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OpenDrive .xodr file integrated with the required file system

This commit is contained in:
alejandroFraga 2021-06-24 13:31:00 +02:00 committed by bernat
parent 47f733c099
commit 1a58b48564
9 changed files with 33 additions and 71 deletions
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4
LibCarla/source/carla/client/detail/WalkerNavigation.cpp
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@ -23,7 +23,9 @@ namespace detail {
WalkerNavigation::WalkerNavigation(Client &client) : _client(client), _next_check_index(0) {
// Here call the server to retrieve the navmesh data.
auto files = _client.GetRequiredFiles("Nav");
_nav.Load(_client.GetCacheFile(files[0]));
if (!files.empty()) {
_nav.Load(_client.GetCacheFile(files[0]));
}
}
void WalkerNavigation::Tick(std::shared_ptr<Episode> episode) {

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Commandlet/LoadAssetMaterialsCommandlet.cpp
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@ -130,7 +130,7 @@ void ULoadAssetMaterialsCommandlet::ApplyRoadPainterMaterials(const FString &Loa
TileData.XODRName = LoadedMapName.LeftChop((LoadedMapName.GetCharArray().Num() - 1) - LoadedMapName.Find("_", ESearchCase::IgnoreCase, ESearchDir::Type::FromStart));
// As the OpenDrive file has the same name as level, build the path to the
// xodr file using the label name and the game content directory.
const FString XodrContent = UOpenDrive::LoadXODR(TileData.XODRName);
const FString XodrContent = UOpenDrive::GetXODR(GetWorld());
XODRMap = carla::opendrive::OpenDriveParser::Load(carla::rpc::FromLongFString(XodrContent));
// Acquire the TilesInfo.txt file for storing the tile data (offset and size)

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
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@ -292,7 +292,7 @@ void ACarlaGameModeBase::GenerateSpawnPoints()
void ACarlaGameModeBase::ParseOpenDrive(const FString &MapName)
{
std::string opendrive_xml = carla::rpc::FromLongFString(UOpenDrive::LoadXODR(MapName));
std::string opendrive_xml = carla::rpc::FromLongFString(UOpenDrive::GetXODR(GetWorld()));
Map = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
if (!Map.has_value()) {
UE_LOG(LogCarla, Error, TEXT("Invalid Map"));

69
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDrive/OpenDrive.cpp
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@ -9,73 +9,40 @@
#include "Runtime/Core/Public/HAL/FileManagerGeneric.h"
FString UOpenDrive::FindPathToXODRFile(const FString &InMapName)
FString UOpenDrive::GetXODR(const UWorld *World)
{
FString MapName = InMapName;
#if WITH_EDITOR
{
// When playing in editor the map name gets an extra prefix, here we
// remove it.
FString CorrectedMapName = MapName;
constexpr auto PIEPrefix = TEXT("UEDPIE_0_");
CorrectedMapName.RemoveFromStart(PIEPrefix);
UE_LOG(LogCarla, Log, TEXT("UOpenDrive: Corrected map name from %s to %s"), *MapName, *CorrectedMapName);
MapName = CorrectedMapName;
}
#endif // WITH_EDITOR
const auto mapName = World->GetMapName();
const auto mapDir = FPaths::GetPath(UCarlaStatics::GetGameInstance(World)->GetMapPath());
const auto folderDir = mapDir + "/OpenDrive/";
const auto fileName = mapDir.EndsWith(mapName) ? "*" : mapName;
MapName += TEXT(".xodr");
const FString DefaultFilePath =
FPaths::ProjectContentDir() +
TEXT("Carla/Maps/OpenDrive/") +
MapName;
auto &FileManager = IFileManager::Get();
if (FileManager.FileExists(*DefaultFilePath))
{
return DefaultFilePath;
}
TArray<FString> FilesFound;
FileManager.FindFilesRecursive(
FilesFound,
*FPaths::ProjectContentDir(),
*MapName,
true,
false,
false);
return FilesFound.Num() > 0 ? FilesFound[0u] : FString{};
}
FString UOpenDrive::LoadXODR(const FString &MapName)
{
const auto FilePath = FindPathToXODRFile(MapName);
// Find all the xodr and bin files from the map
TArray<FString> Files;
IFileManager::Get().FindFilesRecursive(Files, *folderDir, *FString(fileName + ".xodr"), true, false, false);
FString Content;
if (FilePath.IsEmpty())
if (!Files.Num())
{
UE_LOG(LogTemp, Error, TEXT("Failed to find OpenDrive file for map '%s'"), *MapName);
UE_LOG(LogTemp, Error, TEXT("Failed to find OpenDrive file for map '%s'"), *mapName);
}
else if (FFileHelper::LoadFileToString(Content, *FilePath))
else if (FFileHelper::LoadFileToString(Content, *Files[0]))
{
UE_LOG(LogTemp, Log, TEXT("Loaded OpenDrive file '%s'"), *FilePath);
UE_LOG(LogTemp, Log, TEXT("Loaded OpenDrive file '%s'"), *Files[0]);
}
else
{
UE_LOG(LogTemp, Error, TEXT("Failed to load OpenDrive file '%s'"), *FilePath);
UE_LOG(LogTemp, Error, TEXT("Failed to load OpenDrive file '%s'"), *Files[0]);
}
return Content;
}
UOpenDriveMap *UOpenDrive::LoadOpenDriveMap(const FString &MapName)
UOpenDriveMap *UOpenDrive::LoadOpenDriveMap(const UWorld *World)
{
UOpenDriveMap *Map = nullptr;
auto XODRContent = LoadXODR(MapName);
auto XODRContent = GetXODR(World);
if (!XODRContent.IsEmpty())
{
Map = NewObject<UOpenDriveMap>();
@ -87,7 +54,5 @@ UOpenDriveMap *UOpenDrive::LoadOpenDriveMap(const FString &MapName)
UOpenDriveMap *UOpenDrive::LoadCurrentOpenDriveMap(const UObject *WorldContextObject)
{
UWorld *World = GEngine->GetWorldFromContextObject(WorldContextObject, EGetWorldErrorMode::LogAndReturnNull);
return World != nullptr ?
LoadOpenDriveMap(World->GetMapName()) :
nullptr;
return World != nullptr ? LoadOpenDriveMap(World) : nullptr;
}

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDrive/OpenDrive.h
View File

@ -19,19 +19,15 @@ class CARLA_API UOpenDrive : public UBlueprintFunctionLibrary
public:
/// Find the path to the XODR file associated to MapName. Return empty if no
/// such file is found.
static FString FindPathToXODRFile(const FString &MapName);
/// Return the OpenDrive XML associated to @a MapName, or empty if the file
/// is not found.
UFUNCTION(BlueprintCallable, Category="CARLA|OpenDrive")
static FString LoadXODR(const FString &MapName);
static FString GetXODR(const UWorld *World);
/// Load OpenDriveMap associated to the given MapName. Return nullptr if no
/// XODR can be found with same MapName.
UFUNCTION(BlueprintCallable, Category="CARLA|OpenDrive")
static UOpenDriveMap *LoadOpenDriveMap(const FString &MapName);
static UOpenDriveMap *LoadOpenDriveMap(const UWorld *World);
/// Load OpenDriveMap associated to the currently loaded map. Return nullptr
/// if no XODR can be found that matches the current map.

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDrive/OpenDriveActor.cpp
View File

@ -136,7 +136,7 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
// As the OpenDrive file has the same name as level, build the path to the
// xodr file using the lavel name and the game content directory.
const FString XodrContent = UOpenDrive::LoadXODR(MapName);
const FString XodrContent = UOpenDrive::GetXODR(GetWorld());
auto map = carla::opendrive::OpenDriveParser::Load(carla::rpc::FromLongFString(XodrContent));

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/OpenDrive/OpenDriveGenerator.cpp
View File

@ -170,7 +170,7 @@ void AOpenDriveGenerator::BeginPlay()
Super::BeginPlay();
// Search for "{project_content_folder}/Carla/Maps/OpenDrive/{current_map_name}.xodr"
const FString XodrContent = UOpenDrive::LoadXODR(GetWorld()->GetMapName());
const FString XodrContent = UOpenDrive::GetXODR(GetWorld());
LoadOpenDrive(XodrContent);
GenerateAll();

12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -341,7 +341,7 @@ void FCarlaServer::FPimpl::BindActions()
BIND_SYNC(get_map_info) << [this]() -> R<cr::MapInfo>
{
REQUIRE_CARLA_EPISODE();
auto FileContents = UOpenDrive::LoadXODR(Episode->GetMapName());
auto FileContents = UOpenDrive::GetXODR(Episode->GetWorld());
const auto &SpawnPoints = Episode->GetRecommendedSpawnPoints();
return cr::MapInfo{
cr::FromFString(Episode->GetMapName()),
@ -369,14 +369,14 @@ void FCarlaServer::FPimpl::BindActions()
}
// Get the map's folder absolute path and check if it's in its own folder
auto mapDir = FPaths::GetPath(UCarlaStatics::GetGameInstance(Episode->GetWorld())->GetMapPath()) + "/" + folder.c_str();
auto fileName = mapDir.EndsWith(Episode->GetMapName() + "/") ? "*" : Episode->GetMapName();
const auto mapDir = FPaths::GetPath(UCarlaStatics::GetGameInstance(Episode->GetWorld())->GetMapPath());
const auto folderDir = mapDir + "/" + folder.c_str();
const auto fileName = mapDir.EndsWith(Episode->GetMapName()) ? "*" : Episode->GetMapName();
// Find all the xodr and bin files from the map
TArray<FString> Files;
auto &FileManager = IFileManager::Get();
FileManager.FindFilesRecursive(Files, *mapDir, *FString(fileName + ".xodr"), true, false, false);
FileManager.FindFilesRecursive(Files, *mapDir, *FString(fileName + ".bin"), true, false, false);
IFileManager::Get().FindFilesRecursive(Files, *folderDir, *FString(fileName + ".xodr"), true, false, false);
IFileManager::Get().FindFilesRecursive(Files, *folderDir, *FString(fileName + ".bin"), true, false, false);
// Remove the start of the path until the content folder and put each file in the result
std::vector<std::string> result;

3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
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@ -271,8 +271,7 @@ void ATrafficLightManager::MatchTrafficLightActorsWithOpenDriveSignals()
TArray<AActor*> Actors;
UGameplayStatics::GetAllActorsOfClass(GetWorld(), ATrafficLightBase::StaticClass(), Actors);
FString MapName = GetWorld()->GetName();
std::string opendrive_xml = carla::rpc::FromFString(UOpenDrive::LoadXODR(MapName));
std::string opendrive_xml = carla::rpc::FromFString(UOpenDrive::GetXODR(GetWorld()));
auto Map = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
if (!Map)