Expose weather to client API

Docs/python_api.md

@@ -18,6 +18,8 @@
 
 - `get_blueprint_library()`
 - `get_spectator()`
+- `get_weather()`
+- `set_weather(weather_parameters)`
 - `spawn_actor(blueprint, transform, attach_to=None)`
 - `try_spawn_actor(blueprint, transform, attach_to=None)`
 
@@ -120,6 +122,17 @@
 - `__eq__()`
 - `__ne__()`
 
+## `carla.WeatherParameters`
+
+- `cloudyness`
+- `precipitation`
+- `precipitation_deposits`
+- `wind_intensity`
+- `sun_azimuth_angle`
+- `sun_altitude_angle`
+- `__eq__()`
+- `__ne__()`
+
 ## `carla.Location`
 
 - `x`

LibCarla/source/carla/client/Client.h

@@ -7,6 +7,7 @@
 #pragma once
 
 #include "carla/PythonUtil.h"
+#include "carla/client/World.h"
 #include "carla/client/detail/Client.h"
 
 namespace carla {

LibCarla/source/carla/client/World.cpp

@@ -24,6 +24,14 @@ namespace client {
     return _episode->GetSpectator();
   }
 
+  rpc::WeatherParameters World::GetWeather() const {
+    return _episode->GetWeatherParameters();
+  }
+
+  void World::SetWeather(const rpc::WeatherParameters &weather) {
+    _episode->SetWeatherParameters(weather);
+  }
+
   SharedPtr<Actor> World::SpawnActor(
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,

LibCarla/source/carla/client/World.h

@@ -9,6 +9,7 @@
 #include "carla/Memory.h"
 #include "carla/client/detail/Episode.h"
 #include "carla/geom/Transform.h"
+#include "carla/rpc/WeatherParameters.h"
 
 namespace carla {
 namespace client {
@@ -32,6 +33,10 @@ namespace client {
 
     SharedPtr<Actor> GetSpectator() const;
 
+    rpc::WeatherParameters GetWeather() const;
+
+    void SetWeather(const rpc::WeatherParameters &weather);
+
     SharedPtr<Actor> SpawnActor(
         const ActorBlueprint &blueprint,
         const geom::Transform &transform,

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

@@ -101,6 +101,14 @@ namespace detail {
         GarbageCollectionPolicy::Disabled);
   }
 
+  rpc::WeatherParameters Client::GetWeatherParameters() {
+    return _pimpl->CallAndWait<rpc::WeatherParameters>("get_weather");
+  }
+
+  void Client::SetWeatherParameters(const rpc::WeatherParameters &weather) {
+    _pimpl->AsyncCall("set_weather", weather);
+  }
+
   SharedPtr<Actor> Client::SpawnActor(
       const ActorBlueprint &blueprint,
       const geom::Transform &transform,

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

@@ -13,6 +13,7 @@
 #include "carla/client/detail/Episode.h"
 #include "carla/geom/Transform.h"
 #include "carla/profiler/LifetimeProfiled.h"
+#include "carla/rpc/WeatherParameters.h"
 
 #include <functional>
 #include <memory>
@@ -63,6 +64,10 @@ namespace detail {
 
     SharedPtr<Actor> GetSpectator();
 
+    rpc::WeatherParameters GetWeatherParameters();
+
+    void SetWeatherParameters(const rpc::WeatherParameters &weather);
+
     SharedPtr<Actor> SpawnActor(
         const ActorBlueprint &blueprint,
         const geom::Transform &transform,

LibCarla/source/carla/rpc/VehicleControl.h

@@ -8,6 +8,10 @@
 
 #include "carla/MsgPack.h"
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Vehicle/VehicleControl.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
 namespace carla {
 namespace rpc {
 

LibCarla/source/carla/rpc/WeatherParameters.h

@@ -0,0 +1,91 @@
+// 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"
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Weather/WeatherParameters.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace rpc {
+
+  class WeatherParameters {
+  public:
+
+    WeatherParameters() = default;
+
+    WeatherParameters(
+        float in_cloudyness,
+        float in_precipitation,
+        float in_precipitation_deposits,
+        float in_wind_intensity,
+        float in_sun_azimuth_angle,
+        float in_sun_altitude_angle)
+      : cloudyness(in_cloudyness),
+        precipitation(in_precipitation),
+        precipitation_deposits(in_precipitation_deposits),
+        wind_intensity(in_wind_intensity),
+        sun_azimuth_angle(in_sun_azimuth_angle),
+        sun_altitude_angle(in_sun_altitude_angle) {}
+
+    float cloudyness = 0.0f;
+    float precipitation = 0.0f;
+    float precipitation_deposits = 0.0f;
+    float wind_intensity = 0.0f;
+    float sun_azimuth_angle = 0.0f;
+    float sun_altitude_angle = 0.0f;
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    WeatherParameters(const FWeatherParameters &Weather)
+      : cloudyness(Weather.Cloudyness),
+        precipitation(Weather.Precipitation),
+        precipitation_deposits(Weather.PrecipitationDeposits),
+        wind_intensity(Weather.WindIntensity),
+        sun_azimuth_angle(Weather.SunAzimuthAngle),
+        sun_altitude_angle(Weather.SunAltitudeAngle) {}
+
+    operator FWeatherParameters() const {
+      FWeatherParameters Weather;
+      Weather.Cloudyness = cloudyness;
+      Weather.Precipitation = precipitation;
+      Weather.PrecipitationDeposits = precipitation_deposits;
+      Weather.WindIntensity = wind_intensity;
+      Weather.SunAzimuthAngle = sun_azimuth_angle;
+      Weather.SunAltitudeAngle = sun_altitude_angle;
+      return Weather;
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    bool operator!=(const WeatherParameters &rhs) const {
+      return
+          cloudyness != rhs.cloudyness ||
+          precipitation != rhs.precipitation ||
+          precipitation_deposits != rhs.precipitation_deposits ||
+          wind_intensity != rhs.wind_intensity ||
+          sun_azimuth_angle != rhs.sun_azimuth_angle ||
+          sun_altitude_angle != rhs.sun_altitude_angle;
+    }
+
+    bool operator==(const WeatherParameters &rhs) const {
+      return !(*this != rhs);
+    }
+
+    MSGPACK_DEFINE_ARRAY(
+        cloudyness,
+        precipitation,
+        precipitation_deposits,
+        wind_intensity,
+        sun_azimuth_angle,
+        sun_altitude_angle);
+  };
+
+} // namespace rpc
+} // namespace carla

PythonAPI/source/libcarla/Weather.cpp

@@ -0,0 +1,49 @@
+// 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/rpc/WeatherParameters.h>
+
+#include <ostream>
+
+namespace carla {
+namespace rpc {
+
+  std::ostream &operator<<(std::ostream &out, const WeatherParameters &weather) {
+    out << "WeatherParameters(cloudyness=" << weather.cloudyness
+        << ", precipitation=" << weather.precipitation
+        << ", precipitation_deposits=" << weather.precipitation_deposits
+        << ", wind_intensity=" << weather.wind_intensity
+        << ", sun_azimuth_angle=" << weather.sun_azimuth_angle
+        << ", sun_altitude_angle=" << weather.sun_altitude_angle << ')';
+    return out;
+  }
+
+} // namespace rpc
+} // namespace carla
+
+void export_weather() {
+  using namespace boost::python;
+  namespace cr = carla::rpc;
+
+  class_<cr::WeatherParameters>("WeatherParameters")
+    .def(init<float, float, float, float, float, float>(
+        (arg("cloudyness")=0.0f,
+         arg("precipitation")=0.0f,
+         arg("precipitation_deposits")=0.0f,
+         arg("wind_intensity")=0.0f,
+         arg("sun_azimuth_angle")=0.0f,
+         arg("sun_altitude_angle")=0.0f)))
+    .def_readwrite("cloudyness", &cr::WeatherParameters::cloudyness)
+    .def_readwrite("precipitation", &cr::WeatherParameters::precipitation)
+    .def_readwrite("precipitation_deposits", &cr::WeatherParameters::precipitation_deposits)
+    .def_readwrite("wind_intensity", &cr::WeatherParameters::wind_intensity)
+    .def_readwrite("sun_azimuth_angle", &cr::WeatherParameters::sun_azimuth_angle)
+    .def_readwrite("sun_altitude_angle", &cr::WeatherParameters::sun_altitude_angle)
+    .def("__eq__", &cr::WeatherParameters::operator==)
+    .def("__ne__", &cr::WeatherParameters::operator!=)
+    .def(self_ns::str(self_ns::self))
+  ;
+}

PythonAPI/source/libcarla/World.cpp

@@ -26,6 +26,8 @@ void export_world() {
   class_<cc::World>("World", no_init)
     .def("get_blueprint_library", CONST_CALL_WITHOUT_GIL(cc::World, GetBlueprintLibrary))
     .def("get_spectator", CONST_CALL_WITHOUT_GIL(cc::World, GetSpectator))
+    .def("get_weather", CONST_CALL_WITHOUT_GIL(cc::World, GetWeather))
+    .def("set_weather", &cc::World::SetWeather)
     .def("try_spawn_actor", SPAWN_ACTOR_WITHOUT_GIL(TrySpawnActor))
     .def("spawn_actor", SPAWN_ACTOR_WITHOUT_GIL(SpawnActor))
   ;

PythonAPI/source/libcarla/libcarla.cpp

@@ -37,6 +37,7 @@
 #include "Sensor.cpp"
 #include "SensorData.cpp"
 #include "Transform.cpp"
+#include "Weather.cpp"
 #include "World.cpp"
 
 BOOST_PYTHON_MODULE(libcarla) {
@@ -49,6 +50,7 @@ BOOST_PYTHON_MODULE(libcarla) {
   export_actor();
   export_sensor();
   export_sensor_data();
+  export_weather();
   export_world();
   export_client();
   export_exception();

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h

@@ -7,6 +7,7 @@
 #pragma once
 
 #include "Carla/Actor/ActorDispatcher.h"
+#include "Carla/Weather/Weather.h"
 
 #include "CarlaEpisode.generated.h"
 
@@ -20,13 +21,6 @@ class CARLA_API UCarlaEpisode : public UObject
 
 public:
 
-  void SetMapName(const FString &InMapName)
-  {
-    MapName = InMapName;
-  }
-
-  void InitializeAtBeginPlay();
-
   UFUNCTION(BlueprintCallable)
   const FString &GetMapName() const
   {
@@ -39,9 +33,10 @@ public:
     return Spectator;
   }
 
-  void RegisterActorFactory(ACarlaActorFactory &ActorFactory)
+  UFUNCTION(BlueprintCallable)
+  AWeather *GetWeather() const
   {
-    ActorDispatcher.Bind(ActorFactory);
+    return Weather;
   }
 
   /// Return the list of actor definitions that are available to be spawned this
@@ -93,6 +88,15 @@ public:
 
 private:
 
+  friend class ATheNewCarlaGameModeBase;
+
+  void InitializeAtBeginPlay();
+
+  void RegisterActorFactory(ACarlaActorFactory &ActorFactory)
+  {
+    ActorDispatcher.Bind(ActorFactory);
+  }
+
   UPROPERTY(VisibleAnywhere)
   FString MapName;
 
@@ -100,4 +104,7 @@ private:
 
   UPROPERTY(VisibleAnywhere)
   APawn *Spectator = nullptr;
+
+  UPROPERTY(VisibleAnywhere)
+  AWeather *Weather = nullptr;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TheNewCarlaGameModeBase.cpp

@@ -32,7 +32,10 @@ void ATheNewCarlaGameModeBase::InitGame(
   checkf(
       Episode != nullptr,
       TEXT("Missing episode, can't continue without an episode!"));
-  Episode->SetMapName(MapName);
+  Episode->MapName = MapName;
+
+  auto World = GetWorld();
+  check(World != nullptr);
 
   GameInstance = Cast<UCarlaGameInstance>(GetGameInstance());
   checkf(
@@ -40,12 +43,20 @@ void ATheNewCarlaGameModeBase::InitGame(
       TEXT("GameInstance is not a UCarlaGameInstance, did you forget to set it in the project settings?"));
 
   if (TaggerDelegate != nullptr) {
-    check(GetWorld() != nullptr);
-    TaggerDelegate->RegisterSpawnHandler(GetWorld());
+    TaggerDelegate->RegisterSpawnHandler(World);
   } else {
     UE_LOG(LogCarla, Error, TEXT("Missing TaggerDelegate!"));
   }
 
+  if (WeatherClass != nullptr)
+  {
+    Episode->Weather = World->SpawnActor<AWeather>(WeatherClass);
+    // Apply default weather.
+    Episode->Weather->ApplyWeather(FWeatherParameters());
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("Missing weather class!"));
+  }
+
   SpawnActorFactories();
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TheNewCarlaGameModeBase.h

@@ -9,6 +9,7 @@
 #include "Carla/Actor/CarlaActorFactory.h"
 #include "Carla/Game/CarlaEpisode.h"
 #include "Carla/Game/CarlaGameInstance.h"
+#include "Carla/Weather/Weather.h"
 
 #include "CoreMinimal.h"
 #include "GameFramework/GameModeBase.h"
@@ -50,9 +51,13 @@ private:
   UPROPERTY()
   UCarlaEpisode *Episode = nullptr;
 
+  /// The class of Weather to spawn.
+  UPROPERTY(Category = "CARLA Game Mode", EditAnywhere)
+  TSubclassOf<AWeather> WeatherClass;
+
   /// List of actor spawners that will be used to define and spawn the actors
   /// available in game.
-  UPROPERTY(EditAnywhere)
+  UPROPERTY(Category = "CARLA Game Mode", EditAnywhere)
   TSet<TSubclassOf<ACarlaActorFactory>> ActorFactories;
 
   UPROPERTY()

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

@@ -19,6 +19,7 @@
 #include <carla/rpc/Server.h>
 #include <carla/rpc/Transform.h>
 #include <carla/rpc/VehicleControl.h>
+#include <carla/rpc/WeatherParameters.h>
 #include <carla/streaming/Server.h>
 #include <compiler/enable-ue4-macros.h>
 
@@ -148,6 +149,24 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return ActorView;
   });
 
+  Server.BindSync("get_weather", [this]() -> cr::WeatherParameters {
+    RequireEpisode();
+    auto *Weather = Episode->GetWeather();
+    if (Weather == nullptr) {
+      RespondErrorStr("unable to find weather");
+    }
+    return Weather->GetCurrentWeather();
+  });
+
+  Server.BindSync("set_weather", [this](const cr::WeatherParameters &weather) {
+    RequireEpisode();
+    auto *Weather = Episode->GetWeather();
+    if (Weather == nullptr) {
+      RespondErrorStr("unable to find weather");
+    }
+    Weather->ApplyWeather(weather);
+  });
+
   Server.BindSync("spawn_actor", [this](
       const cr::Transform &Transform,
       cr::ActorDescription Description) -> cr::Actor {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Weather/WeatherParameters.h

@@ -14,7 +14,7 @@ struct CARLA_API FWeatherParameters
   GENERATED_BODY()
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite, meta=(ClampMin = "0.0", ClampMax = "100.0", UIMin = "0.0", UIMax = "100.0"))
-  float Cloudyness = 0.0f;
+  float Cloudyness = 20.0f;
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite, meta=(ClampMin = "0.0", ClampMax = "100.0", UIMin = "0.0", UIMax = "100.0"))
   float Precipitation = 0.0f;
@@ -29,5 +29,5 @@ struct CARLA_API FWeatherParameters
   float SunAzimuthAngle = 0.0f;
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite, meta=(ClampMin = "-90.0", ClampMax = "90.0", UIMin = "-90.0", UIMax = "90.0"))
-  float SunAltitudeAngle = 0.0f;
+  float SunAltitudeAngle = 70.0f;
 };