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Expose spectator pawn

This commit is contained in:
nsubiron 2018-07-29 11:28:16 +02:00
parent 63d6f11d41
commit 4f5044a495
13 changed files with 95 additions and 53 deletions
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1
Docs/python_api.md
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@ -17,6 +17,7 @@
## `carla.World`
- `get_blueprint_library()`
- `get_spectator()`
- `spawn_actor(blueprint, transform, attach_to=None)`
- `try_spawn_actor(blueprint, transform, attach_to=None)`

11
LibCarla/source/carla/client/Client.cpp
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@ -7,6 +7,7 @@
#include "carla/client/Client.h"
#include "carla/client/Actor.h"
#include "carla/client/BlueprintLibrary.h"
#include "carla/client/Control.h"
#include "carla/client/Sensor.h"
#include "carla/client/Vehicle.h"
@ -30,6 +31,16 @@ namespace client {
return _active_world;
}
SharedPtr<BlueprintLibrary> Client::GetBlueprintLibrary() {
return MakeShared<BlueprintLibrary>(
Call<std::vector<carla::rpc::ActorDefinition>>("get_actor_definitions"));
}
SharedPtr<Actor> Client::GetSpectator() {
auto spectator = Call<carla::rpc::Actor>("get_spectator");
return SharedPtr<Actor>(new Actor{spectator, GetWorld()});
}
SharedPtr<Actor> Client::SpawnActor(
const ActorBlueprint &blueprint,
const Transform &transform,

9
LibCarla/source/carla/client/Client.h
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@ -8,7 +8,6 @@
#include "carla/NonCopyable.h"
#include "carla/Version.h"
#include "carla/client/BlueprintLibrary.h"
#include "carla/client/Control.h"
#include "carla/client/Memory.h"
#include "carla/client/Transform.h"
@ -22,6 +21,7 @@ namespace client {
class Actor;
class ActorBlueprint;
class BlueprintLibrary;
class World;
class Client
@ -68,10 +68,9 @@ namespace client {
SharedPtr<World> GetWorld();
SharedPtr<BlueprintLibrary> GetBlueprintLibrary() {
return MakeShared<BlueprintLibrary>(
Call<std::vector<carla::rpc::ActorDefinition>>("get_actor_definitions"));
}
SharedPtr<BlueprintLibrary> GetBlueprintLibrary();
SharedPtr<Actor> GetSpectator();
SharedPtr<Actor> SpawnActor(
const ActorBlueprint &blueprint,

4
LibCarla/source/carla/client/World.h
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@ -25,6 +25,10 @@ namespace client {
return _parent->GetBlueprintLibrary();
}
SharedPtr<Actor> GetSpectator() const {
return _parent->GetSpectator();
}
SharedPtr<Actor> TrySpawnActor(
const ActorBlueprint &blueprint,
const Transform &transform,

1
PythonAPI/source/libcarla/World.cpp
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@ -15,6 +15,7 @@ void export_world() {
class_<cc::World, boost::noncopyable, boost::shared_ptr<cc::World>>("World", no_init)
.def("get_blueprint_library", &cc::World::GetBlueprintLibrary)
.def("get_spectator", &cc::World::GetSpectator)
.def("try_spawn_actor", &cc::World::TrySpawnActor,
(arg("blueprint"), arg("transform"), arg("attach_to")=cc::SharedPtr<cc::Actor>()))
.def("spawn_actor", &cc::World::SpawnActor,

2
Unreal/CarlaUE4/Config/DefaultEngine.ini
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@ -13,7 +13,7 @@ AppliedDefaultGraphicsPerformance=Maximum
EditorStartupMap=/Game/Carla/Maps/Town01.Town01
GameDefaultMap=/Game/Carla/Maps/Town01.Town01
ServerDefaultMap=/Game/Carla/Maps/Town01.Town01
GlobalDefaultGameMode=/Game/Carla/Blueprints/Game/TheNewGameMode.TheNewGameMode_C
GlobalDefaultGameMode=/Game/Carla/Blueprints/Game/TheNewCarlaGameMode.TheNewCarlaGameMode_C
GameInstanceClass=/Script/Carla.CarlaGameInstance
TransitionMap=/Game/Carla/Maps/Town01.Town01
GlobalDefaultServerGameMode=/Game/Carla/Blueprints/Game/CarlaGameMode.CarlaGameMode_C

47
Unreal/CarlaUE4/Config/DefaultInput.ini
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@ -6,27 +6,6 @@
-AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
-AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
-AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
-AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MouseWheelAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="Gamepad_LeftTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="Gamepad_RightTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Left_TriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Left_Grip1Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Left_Grip2Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Right_TriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Right_Grip1Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="MotionController_Right_Grip2Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="Gamepad_Special_Left_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
-AxisConfig=(AxisKeyName="Gamepad_Special_Left_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
+AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
@ -59,16 +38,6 @@ bCaptureMouseOnLaunch=True
DefaultViewportMouseCaptureMode=CapturePermanently_IncludingInitialMouseDown
bDefaultViewportMouseLock=False
DefaultViewportMouseLockMode=LockOnCapture
-ActionMappings=(ActionName="RestartLevel",Key=R,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="Handbrake",Key=SpaceBar,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="ToggleManualMode",Key=M,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="ToggleHUD",Key=G,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="Jump",Key=Enter,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="ToggleReverse",Key=Q,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="UseTheForce",Key=F,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="ToggleCamera",Key=Tab,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="ChangeWeather",Key=C,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-ActionMappings=(ActionName="ToggleAutopilot",Key=None,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
+ActionMappings=(ActionName="RestartLevel",Key=R,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
+ActionMappings=(ActionName="Handbrake",Key=SpaceBar,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
+ActionMappings=(ActionName="ToggleManualMode",Key=M,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
@ -79,17 +48,6 @@ DefaultViewportMouseLockMode=LockOnCapture
+ActionMappings=(ActionName="ToggleCamera",Key=Tab,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
+ActionMappings=(ActionName="ChangeWeather",Key=C,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
+ActionMappings=(ActionName="ToggleAutopilot",Key=P,bShift=False,bCtrl=False,bAlt=False,bCmd=False)
-AxisMappings=(AxisName="CameraZoom",Key=MouseWheelAxis,Scale=-20.000000)
-AxisMappings=(AxisName="CameraZoom",Key=PageUp,Scale=-10.000000)
-AxisMappings=(AxisName="CameraZoom",Key=PageDown,Scale=10.000000)
-AxisMappings=(AxisName="CameraUp",Key=Up,Scale=1.000000)
-AxisMappings=(AxisName="CameraUp",Key=Down,Scale=-1.000000)
-AxisMappings=(AxisName="CameraRight",Key=Right,Scale=1.000000)
-AxisMappings=(AxisName="CameraRight",Key=Left,Scale=-1.000000)
-AxisMappings=(AxisName="MoveForward",Key=W,Scale=1.000000)
-AxisMappings=(AxisName="MoveRight",Key=D,Scale=1.000000)
-AxisMappings=(AxisName="MoveRight",Key=A,Scale=-1.000000)
-AxisMappings=(AxisName="Brake",Key=S,Scale=1.000000)
+AxisMappings=(AxisName="CameraZoom",Key=MouseWheelAxis,Scale=-20.000000)
+AxisMappings=(AxisName="CameraZoom",Key=PageUp,Scale=-10.000000)
+AxisMappings=(AxisName="CameraZoom",Key=PageDown,Scale=10.000000)
@ -100,7 +58,10 @@ DefaultViewportMouseLockMode=LockOnCapture
+AxisMappings=(AxisName="MoveForward",Key=W,Scale=1.000000)
+AxisMappings=(AxisName="MoveRight",Key=D,Scale=1.000000)
+AxisMappings=(AxisName="MoveRight",Key=A,Scale=-1.000000)
+AxisMappings=(AxisName="Brake",Key=S,Scale=1.000000)
+AxisMappings=(AxisName="Brake",Key=B,Scale=1.000000)
+AxisMappings=(AxisName="MoveForward",Key=S,Scale=-1.000000)
+AxisMappings=(AxisName="MoveUp",Key=E,Scale=1.000000)
+AxisMappings=(AxisName="MoveUp",Key=Q,Scale=-1.000000)
bAlwaysShowTouchInterface=False
bShowConsoleOnFourFingerTap=True
DefaultTouchInterface=/Engine/MobileResources/HUD/DefaultVirtualJoysticks.DefaultVirtualJoysticks

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.h
View File

@ -53,6 +53,11 @@ public:
return Definitions;
}
FActorRegistry &GetActorRegistry()
{
return Registry;
}
const FActorRegistry &GetActorRegistry() const
{
return Registry;

35
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp Normal file
View File

@ -0,0 +1,35 @@
// 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>.
#include "Carla.h"
#include "Carla/Game/CarlaEpisode.h"
#include "EngineUtils.h"
#include "GameFramework/SpectatorPawn.h"
void UCarlaEpisode::InitializeAtBeginPlay()
{
auto World = GetWorld();
check(World != nullptr);
auto PlayerController = UGameplayStatics::GetPlayerController(GetWorld(), 0);
if (PlayerController == nullptr)
{
UE_LOG(LogCarla, Error, TEXT("Can't find player controller!"));
return;
}
Spectator = PlayerController->GetPawn();
if (Spectator != nullptr)
{
FActorDescription Description;
Description.Id = TEXT("spectator");
Description.Class = Spectator->GetClass();
ActorDispatcher.GetActorRegistry().Register(*Spectator, Description);
}
else
{
UE_LOG(LogCarla, Error, TEXT("Can't find spectator!"));
}
}

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
View File

@ -20,17 +20,25 @@ class CARLA_API UCarlaEpisode : public UObject
public:
void Initialize(const FString &InMapName)
void SetMapName(const FString &InMapName)
{
MapName = InMapName;
}
void InitializeAtBeginPlay();
UFUNCTION(BlueprintCallable)
const FString &GetMapName() const
{
return MapName;
}
UFUNCTION(BlueprintCallable)
APawn *GetSpectatorPawn() const
{
return Spectator;
}
void RegisterActorFactory(ACarlaActorFactory &ActorFactory)
{
ActorDispatcher.Bind(ActorFactory);
@ -89,4 +97,7 @@ private:
FString MapName;
FActorDispatcher ActorDispatcher;
UPROPERTY(VisibleAnywhere)
APawn *Spectator = nullptr;
};

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TheNewCarlaGameModeBase.cpp
View File

@ -29,8 +29,10 @@ void ATheNewCarlaGameModeBase::InitGame(
{
Super::InitGame(MapName, Options, ErrorMessage);
check(Episode != nullptr);
Episode->Initialize(MapName);
checkf(
Episode != nullptr,
TEXT("Missing episode, can't continue without an episode!"));
Episode->SetMapName(MapName);
GameInstance = Cast<UCarlaGameInstance>(GetGameInstance());
checkf(
@ -57,6 +59,7 @@ void ATheNewCarlaGameModeBase::BeginPlay()
TaggerDelegate->SetSemanticSegmentationEnabled();
}
Episode->InitializeAtBeginPlay();
GameInstance->NotifyBeginEpisode(*Episode);
}

11
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
View File

@ -9,6 +9,8 @@
#include "Carla/Sensor/Sensor.h"
#include "GameFramework/SpectatorPawn.h"
#include <compiler/disable-ue4-macros.h>
#include <carla/Version.h>
#include <carla/rpc/Actor.h>
@ -167,6 +169,15 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return MakeVectorFromTArray<cr::ActorDefinition>(Episode->GetActorDefinitions());
});
Server.BindSync("get_spectator", [this]() -> cr::Actor {
RequireEpisode();
auto ActorView = Episode->GetActorRegistry().Find(Episode->GetSpectatorPawn());
if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
RespondErrorStr("unable to find spectator");
}
return ActorView;
});
Server.BindSync("spawn_actor", [this](
const cr::Transform &Transform,
cr::ActorDescription Description) -> cr::Actor {

2
Util/ContentVersions.txt
View File

@ -13,4 +13,4 @@
0.8.2: 1llrBkZDvJmxXYh4r3jz0wuwz8Q8jRQeZ
0.8.3: 1z2XKOk9LoKI-EhxcrpI31W5TeYo2-jjn
0.8.4: 1mFNS-w5atQ45yegiTepRIeKBYVm8N8He
0.9.0: 10QmgEZxMj3ZYfWeMOf0omRjj4M_eiuC8
0.9.0: 1FtC00CrDb7Kz5StBAwb6vqOGbzZtpROx