Modified file transfer to avoid multiple downloads

LibCarla/source/carla/client/FIleTransfer.cpp

@@ -0,0 +1,18 @@
+// Copyright (c) 2021 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 "FileTransfer.h"
+namespace carla {
+namespace client {
+
+#ifdef _WIN32
+      std::string FileTransfer::_filesBaseFolder = std::string(getenv("USERPROFILE")) + "/carlaCache/";
+#else
+      std::string FileTransfer::_filesBaseFolder = std::string(getenv("HOME")) + "/carlaCache/";
+#endif
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/client/FileTransfer.h

@@ -1,4 +1,3 @@
-
 // Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
@@ -76,11 +75,5 @@ namespace client {
 
   };
 
-    #ifdef _WIN32
-      std::string FileTransfer::_filesBaseFolder = std::string(getenv("USERPROFILE")) + "/carlaCache/";
-    #else
-      std::string FileTransfer::_filesBaseFolder = std::string(getenv("HOME")) + "/carlaCache/";
-    #endif
-
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/Map.cpp

@@ -16,7 +16,7 @@
 
 namespace carla {
 namespace client {
-
+  
   static auto MakeMap(const std::string &opendrive_contents) {
     auto stream = std::istringstream(opendrive_contents);
     auto map = opendrive::OpenDriveParser::Load(stream.str());
@@ -26,15 +26,15 @@ namespace client {
     return std::move(*map);
   }
 
-  Map::Map(rpc::MapInfo description)
+  Map::Map(rpc::MapInfo description, std::string xodr_content)
     : _description(std::move(description)),
-      _map(MakeMap(_description.open_drive_file)) {}
+      _map(MakeMap(xodr_content)){}
+      
 
   Map::Map(std::string name, std::string xodr_content)
     : Map(rpc::MapInfo{
     std::move(name),
-    std::move(xodr_content),
-    std::vector<geom::Transform>{}}) {}
+    std::vector<geom::Transform>{}}, xodr_content) {}
 
   Map::~Map() = default;
 

LibCarla/source/carla/client/Map.h

@@ -29,7 +29,7 @@ namespace client {
       private NonCopyable {
   public:
 
-    explicit Map(rpc::MapInfo description);
+    explicit Map(rpc::MapInfo description, std::string xodr_content);
 
     explicit Map(std::string name, std::string xodr_content);
 
@@ -44,7 +44,7 @@ namespace client {
     }
 
     const std::string &GetOpenDrive() const {
-      return _description.open_drive_file;
+      return open_drive_file;
     }
 
     const std::vector<geom::Transform> &GetRecommendedSpawnPoints() const {
@@ -96,6 +96,8 @@ namespace client {
 
   private:
 
+    std::string open_drive_file;
+
     const rpc::MapInfo _description;
 
     const road::Map _map;

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

@@ -169,6 +169,10 @@ namespace detail {
     return _pimpl->CallAndWait<rpc::MapInfo>("get_map_info");
   }
 
+  std::string Client::GetMapData() const{
+    return _pimpl->CallAndWait<std::string>("get_map_data");
+  }
+
   std::vector<uint8_t> Client::GetNavigationMesh() const {
     return _pimpl->CallAndWait<std::vector<uint8_t>>("get_navigation_mesh");
   }

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

@@ -111,6 +111,8 @@ namespace detail {
 
     std::vector<std::string> GetRequiredFiles(const std::string &folder = "", const bool download = true) const;
 
+    std::string GetMapData() const;
+
     void RequestFile(const std::string &name) const;
 
     std::vector<uint8_t> GetCacheFile(const std::string &name, const bool request_otherwise = true) const;

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

@@ -11,6 +11,7 @@
 #include "carla/Logging.h"
 #include "carla/RecurrentSharedFuture.h"
 #include "carla/client/BlueprintLibrary.h"
+#include "carla/client/FileTransfer.h"
 #include "carla/client/Map.h"
 #include "carla/client/Sensor.h"
 #include "carla/client/TimeoutException.h"
@@ -143,7 +144,7 @@ namespace detail {
       return true;
     }
     if (map_info.name != _cached_map->GetName() ||
-        map_info.open_drive_file.size() != _cached_map->GetOpenDrive().size()) {
+        _open_drive_file.size() != _cached_map->GetOpenDrive().size()) {
       return true;
     }
     return false;
@@ -153,7 +154,26 @@ namespace detail {
     DEBUG_ASSERT(_episode != nullptr);
     if (!_cached_map || _episode->HasMapChangedSinceLastCall()) {
       rpc::MapInfo map_info = _client.GetMapInfo();
-      _cached_map = MakeShared<Map>(map_info);
+      std::string map_name;
+      std::string map_base_path;
+      bool fill_base_string = false;
+      for(int i = map_info.name.size() - 1; i >= 0; --i){
+        if(fill_base_string == false && map_info.name[i] != '/'){
+          map_name += map_info.name[i];
+        }
+        else {
+          map_base_path += map_info.name[i];
+          fill_base_string = true;
+        }
+      }
+      std::reverse(map_name.begin(), map_name.end());
+      std::reverse(map_base_path.begin(), map_base_path.end());
+      std::string XODRFolder = map_base_path + "/OpenDrive/" + map_name + ".xodr";
+      if(FileTransfer::FileExists(XODRFolder) == false){
+        _client.GetRequiredFiles();
+        _open_drive_file = _client.GetMapData();
+        _cached_map = MakeShared<Map>(map_info, _open_drive_file);
+      }
     }
     return _cached_map;
   }

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

@@ -665,6 +665,8 @@ namespace detail {
     const GarbageCollectionPolicy _gc_policy;
 
     SharedPtr<Map> _cached_map;
+
+    std::string _open_drive_file;
   };
 
 } // namespace detail

LibCarla/source/carla/rpc/MapInfo.h

@@ -20,11 +20,9 @@ namespace rpc {
 
     std::string name;
 
-    std::string open_drive_file;
-
     std::vector<geom::Transform> recommended_spawn_points;
 
-    MSGPACK_DEFINE_ARRAY(name, open_drive_file, recommended_spawn_points);
+    MSGPACK_DEFINE_ARRAY(name, recommended_spawn_points);
   };
 
 } // namespace rpc

PythonAPI/util/environment.py

@@ -109,7 +109,6 @@ def apply_weather_values(args, weather):
     if args.miescatteringscale is not None:
         weather.mie_scattering_scale = args.miescatteringscale
     if args.rayleighscatteringscale is not None:
-        print(weather.rayleigh_scattering_scale)
         weather.rayleigh_scattering_scale = args.rayleighscatteringscale
 
 
@@ -245,19 +244,19 @@ def main():
         type=float,
         help='Wetness intensity [0.0, 100.0]')
     argparser.add_argument(
-        '--scatteringintensity',
-        metavar='Si',
+        '--scatteringintensity', '-si'
+        metavar='si',
         default=None,
         type=float,
         help='Scattering intensity [0.0, inf]')
     argparser.add_argument(
-        '--rayleighscatteringscale',
+        '--rayleighscatteringscale', '-rss'
         metavar='rss',
         default=None,
         type=float,
         help='Rayleigh scattering scale [0.0, 2.0]')
     argparser.add_argument(
-        '--miescatteringscale',
+        '--miescatteringscale', '-mss'
         metavar='mss',
         default=None,
         type=float,

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

@@ -341,14 +341,21 @@ void FCarlaServer::FPimpl::BindActions()
   BIND_SYNC(get_map_info) << [this]() -> R<cr::MapInfo>
   {
     REQUIRE_CARLA_EPISODE();
-    auto FileContents = UOpenDrive::GetXODR(Episode->GetWorld());
     const auto &SpawnPoints = Episode->GetRecommendedSpawnPoints();
+    FString FullMapPath = FPaths::GetPath(UCarlaStatics::GetGameInstance(Episode->GetWorld())->GetMapPath());
+    FString MapDir = FullMapPath.RightChop(FullMapPath.Find("Content/", ESearchCase::CaseSensitive) + 8);
+    MapDir += "/" + Episode->GetMapName();
     return cr::MapInfo{
-      cr::FromFString(Episode->GetMapName()),
-      cr::FromLongFString(FileContents),
+      cr::FromFString(MapDir),
       MakeVectorFromTArray<cg::Transform>(SpawnPoints)};
   };
 
+  BIND_SYNC(get_map_data) << [this]() -> R<std::string>
+  {
+    REQUIRE_CARLA_EPISODE();
+    return cr::FromFString(UOpenDrive::GetXODR(Episode->GetWorld()));  
+  };
+
   BIND_SYNC(get_navigation_mesh) << [this]() -> R<std::vector<uint8_t>>
   {
     REQUIRE_CARLA_EPISODE();