Refactor map related methods

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

@@ -15,6 +15,7 @@
 #include "EngineUtils.h"
 #include "Engine/StaticMeshActor.h"
 #include "GameFramework/SpectatorPawn.h"
+#include "Kismet/GameplayStatics.h"
 
 static FString UCarlaEpisode_GetTrafficSignId(ETrafficSignState State)
 {
@@ -40,10 +41,64 @@ static FString UCarlaEpisode_GetTrafficSignId(ETrafficSignState State)
 
 UCarlaEpisode::UCarlaEpisode(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer),
-    Id(URandomEngine::GenerateRandomId()) {
+    Id(URandomEngine::GenerateRandomId())
+{
   ActorDispatcher = CreateDefaultSubobject<UActorDispatcher>(TEXT("ActorDispatcher"));
 }
 
+bool UCarlaEpisode::LoadNewEpisode(const FString &MapString)
+{
+  FString FinalPath = MapString.IsEmpty() ? GetMapName() : MapString;
+  bool bIsFileFound = false;
+  if (MapString.StartsWith("/Game"))
+  {
+    // Full path
+    if (!MapString.EndsWith(".umap"))
+    {
+      FinalPath += ".umap";
+    }
+    // Some conversions...
+    FinalPath = FinalPath.Replace(TEXT("/Game/"), *FPaths::ProjectContentDir());
+    if (FPaths::FileExists(IFileManager::Get().ConvertToAbsolutePathForExternalAppForRead(*FinalPath)))
+    {
+      bIsFileFound = true;
+      FinalPath = MapString;
+    }
+  }
+  else
+  {
+    if (MapString.Contains("/"))
+    {
+      bIsFileFound = false;
+    }
+    else
+    {
+      // Find the full path under Carla
+      TArray<FString> TempStrArray, PathList;
+      if (!MapString.EndsWith(".umap"))
+      {
+        FinalPath += ".umap";
+      }
+      IFileManager::Get().FindFilesRecursive(PathList, *FPaths::ProjectContentDir(), *FinalPath, true, false, false);
+      if (PathList.Num() > 0)
+      {
+        FinalPath = PathList[0];
+        FinalPath.ParseIntoArray(TempStrArray, TEXT("Content/"), true);
+        FinalPath = TempStrArray[1];
+        FinalPath.ParseIntoArray(TempStrArray, TEXT("."), true);
+        FinalPath = "/Game/" + TempStrArray[0];
+        bIsFileFound = true;
+      }
+    }
+  }
+  if (bIsFileFound)
+  {
+    UE_LOG(LogCarla, Warning, TEXT("Loading a new episode: %s"), *FinalPath);
+    UGameplayStatics::OpenLevel(GetWorld(), *FinalPath, true);
+  }
+  return bIsFileFound;
+}
+
 void UCarlaEpisode::ApplySettings(const FEpisodeSettings &Settings)
 {
   FCarlaStaticDelegates::OnEpisodeSettingsChange.Broadcast(Settings);

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

@@ -14,7 +14,6 @@
 #include "Carla/Weather/Weather.h"
 
 #include "GameFramework/Pawn.h"
-#include "Kismet/GameplayStatics.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include <carla/geom/BoundingBox.h>
@@ -41,6 +40,18 @@ public:
 
   UCarlaEpisode(const FObjectInitializer &ObjectInitializer);
 
+  // ===========================================================================
+  // -- Load a new episode -----------------------------------------------------
+  // ===========================================================================
+
+public:
+
+  /// Load a new map and start a new episode.
+  ///
+  /// If @a MapString is empty, the current map is reloaded.
+  UFUNCTION(BlueprintCallable)
+  bool LoadNewEpisode(const FString &MapString);
+
   // ===========================================================================
   // -- Episode settings -------------------------------------------------------
   // ===========================================================================
@@ -221,50 +232,6 @@ public:
     return ActorDispatcher->DestroyActor(Actor);
   }
 
-  // ===========================================================================
-  // -- World handling methods -------------------------------------------------
-  // ===========================================================================
-
-  UFUNCTION(BlueprintCallable)
-  bool LoadMap(const FString& MapString, const UObject* WorldContext) {
-    bool bIsFileFound = false;
-    FString FinalPath = MapString;
-
-
-    if (MapString.StartsWith("/Game")) {
-      //Full path
-        if(!MapString.EndsWith(".umap")) {
-          FinalPath += ".umap";
-        }
-        //Some conversions...
-        FinalPath = FinalPath.Replace(TEXT("/Game/"), *FPaths::ProjectContentDir());
-        if(FPaths::FileExists(IFileManager::Get().ConvertToAbsolutePathForExternalAppForRead(*FinalPath))) {
-          bIsFileFound = true;
-          FinalPath = MapString;
-        }
-    } else {
-      if(MapString.Contains("/")) bIsFileFound = false;
-      else {
-        //Find the full path under Carla
-        TArray<FString> TempStrArray, PathList;
-        if(!MapString.EndsWith(".umap")) {
-          FinalPath += ".umap";
-        }
-        IFileManager::Get().FindFilesRecursive(PathList, *FPaths::ProjectContentDir(), *FinalPath, true, false, false);
-        if(PathList.Num()>0) {
-          FinalPath = PathList[0];
-          FinalPath.ParseIntoArray(TempStrArray, TEXT("Content/"), true);
-          FinalPath = TempStrArray[1];
-          FinalPath.ParseIntoArray(TempStrArray, TEXT("."), true);
-          FinalPath = "/Game/" + TempStrArray[0];
-          bIsFileFound = true;
-        }
-      }
-    }
-    if(bIsFileFound) UGameplayStatics::OpenLevel(WorldContext, *FinalPath, true);
-    return bIsFileFound;
-  }
-
   // ===========================================================================
   // -- Other methods ----------------------------------------------------------
   // ===========================================================================

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

@@ -0,0 +1,21 @@
+// 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/CarlaStatics.h"
+
+TArray<FString> UCarlaStatics::GetAllMapNames()
+{
+  TArray<FString> TmpStrList, MapNameList;
+  IFileManager::Get().FindFilesRecursive(MapNameList, *FPaths::ProjectContentDir(), TEXT("*.umap"), true, false, false);
+  for (int i = 0; i < MapNameList.Num(); i++) {
+      MapNameList[i].ParseIntoArray(TmpStrList, TEXT("Content/"), true);
+      MapNameList[i] = TmpStrList[1];
+      MapNameList[i] = MapNameList[i].Replace(TEXT(".umap"), TEXT(""));
+      MapNameList[i] = "/Game/" + MapNameList[i];
+  }
+  return MapNameList;
+}

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

@@ -39,19 +39,8 @@ public:
   UFUNCTION(BlueprintPure, Category="CARLA", meta=(WorldContext="WorldContextObject"))
   static UCarlaSettings *GetCarlaSettings(const UObject *WorldContextObject);
 
-  UFUNCTION(BlueprintPure, Category="CARLA", meta=(WorldContext="WorldContextObject"))
+  UFUNCTION(BlueprintPure, Category="CARLA")
-  static FORCEINLINE TArray<FString> GetAllMapNames()
+  static TArray<FString> GetAllMapNames();
-	{
-		TArray<FString> TmpStrList, MapNameList;
-    IFileManager::Get().FindFilesRecursive(MapNameList, *FPaths::ProjectContentDir(), TEXT("*.umap"), true, false, false);
-    for (int i = 0; i < MapNameList.Num(); i++) {
-        MapNameList[i].ParseIntoArray(TmpStrList, TEXT("Content/"), true);
-        MapNameList[i] = TmpStrList[1];
-        MapNameList[i] = MapNameList[i].Replace(TEXT(".umap"), TEXT(""));
-        MapNameList[i] = "/Game/" + MapNameList[i];
-    }
-     return MapNameList;
-	}
 };
 
 // =============================================================================
@@ -79,4 +68,3 @@ inline UCarlaSettings *UCarlaStatics::GetCarlaSettings(const UObject *WorldConte
   auto GameInstance = GetGameInstance(WorldContext);
   return GameInstance != nullptr ? GameInstance->GetCARLASettings() : nullptr;
 }
-