DeepGTAV v2 Revision

A plugin for GTAV that transforms it into a vision-based self-driving car research environment.

Installation

确认 steering，throttle，brake 在内存中与vehicle首地址的偏移量（可使用 bin/Release 预编译文件尝试）
使用visual studio编译项目
将 bin/Release 文件拷贝到GTAV根目录
Replace your saved game data in Documents/Rockstar Games/GTA V/Profiles/ with the contents of bin/SaveGame
Download paths.xml and store it also in the GTAV installation directory.

寻找vehicle首地址offset

将提供的预编译文件拷贝到GTAV根目录，运行GTAV，对8000端口发出start指令
使用 Cheat Engine ，从GTAV根目录下的VehicleBaseAddress.log文件里的地址开始，到此地址后0xfa0位，对[-2,2]的float值进行搜索，同时进行游戏，观察地址中值的变化情况
预编译文件offset： throttle（0x8A4），brake（0x8A8），steering（0x89C）
在版本 1.0.231.0 NON-STEAM 运行良好

Revision Info

增加VehicleBaseAddress.log方便调试
更改截图方式由左上角改为任意位置
更改offset

steering，throttle，brake值含义

steering: [-1,1]， 负数：倒退，正数：向前行驶。数值代表油门百分比
brake: [0,1]，代表刹车的百分比
steering: [-pi/5,pi/5]，负数：向左转，正数：向右转

Messages from the client to DeepGTAV

Messages must be always be sent in two steps: First send the JSON message length in bytes and then send the message itself, this is done so DeepGTAV knows when to stop reading a message.

Start

This is the message that needs to be sent to start DeepGTAV, any other message sent prior to this won't make any effect. Along with this message, several fields can be set to start DeepGTAV with the desired initial conditions and requested Data transmission.

When this message is sent the environment starts, the game camera is set to the front center of the vehicle and Data starts being sent back to the client until the client is disconnected or an Stop message is received

Here follows an example of the Start message:

{"start": {
  "scenario": {
    "location": [1015.6, 736.8],
    "time": [22, null],
    "weather": "RAIN",
    "vehicle": null,
    "drivingMode": [1074528293, 15.0]
  },
  "dataset": {
    "rate": 20,
    "frame": [227, 227],
    "vehicles": true,
    "peds": false,
    "trafficSigns": null,
    "direction": [1234.8, 354.3, 0],
    "reward": [15.0, 0.5],
    "throttle": true,
    "brake": true,
    "steering": true,
    "speed": null,
    "yawRate": false,
    "drivingMode": null,
    "location": null,
    "time": false    
  }
}}

The scenario field specifies the desired intitial conditions for the environment. If any of its fields or itself is null or invalid the relevant configuration will be randomly set.

The dataset field specifies the data we want back from the game. If any of its fields or itself is null or invalid, the relevant Data field will be deactivated, except for the frame rate and dimensions, which will be set to 10 Hz and 320x160 by default.

Config

This message allows to change at any moment during DeepGTAV's execution, the initial configuration set by the Start message.

Here follows an example of the Config message (identical to the Start message):

{"start": {
  "scenario": {
    "location": [1015.6, 736.8],
    "time": null,
    "weather": "SUNNY",
    "vehicle": "voltic",
    "drivingMode": -1
  },
  "dataset": {
    "rate": null,
    "frame": null,
    "vehicles": false,
    "peds": true,
    "trafficSigns": null,
    "direction": null,
    "reward": null,
    "throttle": null,
    "brake": false,
    "steering": false,
    "speed": true,
    "yawRate": null,
    "drivingMode": null,
    "location": null,
    "time": true   
  }
}}

In this case, if any field is null or invalid, the previous configuration is kept. Otherwise the configuration is overrided.

Commands

As simple as it seems, this message can be sent at any moment during DeepGTAV's execution to control the vehicle. Note that you will only be able to control the vehicle if drivingMode is set to manual.

Here follows an example of the Commands message:

{"commands": {
  "throttle": 1.0,
  "brake": 0.0,
  "steering": -0.5
}}

Stop

Stops the environment and allows the user to go back to the normal gameplay. Simply disconnecting the client produces the same effect.

Here follows an example of the Stop message:

{"stop": {}}

Messages from DeepGTAV to the client

DeepGTAV will always send the messages in two steps: First it will send the message length in bytes and then it will send the message itself, so the client can know when to stop reading it.

The messages rate and content will depend on the configuration set by the Start or Config messages, and are always sent consecutively (Frame, Data).

Frame

This is a byte array containing the RGB values of the current GTAV screen (resized to the specified width and length). Make sure the window is not minimized, otherwise the values will be all zeroes (black).

lyzMaster / DeepGTAV-Revision