Basic walker AI

Source/Carla/AI/WalkerAIController.cpp

@@ -4,6 +4,120 @@
 #include "WalkerAIController.h"
 
 #include "Navigation/CrowdFollowingComponent.h"
+#include "Perception/AIPerceptionComponent.h"
+#include "Perception/AISenseConfig_Sight.h"
+#include "Perception/AISense_Sight.h"
+#include "WheeledVehicle.h"
+#include "WheeledVehicleMovementComponent.h"
+
+#ifdef CARLA_AI_WALKERS_EXTRA_LOG
+#  define LOG_AI_WALKER(Verbosity, Text) UE_LOG(LogCarla, Verbosity, Text, *GetPawn()->GetName());
+#else
+#  define LOG_AI_WALKER(Verbosity, Text)
+#endif // CARLA_AI_WALKERS_EXTRA_LOG
 
 AWalkerAIController::AWalkerAIController(const FObjectInitializer& ObjectInitializer)
-  : Super(ObjectInitializer.SetDefaultSubobjectClass<UCrowdFollowingComponent>(TEXT("PathFollowingComponent"))) {}
+  : Super(ObjectInitializer.SetDefaultSubobjectClass<UCrowdFollowingComponent>(TEXT("PathFollowingComponent")))
+{
+  PrimaryActorTick.bCanEverTick = true;
+  PrimaryActorTick.TickInterval = 5.0f; // seconds.
+
+  auto Perception = CreateDefaultSubobject<UAIPerceptionComponent>(TEXT("AIPerception Component"));
+  check(Perception != nullptr);
+  SetPerceptionComponent(*Perception);
+
+  SightConfiguration = CreateDefaultSubobject<UAISenseConfig_Sight>(TEXT("SightConfiguration"));
+  SightConfiguration->SightRadius = 800.0f;
+  SightConfiguration->LoseSightRadius = (SightConfiguration->SightRadius + 100.0f);
+  SightConfiguration->PeripheralVisionAngleDegrees = 90.0f;
+  SightConfiguration->DetectionByAffiliation.bDetectEnemies = true;
+  SightConfiguration->DetectionByAffiliation.bDetectNeutrals = true;
+  SightConfiguration->DetectionByAffiliation.bDetectFriendlies = true;
+
+  Perception->ConfigureSense(*SightConfiguration);
+  Perception->SetDominantSense(SightConfiguration->GetSenseImplementation());
+  Perception->OnPerceptionUpdated.AddDynamic(this, &AWalkerAIController::SenseActors);
+}
+
+void AWalkerAIController::Tick(float DeltaSeconds)
+{
+  Super::Tick(DeltaSeconds);
+
+  switch (GetMoveStatus()) {
+    case EPathFollowingStatus::Idle:
+    case EPathFollowingStatus::Waiting:
+      LOG_AI_WALKER(Warning, TEXT("Walker %s is stuck!"));
+      bIsStuck = true;
+      break;
+    case EPathFollowingStatus::Paused:
+      LOG_AI_WALKER(Log, TEXT("Walker %s is paused"));
+      bIsPaused = true;
+      TryResumeMovement();
+      break;
+  };
+}
+
+FPathFollowingRequestResult AWalkerAIController::MoveTo(
+      const FAIMoveRequest& MoveRequest,
+      FNavPathSharedPtr* OutPath)
+{
+  bIsStuck = false;
+  LOG_AI_WALKER(Log, TEXT("Walker %s requested to move"));
+  return Super::MoveTo(MoveRequest, OutPath);
+}
+
+static bool VehicleIsMoving(const AWheeledVehicle *Vehicle)
+{
+  const auto *MovementComponent =
+      (Vehicle != nullptr ? Vehicle->GetVehicleMovementComponent() : nullptr);
+  return
+      (MovementComponent != nullptr) &&
+      (MovementComponent->GetForwardSpeed() > 0.0f);
+}
+
+static bool ContainsAMovingVehicle(const TArray<AActor *> &Actors)
+{
+  for (auto *Actor : Actors) {
+    if (VehicleIsMoving(Cast<AWheeledVehicle>(Actor))) {
+      return true;
+    }
+  }
+  return false;
+}
+
+void AWalkerAIController::SenseActors(const TArray<AActor *> Actors)
+{
+  if (!bIsPaused && ContainsAMovingVehicle(Actors)) {
+    TryPauseMovement();
+  }
+}
+
+void AWalkerAIController::TryResumeMovement()
+{
+  auto MoveRequestID = GetCurrentMoveRequestID();
+  if (MoveRequestID == FAIRequestID()) { // equals invalid request.
+    LOG_AI_WALKER(Error, TEXT("Walker %s: Invalid move ID"));
+  } else {
+    if (!ResumeMove(MoveRequestID)) {
+      LOG_AI_WALKER(Error, TEXT("Unable to resume walker %s move"));
+    } else {
+      LOG_AI_WALKER(Log, TEXT("Resume walker %s's move"));
+      bIsPaused = false;
+    }
+  }
+}
+
+void AWalkerAIController::TryPauseMovement()
+{
+  auto MoveRequestID = GetCurrentMoveRequestID();
+  if (MoveRequestID == FAIRequestID()) { // equals invalid request.
+    LOG_AI_WALKER(Error, TEXT("Walker %s: Invalid move ID"));
+  } else {
+    if (!PauseMove(MoveRequestID)) {
+      LOG_AI_WALKER(Error, TEXT("Unable to pause walker %s move"));
+    } else {
+      LOG_AI_WALKER(Log, TEXT("Pause walker %s's move"));
+      bIsPaused = true;
+    }
+  }
+}

Source/Carla/AI/WalkerAIController.h

@@ -5,6 +5,8 @@
 #include "AIController.h"
 #include "WalkerAIController.generated.h"
 
+class UAISenseConfig_Sight;
+
 UCLASS()
 class CARLA_API AWalkerAIController : public AAIController
 {
@@ -12,5 +14,34 @@ class CARLA_API AWalkerAIController : public AAIController
 
 public:
 
-  AWalkerAIController(const FObjectInitializer& ObjectInitializer = FObjectInitializer::Get());
+  AWalkerAIController(const FObjectInitializer& ObjectInitializer);
+
+  virtual void Tick(float DeltaSeconds) override;
+
+  virtual FPathFollowingRequestResult MoveTo(
+      const FAIMoveRequest& MoveRequest,
+      FNavPathSharedPtr* OutPath = nullptr) override;
+
+  UFUNCTION(BlueprintCallable)
+  void SenseActors(TArray<AActor *> Actors);
+
+  bool WalkerIsStuck() const
+  {
+    return bIsStuck;
+  }
+
+private:
+
+  void TryResumeMovement();
+
+  void TryPauseMovement();
+
+  UPROPERTY(Category = "Walker AI Controller", VisibleAnywhere)
+  UAISenseConfig_Sight *SightConfiguration;
+
+  UPROPERTY(VisibleAnywhere)
+  bool bIsPaused = false;
+
+  UPROPERTY(VisibleAnywhere)
+  bool bIsStuck = false;
 };

Source/Carla/AI/WalkerSpawnerBase.cpp

@@ -111,7 +111,7 @@ void AWalkerSpawnerBase::Tick(float DeltaTime)
     auto Walker = WalkersBlackList[Index];
     auto Controller = GetController(Walker);
     if ((Controller == nullptr) ||
-        (Controller->GetMoveStatus() != EPathFollowingStatus::Moving)) {
+        (Controller->WalkerIsStuck())) {
       WalkersBlackList.RemoveAtSwap(Index);
       if (Walker != nullptr) {
         Walker->Destroy();
@@ -129,7 +129,7 @@ void AWalkerSpawnerBase::Tick(float DeltaTime)
       if (Walker != nullptr) {
         Walker->Destroy();
       }
-    } else if (Controller->GetMoveStatus() != EPathFollowingStatus::Moving) {
+    } else if (Controller->WalkerIsStuck()) {
       TrySetDestination(*Walker);
       WalkersBlackList.Add(Walker);
       Walkers.RemoveAtSwap(Index);

Source/Carla/Carla.h

@@ -11,9 +11,10 @@
 DECLARE_LOG_CATEGORY_EXTERN(LogCarla, Log, All);
 DECLARE_LOG_CATEGORY_EXTERN(LogCarlaServer, Log, All);
 
-// Options to compile with extra debug options.
+// Options to compile with extra debug log.
 #if WITH_EDITOR
 // #define CARLA_AI_VEHICLES_EXTRA_LOG
+// #define CARLA_AI_WALKERS_EXTRA_LOG
 // #define CARLA_ROAD_GENERATOR_EXTRA_LOG /// @todo #1 Crashes in Linux.
 // #define CARLA_SERVER_EXTRA_LOG
 // #define CARLA_TAGGER_EXTRA_LOG