From 0a06dc7db6ac2a09e63d8fd91e9cb4af6d08c765 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 14 Nov 2018 19:50:19 +0100
Subject: [PATCH] Return waypoints and spawn points as pure Python lists

---
 PythonAPI/source/libcarla/Map.cpp      | 28 +++-----------------------
 PythonAPI/source/libcarla/libcarla.cpp | 26 +++++++++++++++++++++---
 2 files changed, 26 insertions(+), 28 deletions(-)

diff --git a/PythonAPI/source/libcarla/Map.cpp b/PythonAPI/source/libcarla/Map.cpp
index eda1abc1d..3e9f7fa37 100644
--- a/PythonAPI/source/libcarla/Map.cpp
+++ b/PythonAPI/source/libcarla/Map.cpp
@@ -9,8 +9,6 @@
 #include <carla/client/Map.h>
 #include <carla/client/Waypoint.h>
 
-#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
-
 #include <fstream>
 
 namespace carla {
@@ -49,37 +47,17 @@ static auto GetTopology(const carla::client::Map &self) {
   return result;
 }
 
-static auto GenerateWaypoints(const carla::client::Map &self, double distance) {
-  namespace py = boost::python;
-  auto waypoints = self.GenerateWaypoints(distance);
-  py::list result;
-  for (auto &&waypoint : waypoints) {
-    result.append(waypoint);
-  }
-  return result;
-}
-
 void export_map() {
   using namespace boost::python;
   namespace cc = carla::client;
   namespace cg = carla::geom;
 
-  class_<std::vector<cg::Transform>>("vector_of_transforms")
-    .def(vector_indexing_suite<std::vector<cg::Transform>>())
-    .def(self_ns::str(self_ns::self))
-  ;
-
-  class_<std::vector<carla::SharedPtr<cc::Waypoint>>>("vector_of_waypoints")
-    .def(vector_indexing_suite<std::vector<carla::SharedPtr<cc::Waypoint>>, true>())
-    .def(self_ns::str(self_ns::self))
-  ;
-
   class_<cc::Map, boost::noncopyable, boost::shared_ptr<cc::Map>>("Map", no_init)
     .add_property("name", CALL_RETURNING_COPY(cc::Map, GetName))
-    .def("get_spawn_points", CALL_RETURNING_COPY(cc::Map, GetRecommendedSpawnPoints))
+    .def("get_spawn_points", CALL_RETURNING_LIST(cc::Map, GetRecommendedSpawnPoints))
     .def("get_waypoint", &cc::Map::GetWaypoint, (arg("location"), arg("project_to_road")=true))
     .def("get_topology", &GetTopology)
-    .def("generate_waypoints", &GenerateWaypoints)
+    .def("generate_waypoints", CALL_RETURNING_LIST_1(cc::Map, GenerateWaypoints, double), (args("distance")))
     .def("to_opendrive", CALL_RETURNING_COPY(cc::Map, GetOpenDrive))
     .def("save_to_disk", &SaveOpenDriveToDisk, (arg("path")=""))
     .def(self_ns::str(self_ns::self))
@@ -89,7 +67,7 @@ void export_map() {
     .add_property("transform", CALL_RETURNING_COPY(cc::Waypoint, GetTransform))
     .add_property("road_id", &cc::Waypoint::GetRoadId)
     .add_property("lane_id", &cc::Waypoint::GetLaneId)
-    .def("next", &cc::Waypoint::Next, (args("distance")))
+    .def("next", CALL_RETURNING_LIST_1(cc::Waypoint, Next, double), (args("distance")))
     .def(self_ns::str(self_ns::self))
   ;
 }
diff --git a/PythonAPI/source/libcarla/libcarla.cpp b/PythonAPI/source/libcarla/libcarla.cpp
index 0cb84fec6..223104835 100644
--- a/PythonAPI/source/libcarla/libcarla.cpp
+++ b/PythonAPI/source/libcarla/libcarla.cpp
@@ -28,9 +28,29 @@
     }
 
 // Convenient for const requests that need to make a copy of the returned value.
-#define CALL_RETURNING_COPY_1(cls, fn, _T1) +[](const cls &self, _T1 t1) \
-        -> std::decay_t<std::result_of_t<decltype(&cls::fn)(cls*, _T1)>> { \
-      return self.fn(std::forward<_T1>(t1)); \
+#define CALL_RETURNING_COPY_1(cls, fn, T1_) +[](const cls &self, T1_ t1) \
+        -> std::decay_t<std::result_of_t<decltype(&cls::fn)(cls*, T1_)>> { \
+      return self.fn(std::forward<T1_>(t1)); \
+    }
+
+// Convenient for const requests that needs to convert the return value to a
+// Python list.
+#define CALL_RETURNING_LIST(cls, fn) +[](const cls &self) { \
+      boost::python::list result; \
+      for (auto &&item : self.fn()) { \
+        result.append(item); \
+      } \
+      return result; \
+    }
+
+// Convenient for const requests that needs to convert the return value to a
+// Python list.
+#define CALL_RETURNING_LIST_1(cls, fn, T1_) +[](const cls &self, T1_ t1) { \
+      boost::python::list result; \
+      for (auto &&item : self.fn(std::forward<T1_>(t1))) { \
+        result.append(item); \
+      } \
+      return result; \
     }
 
 template <typename T>