Fix crash empty actor getting serialized

LibCarla/source/carla/geom/BoundingBox.h

@@ -11,10 +11,6 @@
 #include "carla/geom/Location.h"
 #include "carla/geom/Vector3D.h"
 
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-#  include "GameFramework/Actor.h"
-#endif // LIBCARLA_INCLUDED_FROM_UE4
-
 namespace carla {
 namespace geom {
 
@@ -43,14 +39,9 @@ namespace geom {
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
-    explicit BoundingBox(const AActor *AnActor) {
-      DEBUG_ASSERT(AnActor != nullptr);
-      constexpr bool bOnlyCollidingComponents = true;
-      FVector Origin, BoxExtent;
-      AnActor->GetActorBounds(bOnlyCollidingComponents, Origin, BoxExtent);
-      location = Location(Origin);
-      extent = Vector3D(1e-2f * BoxExtent.X, 1e-2f * BoxExtent.Y, 1e-2f * BoxExtent.Z);
-    }
+    BoundingBox(const FVector &Origin, const FVector &BoxExtent)
+      : location(Origin),
+        extent(1e-2f * BoxExtent.X, 1e-2f * BoxExtent.Y, 1e-2f * BoxExtent.Z) {}
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4
 

LibCarla/source/carla/rpc/Actor.h

@@ -14,10 +14,6 @@
 
 #include <cstring>
 
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-#  include "Carla/Actor/ActorView.h"
-#endif // LIBCARLA_INCLUDED_FROM_UE4
-
 namespace carla {
 namespace rpc {
 
@@ -51,25 +47,6 @@ namespace rpc {
 
     /// @}
 
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-
-    Actor(FActorView View)
-      : id(View.GetActorId()),
-        description(*View.GetActorDescription()),
-        bounding_box(View.GetActor()) {
-      DEBUG_ASSERT(View.IsValid());
-    }
-
-    Actor(FActorView View, const streaming::Token &StreamToken)
-      : id(View.GetActorId()),
-        description(*View.GetActorDescription()),
-        bounding_box(View.GetActor()),
-        stream_token(StreamToken.data.begin(), StreamToken.data.end()) {
-      DEBUG_ASSERT(View.IsValid());
-    }
-
-#endif // LIBCARLA_INCLUDED_FROM_UE4
-
     MSGPACK_DEFINE_ARRAY(id, description, bounding_box, stream_token);
   };
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp

@@ -64,7 +64,7 @@ void ACollisionSensor::OnCollisionEvent(
     FVector NormalImpulse,
     const FHitResult &Hit)
 {
-  if ((Episode != nullptr) && (GameInstance != nullptr))
+  if ((Episode != nullptr) && (GameInstance != nullptr) && (Actor != nullptr) && (OtherActor != nullptr))
   {
     const auto &Registry = Episode->GetActorRegistry();
     const auto &Server = GameInstance->GetServer();

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

@@ -107,20 +107,35 @@ private:
     ::AttachActors(Child.GetActor(), Parent.GetActor());
   }
 
+  carla::geom::BoundingBox GetActorBoundingBox(const AActor &Actor)
+  {
+    constexpr bool bOnlyCollidingComponents = true;
+    FVector Origin, BoxExtent;
+    Actor.GetActorBounds(bOnlyCollidingComponents, Origin, BoxExtent);
+    return {Origin, BoxExtent};
+  }
+
 public:
 
   carla::rpc::Actor SerializeActor(FActorView ActorView)
   {
+    carla::rpc::Actor Actor;
+    Actor.id = ActorView.GetActorId();
     if (ActorView.IsValid())
     {
+      Actor.description = *ActorView.GetActorDescription();
+      Actor.bounding_box = GetActorBoundingBox(*ActorView.GetActor());
       auto *Sensor = Cast<ASensor>(ActorView.GetActor());
       if (Sensor != nullptr)
       {
         auto Stream = GetSensorStream(ActorView, *Sensor);
-        return {ActorView, Stream.token()};
+        const auto &Token = Stream.token();
+        Actor.stream_token = decltype(Actor.stream_token)(std::begin(Token.data), std::end(Token.data));
       }
+    } else {
+      UE_LOG(LogCarla, Warning, TEXT("Trying to serialize invalid actor"));
     }
-    return ActorView;
+    return Actor;
   }
 
 private:
@@ -173,7 +188,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
       RespondErrorStr("unable to find spectator");
     }
-    return ActorView;
+    return SerializeActor(ActorView);
   });
 
   Server.BindSync("get_weather_parameters", [this]() -> cr::WeatherParameters {