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berndgassmannberndgassmann
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Fix Windows build and smoke tests
Update RPC lib version for windows build Ensure tick calls are ignored if sync mode is not active. And prevent client changes of fixed_delta_seconds triggering warning message.
1 parent db13aac commit db05b30

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7 files changed

+41
-19
lines changed

7 files changed

+41
-19
lines changed

‎LibCarla/source/carla/client/World.cpp‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -75,7 +75,10 @@ namespace client {
7575
if (tics_correct >= 2)
7676
return id;
7777

78-
Tick(local_timeout);
78+
if (settings.synchronous_mode) {
79+
// tick if synchronous mode is active
80+
Tick(local_timeout);
81+
}
7982
}
8083

8184
log_warning("World::ApplySettings: After", number_of_attemps, " attemps, the settings were not correctly set. Please check that everything is consistent.");

‎LibCarla/source/carla/rpc/RpcServerInterface.h‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -87,8 +87,9 @@ class RpcServerInterface {
8787
* @{
8888
*/
8989
virtual Response<uint64_t> call_tick(
90-
synchronization_client_id_type const &client_id = ALL_CLIENTS,
91-
synchronization_participant_id_type const &participant_id = ALL_PARTICIPANTS) = 0;
90+
synchronization_client_id_type const &client_id,
91+
synchronization_participant_id_type const &participant_id,
92+
carla::rpc::SynchronizationTickMode synchronization_tick_mode) = 0;
9293
virtual Response<synchronization_participant_id_type> call_register_synchronization_participant(
9394
synchronization_client_id_type const &client_id,
9495
synchronization_participant_id_type const &participant_id_hint = ALL_PARTICIPANTS) = 0;

‎LibCarla/source/carla/rpc/ServerSynchronizationTypes.h‎

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,10 @@ struct synchronization_window_participant_state {
2727
synchronization_target_game_time target_game_time;
2828
};
2929

30-
30+
enum class SynchronizationTickMode {
31+
FORCE_ENABLE_SYNC,
32+
TICK_ONLY_IF_SYNC_ENABLED
33+
};
3134

3235
} // namespace rpc
3336
} // namespace carla

‎PythonAPI/test/smoke/__init__.py‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -48,6 +48,8 @@ def setUp(self):
4848

4949
def tearDown(self):
5050
self.world.apply_settings(self.settings)
51-
self.world.tick()
51+
if self.settings.synchronous_mode:
52+
# tick if synchronous mode is active
53+
self.world.tick()
5254
self.settings = None
5355
super(SyncSmokeTest, self).tearDown()

‎Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp‎

Lines changed: 23 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -239,7 +239,8 @@ class FCarlaServer::FPimpl: public carla::rpc::RpcServerInterface
239239
*/
240240
carla::rpc::Response<uint64_t> call_tick(
241241
carla::rpc::synchronization_client_id_type const &client_id,
242-
carla::rpc::synchronization_participant_id_type const &participant_id) override;
242+
carla::rpc::synchronization_participant_id_type const &participant_id,
243+
carla::rpc::SynchronizationTickMode synchronization_tick_mode) override;
243244
carla::rpc::Response<carla::rpc::synchronization_participant_id_type> call_register_synchronization_participant(
244245
carla::rpc::synchronization_client_id_type const &client_id,
245246
carla::rpc::synchronization_participant_id_type const &participant_id_hint = carla::rpc::ALL_PARTICIPANTS) override;
@@ -424,6 +425,7 @@ void FCarlaServer::FPimpl::BindActions()
424425

425426
BIND_SYNC(tick_cue) << [this]() -> R<uint64_t>
426427
{
428+
REQUIRE_CARLA_EPISODE();
427429
TRACE_CPUPROFILER_EVENT_SCOPE(TickCueReceived);
428430
UE_LOG(
429431
LogCarlaServer,
@@ -432,7 +434,7 @@ void FCarlaServer::FPimpl::BindActions()
432434
UTF8_TO_TCHAR(SynchronizationClientId().c_str()),
433435
TickParticipantId(),
434436
::rpc::this_session().id());
435-
return call_tick(SynchronizationClientId(), TickParticipantId());
437+
return call_tick(SynchronizationClientId(), TickParticipantId(), carla::rpc::SynchronizationTickMode::TICK_ONLY_IF_SYNC_ENABLED);
436438
};
437439

438440
// ~~ Load new episode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -3667,12 +3669,20 @@ void FCarlaServer::FPimpl::NotifyEndEpisode()
36673669

36683670
carla::rpc::Response<uint64_t> FCarlaServer::FPimpl::call_tick(
36693671
carla::rpc::synchronization_client_id_type const &client_id,
3670-
carla::rpc::synchronization_participant_id_type const&participant_id)
3672+
carla::rpc::synchronization_participant_id_type const&participant_id,
3673+
carla::rpc::SynchronizationTickMode synchronization_tick_mode)
36713674
{
3672-
REQUIRE_CARLA_EPISODE();
36733675
auto Current = FCarlaEngine::GetFrameCounter();
3674-
auto const TargetGameTime = Episode->GetElapsedGameTime() + GetTickDeltaSeconds();
3675-
(void) call_update_synchronization_window(client_id, participant_id, TargetGameTime);
3676+
3677+
if ( (synchronization_tick_mode == carla::rpc::SynchronizationTickMode::FORCE_ENABLE_SYNC)
3678+
|| ServerSync.IsSynchronousModeActive() ) {
3679+
auto const TargetGameTime = Episode->GetElapsedGameTime() + GetTickDeltaSeconds();
3680+
ServerSync.UpdateSynchronizationWindow(client_id, participant_id, TargetGameTime);
3681+
}
3682+
else {
3683+
UE_LOG(LogCarla, Warning, TEXT("CarlaServer::call_tick[%s:%d] received, but synchronous mode not running. Tick is ignored."),
3684+
UTF8_TO_TCHAR(client_id.c_str()), participant_id);
3685+
}
36763686
return Current + 1;
36773687
}
36783688

@@ -3879,9 +3889,11 @@ double FCarlaServer::GetTickDeltaSeconds() {
38793889

38803890
void FCarlaServer::Tick()
38813891
{
3882-
(void)Pimpl->call_tick(Pimpl->SynchronizationClientId(), Pimpl->ServerSynchronizationParticipantId);
3892+
(void)Pimpl->call_tick(Pimpl->SynchronizationClientId(),
3893+
Pimpl->ServerSynchronizationParticipantId,
3894+
carla::rpc::SynchronizationTickMode::TICK_ONLY_IF_SYNC_ENABLED);
38833895
}
3884-
3896+
38853897
bool FCarlaServer::TickCueReceived()
38863898
{
38873899
return Pimpl->IsNextGameTickAllowed();
@@ -3987,12 +3999,12 @@ carla::rpc::Response<carla::rpc::VehicleTelemetryData> FCarlaServer::call_get_te
39873999
return Pimpl->call_get_telemetry_data(ActorId);
39884000
}
39894001

3990-
39914002
carla::rpc::Response<uint64_t> FCarlaServer::call_tick(
39924003
carla::rpc::synchronization_client_id_type const &client_id,
3993-
carla::rpc::synchronization_participant_id_type const&synchronization_participant)
4004+
carla::rpc::synchronization_participant_id_type const&synchronization_participant,
4005+
carla::rpc::SynchronizationTickMode synchronization_tick_mode)
39944006
{
3995-
return Pimpl->call_tick(client_id, synchronization_participant);
4007+
return Pimpl->call_tick(client_id, synchronization_participant, synchronization_tick_mode);
39964008
}
39974009

39984010
carla::rpc::Response<carla::rpc::synchronization_participant_id_type> FCarlaServer::call_register_synchronization_participant(

‎Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -123,8 +123,9 @@ class FCarlaServer: public carla::rpc::RpcServerInterface
123123
* @{
124124
*/
125125
carla::rpc::Response<uint64_t> call_tick(
126-
carla::rpc::synchronization_client_id_type const &client_id = carla::rpc::ALL_CLIENTS,
127-
carla::rpc::synchronization_participant_id_type const &participant_id = carla::rpc::ALL_PARTICIPANTS) override;
126+
carla::rpc::synchronization_client_id_type const &client_id,
127+
carla::rpc::synchronization_participant_id_type const &participant_id,
128+
carla::rpc::SynchronizationTickMode synchronization_tick_mode) override;
128129
carla::rpc::Response<carla::rpc::synchronization_participant_id_type> call_register_synchronization_participant(
129130
carla::rpc::synchronization_client_id_type const &client_id,
130131
carla::rpc::synchronization_participant_id_type const &participant_id_hint = carla::rpc::ALL_PARTICIPANTS) override;

‎Util/InstallersWin/install_rpclib.bat‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ rem If not set set the build dir to the current dir
4040
if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
4141
if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
4242

43-
set RPC_VERSION=v2.2.1_c5
43+
set RPC_VERSION=carla-callbacks
4444
set RPC_SRC=rpclib-src
4545
set RPC_SRC_DIR=%BUILD_DIR%%RPC_SRC%\
4646
set RPC_INSTALL=rpclib-install

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