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Renamed and added enable/disable call

This commit is contained in:
doterop 2020-10-14 15:16:53 +02:00
parent ce31f3a1b6
commit 2fbfda2f24
10 changed files with 131 additions and 50 deletions
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10
LibCarla/source/carla/client/World.cpp
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@ -166,8 +166,14 @@ namespace client {
return _episode.Lock()->GetLevelBBs(queried_tag);
}
std::vector<rpc::Mesh> World::GetMeshes() const {
return _episode.Lock()->GetMeshes();
std::vector<rpc::EnvironmentObject> World::GetEnvironmentObjects() const {
return _episode.Lock()->GetEnvironmentObjects();
}
void World::EnableEnvironmentObjects(
std::vector<uint64_t> env_objects_ids,
bool enable) const {
_episode.Lock()->EnableEnvironmentObjects(env_objects_ids, enable);
}
} // namespace client

8
LibCarla/source/carla/client/World.h
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@ -18,7 +18,7 @@
#include "carla/rpc/Actor.h"
#include "carla/rpc/AttachmentType.h"
#include "carla/rpc/EpisodeSettings.h"
#include "carla/rpc/Mesh.h"
#include "carla/rpc/EnvironmentObject.h"
#include "carla/rpc/VehiclePhysicsControl.h"
#include "carla/rpc/WeatherParameters.h"
#include "carla/rpc/VehicleLightStateList.h"
@ -156,7 +156,11 @@ namespace client {
/// Returns all the BBs of all the elements of the level
std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
std::vector<rpc::Mesh> GetMeshes() const;
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects() const;
void EnableEnvironmentObjects(
std::vector<uint64_t> env_objects_ids,
bool enable) const;
private:

12
LibCarla/source/carla/client/detail/Client.cpp
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@ -450,9 +450,15 @@ namespace detail {
return _pimpl->CallAndWait<return_t>("get_all_level_BBs", queried_tag);
}
std::vector<rpc::Mesh> Client::GetMeshes() const {
using return_t = std::vector<rpc::Mesh>;
return _pimpl->CallAndWait<return_t>("get_meshes");
std::vector<rpc::EnvironmentObject> Client::GetEnvironmentObjects() const {
using return_t = std::vector<rpc::EnvironmentObject>;
return _pimpl->CallAndWait<return_t>("get_environment_objects");
}
void Client::EnableEnvironmentObjects(
std::vector<uint64_t> env_objects_ids,
bool enable) const {
_pimpl->AsyncCall("enable_environment_objects", std::move(env_objects_ids), enable);
}
} // namespace detail

8
LibCarla/source/carla/client/detail/Client.h
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@ -19,7 +19,7 @@
#include "carla/rpc/EpisodeSettings.h"
#include "carla/rpc/LightState.h"
#include "carla/rpc/MapInfo.h"
#include "carla/rpc/Mesh.h"
#include "carla/rpc/EnvironmentObject.h"
#include "carla/rpc/TrafficLightState.h"
#include "carla/rpc/VehiclePhysicsControl.h"
#include "carla/rpc/VehicleLightState.h"
@ -291,7 +291,11 @@ namespace detail {
/// Returns all the BBs of all the elements of the level
std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
std::vector<rpc::Mesh> GetMeshes() const;
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects() const;
void EnableEnvironmentObjects(
std::vector<uint64_t> env_objects_ids,
bool enable) const;
private:

10
LibCarla/source/carla/client/detail/Simulator.h
View File

@ -231,8 +231,14 @@ namespace detail {
return _client.GetLevelBBs(queried_tag);
}
std::vector<rpc::Mesh> GetMeshes() const {
return _client.GetMeshes();
std::vector<rpc::EnvironmentObject> GetEnvironmentObjects() const {
return _client.GetEnvironmentObjects();
}
void EnableEnvironmentObjects(
std::vector<uint64_t> env_objects_ids,
bool enable) const {
_client.EnableEnvironmentObjects(env_objects_ids, enable);
}
/// @}

12
LibCarla/source/carla/rpc/Mesh.h → LibCarla/source/carla/rpc/EnvironmentObject.h
View File

@ -18,7 +18,7 @@ namespace carla {
namespace rpc {
// Name is under discussion
struct Mesh {
struct EnvironmentObject {
Transform transform;
geom::BoundingBox bounding_box;
uint64_t id = 0;
@ -27,11 +27,11 @@ namespace rpc {
#ifdef LIBCARLA_INCLUDED_FROM_UE4
Mesh(const FCarlaMesh &CarlaMesh)
: transform(CarlaMesh.Transform),
bounding_box(CarlaMesh.BoundingBox),
id(CarlaMesh.Id),
name(TCHAR_TO_UTF8(*CarlaMesh.Name)) {}
EnvironmentObject(const FEnvironmentObject &EnvironmentObject)
: transform(EnvironmentObject.Transform),
bounding_box(EnvironmentObject.BoundingBox),
id(EnvironmentObject.Id),
name(TCHAR_TO_UTF8(*EnvironmentObject.Name)) {}
#endif // LIBCARLA_INCLUDED_FROM_UE4

42
PythonAPI/carla/source/libcarla/World.cpp
View File

@ -8,7 +8,7 @@
#include <carla/client/Actor.h>
#include <carla/client/ActorList.h>
#include <carla/client/World.h>
#include <carla/rpc/Mesh.h>
#include <carla/rpc/EnvironmentObject.h>
#include <carla/rpc/ObjectLabel.h>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
@ -38,11 +38,11 @@ namespace rpc {
return out;
}
std::ostream &operator<<(std::ostream &out, const Mesh &mesh) {
out << "Mesh(id=" << mesh.id << ", ";
out << "name=" << mesh.name << ", ";
out << "transform=" << mesh.transform << ", ";
out << "bounding_box=" << mesh.bounding_box << ")";
std::ostream &operator<<(std::ostream &out, const EnvironmentObject &environment_object) {
out << "Mesh(id=" << environment_object.id << ", ";
out << "name=" << environment_object.name << ", ";
out << "transform=" << environment_object.transform << ", ";
out << "bounding_box=" << environment_object.bounding_box << ")";
return out;
}
@ -89,15 +89,28 @@ static auto GetLevelBBs(const carla::client::World &self, uint8_t queried_tag) {
return result;
}
static auto GetMeshes(const carla::client::World &self) {
static auto GetEnvironmentObjects(const carla::client::World &self) {
carla::PythonUtil::ReleaseGIL unlock;
boost::python::list result;
for (const auto &geometry : self.GetMeshes()) {
for (const auto &geometry : self.GetEnvironmentObjects()) {
result.append(geometry);
}
return result;
}
static void EnableEnvironmentObjects(
carla::client::World &self,
const boost::python::object& py_env_objects_ids,
const bool enable ) {
std::vector<uint64_t> env_objects_ids {
boost::python::stl_input_iterator<uint64_t>(py_env_objects_ids),
boost::python::stl_input_iterator<uint64_t>()
};
self.EnableEnvironmentObjects(env_objects_ids, enable);
}
void export_world() {
using namespace boost::python;
namespace cc = carla::client;
@ -149,11 +162,11 @@ void export_world() {
.def(self_ns::str(self_ns::self))
;
class_<cr::Mesh>("Mesh", no_init)
.def_readwrite("transform", &cr::Mesh::transform)
.def_readwrite("bounding_box", &cr::Mesh::bounding_box)
.def_readwrite("id", &cr::Mesh::id)
.def_readwrite("name", &cr::Mesh::name)
class_<cr::EnvironmentObject>("EnvironmentObject", no_init)
.def_readwrite("transform", &cr::EnvironmentObject::transform)
.def_readwrite("bounding_box", &cr::EnvironmentObject::bounding_box)
.def_readwrite("id", &cr::EnvironmentObject::id)
.def_readwrite("name", &cr::EnvironmentObject::name)
.def(self_ns::str(self_ns::self))
;
@ -232,7 +245,8 @@ void export_world() {
.def("get_lightmanager", CONST_CALL_WITHOUT_GIL(cc::World, GetLightManager))
.def("freeze_all_traffic_lights", &cc::World::FreezeAllTrafficLights, (arg("frozen")))
.def("get_level_bbs", &GetLevelBBs, (arg("actor_type")=cr::CityObjectLabel::None))
.def("get_meshes", &GetMeshes)
.def("get_environment_objects", &GetEnvironmentObjects)
.def("enable_environment_objects", &EnableEnvironmentObjects, (arg("env_objects_ids"), arg("enable")))
.def(self_ns::str(self_ns::self))
;

42
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
View File

@ -12,7 +12,7 @@
#include <compiler/disable-ue4-macros.h>
#include "carla/opendrive/OpenDriveParser.h"
#include "carla/road/element/RoadInfoSignal.h"
#include <carla/rpc/Mesh.h>
#include <carla/rpc/EnvironmentObject.h>
#include <carla/rpc/WeatherParameters.h>
#include <compiler/enable-ue4-macros.h>
@ -155,7 +155,7 @@ void ACarlaGameModeBase::BeginPlay()
Recorder->GetReplayer()->CheckPlayAfterMapLoaded();
}
RegisterMeshes();
RegisterEnvironmentObject();
}
@ -350,12 +350,12 @@ TArray<FBoundingBox> ACarlaGameModeBase::GetAllBBsOfLevel(uint8 TagQueried)
return BoundingBoxes;
}
TArray<FCarlaMesh> ACarlaGameModeBase::GetMeshes() const
TArray<FEnvironmentObject> ACarlaGameModeBase::GetEnvironmentObjects() const
{
return Meshes;
return EnvironmentObjects;
}
void ACarlaGameModeBase::RegisterMeshes()
void ACarlaGameModeBase::RegisterEnvironmentObject()
{
UWorld* World = GetWorld();
@ -364,18 +364,38 @@ void ACarlaGameModeBase::RegisterMeshes()
UGameplayStatics::GetAllActorsOfClass(World, AActor::StaticClass(), FoundActors);
// Empties the array but doesn't change memory allocations
Meshes.Reset();
EnvironmentObjects.Reset();
for(AActor* Actor : FoundActors)
{
FString ActorName = Actor->GetName();
const char* ActorNameChar = TCHAR_TO_ANSI(*ActorName);
FCarlaMesh CarlaMesh;
CarlaMesh.Transform = Actor->GetActorTransform();
CarlaMesh.Id = CityHash64(ActorNameChar, ActorName.Len());
CarlaMesh.Name = ActorName;
FEnvironmentObject EnvironmentObject;
EnvironmentObject.Transform = Actor->GetActorTransform();
EnvironmentObject.Id = CityHash64(ActorNameChar, ActorName.Len());
EnvironmentObject.Name = ActorName;
EnvironmentObject.Actor = Actor;
Meshes.Add(CarlaMesh);
EnvironmentObjects.Emplace(EnvironmentObject);
}
}
void ACarlaGameModeBase::EnableEnvironmentObjects(
const TSet<uint64>& EnvObjectIds,
bool Enable)
{
for(FEnvironmentObject& EnvironmentObject : EnvironmentObjects)
{
if(EnvObjectIds.Contains(EnvironmentObject.Id))
{
AActor* Actor = EnvironmentObject.Actor;
Actor->SetActorHiddenInGame(!Enable);
Actor->SetActorEnableCollision(Enable);
Actor->SetActorTickEnabled(Enable);
}
}
}

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
View File

@ -16,7 +16,7 @@
#include "Carla/Settings/CarlaSettingsDelegate.h"
#include "Carla/Weather/Weather.h"
#include "Carla/Traffic/TrafficLightManager.h"
#include "Carla/Util/CarlaMesh.h"
#include "Carla/Util/EnvironmentObject.h"
#include "CoreMinimal.h"
@ -58,7 +58,9 @@ public:
TArray<FBoundingBox> GetAllBBsOfLevel(uint8 TagQueried = 0);
UFUNCTION(Category = "Carla Game Mode", BlueprintCallable, CallInEditor, Exec)
TArray<FCarlaMesh> GetMeshes() const;
TArray<FEnvironmentObject> GetEnvironmentObjects() const;
void EnableEnvironmentObjects(const TSet<uint64>& EnvObjectIds, bool Enable);
protected:
@ -78,7 +80,7 @@ private:
void ParseOpenDrive(const FString &MapName);
void RegisterMeshes();
void RegisterEnvironmentObject();
UPROPERTY()
UCarlaGameInstance *GameInstance = nullptr;
@ -95,7 +97,7 @@ private:
UPROPERTY()
ACarlaRecorder *Recorder = nullptr;
TArray<FCarlaMesh> Meshes;
TArray<FEnvironmentObject> EnvironmentObjects;
/// The class of Weather to spawn.
UPROPERTY(Category = "CARLA Game Mode", EditAnywhere)

27
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -27,7 +27,7 @@
#include <carla/rpc/EpisodeSettings.h>
#include <carla/rpc/LightState.h>
#include <carla/rpc/MapInfo.h>
#include <carla/rpc/Mesh.h>
#include <carla/rpc/EnvironmentObject.h>
#include <carla/rpc/Response.h>
#include <carla/rpc/Server.h>
#include <carla/rpc/String.h>
@ -322,7 +322,7 @@ void FCarlaServer::FPimpl::BindActions()
return MakeVectorFromTArray<cg::BoundingBox>(Result);
};
BIND_SYNC(get_meshes) << [this]() -> R<std::vector<cr::Mesh>>
BIND_SYNC(get_environment_objects) << [this]() -> R<std::vector<cr::EnvironmentObject>>
{
REQUIRE_CARLA_EPISODE();
ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
@ -330,8 +330,27 @@ void FCarlaServer::FPimpl::BindActions()
{
RESPOND_ERROR("unable to find CARLA game mode");
}
TArray<FCarlaMesh> Result = GameMode->GetMeshes();
return MakeVectorFromTArray<cr::Mesh>(Result);
TArray<FEnvironmentObject> Result = GameMode->GetEnvironmentObjects();
return MakeVectorFromTArray<cr::EnvironmentObject>(Result);
};
BIND_SYNC(enable_environment_objects) << [this](std::vector<uint64_t> EnvObjectIds, bool Enable) -> R<void>
{
REQUIRE_CARLA_EPISODE();
ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
if (!GameMode)
{
RESPOND_ERROR("unable to find CARLA game mode");
}
TSet<uint64> EnvObjectIdsSet;
for(uint64 Id : EnvObjectIds)
{
EnvObjectIdsSet.Emplace(Id);
}
GameMode->EnableEnvironmentObjects(EnvObjectIdsSet, Enable);
return R<void>::Success();
};
// ~~ Weather ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~