray StartDistances; - -}; - - -/** - * - */ -UCLASS() -class DEEPDRIVEPLUGIN_API ADeepDriveAgentManualController : public ADeepDriveAgentControllerBase -{ - GENERATED_BODY() - -public: - - ADeepDriveAgentManualController(); - - virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); - - virtual bool ResetAgent(); - - virtual void MoveForward(float axisValue); - - virtual void MoveRight(float axisValue); - - virtual void Brake(float axisValue); - - UFUNCTION(BlueprintCallable, Category = "Configuration") - void Configure(const FDeepDriveManualControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation); - -private: - -}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h index 191bed43..03786577 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h @@ -20,6 +20,12 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentOneOffController : public ADeepDriveAge virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); + virtual void MoveForward(float axisValue); + + virtual void MoveRight(float axisValue); + + virtual void Brake(float axisValue); + void configure(ADeepDriveSimulation* deepDriveSim, const FTransform &transform, bool bindToRoad); protected: diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h deleted file mode 100644 index 9a6a587c..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h +++ /dev/null @@ -1,55 +0,0 @@ - - -#pragma once - -#include "Simulation/Agent/DeepDriveAgentControllerBase.h" -#include "DeepDriveAgentRemoteAIController.generated.h" - -class ADeepDriveSplineTrack; -class ADeepDriveSimulation; - -USTRUCT(BlueprintType) -struct FDeepDriveRemoteAIControllerConfiguration -{ - GENERATED_USTRUCT_BODY() - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - FString ConfigurationName; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - ADeepDriveSplineTrack *Track; - - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control) - TArray StartDistances; - -}; - -/** - * - */ -UCLASS() -class DEEPDRIVEPLUGIN_API ADeepDriveAgentRemoteAIController : public ADeepDriveAgentControllerBase -{ - GENERATED_BODY() - -public: - - ADeepDriveAgentRemoteAIController(); - - virtual void OnConfigureSimulation(const SimulationConfiguration &configuration, bool initialConfiguration); - - virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); - - virtual void SetControlValues(float steering, float throttle, float brake, bool handbrake); - - virtual bool ResetAgent(); - - UFUNCTION(BlueprintCallable, Category = "Configuration") - void Configure(const FDeepDriveRemoteAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation); - - UFUNCTION(BlueprintCallable, Category = "Configuration") - void ConfigureScenario(const FDeepDriveRemoteAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation); - -private: - -}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.h deleted file mode 100644 index 7142e313..00000000 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.h +++ /dev/null @@ -1,73 +0,0 @@ - -#pragma once - -#include "CoreMinimal.h" -#include "Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h" -#include "DeepDriveAgentRemoteTrafficAIController.generated.h" - - -/** - * - */ -UCLASS() -class DEEPDRIVEPLUGIN_API ADeepDriveAgentRemoteTrafficAIController : public ADeepDriveAgentControllerBase -{ - GENERATED_BODY() - -public: - - ADeepDriveAgentRemoteTrafficAIController(); - - virtual void Tick(float DeltaSeconds) override; - - virtual void SetControlValues(float steering, float throttle, float brake, bool handbrake); - - virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); - - virtual bool ResetAgent(); - - virtual float getDistanceAlongRoute(); - - virtual float getRouteLength(); - - virtual float getDistanceToCenterOfTrack(); - - UFUNCTION(BlueprintCallable, Category = "Configuration") - virtual void Configure(const FDeepDriveTrafficAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation); - - UFUNCTION(BlueprintCallable, Category = "Configuration") - virtual void ConfigureScenario(const FDeepDriveTrafficAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation); - -protected: - - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") - FDeepDriveTrafficAIControllerConfiguration m_Configuration; - -private: - - enum State - { - Idle, - ActiveRouteGuidance, - Waiting - }; - - UPROPERTY() - UBezierCurveComponent *m_BezierCurve = 0; - - DeepDriveAgentSpeedController *m_SpeedController = 0; - - SDeepDrivePathConfiguration *m_PathConfiguration = 0; - DeepDrivePathPlanner *m_PathPlanner = 0; - - - int32 m_StartIndex; - - float m_DesiredSpeed = 0.0f; - - State m_State = Idle; - - float m_WaitTimer = 0.0f; - - bool m_showPath = false; -}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h index 484e2771..75cee4b1 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h @@ -59,6 +59,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); + virtual void Reset(); + virtual bool ResetAgent(); virtual float getDistanceAlongRoute(); @@ -73,11 +75,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive UFUNCTION(BlueprintCallable, Category = "Configuration") void ConfigureScenario(const FDeepDriveTrafficAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation); -protected: - - UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps") - FDeepDriveTrafficAIControllerConfiguration m_Configuration; - private: bool updateAgentOnPath( float DeltaSeconds); @@ -92,6 +89,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive Waiting }; + FDeepDriveTrafficAIControllerConfiguration m_Configuration; + UPROPERTY() UBezierCurveComponent *m_BezierCurve = 0; @@ -100,7 +99,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive SDeepDrivePathConfiguration *m_PathConfiguration = 0; DeepDrivePathPlanner *m_PathPlanner = 0; - int32 m_StartIndex; float m_DesiredSpeed = 0.0f; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h index d083488b..0c101d71 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h @@ -15,6 +15,8 @@ class UCaptureCameraComponent; class ADeepDriveAgentControllerBase; class ADeepDriveSimulation; +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FTurnSignalStateChanged, EDeepDriveAgentTurnSignalState, NewState); + /** * */ @@ -29,6 +31,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle void initialize(ADeepDriveSimulation &sim); + virtual void PostInitializeComponents() override; + virtual void BeginPlay() override; virtual void Tick( float DeltaSeconds ) override; @@ -113,10 +117,10 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle void SetSpeedRange(float MinSpeed, float MaxSpeed); UFUNCTION(BlueprintCallable, Category = "Agents") - void SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState DirectionIndicator); + EDeepDriveAgentTurnSignalState GetTurnSignalState(); - UFUNCTION(BlueprintCallable, Category = "Agents") - EDeepDriveAgentDirectionIndicatorState GetDirectionIndicatorState(); + UPROPERTY(BlueprintAssignable) + FTurnSignalStateChanged OnTurnSignalStateChanged; void setCollisionMode(bool simple); void setCollisionVisibility(bool visible); @@ -135,6 +139,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle float getBackBumperDistance() const; float getWheelBase() const; + void setTurnSignalState(EDeepDriveAgentTurnSignalState TurnSignal); + void setNextAgent(ADeepDriveAgent *agent, float distance); void setPrevAgent(ADeepDriveAgent *agent, float distance); @@ -235,7 +241,7 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle ADeepDriveAgentControllerBase *m_AgentController = 0; - EDeepDriveAgentDirectionIndicatorState m_DirectionIndicator = EDeepDriveAgentDirectionIndicatorState::UNKNOWN; + EDeepDriveAgentTurnSignalState m_TurnSignal = EDeepDriveAgentTurnSignalState::UNKNOWN; bool m_SimpleCollisionMode = false; bool m_CollisionVisible = false; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h index 5b88f249..22c5e939 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h @@ -38,18 +38,22 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition); - virtual void Deactivate(); + virtual void RequestControl(); + + virtual void ReleaseControl(); + + virtual void Reset(); virtual void MoveForward(float axisValue); virtual void MoveRight(float axisValue); - + virtual void Brake(float axisValue); - + virtual void SetControlValues(float steering, float throttle, float brake, bool handbrake); - + virtual bool ResetAgent( /* const SimulationConfiguration &configuration */); - + virtual void OnRemoveAgent(); virtual void SetSpeedRange(float MinSpeed, float MaxSpeed); @@ -79,6 +83,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController FDeepDrivePath getPath(); + bool isRemotelyControlled() const; + protected: enum OperationMode @@ -103,6 +109,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController ADeepDriveSimulation *m_DeepDriveSimulation = 0; ADeepDriveAgent *m_Agent = 0; + bool m_isRemotelyControlled = false; + OperationMode m_OperationMode = OperationMode::Standard; ScenarionConfiguration m_ScenarionConfiguration; @@ -123,6 +131,10 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController bool m_hasCollisionOccured = false; DeepDriveCollisionData m_CollisionData; + + float m_InputTimer = -1.0f; + + const float InputThreshold = 0.01f; }; @@ -145,3 +157,8 @@ inline void ADeepDriveAgentControllerBase::restoreStartPositionSlot(int32 startP { m_StartPositionSlot = startPositionSlot; } + +inline bool ADeepDriveAgentControllerBase::isRemotelyControlled() const +{ + return m_isRemotelyControlled; +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h index a828da84..23e4d1ad 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h @@ -17,7 +17,7 @@ class DeepDriveSimulationCaptureProxy; class DeepDriveSimulationServerProxy; class DeepDriveSimulationStateMachine; class DeepDriveSimulationServer; -class DeepDriveSimulationMessageHandler; +class DeepDriveSimulationRequestHandler; class DeepDriveSimulationConfigureState; class DeepDriveSimulationResetState; class DeepDriveManeuverCalculator; @@ -41,18 +41,18 @@ namespace deepdrive { namespace server { struct MessageHeader; } } - -UCLASS() +UCLASS(Abstract) class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor { friend class DeepDriveSimulationRunningState; friend class DeepDriveSimulationConfigureState; friend class DeepDriveSimulationResetState; - friend class DeepDriveSimulationMessageHandler; + friend class DeepDriveSimulationRequests; + friend class DeepDriveMultiAgentRequests; GENERATED_BODY() -public: +public: // Sets default values for this actor's properties ADeepDriveSimulation(); @@ -88,7 +88,7 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor TSubclassOf Agent; UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents) - EDeepDriveAgentControlMode InitialControllerMode = EDeepDriveAgentControlMode::NONE; + ADeepDriveAgentControllerCreator *ControllerCreator = 0; UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents) int32 InitialConfigurationSlot; @@ -99,9 +99,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents) TArray AdditionalAgents; - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents) - TMap ControllerCreators; - UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents) ADeepDriveSplineTrack *OneOffAgentsTrack = 0; @@ -152,9 +149,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor UFUNCTION(BlueprintCallable, Category = "Input") void SelectCamera(EDeepDriveAgentCameraType CameraType); - UFUNCTION(BlueprintCallable, Category = "Input") - void SelectMode(EDeepDriveAgentControlMode Mode); - UFUNCTION(BlueprintCallable, Category = "Spectator") void NextAgent(); @@ -209,7 +203,10 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor void enqueueMessage(deepdrive::server::MessageHeader *message); bool resetAgent(); - + + bool requestControl(); + void releaseControl(); + ADeepDriveAgent* getCurrentAgent() const; ADeepDriveAgentControllerBase* getCurrentAgentController() const; TArray& getCaptureSinks(); @@ -223,8 +220,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor void spawnAdditionalAgents(); bool hasAdditionalAgents(); - EDeepDriveAgentControlMode getControllerMode() const; - bool hasEgoAgent() const; void onEgoAgentChanged(bool added); @@ -238,11 +233,9 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor bool isActive() const; - ADeepDriveAgent *spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool isEgoAgent, bool remotelyControlled); - - ADeepDriveAgent* spawnAgent(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot); + ADeepDriveAgent *spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool remotelyControlled); - ADeepDriveAgentControllerBase* spawnController(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot); + ADeepDriveAgent *spawnAgent(ADeepDriveAgentControllerCreator *ctrlCreator, int32 configSlot, int32 startPosSlot); void switchToAgent(int32 index); void switchToCamera(EDeepDriveAgentCameraType type); @@ -253,7 +246,7 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor DeepDriveSimulationConfigureState *m_ConfigureState = 0; DeepDriveSimulationResetState *m_ResetState = 0; DeepDriveSimulationServer *m_SimulationServer = 0; - DeepDriveSimulationMessageHandler *m_MessageHandler = 0; + DeepDriveSimulationRequestHandler *m_RequestHandler = 0; DeepDriveSimulationServerProxy *m_ServerProxy = 0; DeepDriveSimulationCaptureProxy *m_CaptureProxy = 0; TArray m_CaptureSinks; @@ -265,7 +258,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation : public AActor TArray m_Agents; int32 m_curAgentIndex = 0; ADeepDriveAgent *m_curAgent = 0; - EDeepDriveAgentControlMode m_curAgentMode = EDeepDriveAgentControlMode::NONE; TMap m_OneOffAgents; int32 m_nextOneOffAgentId = 1; @@ -314,8 +306,3 @@ inline bool ADeepDriveSimulation::hasAdditionalAgents() { return m_Agents.Num() > 1; } - -inline EDeepDriveAgentControlMode ADeepDriveSimulation::getControllerMode() const -{ - return m_curAgentMode; -} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h index 0a40e39d..20c3dca9 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h @@ -10,17 +10,7 @@ class UDeepDriveRandomStream; class ADeepDriveAgent; - -UENUM(BlueprintType) -enum class EDeepDriveAgentControlMode : uint8 -{ - NONE = 0 UMETA(DisplayName = "None"), - MANUAL = 1 UMETA(DisplayName = "Manual"), - REMOTE_AI = 2 UMETA(DisplayName = "RemoteAI"), - LOCAL_AI = 3 UMETA(DisplayName = "LocalAI"), - CITY_AI = 4 UMETA(DisplayName = "CityAI") -}; - +class ADeepDriveAgentControllerCreator; UENUM(BlueprintType) enum class EDeepDriveAgentCameraType : uint8 @@ -56,7 +46,7 @@ enum class EDeepDriveAgentState : uint8 UENUM(BlueprintType) -enum class EDeepDriveAgentDirectionIndicatorState : uint8 +enum class EDeepDriveAgentTurnSignalState : uint8 { UNKNOWN = 0 UMETA(DisplayName = "Unknown"), OFF = 1 UMETA(DisplayName = "Off"), @@ -135,7 +125,7 @@ struct FDeepDriveAdditionalAgentData TSubclassOf Agent; UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Default) - EDeepDriveAgentControlMode Mode; + ADeepDriveAgentControllerCreator *ControllerCreator = 0; UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Default) int32 ConfigurationSlot; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h index 2ffeea30..e6c60b8c 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h @@ -61,7 +61,7 @@ enum class EDeepDriveRightOfWay : uint8 UENUM(BlueprintType) enum class EDeepDriveManeuverType : uint8 { - TURN_BAN = 0 UMETA(DisplayName = "Turn Ban"), + UNDEFINED = 0 UMETA(DisplayName = "Undefined"), TURN_RIGHT = 1 UMETA(DisplayName = "Turn Right"), GO_ON_STRAIGHT = 2 UMETA(DisplayName = "Go on straight"), TURN_LEFT = 3 UMETA(DisplayName = "Turn Left"), @@ -74,7 +74,9 @@ enum class EDeepDriveJunctionType : uint8 PASS_THROUGH = 0 UMETA(DisplayName = "Pass Through"), FOUR_WAY_JUNCTION = 1 UMETA(DisplayName = "Four Way Junction"), T_JUNCTION = 2 UMETA(DisplayName = "T-Junction"), - TRAFFIC_CIRCLE = 3 UMETA(DisplayName = "Traffic Circle") + TRAFFIC_CIRCLE = 3 UMETA(DisplayName = "Traffic Circle"), + + DESTINATION_REACHED = 255 UMETA(Hidden) }; UENUM(BlueprintType) @@ -249,10 +251,14 @@ struct SDeepDriveRoadNetwork TMap Links; TMap Segments; + TMap LinkNameMap; + uint32 findClosestLink(const FVector &pos) const; uint32 findClosestSegment(const FVector &pos, EDeepDriveLaneType laneType) const; FVector getLocationOnLink(uint32 linkId, EDeepDriveLaneType laneType, float t) const; + FString getDebugLinkName(uint32 linkId) const; + }; namespace DeepDriveRoadNetwork diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h index 51641ce6..870db256 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h @@ -37,7 +37,7 @@ class DEEPDRIVEPLUGIN_API UDeepDriveRoadNetworkComponent : public UActorComponen FVector GetRandomLocation(EDeepDriveLaneType PreferredLaneType, int32 relPos); UFUNCTION(BlueprintCallable, Category = "Route") - void PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment); + bool PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment); UFUNCTION(BlueprintCallable, Category = "Route") void PlaceAgentOnRoadRandomly(ADeepDriveAgent *Agent); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py index e015c424..6a137ab9 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py @@ -12,6 +12,7 @@ def cleanUp(clientId): deepdrive_client.release_agent_control(clientId) + deepdrive_capture.unregister_camera(clientId, camIds[0]) deepdrive_capture.close() deepdrive_client.close(clientId) deepdrive_simulation.disconnect() diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_multi_agents.py b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_multi_agents.py new file mode 100644 index 00000000..8c1c30d5 --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_multi_agents.py @@ -0,0 +1,33 @@ +import socket +import sys +import time + +import deepdrive_simulation + +def cleanUp(): + print('Releasing control .....') + deepdrive_simulation.multi_agent.release_control([1, 2, 3]) + + deepdrive_simulation.disconnect() + +connected = deepdrive_simulation.connect('127.0.0.1', 9009) + +if connected: + print('Connected to DeepDriveSimulation ...') + + agentsList = deepdrive_simulation.multi_agent.get_agents_list() + print(agentsList) + + print('Taking over control .....') + deepdrive_simulation.multi_agent.request_control([1, 2, 3]) + + try: + while True: + deepdrive_simulation.multi_agent.set_control_values( [{'id':1, 'throttle':0.3, 'steering': 0.5}, {'id':2, 'throttle':0.5, 'steering':-0.2}, {'id':3, 'throttle':0.5, 'steering':0.2}] ) + time.sleep(0.05) + + except KeyboardInterrupt: + cleanUp() + + except deepdrive_simulation.connection_lost: + print('>>>> Connection lost') diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py index 3b538460..5269d6ef 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py @@ -31,7 +31,10 @@ ] sources_simulation = ['src/deepdrive_simulation/deepdrive_simulation.cpp' + , 'src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp' + , 'src/deepdrive_simulation/deepdrive_simulation_error.cpp' , 'src/deepdrive_simulation/DeepDriveSimulation.cpp' + , 'src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp' , 'src/socket/IP4Address.cpp' , 'src/socket/IP4ClientSocket.cpp' , 'src/common/NumPyUtils.cpp' diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp index 40be8a21..ae3f3b7f 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp @@ -30,7 +30,7 @@ PyObject* PyCaptureLastCollisionObject::allocate() void PyCaptureLastCollisionObject::init(PyCaptureLastCollisionObject *self) { - int dims[1] = {3}; + npy_intp dims[1] = {3}; self->time_utc = 0; self->time_stamp = 0.0; @@ -40,6 +40,6 @@ void PyCaptureLastCollisionObject::init(PyCaptureLastCollisionObject *self) self->collision_location = ptr; *ptr = 0; - self->collidee_velocity = reinterpret_cast (PyArray_FromDims(1, dims, NPY_DOUBLE)); - self->collision_normal = reinterpret_cast (PyArray_FromDims(1, dims, NPY_DOUBLE)); + self->collidee_velocity = reinterpret_cast (PyArray_SimpleNew(1, dims, NPY_DOUBLE)); + self->collision_normal = reinterpret_cast (PyArray_SimpleNew(1, dims, NPY_DOUBLE)); } diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp index 35efe44e..aab8fbc8 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp @@ -15,15 +15,15 @@ int PyCaptureSnapshotObject::initNumPy() PyArrayObject* PyCaptureSnapshotObject::createVec3() { - int dims[1] = {3}; - PyArrayObject *vec3 = reinterpret_cast (PyArray_FromDims(1, dims, NPY_DOUBLE)); + npy_intp dims[1] = {3}; + PyArrayObject *vec3 = reinterpret_cast (PyArray_SimpleNew(1, dims, NPY_DOUBLE)); return vec3; } void PyCaptureSnapshotObject::init(PyCaptureSnapshotObject *self) { -// std::cout << "PyCaptureSnapshotObject_init_impl\n"; + // std::cout << "PyCaptureSnapshotObject_init_impl\n"; self->position = createVec3(); self->rotation = createVec3(); self->velocity = createVec3(); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp index 9a580ec3..96a13dcc 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp @@ -1,16 +1,28 @@ #include "deepdrive_simulation/DeepDriveSimulation.hpp" #include "deepdrive_simulation/PySimulationGraphicsSettingsObject.h" - -#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h" +#include "deepdrive_simulation/PyMultiAgentSnapshotObject.h" #include "socket/IP4ClientSocket.hpp" #include "common/ClientErrorCode.hpp" #include +DeepDriveSimulation *DeepDriveSimulation::theInstance = 0; + +void DeepDriveSimulation::create(const IP4Address &ip4Address) +{ + theInstance = new DeepDriveSimulation(ip4Address); +} + +void DeepDriveSimulation::destroy() +{ + delete theInstance; + theInstance = 0; +} + DeepDriveSimulation::DeepDriveSimulation(const IP4Address &ip4Address) - : m_Socket() + : m_Socket() { m_Socket.connect(ip4Address); } @@ -194,3 +206,156 @@ int32 DeepDriveSimulation::setSpeed(uint32 speed) return res; } +int32 DeepDriveSimulation::getAgentsList(std::vector &list) +{ + deepdrive::server::GetAgentsListRequest req; + int32 res = m_Socket.send(&req, sizeof(req)); + if(res >= 0) + { + deepdrive::server::GetAgentsListResponse response; + res = m_Socket.read(&response, sizeof(response), 1000); + if (res == sizeof(response)) + { + if (response.agent_count) + { + list.push_back(response.agent_ids[0]); + for (uint32 i = 1; i < response.agent_count; ++i) + { + uint32 curId; + if(m_Socket.read(&curId, sizeof(curId), 0) == sizeof(uint32)) + list.push_back(curId); + else + break; + } + } + + std::cout << "GetAgentsListResponse received containing" << list.size() << " agents\n"; + res = NO_ERROR; + } + } + + return res; +} + +int32 DeepDriveSimulation::requestControl(const std::vector &ids) +{ + const size_t msgSize = sizeof(deepdrive::server::RequestControlRequest) + (ids.size() > 0 ? sizeof(uint32) * (ids.size() - 1) : 0); + int8 *msgBuf = new int8[msgSize]; + deepdrive::server::RequestControlRequest *req = new (msgBuf) deepdrive::server::RequestControlRequest(ids.size(), ids.data()); + + int32 res = m_Socket.send(req, msgSize); + if (res >= 0) + { + std::cout << "RequestControlRequest sent with " << req->agent_count << " agents, msgSize " << msgSize << "\n"; + + deepdrive::server::RequestControlResponse response; + if (m_Socket.receive(&response, sizeof(response), 1000)) + { + res = static_cast(response.result); + std::cout << "RequestControlResponse received\n"; + } + else + { + std::cout << "Waiting for RequestControlResponse, time out\n"; + res = TIME_OUT; + } + } + + delete [] msgBuf; + + return res; +} + +int32 DeepDriveSimulation::releaseControl(const std::vector &ids) +{ + const size_t msgSize = sizeof(deepdrive::server::ReleaseControlRequest) + (ids.size() > 0 ? sizeof(uint32) * (ids.size() - 1) : 0); + int8 *msgBuf = new int8[msgSize]; + deepdrive::server::ReleaseControlRequest *req = new (msgBuf) deepdrive::server::ReleaseControlRequest(ids.size(), ids.data()); + + int32 res = m_Socket.send(req, msgSize); + if (res >= 0) + { + std::cout << "ReleaseControlRequest sent with " << req->agent_count << " agents, msgSize " << msgSize << "\n"; + + deepdrive::server::RequestControlResponse response; + if (m_Socket.receive(&response, sizeof(response), 1000)) + { + res = static_cast(response.result); + std::cout << "ReleaseControlResponse received\n"; + } + else + { + std::cout << "Waiting for ReleaseControlResponse, time out\n"; + res = TIME_OUT; + } + } + + delete[] msgBuf; + + return res; +} + +int32 DeepDriveSimulation::setControlValues(const std::vector &controlValues) +{ + const size_t msgSize = deepdrive::server::SetControlValuesRequest::getMessageSize(controlValues.size()); + int8 *msgBuf = new int8[msgSize]; + deepdrive::server::SetControlValuesRequest *req = new (msgBuf) deepdrive::server::SetControlValuesRequest(controlValues.size(), controlValues.data()); + + int32 res = m_Socket.send(req, msgSize); + if (res >= 0) + { + std::cout << "SetControlValuesRequest sent with " << req->agent_count << " agents, msgSize " << msgSize << "\n"; + + deepdrive::server::GenericBooleanResponse response; + if (m_Socket.receive(&response, sizeof(response), 1000)) + { + res = static_cast(response.result); + std::cout << "SetControlValues response received\n"; + } + else + { + std::cout << "Waiting for SetControlValues response, time out\n"; + res = TIME_OUT; + } + } + + delete[] msgBuf; + + return res; +} + +int32 DeepDriveSimulation::step(std::vector &snapshots) +{ + deepdrive::server::StepRequest req; + int32 res = m_Socket.send(&req, sizeof(req)); + if (res >= 0) + { + deepdrive::server::StepResponse response; + res = m_Socket.read(&response, sizeof(response), 1000); + if (res == sizeof(response)) + { + if (response.agent_count) + { + PyMultiAgentSnapshotObject *snapshot; + snapshot = reinterpret_cast(PyMultiAgentSnapshotType.tp_new(&PyMultiAgentSnapshotType, 0, 0)); + snapshots.push_back(snapshot); + for (uint32 i = 1; i < response.agent_count; ++i) + { + deepdrive::server::StepResponse::SnapshotData curSnapshot; + if (m_Socket.read(&curSnapshot, sizeof(curSnapshot), 0) == sizeof(curSnapshot)) + { + snapshot = reinterpret_cast(PyMultiAgentSnapshotType.tp_new(&PyMultiAgentSnapshotType, 0, 0)); + snapshots.push_back(snapshot); + } + else + break; + } + } + + std::cout << "Steo received containing" << snapshots.size() << " snapshots\n"; + res = NO_ERROR; + } + } + + return res; +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp index 0c493a84..70b2ee83 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp @@ -7,17 +7,26 @@ #include "socket/IP4ClientSocket.hpp" #include "Public/Server/Messages/DeepDriveServerConfigurationMessages.h" +#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h" + +#include struct PySimulationGraphicsSettingsObject; +struct PyMultiAgentSnapshotObject; class DeepDriveSimulation { public: - DeepDriveSimulation(const IP4Address &ip4Address); + static DeepDriveSimulation* getInstance() + { + return theInstance; + } - ~DeepDriveSimulation(); + static void create(const IP4Address &ip4Address); + + static void destroy(); int32 configureSimulation(uint32 seed, float timeDilation, float startLocation, PySimulationGraphicsSettingsObject *graphicsSettings); @@ -29,10 +38,26 @@ class DeepDriveSimulation int32 setSpeed(uint32 speed); + int32 getAgentsList(std::vector &list); + + int32 requestControl(const std::vector &ids); + + int32 releaseControl(const std::vector &ids); + + int32 setControlValues(const std::vector &controlValues); + + int32 step(std::vector &snapshots); + bool isConnected() const; private: + DeepDriveSimulation(const IP4Address &ip4Address); + + ~DeepDriveSimulation(); + + static DeepDriveSimulation *theInstance; + IP4ClientSocket m_Socket; }; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp new file mode 100644 index 00000000..ffb94057 --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp @@ -0,0 +1,57 @@ + +#include "PyMultiAgentSnapshotObject.h" +// #include "PyCaptureLastCollisionObject.h" + +#include + +int PyMultiAgentSnapshotObject::initNumPy() +{ + std::cout << "Init numPy for PyMultiAgentSnapshotObject\n"; + import_array(); + + return 0; +} + + +PyArrayObject* PyMultiAgentSnapshotObject::createVec3() +{ + npy_intp dims[1] = {3}; + PyArrayObject *vec3 = reinterpret_cast (PyArray_SimpleNew(1, dims, NPY_DOUBLE)); + + return vec3; +} + +void PyMultiAgentSnapshotObject::init(PyMultiAgentSnapshotObject *self) +{ + // std::cout << "PyMultiAgentSnapshotObject_init_impl\n"; + self->position = createVec3(); + self->rotation = createVec3(); + self->velocity = createVec3(); + self->acceleration = createVec3(); + self->angular_velocity = createVec3(); + self->angular_acceleration = createVec3(); + self->forward_vector = createVec3(); + self->up_vector = createVec3(); + self->right_vector = createVec3(); + self->dimension = createVec3(); + + // self->last_collision = reinterpret_cast (PyCaptureLastCollisionType.tp_new(&PyCaptureLastCollisionType, 0, 0)); +} + + +PyObject* PyMultiAgentSnapshotObject::allocate() +{ + PyMultiAgentSnapshotObject *self; + + if (PyType_Ready(&PyMultiAgentSnapshotType) < 0) + return NULL; + + self = PyObject_New(PyMultiAgentSnapshotObject, &PyMultiAgentSnapshotType); + + if(self) + { + PyMultiAgentSnapshotObject::init(self); + } + + return (PyObject *)self; +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.h new file mode 100644 index 00000000..8335f78d --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.h @@ -0,0 +1,144 @@ + +#pragma once + +#include "Python.h" +#include "structmember.h" + +#include "common/NumPyUtils.h" + +#include + +// struct PyCaptureLastCollisionObject; + +struct PyMultiAgentSnapshotObject +{ + static int initNumPy(); + static void init(PyMultiAgentSnapshotObject *self); + static PyObject* allocate(); + static PyArrayObject* createVec3(); + + + PyObject_HEAD + + uint32_t agent_id; + + double snapshot_timestamp; + + double speed; + + double steering; + + double throttle; + + double brake; + + uint32_t handbrake; + + PyArrayObject* position; + + PyArrayObject* rotation; + + PyArrayObject* velocity; + + PyArrayObject* acceleration; + + PyArrayObject* angular_velocity; + + PyArrayObject* angular_acceleration; + + PyArrayObject* forward_vector; + + PyArrayObject* up_vector; + + PyArrayObject* right_vector; + + PyArrayObject* dimension; + + double distance_along_route; + + double route_length; + + double distance_to_center_of_lane; + + // PyCaptureLastCollisionObject *last_collision; + +}; + +static PyMemberDef PyMultiAgentSnapshotMembers[] = +{ + {"agent_id", T_UINT, offsetof(PyMultiAgentSnapshotObject, agent_id), 0, "Id of agent"}, + {"snapshot_timestamp", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, snapshot_timestamp), 0, "Timestamp the capture was taken"}, + {"speed", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, speed), 0, "speed"}, + {"steering", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, steering), 0, "0 is straight ahead, -1 is left, 1 is right"}, + {"throttle", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, throttle), 0, "0 is coast / idle, -1 is reverse, 1 is full throttle ahead"}, + {"brake", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, brake), 0, "0 to 1, 0 is no brake, 1 is full brake"}, + {"handbrake", T_UINT, offsetof(PyMultiAgentSnapshotObject, handbrake), 0, "Handbrake on or off"}, + {"position", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, position), 0, "x,y,z of wheel base center??? from origin coordinates of ego vehicle, cm"}, + {"rotation", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, rotation), 0, "roll, pitch, yaw of vehicle, in degrees, UE4 style"}, + {"velocity", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, velocity), 0, "x,y,z velocity of vehicle in frame of ego origin orientation, cm/s"}, + {"acceleration", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, acceleration), 0, "Current acceleration"}, + {"angular_velocity", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, angular_velocity), 0, "Current angular velocity"}, + {"angular_acceleration", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, angular_acceleration), 0, "Current angular acceleration"}, + {"forward_vector", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, forward_vector), 0, "Current forward vector"}, + {"up_vector", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, up_vector), 0, "Current up vector"}, + {"right_vector", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, right_vector), 0, "Current right vector"}, + {"dimension", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, dimension), 0, "Current dimension"}, + {"distance_along_route", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, distance_along_route), 0, "Distance achieved to destination on designated route in cm"}, + {"route_length", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, route_length), 0, "Total length of current route."}, + {"distance_to_center_of_lane", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, distance_to_center_of_lane), 0, "Last distance to previously achieved waypoint - where waypoints are 4m apart"}, + // {"last_collision", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, last_collision), 0, "Last collision data"}, + {NULL} +}; + +static PyObject* PyMultiAgentSnapshotObject_new(PyTypeObject *type, PyObject *args, PyObject *kwds) +{ + return PyMultiAgentSnapshotObject::allocate(); +} + +static int PyMultiAgentSnapshotObject_init(PyObject *self, PyObject *args, PyObject *kwds) +{ + PyMultiAgentSnapshotObject::init(reinterpret_cast (self)); + return 0; +} + +static PyTypeObject PyMultiAgentSnapshotType = +{ + PyVarObject_HEAD_INIT(NULL, 0) + "AgentSnapshot", // tp name + sizeof(PyMultiAgentSnapshotObject), // tp_basicsize + 0, // tp_itemsize + 0, // tp_dealloc + 0, // tp_print + 0, // tp_getattr + 0, // tp_setattr + 0, // tp_reserved + 0, // tp_repr + 0, // tp_as_number + 0, // tp_as_sequence + 0, // tp_as_mapping + 0, // tp_hash + 0, // tp_call + 0, // tp_str + 0, // tp_getattro + 0, // tp_setattro + 0, // tp_as_buffer + Py_TPFLAGS_DEFAULT, // tp_flags + "Capture snapshot", //tp_doc + 0, // tp_traverse + 0, // tp_clear + 0, // tp_richcompare + 0, // tp_weaklistoffset + 0, // tp_iter + 0, // tp_iternext + 0, // tp_methods + PyMultiAgentSnapshotMembers, // tp_members + 0, // tp_getset + 0, // tp_base + 0, // tp_dict + 0, // tp_descr_get + 0, // tp_descr_set + 0, // tp_dictoffset + PyMultiAgentSnapshotObject_init, // tp_init + 0, // tp_alloc + PyMultiAgentSnapshotObject_new, // tp_new +}; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp index 3200a7b5..c8f89026 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp @@ -3,41 +3,12 @@ #include "Engine.h" #include "deepdrive_simulation/DeepDriveSimulation.hpp" -#include "common/ClientErrorCode.hpp" +#include "deepdrive_simulation/deepdrive_simulation_error.h" #include "deepdrive_simulation/PySimulationGraphicsSettingsObject.h" #include -static DeepDriveSimulation *g_DeepDriveSimulation = 0; - -static PyObject *DeepDriveClientError; -static PyObject *ConnectionLostError; -static PyObject *NotConnectedError; -static PyObject *TimeOutError; -static PyObject *ClientDoesntExistError; -static PyObject *UnknownError; - -static PyObject* handleError(int32 errorCode) -{ - if(errorCode == ClientErrorCode::NOT_CONNECTED) - { - PyErr_SetString(ClientDoesntExistError, "Client doesn't exist"); - } - else if(errorCode == ClientErrorCode::CONNECTION_LOST) - { - PyErr_SetString(ConnectionLostError, "Connection to server lost"); - } - else if(errorCode == ClientErrorCode::TIME_OUT) - { - PyErr_SetString(TimeOutError, "Network time out"); - } - else if(errorCode == ClientErrorCode::UNKNOWN_ERROR) - { - PyErr_SetString(UnknownError, "Unknown network error"); - } - return 0; -} /* Create a new client, tries to connect to specified DeepDriveServer * @@ -68,14 +39,14 @@ static PyObject* deepdrive_simulation_connect(PyObject *self, PyObject *args, Py if(ip4Address.set(ipStr, port)) { - if(g_DeepDriveSimulation == 0) + if(DeepDriveSimulation::getInstance() == 0) { - g_DeepDriveSimulation = new DeepDriveSimulation(ip4Address); + DeepDriveSimulation::create(ip4Address); std::cout << "Created DeepDriveSimulation\n"; - if(g_DeepDriveSimulation && g_DeepDriveSimulation->isConnected()) + if(DeepDriveSimulation::getInstance() && DeepDriveSimulation::getInstance()->isConnected()) { - const int32 configureRes = g_DeepDriveSimulation->configureSimulation(seed, timeDilation, startLocation, reinterpret_cast (graphicsSettings)); + const int32 configureRes = DeepDriveSimulation::getInstance()->configureSimulation(seed, timeDilation, startLocation, reinterpret_cast (graphicsSettings)); if(configureRes < 0) handleError(configureRes); else @@ -101,12 +72,7 @@ static PyObject* deepdrive_simulation_connect(PyObject *self, PyObject *args, Py static PyObject* deepdriuve_simulation_disconnect(PyObject *self, PyObject *args) { uint32 res = 0; - if(g_DeepDriveSimulation) - { - delete g_DeepDriveSimulation; - g_DeepDriveSimulation = 0; - } - + DeepDriveSimulation::destroy(); return Py_BuildValue("i", res); } @@ -121,7 +87,7 @@ static PyObject* reset_simulation(PyObject *self, PyObject *args, PyObject *keyW { uint32 res = 0; - if(g_DeepDriveSimulation) + if(DeepDriveSimulation::getInstance()) { float timeDilation = 1.0f; float startLocation = -1.0f; @@ -130,7 +96,7 @@ static PyObject* reset_simulation(PyObject *self, PyObject *args, PyObject *keyW int32 ok = PyArg_ParseTupleAndKeywords(args, keyWords, "|ff", keyWordList, &timeDilation, &startLocation); if(ok) { - const int32 requestRes = g_DeepDriveSimulation->resetSimulation(timeDilation, startLocation); + const int32 requestRes = DeepDriveSimulation::getInstance()->resetSimulation(timeDilation, startLocation); if(requestRes >= 0) res = static_cast (requestRes); else @@ -156,14 +122,14 @@ static PyObject* set_graphics_settings(PyObject *self, PyObject *args) { uint32 res = 0; - if(g_DeepDriveSimulation) + if(DeepDriveSimulation::getInstance()) { PyObject *graphicsSettings = 0; int32 ok = PyArg_ParseTuple(args, "O!", &PySimulationGraphicsSettingsType, &graphicsSettings); if(ok) { - const int32 requestRes = g_DeepDriveSimulation->setGraphicsSettings(reinterpret_cast (graphicsSettings)); + const int32 requestRes = DeepDriveSimulation::getInstance()->setGraphicsSettings(reinterpret_cast (graphicsSettings)); if(requestRes >= 0) res = static_cast (requestRes); else @@ -194,7 +160,7 @@ static PyObject* set_date_and_time(PyObject *self, PyObject *args, PyObject *key { uint32 res = 0; - if(g_DeepDriveSimulation) + if(DeepDriveSimulation::getInstance()) { uint32 year = 2011; uint32 month = 8; @@ -206,7 +172,7 @@ static PyObject* set_date_and_time(PyObject *self, PyObject *args, PyObject *key int32 ok = PyArg_ParseTupleAndKeywords(args, keyWords, "|IIIII", keyWordList, &year, &month, &day, &hour, &minute); if(ok) { - const int32 requestRes = g_DeepDriveSimulation->setDateAndTime(year, month, day, minute, hour); + const int32 requestRes = DeepDriveSimulation::getInstance()->setDateAndTime(year, month, day, minute, hour); if(requestRes >= 0) res = static_cast (requestRes); else @@ -230,7 +196,7 @@ static PyObject* set_sun_simulation_speed(PyObject *self, PyObject *args, PyObje { uint32 res = 0; - if(g_DeepDriveSimulation) + if(DeepDriveSimulation::getInstance()) { uint32 speed = 0; @@ -238,7 +204,7 @@ static PyObject* set_sun_simulation_speed(PyObject *self, PyObject *args, PyObje int32 ok = PyArg_ParseTupleAndKeywords(args, keyWords, "|I", keyWordList, &speed); if(ok) { - const int32 initRes = g_DeepDriveSimulation->setSpeed(speed); + const int32 initRes = DeepDriveSimulation::getInstance()->setSpeed(speed); if(initRes >= 0) res = static_cast (initRes); else @@ -271,6 +237,8 @@ static struct PyModuleDef deepdrive_simulation_module = { DeepDriveClientMethods }; +extern PyObject* create_multi_agent_module(); + PyMODINIT_FUNC PyInit_deepdrive_simulation(void) { // if (PyType_Ready(&PyDeepDriveClientRegisterClientRequestType) < 0) @@ -281,33 +249,14 @@ PyMODINIT_FUNC PyInit_deepdrive_simulation(void) if (PyType_Ready(&PySimulationGraphicsSettingsType) < 0) return 0; - PyObject *m = PyModule_Create(&deepdrive_simulation_module); if (m) { - DeepDriveClientError = PyErr_NewException("deepdrive_simulation.error", NULL, NULL); - Py_INCREF(DeepDriveClientError); - PyModule_AddObject(m, "error", DeepDriveClientError); - - ConnectionLostError = PyErr_NewException("deepdrive_simulation.connection_lost", NULL, NULL); - Py_INCREF(ConnectionLostError); - PyModule_AddObject(m, "connection_lost", ConnectionLostError); - - NotConnectedError = PyErr_NewException("deepdrive_simulation.not_connected", NULL, NULL); - Py_INCREF(NotConnectedError); - PyModule_AddObject(m, "not_connected", NotConnectedError); - - TimeOutError = PyErr_NewException("deepdrive_simulation.time_out", NULL, NULL); - Py_INCREF(TimeOutError); - PyModule_AddObject(m, "time_out", TimeOutError); - - ClientDoesntExistError = PyErr_NewException("deepdrive_simulation.client_doesnt_exist", NULL, NULL); - Py_INCREF(ClientDoesntExistError); - PyModule_AddObject(m, "client_doesnt_exist", ClientDoesntExistError); + PyObject *mam = create_multi_agent_module(); + Py_INCREF(mam); + PyModule_AddObject(m, "multi_agent", mam); - UnknownError = PyErr_NewException("deepdrive_simulation.unknown_error", NULL, NULL); - Py_INCREF(UnknownError); - PyModule_AddObject(m, "unknown_error", UnknownError); + setupErrorTypes(m); Py_INCREF(&PySimulationGraphicsSettingsType); PyModule_AddObject(m, "SimulationGraphicsSettings", (PyObject *)&PySimulationGraphicsSettingsType); diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.cpp new file mode 100644 index 00000000..f7f791ab --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.cpp @@ -0,0 +1,59 @@ + +#include "deepdrive_simulation/deepdrive_simulation_error.h" +#include "common/ClientErrorCode.hpp" + +static PyObject *DeepDriveClientError = 0; +static PyObject *ConnectionLostError = 0; +static PyObject *NotConnectedError = 0; +static PyObject *TimeOutError = 0; +static PyObject *ClientDoesntExistError = 0; +static PyObject *UnknownError = 0; + +void setupErrorTypes(PyObject *module) +{ + DeepDriveClientError = PyErr_NewException("deepdrive_simulation.error", NULL, NULL); + Py_INCREF(DeepDriveClientError); + PyModule_AddObject(module, "error", DeepDriveClientError); + + ConnectionLostError = PyErr_NewException("deepdrive_simulation.connection_lost", NULL, NULL); + Py_INCREF(ConnectionLostError); + PyModule_AddObject(module, "connection_lost", ConnectionLostError); + + NotConnectedError = PyErr_NewException("deepdrive_simulation.not_connected", NULL, NULL); + Py_INCREF(NotConnectedError); + PyModule_AddObject(module, "not_connected", NotConnectedError); + + TimeOutError = PyErr_NewException("deepdrive_simulation.time_out", NULL, NULL); + Py_INCREF(TimeOutError); + PyModule_AddObject(module, "time_out", TimeOutError); + + ClientDoesntExistError = PyErr_NewException("deepdrive_simulation.client_doesnt_exist", NULL, NULL); + Py_INCREF(ClientDoesntExistError); + PyModule_AddObject(module, "client_doesnt_exist", ClientDoesntExistError); + + UnknownError = PyErr_NewException("deepdrive_simulation.unknown_error", NULL, NULL); + Py_INCREF(UnknownError); + PyModule_AddObject(module, "unknown_error", UnknownError); +} + +PyObject *handleError(int32 errorCode) +{ + if (errorCode == ClientErrorCode::NOT_CONNECTED) + { + PyErr_SetString(ClientDoesntExistError, "Client doesn't exist"); + } + else if (errorCode == ClientErrorCode::CONNECTION_LOST) + { + PyErr_SetString(ConnectionLostError, "Connection to server lost"); + } + else if (errorCode == ClientErrorCode::TIME_OUT) + { + PyErr_SetString(TimeOutError, "Network time out"); + } + else if (errorCode == ClientErrorCode::UNKNOWN_ERROR) + { + PyErr_SetString(UnknownError, "Unknown network error"); + } + return 0; +} + diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.h new file mode 100644 index 00000000..25a1a919 --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.h @@ -0,0 +1,8 @@ + +#include "Python.h" +#include "Engine.h" + +void setupErrorTypes(PyObject *module); + +PyObject *handleError(int32 errorCode); + diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp new file mode 100644 index 00000000..18044b5f --- /dev/null +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp @@ -0,0 +1,269 @@ + +#include "Python.h" +#include "Engine.h" + +#include "deepdrive_simulation/DeepDriveSimulation.hpp" +#include "deepdrive_simulation/deepdrive_simulation_error.h" + +#include "deepdrive_simulation/PyMultiAgentSnapshotObject.h" + +#include + +/* Retrieve lists of available agents + * + * + * @return List of available list +*/ +static PyObject *multi_agent_get_agents_list(PyObject *self, PyObject *args) +{ + PyObject *ret = PyList_New(0); + if (DeepDriveSimulation::getInstance()) + { + std::vector list; + const int32 requestRes = DeepDriveSimulation::getInstance()->getAgentsList(list); + if (requestRes >= 0) + { + for(auto id : list) + PyList_Append(ret, PyLong_FromUnsignedLong(id)); + } + else + return handleError(requestRes); + } + else + std::cout << "Not connect to Simulation server\n"; + + return ret; +} + +/* Request remote control for a set of specified agent + * + * @param [uint32] List of agent id's to be remotely controlled. If list is empty or None, all agents will be remotely controlled. + * @return True, if successfully, otherwise false +*/ +static PyObject *multi_agent_request_control(PyObject *self, PyObject *args) +{ + uint32 res = 0; + + if(DeepDriveSimulation::getInstance()) + { + PyObject *srcList = 0; + int32 ok = PyArg_ParseTuple(args, "O!", &PyList_Type, &srcList); + if (ok) + { + std::vector agentIds; + int32 n = PyList_Size(srcList); + for(int32 i = 0; i < n; ++i) + { + PyObject *pItem = PyList_GetItem(srcList, i); + if (!PyLong_Check(pItem)) + { + PyErr_SetString(PyExc_TypeError, "List items must be integers"); + return NULL; + } + const uint32 id = PyLong_AsLong(pItem); + agentIds.push_back(id); + } + const int32 initRes = DeepDriveSimulation::getInstance()->requestControl(agentIds); + if(initRes >= 0) + res = static_cast (initRes); + else + return handleError(initRes); + } + else + std::cout << "Wrong arguments\n"; + } + else + std::cout << "Not connect to Simulation server\n"; + + return Py_BuildValue("i", res); +} + +/* Release remote control for a set of specified agent + * + * @param [uint32] List of agent id's to be remotely controlled. If list is empty or None, all agents will be remotely controlled. + * @return True, if successfully, otherwise false +*/ +static PyObject *multi_agent_release_control(PyObject *self, PyObject *args) +{ + uint32 res = 0; + + if (DeepDriveSimulation::getInstance()) + { + PyObject *srcList = 0; + int32 ok = PyArg_ParseTuple(args, "O!", &PyList_Type, &srcList); + if (ok) + { + std::vector agentIds; + int32 n = PyList_Size(srcList); + for (int32 i = 0; i < n; ++i) + { + PyObject *pItem = PyList_GetItem(srcList, i); + if (!PyLong_Check(pItem)) + { + PyErr_SetString(PyExc_TypeError, "List items must be integers"); + return NULL; + } + const uint32 id = PyLong_AsLong(pItem); + agentIds.push_back(id); + } + const int32 initRes = DeepDriveSimulation::getInstance()->releaseControl(agentIds); + if (initRes >= 0) + res = static_cast(initRes); + else + return handleError(initRes); + } + else + std::cout << "Wrong arguments\n"; + } + else + std::cout << "Not connect to Simulation server\n"; + + return Py_BuildValue("i", res); +} + +/* Set control values for a set of specified agent + * + * @param [{'id', 'steering', 'throttle', 'brake', 'handbrake'}] List of control values for particular agents + * + * @return True, if successfully, otherwise false +*/ +static PyObject *multi_agent_set_control_values(PyObject *self, PyObject *args) +{ + uint32 res = 0; + + if (DeepDriveSimulation::getInstance()) + { + PyObject *srcList = 0; + int32 ok = PyArg_ParseTuple(args, "O!", &PyList_Type, &srcList); + if (ok) + { + std::vector controlValues; + int32 n = PyList_Size(srcList); + std::cout << "set_control_values " << n << "\n"; + for (int32 i = 0; i < n; ++i) + { + PyObject *pItem = PyList_GetItem(srcList, i); + if (pItem && PyDict_Check(pItem)) + { + std::cout << "got item\n"; + PyObject *pId = PyDict_GetItemString(pItem, "id"); + std::cout << "pId " << pId << "\n"; + if (pId && PyLong_Check(pId)) + { + std::cout << "got id\n"; + float steering = 0.0f; + float throttle = 0.0f; + float brake = 0.0f; + uint32 handbrake = 0; + + PyObject *pFloat = PyDict_GetItemString(pItem, "steering"); + if (pFloat && PyFloat_Check(pFloat)) + steering = static_cast (PyFloat_AsDouble(pFloat)); + + pFloat = PyDict_GetItemString(pItem, "throttle"); + if (pFloat && PyFloat_Check(pFloat)) + throttle = static_cast(PyFloat_AsDouble(pFloat)); + + pFloat = PyDict_GetItemString(pItem, "brake"); + if (pFloat && PyFloat_Check(pFloat)) + brake = static_cast(PyFloat_AsDouble(pFloat)); + + PyObject *pInt = PyDict_GetItemString(pItem, "handbrake"); + if (pInt && PyLong_Check(pInt)) + handbrake = PyLong_AsLong(pInt) == 0 ? 0 : 1; + + std::cout << PyLong_AsLong(pId) << " s " << steering << " t " << throttle << " b " << brake << " hb " << handbrake << "\n"; + + controlValues.push_back(deepdrive::server::SetControlValuesRequest::ControlValueSet(PyLong_AsLong(pId), steering, throttle, brake, handbrake)); + } + else + { + PyErr_SetString(PyExc_TypeError, "Id must be integer"); + return NULL; + } + } + else + { + PyErr_SetString(PyExc_TypeError, "List items must be dictionary"); + return NULL; + } + } + const int32 initRes = DeepDriveSimulation::getInstance()->setControlValues(controlValues); + if (initRes >= 0) + res = static_cast(initRes); + else + return handleError(initRes); + } + else + std::cout << "Wrong arguments\n"; + } + else + std::cout << "Not connect to Simulation server\n"; + + return Py_BuildValue("i", res); +} + + + +/* Set control values for a set of specified agent + * + * @return A list of snapshots for all remotely controlled agents. +*/ +static PyObject *multi_agent_step(PyObject *self, PyObject *args) +{ + uint32 res = 0; + if (DeepDriveSimulation::getInstance()) + { + std::vector snapshots; + const int32 sentRes = DeepDriveSimulation::getInstance()->step(snapshots); + if (sentRes >= 0) + res = static_cast(sentRes); + else + return handleError(sentRes); + } + else + std::cout << "Not connect to Simulation server\n"; + + return Py_BuildValue("i", res); +} + +static PyMethodDef MultiAgentMethods[] = { {"get_agents_list", (PyCFunction) multi_agent_get_agents_list, METH_VARARGS, "Retrieve a list of available agents"} + , {"request_control", (PyCFunction) multi_agent_request_control, METH_VARARGS, "Request remote control for a list of agents"} + , {"release_control", (PyCFunction) multi_agent_release_control, METH_VARARGS, "Release remote control for a list of agents"} + , {"set_control_values", (PyCFunction) multi_agent_set_control_values, METH_VARARGS, "Set control values for a list of agents"} + , {"step", (PyCFunction) multi_agent_step, METH_VARARGS, "Set control values for a set of specified agent"} + // , {"reset_multi_agent", (PyCFunction) reset_multi_agent, METH_VARARGS | METH_KEYWORDS, "Reset multi_agent"} + // , {"set_graphics_settings", set_graphics_settings, METH_VARARGS, "Set graphics settings"} + // , {"set_date_and_time", (PyCFunction) set_date_and_time, METH_VARARGS | METH_KEYWORDS, "Set date and time for multi_agent"} + // , {"set_sun_multi_agent_speed", (PyCFunction) set_sun_multi_agent_speed, METH_VARARGS | METH_KEYWORDS, "Set speed for sun multi_agent"} + , {NULL, NULL, 0, NULL} /* Sentinel */ + }; + +static struct PyModuleDef multi_agent_module = { + PyModuleDef_HEAD_INIT, + "multi_agent", /* name of module */ + NULL, /* module documentation, may be NULL */ + -1, /* size of per-interpreter state of the module, + or -1 if the module keeps state in global variables. */ + MultiAgentMethods +}; + +PyMODINIT_FUNC PyInit_multi_agent(void) +{ + if (PyType_Ready(&PyMultiAgentSnapshotType) < 0) + return 0; + + PyObject *m = PyModule_Create(&multi_agent_module); + if (m) + { + } + + std::cout << "## ><>|><> PyInit_multi_agent <><|<>< ##\n"; + + return m; +} + +PyObject* create_multi_agent_module() +{ + return PyInit_multi_agent(); +} diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp index 6711c48a..b9bf91cf 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp @@ -48,6 +48,18 @@ int32 IP4ClientSocket::send(const void *data, uint32 bytesToSend) return m_ClientSocketImpl ? m_ClientSocketImpl->send(data, bytesToSend) : ClientErrorCode::NOT_CONNECTED; } +int32 IP4ClientSocket::read(void *buffer, uint32 bytesToRead, uint32 timeOutMS) +{ + if(m_ClientSocketImpl) + { + if(timeOutMS) + return m_ClientSocketImpl->receive(buffer, bytesToRead, timeOutMS); + else + return m_ClientSocketImpl->receive(buffer, bytesToRead); + } + return ClientErrorCode::NOT_CONNECTED; +} + uint32 IP4ClientSocket::receive(void *buffer, uint32 size) { return m_ClientSocketImpl ? m_ClientSocketImpl->receive(buffer, size) : 0; diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp index d5c74d75..ec7ca6df 100644 --- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp +++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp @@ -19,6 +19,8 @@ class IP4ClientSocket int32 send(const void *data, uint32 bytesToSend); + int32 read(void *buffer, uint32 bytesToRead, uint32 timeOutMS); + uint32 receive(void *buffer, uint32 size); bool receive(void *buffer, uint32 size, uint32 timeOutMS); diff --git a/README.md b/README.md index 226ce70c..083b3028 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# Deepdrive sim [![CircleCI](https://circleci.com/gh/deepdrive/deepdrive-sim.svg?style=svg)](https://circleci.com/gh/deepdrive/deepdrive-sim) +# Deepdrive Sim [![CircleCI](https://circleci.com/gh/deepdrive/deepdrive-sim.svg?style=svg)](https://circleci.com/gh/deepdrive/deepdrive-sim) Unreal based simulator and Python interface to Deepdrive @@ -6,10 +6,7 @@ Unreal based simulator and Python interface to Deepdrive Checkout our [main repo](https://github.com/deepdrive/deepdrive) - ## Simulator docs [Simulator docs]( -https://simdocs.deepdrive.io/v/v3/docs) for making changes to the sim. - - +https://simdocs.deepdrive.io/docs) for making changes to the sim. diff --git a/Test/reset_test.py b/Test/reset_test.py new file mode 100644 index 00000000..ebbd2bed --- /dev/null +++ b/Test/reset_test.py @@ -0,0 +1,66 @@ + +import socket +import sys +import time + +import numpy +import random + +import deepdrive_capture +import deepdrive_client +import deepdrive_simulation + +def cleanUp(clientId): + deepdrive_client.release_agent_control(clientId) + for camId in camIds: + deepdrive_client.unregister_camera(clientId, camId) + deepdrive_capture.close() + deepdrive_client.close(clientId) + deepdrive_simulation.disconnect() + +connected = deepdrive_simulation.connect('127.0.0.1', 9009) + +client = deepdrive_client.create('127.0.0.1', 9876) +print(client) + +if client != None and 'client_id' in client: + clientId = client['client_id'] + print('Connected ...', clientId) + + sharedMem = deepdrive_client.get_shared_memory(clientId) + print('SharedMemName:', sharedMem[0], "Size", sharedMem[1]) + + camIds = [] + camIds.append(deepdrive_client.register_camera(clientId, 60, 1024, 1024, [0.0, 0.0, 200.0], [0, 0, 0], 'MainCamera')) + camIds.append(deepdrive_client.register_camera(clientId, 60, 512, 256, [0.0, 0.0, 200.0], [0, 0, -60], 'FrontRight')) + #camIds.append(deepdrive_client.register_camera(clientId, 60, 512, 256, [0.0, 0.0, 200.0], [0, 0, 60], 'FrontLeft')) + + connected = deepdrive_capture.reset(sharedMem[0], sharedMem[1]) + if connected: + + deepdrive_client.set_view_mode(clientId, camIds[0], 'WorldNormal') + try: + + while True: + counter = 100 + while counter > 0: + snapshot = deepdrive_capture.step() + time.sleep(0.05) + counter = counter - 1 + + # deepdrive_client.unregister_camera(clientId, 0) + # time.sleep(0.1) + deepdrive_simulation.reset_simulation() + + cleanUp(clientId) + + except KeyboardInterrupt: + cleanUp(clientId) + + except deepdrive_client.connection_lost: + print('>>>> Connection lost') + deepdrive_capture.close() + deepdrive_simulation.disconnect() + +else: + print('Ohh shit ...') diff --git a/Test/sun_simulation_speed_test.py b/Test/sun_simulation_speed_test.py new file mode 100644 index 00000000..412b9680 --- /dev/null +++ b/Test/sun_simulation_speed_test.py @@ -0,0 +1,29 @@ +import socket +import sys +import time + +import deepdrive_simulation + +def cleanUp(): + deepdrive_simulation.disconnect() + +connected = deepdrive_simulation.connect('127.0.0.1', 9009) + +if connected: + print('Connected ...') + + deepdrive_simulation.set_sun_simulation_speed(1000) + + try: + while True: + time.sleep(0.1) + + except KeyboardInterrupt: + cleanUp() + + except deepdrive_simulation.connection_lost: + print('>>>> Connection lost') + +else: + print('Connecting failed') + diff --git a/Test/sun_simulation_time_test.py b/Test/sun_simulation_time_test.py new file mode 100644 index 00000000..e57d1846 --- /dev/null +++ b/Test/sun_simulation_time_test.py @@ -0,0 +1,39 @@ +import socket +import sys +import time + +import deepdrive_simulation + +def cleanUp(): + deepdrive_simulation.disconnect() + +connected = deepdrive_simulation.connect('127.0.0.1', 9009) + +if connected: + print('Connected ...') + + time.sleep(1) + hour = 5 + minute = 0 + + try: + mainCounter = 100000 + while mainCounter > 0: + deepdrive_simulation.set_date_and_time(hour=hour, minute=minute) + minute = minute + 1 + if minute > 59: + minute = 0 + hour = hour + 1 + if hour > 23: + hour = 0 + time.sleep(0.1) + + except KeyboardInterrupt: + cleanUp() + + except deepdrive_simulation.connection_lost: + print('>>>> Connection lost') + +else: + print('Connecting failed') + diff --git a/Tools/convert_landscape_info_to_geojson.py b/Tools/convert_landscape_info_to_geojson.py new file mode 100644 index 00000000..eca3a384 --- /dev/null +++ b/Tools/convert_landscape_info_to_geojson.py @@ -0,0 +1,597 @@ +import copy +import json +import collections +import os +import uuid +import numpy as np +from scipy import spatial +from scipy.interpolate import interp1d, BPoly + + + + +GAP_CM = 100 +USE_TANGENTS = False +CANYONS_FILENAME = 'landscape_segments.json' +MESA_FILENAME = 'landscape_segments_mesa.json' +# LANDSCAPE_OFFSET = np.array([-11200.000000, -11200.000000, 100.000000]) # Mesa offset +LANDSCAPE_OFFSET = np.array([-21214.687500, -21041.564453, 18179.121094]) # Canyons TODO: Get this from Unreal +LANDSCAPE_Z_SCALE = np.array([1, 1, 159.939941 / 100]) +INTERSECTIONS = False + +class HashableSegment(collections.MutableMapping): + def __init__(self, segment): + self.store = segment + self.update(segment) + + def __getitem__(self, key): + return self.store[key] + + def __setitem__(self, key, value): + self.store[key] = value + + def __delitem__(self, key): + del self.store[key] + + def __iter__(self): + return iter(self.store) + + def __len__(self): + return len(self.store) + + def __hash__(self): + return hash(self.store['full_name']) + + +def get_graphs_by_side_world(graphs_by_side, landscape_offset, landscape_z_scale): + ret = {} + for side in graphs_by_side: + graph = graphs_by_side[side] + new_graph = {} + for p in graph: + p_world = landscape_to_world(landscape_offset, landscape_z_scale, p) + new_connections = [] + for conn in graph[p]: + conn_world = landscape_to_world(landscape_offset, landscape_z_scale, conn) + new_connections.append(tuple(conn_world)) + new_graph[tuple(p_world)] = new_connections + ret[side] = new_graph + return ret + + +def add_point_relations(lane): + n = len(lane) + if n < 3: + return + for idx, segment in enumerate(lane): + + A = np.array(lane[idx-1]['drive']) + B = np.array(segment['drive']) + C = np.array(lane[(idx+1) % n]['drive']) + a = np.linalg.norm(C - B) + b = np.linalg.norm(C - A) + c = np.linalg.norm(B - A) + s = (a + b + c) / 2 + R = a * b * c / 4 / np.sqrt(s * (s - a) * (s - b) * (s - c)) + print('radius %r' % R) + segment['radius'] = R + v = B - A + segment['direction'] = np.arctan(v[1] / v[0]) + segment['distance'] = c + print('distance %r' % c) + if c > 500: + raise ValueError('Distance too large %r, A: %r B: %r' % (c, A, B)) + + +def add_ids(inner_lane, outer_lane): + if INTERSECTIONS: + raise NotImplementedError('Intersections not supported') + if len(inner_lane) != len(outer_lane): + raise ValueError('Expected inner and outer lane lengths too match') + + for i, inner_seg in enumerate(inner_lane): + outer_seg = outer_lane[i] + inner_seg_id = new_seg_id() + outer_seg_id = new_seg_id() + add_seg_ids(inner_seg, inner_seg_id, outer_seg_id) + add_seg_ids(outer_seg, outer_seg_id, inner_seg_id) + + ret = inner_lane + outer_lane + for i, seg in enumerate(ret): + seg['id'] = i + return ret + + +def add_seg_ids(seg, my_id, adj_id): + seg['adjacent_segments'] = [adj_id] + seg['segment_id'] = my_id + + +def new_seg_id(): + # 33 billion meters of road - with 1 / billion collision chance = + # 36**x = 33e18 = 12.54 + ret = str(uuid.uuid4()).replace('-', '')[:13] + ret = '%s-%s' % (ret[:5], ret[5:]) + return ret + + +def main(): + with open('landscape_segments.json') as f: + segments = json.load(f) + segments = set(HashableSegment(s) for s in segments) + segment_point_map = get_segment_point_map(segments) + points = list(segment_point_map.keys()) + graphs = get_map_graphs(points, segment_point_map) + graphs_by_side = match_graphs_to_side(graphs) + + # The following depends on three separate landscape splines for the road and two guard rails + side_point_mapping = match_points_to_sides(graphs_by_side, points) + sides = interpolate_points_by_segment(points, segment_point_map, side_point_mapping, + LANDSCAPE_OFFSET, LANDSCAPE_Z_SCALE) + + graphs_by_side_world = get_graphs_by_side_world(graphs_by_side, LANDSCAPE_OFFSET, LANDSCAPE_Z_SCALE) + + inner_lane, outer_lane = get_lanes(sides, graphs_by_side_world) + # TODO: Go along drive paths and compute curvature with three consecutive points with 1 / radius, where r is given by https://stackoverflow.com/a/20315063/134077 + + add_point_relations(inner_lane) + add_point_relations(outer_lane) + + all_lane_segments = add_ids(inner_lane, outer_lane) + + with open('deepdrive-canyons-map.json', 'w') as outfile: + json.dump(serialize_as_geojson(all_lane_segments), outfile) + print('Saved map to %s' % os.path.realpath(outfile.name)) + + +def get_closest_point(point, kd_tree): + distance, index = kd_tree.query(point) + point = kd_tree.data[index] + return point, distance + + +def get_lanes(sides, graphs_by_side): + inner_lane = [] + outer_lane = [] + start_point = (-27059.478515625, 22658.291015750001, 20553.831906106912) # (-5844.791015625, 43699.85546875, 1484.7515869140625) + end_point = None # (-8673.3046875, 42718.24609375, 1666.61572265625) + center = start_point + prev = (-27128.758053206424, 22593.083229395124, 20568.862235249715) + prev_drive_inner = None + prev_drive_outer = None + inner_kd_tree = spatial.KDTree(sides['inner']) + outer_kd_tree = spatial.KDTree(sides['outer']) + center_kd_tree = spatial.KDTree(sides['center']) + centers = sides['center'] + center_idxs = get_center_idxs(centers) + while True: + inner, inner_dist = get_closest_point(center, inner_kd_tree) + outer, outer_dist = get_closest_point(center, outer_kd_tree) + check_lane_width(max(inner_dist, outer_dist)) + inner_lane_segment = get_lane(center, inner, prev_drive_inner, is_opposite=False) + outer_lane_segment = get_lane(center, outer, prev_drive_outer, is_opposite=True) + center, prev = get_next_center(center, graphs_by_side, prev, center_kd_tree), center + if end_point is not None and np.array_equal(center, end_point): + break + if prev_drive_inner is None or prev_drive_outer is None: + print('Bootstrapping prev inner and outer') + end_point = center + else: + inner_lane.append(inner_lane_segment) + outer_lane.append(outer_lane_segment) + prev_drive_inner = inner_lane_segment['drive'] + prev_drive_outer = outer_lane_segment['drive'] + return inner_lane, outer_lane + + +def get_center_idxs(centers): + center_idxs = collections.defaultdict(list) + for i, p in enumerate(centers): + center_idxs[tuple(p)].append(i) + return center_idxs + + +def get_next_center(center, graphs_by_side, prev, kd_tree): + seg_end_points = graphs_by_side['center'].get(tuple(center), None) + if INTERSECTIONS and seg_end_points is not None: + # TODO: BFS on the interpolated graph segments. + + # Get the next segment. Same as getting next interpolated point when there are no intersections, + # but I don't want to fail silently if there are intersections. + if len(seg_end_points) > 2: + raise ValueError('Intersections and forks not yet supported') + else: + return [p for p in graphs_by_side['center'][center] if p != center][0] + else: + # Grab the nearest interpolated point not equal to prev + results = kd_tree.query(np.array(center), 256) + for i, d in enumerate(results[0]): + if d == 0: + continue + p = kd_tree.data[results[1][i]] + if not np.array_equal(prev, p): + return tuple(p) + else: + raise ValueError('Could not find next center') + + +def check_lane_width(dist): + if dist > 20 * 100: + raise ValueError('Got lane width way wider than expected') + + +def get_lane(left, right, prev, is_opposite): + left = np.array(left) + drive = left + (right - left) * 0.5 + if prev is None: + direction = None + else: + if is_opposite: + vector = prev - right + else: + vector = right - prev + direction = np.arctan(vector[1] / vector[0]) + lane = {'left': left, 'drive': drive, 'right': right, 'direction': direction} + return lane + + +def interpolate_points_by_segment(points, segment_point_map, side_point_mapping, landscape_offset, landscape_z_scale): + visited_segments = set() + sides = collections.defaultdict(list) + for point in points: + if point not in side_point_mapping: + print('Ignoring point %r - not on track and should be deleted' % (point,)) + continue + for segment in segment_point_map[point]: + if segment in visited_segments: + continue + else: + visited_segments.add(segment) + center_points = get_interpolated_points(landscape_offset, landscape_z_scale, point, segment, 'Center') + segment['interp_center_points'] = center_points + sides[side_point_mapping[point]].extend(center_points) # Guard rails define inner and outer road edges + + # TODO: Eventually we need to start with the map and build the level + # OR if we want to extract the map from landscape splines, we can use the mesh name + # to know the lanes and directions, then do a raycast search for the edges of the road + # starting from the center (either straight down or along the normal to the plane formed + # by the segment), so we are not reliant on matching Unreal's interpolation and + # we don't have to correct for Unreal's width segment connection tangents and control point tangents. + # For the canyons map, the cubic interpolation looks perfect. For the mesa test map, it doesn't. + # So, their could be some design params that can help avoid raycasting everything. + + return sides + + +def match_points_to_sides(graphs_by_side, points): + side_point_mapping = {} + for p1 in points: + for s in graphs_by_side: + if p1 in graphs_by_side[s]: + side_point_mapping[p1] = s + return side_point_mapping + + +def match_graphs_to_side(graphs): + sides = {} + for g in graphs: + if (16453.779296875, 16242.0615234375, 1334.0733642578125) in g: + sides['inner'] = g + elif (25330.23046875, 56882.2890625, 2772.235595703125) in g: + sides['center'] = g + elif (25125.541015625, 55631.3828125, 2850.599365234375) in g: + sides['outer'] = g + + return sides + + +def get_landscape_spline_name(segment): + seg_name = segment['full_name'] + comps = [c for c in segment['full_name'].split('.') if 'component' in c.lower()] + if len(comps) != 1: + raise ValueError('Could not get landscape spline name from %s' % seg_name) + return comps[0] + +def landscape_to_world(landscape_offset, landscape_z_scale, point): + point_with_z_scale = point * landscape_z_scale + actual = np.array(point_with_z_scale) + landscape_offset + return actual + +def serialize_as_geojson(in_segments): + out = { + 'crosswalks': {}, + 'driveways': {}, + 'lanes': {}, + 'lines': {}, + 'origin': {'latitude': 0, 'altitude': 0, 'longitude': 0}, + 'roadblocks': {}, + 'stoplines': {}, + } + out_segments = [] + for i in range(len(in_segments) - 1): + start = in_segments[i] + end = in_segments[i + 1] + out_segments.append( + get_geojson_lane_segment(end, start)) + out['lanes'] = {'features': out_segments, 'type': 'FeatureCollection'} + return out + + +def get_geojson_lane_segment(segment, next_segment): + # TODO: Convert all cm values to meters (right, left) + properties = { + 'vehicle_type': "VEHICLE", + 'intersections': [], + 'lane_count': 1, + 'lane_num': 1, + 'lane_type': "STRAIGHT", + 'next_lanes': [], + 'other_attributes': [], + 'prev_lanes': [], + 'speed_limit': 60, + 'radius': segment['radius'] / 100, + 'distance': segment['distance'] / 100, + 'id': segment['id'], + 'segment_id': segment['segment_id'], + 'adjacent_segments': segment['adjacent_segments'], + } + coords = get_geojson_coords(segment, next_segment, 'drive') + right_coords = get_geojson_coords(segment, next_segment, 'right') + left_coords = get_geojson_coords(segment, next_segment, 'left') + properties['right_line'] = get_geojson_line(right_coords) + properties['left_line'] = get_geojson_line(left_coords) + polygon = np.array([segment['left'], next_segment['left'], segment['right'], next_segment['right']]) / 100 + properties['polygon'] = {'coordinates': polygon.tolist(), 'type': 'Polygon'} + ret = { + 'geometry': {'type': 'LineString', 'coordinates': coords}, + 'properties': properties, + 'type': 'Feature'} + return ret + + +def get_geojson_line(left_coords): + return {'geometry': {'type': 'LineString', 'coordinates': left_coords}, 'line_color': 'WHITE', + 'line_type': 'DOUBLE_SOLID_LINE'} + + +def get_geojson_coords(segment, next_segment, side): + return (np.array([segment[side], next_segment[side]]) / 100).tolist() + + +""" +geometry: {type: "LineString", coordinates: [[-91.23195947978866, 115.201464914047, 125.591217041],…]} +coordinates: [[-91.23195947978866, 115.201464914047, 125.591217041],…] +0: [-91.23195947978866, 115.201464914047, 125.591217041] +1: [-91.17320342247241, 114.30339182956251, 125.601303101] +type: "LineString" +line_color: "NONE" +line_type: "IMPLIED" +""" + + +def get_interpolated_points(landscape_offset, landscape_z_scale, point, segment, side_name): + if not USE_TANGENTS: + return interpolate(landscape_offset, landscape_z_scale, segment, side_name) + else: + side_points, tangents = get_side_points_and_tangents(landscape_offset, landscape_z_scale, + segment, side_name) + + if tangents is None: + return side_points + else: + new_points = sample_cubic_splines_with_derivative(side_points, tangents, GAP_CM) + + if np.isclose(point[0], 9730.796875) or np.isclose(point[0], 10259.5302734375): + for point in new_points: + print('check it!', format_point_as_unreal(point)) + return new_points + + +def interpolate(landscape_offset, landscape_z_scale, segment, side): + """ + :param landscape_offset: Center of landscape which Unreal uses as origin for segment point coordinates + :param landscape_z_scale: Z-scale of landscape in Unreal transform + :param segment: Unreal segment + :param side: Left, Center, or Right + :return: + """ + + orig = get_side_points(landscape_offset, landscape_z_scale, segment, side) + if len(orig) <= 2: + return np.array(orig) + else: + # Do cubic interpolation to smooth out inner points + if len(orig) < 4: + points = add_midpoints(orig) + else: + points = orig + distances = np.cumsum(np.linalg.norm(np.diff(points, axis=0), axis=1)) + distances = np.hstack([[0], distances]) + points = np.array(points) + total_points = distances[-1] // GAP_CM + 1 + chords = list(np.arange(0, total_points) * GAP_CM) + if distances[-1] % GAP_CM > (GAP_CM / 3): + # Add an extra interp point so there won't be big gap + chords.append(distances[-1]) + cubic_interpolator = interp1d(distances, points, 'cubic', axis=0) + ret = cubic_interpolator(chords) + return ret + + +def sample_cubic_splines_with_derivative(points, tangents, resolution): + """ + Compute and sample the cubic splines for a set of input points with + optional information about the tangent (direction AND magnitude). The + splines are parametrized along the traverse line (piecewise linear), with + the resolution being the step size of the parametrization parameter. + The resulting samples have NOT an equidistant spacing. + + Arguments: points: a list of n-dimensional points + tangents: a list of tangents + resolution: parametrization step size + Returns: samples + + Notes: Lists points and tangents must have equal length. In case a tangent + is not specified for a point, just pass None. For example: + points = [[0,0], [1,1], [2,0]] + tangents = [[1,1], None, [1,-1]] + + """ + resolution = float(resolution) + points = np.asarray(points) + n_points, dim = points.shape + + # Parametrization parameter s. + dp = np.diff(points, axis=0) # difference between points + dp = np.linalg.norm(dp, axis=1) # distance between points + d = np.cumsum(dp) # cumsum along the segments + d = np.hstack([[0], d]) # add distance from first point + length = d[-1] # length of point sequence + n_samples = int(length / resolution) # number of samples + + # TODO: s should be GAP_CM apart plus left over distance to end if over GAP_CM / 2 + + s, r = np.linspace(0, length, n_samples, retstep=True) # sample parameter and step + + # Bring points and (optional) tangent information into correct format. + assert (len(points) == len(tangents)) + data = np.empty([n_points, dim], dtype=object) + for i, p in enumerate(points): + t = tangents[i] + # Either tangent is None or has the same + # number of dimensions as the point p. + assert (t is None or len(t) == dim) + fuse = list(zip(p, t) if t is not None else zip(p, )) + data[i, :] = fuse + + # Compute splines per dimension separately. + samples = np.zeros([n_samples, dim]) + for i in range(dim): + poly = BPoly.from_derivatives(d, data[:, i]) + samples[:, i] = poly(s) + return samples + + +def get_side_points(landscape_offset, landscape_z_scale, segment, side): + orig = [] + for p in segment['Points']: + p = landscape_to_world(landscape_offset, landscape_z_scale, p[side]) + orig.append(p) + return orig + + +def get_segment_tangent_at_point(segment, point): + point = tuple(point) + for i, p in enumerate(segment['SplineInfo_Points']): + if get_segment_point(segment, i) == point: + arrive = p['ArriveTangent'] + leave = p['LeaveTangent'] + if arrive != leave: + raise NotImplementedError('Unequal tangents not supported') + return np.array(arrive) + +def get_side_points_and_tangents(landscape_offset, landscape_z_scale, segment, side_name): + points = [] + orig = segment['Points'] + if len(orig) == 2: + return orig, None + elif len(orig) == 3: + begin_tangent = get_segment_tangent_at_point(segment, orig[0]['Center']) + end_tangent = get_segment_tangent_at_point(segment, orig[2]['Center']) + mid_tangent = (begin_tangent + end_tangent) / 2 + for i, p in enumerate(orig): + p = landscape_to_world(landscape_offset, landscape_z_scale, np.array(p)) + points.append(p) + points = add_midpoints(points) + tangents = np.array([begin_tangent, begin_tangent, mid_tangent, end_tangent, end_tangent]) + tangents *= 0 + else: + raise ValueError('Expected either 2 or 3 points in segment, got %d' % len(orig)) + return np.array(points), np.array(tangents) + + +def add_midpoints(orig): + ret = [] + for i in range(len(orig) - 1): + start = orig[i] + end = orig[i + 1] + mid = start + (end - start) * 0.5 + ret += [start, mid] + ret.append(orig[-1]) + return ret + + +def format_point_as_unreal(point): + return '(X=%.6f,Y=%.6f,Z=%.6f)' % (point[0], point[1], point[2]) + + +def get_map_graphs(points, segment_point_map): + graphs = [] + points = copy.deepcopy(points) + while points: + # Find overlapping segments using OutVal of control point + # String mid points together unique_segments = dict() + graph = get_map_graph(segment_point_map, points) + graphs.append(graph) + return graphs + + +def get_segment_point_map(segments): + segment_point_map = dict() + for s in segments: + for point in get_segment_points(s): + if point in segment_point_map: + segment_point_map[point].add(s) + else: + segment_point_map[point] = {s} + return segment_point_map + + +def get_segment_points(s): + return [get_segment_point(s, i) for i in range(len(s['SplineInfo_Points']))] + + +def get_unique_segments(segments): + unique_segments = dict() + for segment in segments: + unique_segments[segment['full_name']] = segment + segments = list(unique_segments.values()) + return segments + + +def get_neighboring_points(p, segment_point_map): + segments = segment_point_map[p] + ret = [] + for s in segments: + for pt in get_segment_points(s): + if pt != p: + ret.append(pt) + return ret + + +def get_map_graph(segment_point_map, points): + # Use BFS to find connected points + visited = {points[0]} + q = collections.deque([points[0]]) + graph = {} + while q: + vertex = q.popleft() + points.remove(vertex) # Don't start a search from here + neighbors = list(get_neighboring_points(vertex, segment_point_map)) + graph[vertex] = neighbors + if len(neighbors) > 2: + print('Found a fork / intersection') + for neighbor in neighbors: + if neighbor not in visited: + visited.add(neighbor) + q.append(neighbor) + + return graph + + +def get_segment_point(segment, index): + return tuple(segment['SplineInfo_Points'][index]['OutVal']) + + +if __name__ == '__main__': + main() diff --git a/Tools/deepdrive-canyons-map.json b/Tools/deepdrive-canyons-map.json new file mode 100644 index 00000000..7e14bdc3 --- /dev/null +++ b/Tools/deepdrive-canyons-map.json @@ 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/Game/DeepDrive/Maps/Mesa.Mesa:PersistentLevel.Landscape_0.LandscapeSplinesComponent_0.LandscapeSplineSegment_3", + "display_name": "LandscapeSplineSegment_3" + } +] \ No newline at end of file diff --git a/clean.bat b/clean.bat index 9063d55f..fd1ed21f 100644 --- a/clean.bat +++ b/clean.bat @@ -5,3 +5,7 @@ RMDIR Intermediate /S /Q RMDIR Binaries /S /Q RMDIR Plugins\DeepDrivePlugin\Binaries /S /Q RMDIR Plugins\DeepDrivePlugin\Intermediate /S /Q +RMDIR Plugins\ActorEventLogging\Binaries /S /Q +RMDIR Plugins\ActorEventLogging\Intermediate /S /Q +RMDIR Plugins\ActorEventLoggingStub\Binaries /S /Q +RMDIR Plugins\ActorEventLoggingStub\Intermediate /S /Q diff --git a/docs/python_bindings.md b/docs/python_bindings.md index f9daf5e7..0b956db7 100644 --- a/docs/python_bindings.md +++ b/docs/python_bindings.md @@ -1,7 +1,7 @@ # Building the python bindings ``` -install-local-bindings.sh +install-dev-bindings.sh ``` # Pushing bindings to PyPi