Add MapInfo message and serialize OpenDrive file

LibCarla/source/carla/client/detail/Client.cpp

@@ -76,6 +76,10 @@ namespace detail {
     return _pimpl->CallAndWait<rpc::EpisodeInfo>("get_episode_info");
   }
 
+  rpc::MapInfo Client::GetMapInfo() {
+    return _pimpl->CallAndWait<rpc::MapInfo>("get_map_info");
+  }
+
   std::vector<rpc::ActorDefinition> Client::GetActorDefinitions() {
     return _pimpl->CallAndWait<std::vector<rpc::ActorDefinition>>("get_actor_definitions");
   }

LibCarla/source/carla/client/detail/Client.h

@@ -13,6 +13,7 @@
 #include "carla/rpc/Actor.h"
 #include "carla/rpc/ActorDefinition.h"
 #include "carla/rpc/EpisodeInfo.h"
+#include "carla/rpc/MapInfo.h"
 #include "carla/rpc/WeatherParameters.h"
 
 #include <functional>
@@ -57,6 +58,8 @@ namespace detail {
 
     rpc::EpisodeInfo GetEpisodeInfo();
 
+    rpc::MapInfo GetMapInfo();
+
     std::vector<rpc::ActorDefinition> GetActorDefinitions();
 
     rpc::Actor GetSpectator();

LibCarla/source/carla/rpc/MapInfo.h

@@ -0,0 +1,25 @@
+// 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/MsgPack.h"
+
+namespace carla {
+namespace rpc {
+
+  class MapInfo {
+  public:
+
+    std::string name;
+
+    std::string open_drive_file;
+
+    MSGPACK_DEFINE_ARRAY(name, open_drive_file);
+  };
+
+} // namespace rpc
+} // namespace carla

Unreal/CarlaUE4/Config/DefaultGame.ini

@@ -53,6 +53,7 @@ bSkipEditorContent=False
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town02")
 +MapsToCook=(FilePath="/Game/Carla/Maps/Town03")
 +DirectoriesToAlwaysCook=(Path="Carla/Static/GenericMaterials/Licenseplates/Textures")
++DirectoriesToAlwaysStageAsUFS=(Path="Carla/Maps/OpenDrive")
 bNativizeBlueprintAssets=False
 bNativizeOnlySelectedBlueprints=False
 

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

@@ -8,6 +8,7 @@
 #include "Carla/Server/TheNewCarlaServer.h"
 
 #include "Carla/Sensor/Sensor.h"
+#include "Carla/Util/OpenDrive.h"
 #include "Carla/Vehicle/CarlaWheeledVehicle.h"
 
 #include "GameFramework/SpectatorPawn.h"
@@ -18,6 +19,7 @@
 #include <carla/rpc/ActorDefinition.h>
 #include <carla/rpc/ActorDescription.h>
 #include <carla/rpc/EpisodeInfo.h>
+#include <carla/rpc/MapInfo.h>
 #include <carla/rpc/Server.h>
 #include <carla/rpc/Transform.h>
 #include <carla/rpc/VehicleControl.h>
@@ -189,6 +191,12 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return {Episode->GetId(), cr::FromFString(Episode->GetMapName()), WorldObserver->GetStreamToken()};
   });
 
+  Server.BindSync("get_map_info", [this]() -> cr::MapInfo {
+    RequireEpisode();
+    auto FileContents = FOpenDrive::Load(Episode->GetMapName());
+    return {cr::FromFString(Episode->GetMapName()), cr::FromFString(FileContents)};
+  });
+
   Server.BindSync("get_actor_definitions", [this]() {
     RequireEpisode();
     return MakeVectorFromTArray<cr::ActorDefinition>(Episode->GetActorDefinitions());

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/OpenDrive.cpp

@@ -0,0 +1,41 @@
+// 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/Util/OpenDrive.h"
+
+#include "Engine.h"
+
+FString FOpenDrive::Load(FString MapName)
+{
+#if WITH_EDITOR
+    {
+      // When playing in editor the map name gets an extra prefix, here we
+      // remove it.
+      FString CorrectedMapName = MapName;
+      constexpr auto PIEPrefix = TEXT("UEDPIE_0_");
+      CorrectedMapName.RemoveFromStart(PIEPrefix);
+      UE_LOG(LogCarla, Log, TEXT("Corrected map name from %s to %s"), *MapName, *CorrectedMapName);
+      MapName = CorrectedMapName;
+    }
+#endif // WITH_EDITOR
+
+  const FString FilePath =
+      FPaths::ProjectContentDir() +
+      TEXT("Carla/Maps/OpenDrive/") +
+      MapName +
+      TEXT(".xodr");
+
+  FString Content;
+  UE_LOG(LogCarla, Log, TEXT("Loading OpenDrive file '%s'"), *FilePath);
+
+  if (!FFileHelper::LoadFileToString(Content, *FilePath))
+  {
+    UE_LOG(LogTemp, Error, TEXT("Failed to load OpenDrive file '%s'"), *FilePath);
+  }
+
+  return Content;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/OpenDrive.h

@@ -0,0 +1,14 @@
+// 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
+
+class FOpenDrive
+{
+public:
+
+  static FString Load(FString MapName);
+};

Util/ContentVersions.txt

@@ -14,4 +14,4 @@
 0.8.3: 1z2XKOk9LoKI-EhxcrpI31W5TeYo2-jjn
 0.8.4: 1mFNS-w5atQ45yegiTepRIeKBYVm8N8He
 0.9.0: 1FtC00CrDb7Kz5StBAwb6vqOGbzZtpROx
-Latest: 1cx6YqT9ZlVQ6Dahg_bRCyQB8meGwGgVZ
+Latest: 1CnlblH9IDYaq30GZrAaDEah-FZ6YoaD_