Added spectator_as_ego settings

LibCarla/source/carla/rpc/EpisodeSettings.h

@@ -47,9 +47,11 @@ namespace rpc {
 
     float actor_active_distance = 2000.f; // 2km
 
+    float spectator_as_ego = true;
+
     MSGPACK_DEFINE_ARRAY(synchronous_mode, no_rendering_mode, fixed_delta_seconds, substepping,
         max_substep_delta_time, max_substeps, max_culling_distance, deterministic_ragdolls,
-        tile_stream_distance, actor_active_distance);
+        tile_stream_distance, actor_active_distance, spectator_as_ego);
 
     // =========================================================================
     // -- Constructors ---------------------------------------------------------
@@ -67,7 +69,8 @@ namespace rpc {
         float max_culling_distance = 0.0f,
         bool deterministic_ragdolls = true,
         float tile_stream_distance = 3000.f,
-        float actor_active_distance = 2000.f)
+        float actor_active_distance = 2000.f,
+        bool spectator_as_ego = true)
       : synchronous_mode(synchronous_mode),
         no_rendering_mode(no_rendering_mode),
         fixed_delta_seconds(
@@ -78,7 +81,8 @@ namespace rpc {
         max_culling_distance(max_culling_distance),
         deterministic_ragdolls(deterministic_ragdolls),
         tile_stream_distance(tile_stream_distance),
-        actor_active_distance(actor_active_distance) {}
+        actor_active_distance(actor_active_distance),
+        spectator_as_ego(spectator_as_ego) {}
 
     // =========================================================================
     // -- Comparison operators -------------------------------------------------
@@ -95,7 +99,8 @@ namespace rpc {
           (max_culling_distance == rhs.max_culling_distance) &&
           (deterministic_ragdolls == rhs.deterministic_ragdolls) &&
           (tile_stream_distance == tile_stream_distance) &&
-          (actor_active_distance == actor_active_distance);
+          (actor_active_distance == actor_active_distance) &&
+          (spectator_as_ego == spectator_as_ego);
     }
 
     bool operator!=(const EpisodeSettings &rhs) const {
@@ -119,7 +124,8 @@ namespace rpc {
             Settings.MaxCullingDistance,
             Settings.bDeterministicRagdolls,
             Settings.TileStreamingDistance,
-            Settings.ActorActiveDistance) {
+            Settings.ActorActiveDistance,
+            Settings.SpectatorAsEgo) {
       constexpr float CMTOM = 1.f/100.f;
       tile_stream_distance = CMTOM * Settings.TileStreamingDistance;
       actor_active_distance = CMTOM * Settings.ActorActiveDistance;
@@ -140,6 +146,7 @@ namespace rpc {
       Settings.bDeterministicRagdolls = deterministic_ragdolls;
       Settings.TileStreamingDistance = MTOCM * tile_stream_distance;
       Settings.ActorActiveDistance = MTOCM * actor_active_distance;
+      Settings.SpectatorAsEgo = spectator_as_ego;
 
       return Settings;
     }

PythonAPI/carla/source/libcarla/World.cpp

@@ -163,7 +163,8 @@ void export_world() {
          arg("max_culling_distance")=0.0f,
          arg("deterministic_ragdolls")=false,
          arg("tile_stream_distance")=3000.f,
-         arg("actor_active_distance")=2000.f)))
+         arg("actor_active_distance")=2000.f,
+         arg("spectator_as_ego")=true)))
     .def_readwrite("synchronous_mode", &cr::EpisodeSettings::synchronous_mode)
     .def_readwrite("no_rendering_mode", &cr::EpisodeSettings::no_rendering_mode)
     .def_readwrite("substepping", &cr::EpisodeSettings::substepping)
@@ -181,6 +182,7 @@ void export_world() {
         })
     .def_readwrite("tile_stream_distance", &cr::EpisodeSettings::tile_stream_distance)
     .def_readwrite("actor_active_distance", &cr::EpisodeSettings::actor_active_distance)
+    .def_readwrite("spectator_as_ego", &cr::EpisodeSettings::spectator_as_ego)
     .def("__eq__", &cr::EpisodeSettings::operator==)
     .def("__ne__", &cr::EpisodeSettings::operator!=)
     .def(self_ns::str(self_ns::self))

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp

@@ -224,6 +224,7 @@ void ACarlaGameModeBase::BeginPlay()
 
   if (LMManager) {
     LMManager->RegisterInitialObjects();
+    LMManager->ConsiderSpectatorAsEgo(Episode->GetSettings().SpectatorAsEgo);
   }
 
   // Manually run begin play on lights as it may not run on sublevels

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.cpp

@@ -431,7 +431,7 @@ void ALargeMapManager::GenerateMap(FString InAssetsPath)
   GEngine->ForceGarbageCollection(true);
 
   ActorsToConsider.Reset();
-  if (Spectator)
+  if (SpectatorAsEgo && Spectator)
   {
     ActorsToConsider.Add(Spectator);
   }
@@ -738,7 +738,7 @@ void ALargeMapManager::RemovePendingActorsToRemove()
   {
     ActorsToConsider.Remove(ActorToRemove);
   }
-  if(ActorsToConsider.Num() == 0 && Spectator)
+  if(ActorsToConsider.Num() == 0 && SpectatorAsEgo && Spectator)
   {
     ActorsToConsider.Add(Spectator);
   }
@@ -1118,3 +1118,18 @@ void ALargeMapManager::PrintMapInfo()
     }
   }
 }
+
+void ALargeMapManager::ConsiderSpectatorAsEgo(bool _SpectatorAsEgo)
+{
+  SpectatorAsEgo = _SpectatorAsEgo;
+  if(SpectatorAsEgo && ActorsToConsider.Num() == 0 && Spectator)
+  {
+    // Activating the spectator in an empty world
+    ActorsToConsider.Add(Spectator);
+  }
+  if (!SpectatorAsEgo && ActorsToConsider.Num() == 1 && ActorsToConsider.Contains(Spectator))
+  {
+    // Deactivating the spectator in a world with no other egos
+    ActorsToConsider.Reset();
+  }
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.h

@@ -202,6 +202,11 @@ public:
 
   ACarlaWheeledVehicle* GetHeroVehicle();
 
+  // The spectator is treated as an ego vehicle by default when no other egos are around,
+  // but this can be changed from the Python API, which ends up in this function.
+  bool SpectatorAsEgo = false;
+  void ConsiderSpectatorAsEgo(bool _SpectatorAsEgo);
+
 protected:
 
   void RemoveLandscapeCollisionIfHaveTerraMechanics(ULevel* InLevel);
@@ -343,5 +348,4 @@ protected:
 
   UPROPERTY(VisibleAnywhere, Category = "Large Map Manager")
   bool bHasTerramechanics = false;
-
 };

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

@@ -539,6 +539,18 @@ void FCarlaServer::FPimpl::BindActions()
     REQUIRE_CARLA_EPISODE();
     Episode->ApplySettings(settings);
     StreamingServer.SetSynchronousMode(settings.synchronous_mode);
+
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
+    if (!GameMode)
+    {
+      RESPOND_ERROR("unable to find CARLA game mode");
+    }
+    ALargeMapManager* LargeMap = GameMode->GetLMManager();
+    if (LargeMap)
+    {
+      LargeMap->ConsiderSpectatorAsEgo(settings.spectator_as_ego);
+    }
+
     return FCarlaEngine::GetFrameCounter();
   };
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/EpisodeSettings.h

@@ -35,6 +35,8 @@ struct CARLA_API FEpisodeSettings
 
   float TileStreamingDistance = 300000.f; // 3km
 
-  float ActorActiveDistance = 200000.f; // 3km
+  float ActorActiveDistance = 200000.f; // 2km
+
+  float SpectatorAsEgo = true;
 
 };