Add more info to actor view, including serialized data

LibCarla/source/carla/rpc/Actor.h

@@ -24,7 +24,8 @@ namespace rpc {
 
     actor_id_type id = 0u;
 
-    actor_id_type parent_id;
+    /// @todo parent should not be here as it may change during the simulation.
+    actor_id_type parent_id = 0u;
 
     ActorDescription description;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp

@@ -83,7 +83,7 @@ bool FActorDispatcher::DestroyActor(AActor *Actor)
     UE_LOG(LogCarla, Warning, TEXT("Trying to destroy actor that is not in the registry"));
     return false;
   }
-  const auto &Id = View.GetActorDescription()->Id;
+  const auto &Id = View.GetActorInfo()->Description.Id;
 
   // Destroy its controller if present.
   auto Pawn = Cast<APawn>(Actor);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorInfo.h

@@ -0,0 +1,28 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla/Actor/ActorDescription.h"
+#include "Carla/Game/Tagger.h"
+
+#include <compiler/disable-ue4-macros.h>
+#include <carla/rpc/Actor.h>
+#include <compiler/enable-ue4-macros.h>
+
+/// A view over an actor and its properties.
+struct FActorInfo
+{
+public:
+
+  FActorDescription Description;
+
+  TSet<ECityObjectLabel> SemanticTags;
+
+  FBoundingBox BoundingBox;
+
+  carla::rpc::Actor SerializedData;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorRegistry.cpp

@@ -11,6 +11,7 @@
 
 #include "Carla/Game/Tagger.h"
 #include "Carla/Traffic/TrafficLightBase.h"
+#include "Carla/Util/BoundingBoxCalculator.h"
 
 static FActorView::ActorType FActorRegistry_GetActorType(const FActorView &View)
 {
@@ -32,9 +33,9 @@ static FActorView::ActorType FActorRegistry_GetActorType(const FActorView &View)
   return FActorView::ActorType::Other;
 }
 
-static FString GetRelevantTagAsString(const FActorView &View)
+static FString GetRelevantTagAsString(const TSet<ECityObjectLabel> &SemanticTags)
 {
-  for (auto &&Tag : View.GetSemanticTags())
+  for (auto &&Tag : SemanticTags)
   {
     if ((Tag != ECityObjectLabel::None) && (Tag != ECityObjectLabel::Other))
     {
@@ -61,9 +62,7 @@ FActorView FActorRegistry::Register(AActor &Actor, FActorDescription Description
   }
   Ids.Emplace(&Actor, Id);
 
-  auto View = FActorView(Id, Actor, std::move(Description));
-  ATagger::GetTagsOfTaggedActor(Actor, View.SemanticTags);
-  View.Type = FActorRegistry_GetActorType(View);
+  auto View = MakeView(Id, Actor, std::move(Description));
 
   auto Result = ActorDatabase.emplace(Id, View);
   check(Result.second);
@@ -91,19 +90,44 @@ void FActorRegistry::Deregister(AActor *Actor)
 
 FActorView FActorRegistry::FindOrFake(AActor *Actor) const
 {
-  if (Actor == nullptr)
-  {
-    return {};
-  }
   auto View = Find(Actor);
-  if (!View.IsValid())
+  return View.IsValid() ? View : MakeView(0u, *Actor, FActorDescription{});
+}
+
+FActorView FActorRegistry::MakeView(
+    IdType Id,
+    AActor &Actor,
+    FActorDescription Description) const
+{
+  auto Info = MakeShared<FActorInfo>();
+  Info->Description = std::move(Description);
+  ATagger::GetTagsOfTaggedActor(Actor, Info->SemanticTags);
+  Info->BoundingBox = UBoundingBoxCalculator::GetActorBoundingBox(&Actor);
+
+  if (Info->Description.Id.IsEmpty())
   {
-    View.TheActor = Actor;
-    ATagger::GetTagsOfTaggedActor(*Actor, View.SemanticTags);
-    auto Description = MakeShared<FActorDescription>();
-    Description->Id = TEXT("static.") + GetRelevantTagAsString(View);
-    View.Description = Description;
-    check(View.IsValid());
+    // This is a fake actor, let's fake the id based on their semantic tags.
+    Info->Description.Id = TEXT("static.") + GetRelevantTagAsString(Info->SemanticTags);
   }
+
+  Info->SerializedData.id = Id;
+  Info->SerializedData.description = Info->Description;
+  Info->SerializedData.bounding_box = Info->BoundingBox;
+  Info->SerializedData.semantic_tags.reserve(Info->SemanticTags.Num());
+  for (auto &&Tag : Info->SemanticTags)
+  {
+    using tag_t = decltype(Info->SerializedData.semantic_tags)::value_type;
+    Info->SerializedData.semantic_tags.emplace_back(static_cast<tag_t>(Tag));
+  }
+  auto *Sensor = Cast<ASensor>(&Actor);
+  if (Sensor != nullptr)
+  {
+    const auto &Token = Sensor->GetToken();
+    Info->SerializedData.stream_token = decltype(Info->SerializedData.stream_token)(
+        std::begin(Token.data),
+        std::end(Token.data));
+  }
+  auto View = FActorView{Id, Actor, std::move(Info)};
+  View.Type = FActorRegistry_GetActorType(View);
   return View;
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorRegistry.h

@@ -109,6 +109,8 @@ public:
   /// @}
 private:
 
+  FActorView MakeView(IdType Id, AActor &Actor, FActorDescription Description) const;
+
   TMap<IdType, AActor *> Actors;
 
   TMap<AActor *, IdType> Ids;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorView.h

@@ -6,8 +6,7 @@
 
 #pragma once
 
-#include "Carla/Actor/ActorDescription.h"
-#include "Carla/Game/Tagger.h"
+#include "Carla/Actor/ActorInfo.h"
 
 class AActor;
 
@@ -27,10 +26,11 @@ public:
 
   FActorView() = default;
   FActorView(const FActorView &) = default;
+  FActorView(FActorView &&) = default;
 
   bool IsValid() const
   {
-    return (TheActor != nullptr) && Description.IsValid();
+    return (TheActor != nullptr) && Info.IsValid();
   }
 
   IdType GetActorId() const
@@ -53,24 +53,19 @@ public:
     return TheActor;
   }
 
-  const FActorDescription *GetActorDescription() const
+  const FActorInfo *GetActorInfo() const
   {
-    return Description.Get();
-  }
-
-  const TSet<ECityObjectLabel> &GetSemanticTags() const
-  {
-    return SemanticTags;
+    return Info.Get();
   }
 
 private:
 
   friend class FActorRegistry;
 
-  FActorView(IdType ActorId, AActor &Actor, FActorDescription Description)
+  FActorView(IdType ActorId, AActor &Actor, TSharedPtr<const FActorInfo> Info)
     : Id(ActorId),
       TheActor(&Actor),
-      Description(MakeShared<FActorDescription>(std::move(Description))) {}
+      Info(std::move(Info)) {}
 
   IdType Id = 0u;
 
@@ -78,7 +73,5 @@ private:
 
   AActor *TheActor = nullptr;
 
-  TSharedPtr<const FActorDescription> Description = nullptr;
-
-  TSet<ECityObjectLabel> SemanticTags;
+  TSharedPtr<const FActorInfo> Info = nullptr;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h

@@ -32,6 +32,11 @@ public:
     Stream = std::move(InStream);
   }
 
+  auto GetToken() const
+  {
+    return Stream.GetToken();
+  }
+
 protected:
 
   void EndPlay(EEndPlayReason::Type EndPlayReason) override;