From 38963872ef89334fe43cfc872a6e1df39a45669c Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 23 Feb 2019 15:57:57 +0100
Subject: [PATCH] Organize rpc bindings

---
 .../Source/Carla/Server/TheNewCarlaServer.cpp | 85 ++++++++++++-------
 1 file changed, 52 insertions(+), 33 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
index d140df8f7..d761341fc 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
@@ -117,6 +117,16 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return carla::version();
   });
 
+  // ~~ Tick ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+  Server.BindSync("tick_cue", [this]() -> R<void>
+  {
+    ++TickCuesReceived;
+    return R<void>::Success();
+  });
+
+  // ~~ Load new episode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindAsync("get_available_maps", [this]() -> R<std::vector<std::string>>
   {
     const auto MapNames = UCarlaStatics::GetAllMapNames();
@@ -129,12 +139,6 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return result;
   });
 
-  Server.BindSync("tick_cue", [this]() -> R<void>
-  {
-    ++TickCuesReceived;
-    return R<void>::Success();
-  });
-
   Server.BindSync("load_new_episode", [this](const std::string &map_name) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();
@@ -145,6 +149,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
+  // ~~ Episode settings and info ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindSync("get_episode_info", [this]() -> R<cr::EpisodeInfo>
   {
     REQUIRE_CARLA_EPISODE();
@@ -193,6 +199,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return Episode->SerializeActor(ActorView);
   });
 
+  // ~~ Weather ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindSync("get_weather_parameters", [this]() -> R<cr::WeatherParameters>
   {
     REQUIRE_CARLA_EPISODE();
@@ -217,6 +225,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
+  // ~~ Actor operations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindSync("get_actors_by_id", [this](
         const std::vector<FActorView::IdType> &ids) -> R<std::vector<cr::Actor>>
   {
@@ -309,6 +319,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
+  // ~~ Actor physics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindSync("set_actor_location", [this](
         cr::Actor Actor,
         cr::Location Location) -> R<void>
@@ -411,8 +423,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
-
- Server.BindSync("get_physics_control", [this](
+  Server.BindSync("get_physics_control", [this](
         cr::Actor Actor) -> R<cr::VehiclePhysicsControl>
   {
     REQUIRE_CARLA_EPISODE();
@@ -469,6 +480,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
+  // ~~ Apply control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindSync("apply_control_to_vehicle", [this](
         cr::Actor Actor,
         cr::VehicleControl Control) -> R<void>
@@ -536,6 +549,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
+  // ~~ Traffic lights ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindSync("set_traffic_light_state", [this](
         cr::Actor Actor,
         cr::TrafficLightState trafficLightState) -> R<void>
@@ -631,6 +646,34 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
+  Server.BindSync("get_group_traffic_lights", [this](
+        const cr::Actor Actor) -> R<std::vector<cr::ActorId>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill())
+    {
+      RESPOND_ERROR("unable to get group traffic lights: actor not found");
+    }
+    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
+    if (TrafficLight == nullptr)
+    {
+      RESPOND_ERROR("unable to get group traffic lights: actor is not a traffic light");
+    }
+    std::vector<cr::ActorId> Result;
+    for (auto TLight : TrafficLight->GetGroupTrafficLights())
+    {
+      auto View = Episode->FindActor(TLight);
+      if (View.IsValid())
+      {
+        Result.push_back(View.GetActorId());
+      }
+    }
+    return Result;
+  });
+
+  // ~~ Logging and playback ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
   Server.BindSync("start_recorder", [this](std::string name) -> R<std::string> {
     REQUIRE_CARLA_EPISODE();
     return R<std::string>(Episode->StartRecorder(name));
@@ -677,31 +720,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
         follow_id));
   });
 
-  Server.BindSync("get_group_traffic_lights", [this](
-        const cr::Actor Actor) -> R<std::vector<cr::ActorId>>
-  {
-    REQUIRE_CARLA_EPISODE();
-    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
-    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill())
-    {
-      RESPOND_ERROR("unable to get group traffic lights: actor not found");
-    }
-    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
-    if (TrafficLight == nullptr)
-    {
-      RESPOND_ERROR("unable to get group traffic lights: actor is not a traffic light");
-    }
-    std::vector<cr::ActorId> Result;
-    for (auto TLight : TrafficLight->GetGroupTrafficLights())
-    {
-      auto View = Episode->FindActor(TLight);
-      if (View.IsValid())
-      {
-        Result.push_back(View.GetActorId());
-      }
-    }
-    return Result;
-  });
+  // ~~ Draw debug shapes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
   Server.BindSync("draw_debug_shape", [this](const cr::DebugShape &shape) -> R<void>
   {