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Replayer now will load the required map automatically. Also a bug fix.

This commit is contained in:
bernatx 2019-03-08 11:16:01 +01:00
parent be37d22335
commit 702474f764
3 changed files with 138 additions and 48 deletions
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3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp
View File

@ -200,6 +200,9 @@ void UCarlaEpisode::InitializeAtBeginPlay()
ActorDispatcher->RegisterActor(*Actor, Description);
}
}
// check if replayer is waiting to autostart
Recorder->GetReplayer()->CheckPlayAfterMapLoaded();
}
void UCarlaEpisode::EndPlay(void)

168
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.cpp
View File

@ -10,6 +10,9 @@
#include <ctime>
#include <sstream>
// structure to save replaying info when need to load a new map (static member by now)
CarlaReplayer::PlayAfterLoadMap CarlaReplayer::Autoplay { false, "", "", 0.0, 0.0, 0, 1.0 };
void CarlaReplayer::Stop(bool bKeepActors)
{
if (Enabled)
@ -22,20 +25,11 @@ void CarlaReplayer::Stop(bool bKeepActors)
ProcessToTime(TotalTime);
}
File.close();
// callback
Helper.ProcessReplayerFinish(bKeepActors);
}
if (!bKeepActors)
{
UE_LOG(LogCarla, Log, TEXT("Replayer stop"));
}
else
{
UE_LOG(LogCarla, Log, TEXT("Replayer stop (keeping actors)"));
}
File.close();
}
bool CarlaReplayer::ReadHeader()
@ -73,8 +67,6 @@ void CarlaReplayer::Rewind(void)
// read geneal Info
RecInfo.Read(File);
// UE_LOG(LogCarla, Log, TEXT("Replayer rewind"));
}
// read last frame in File and return the Total time recorded
@ -126,49 +118,126 @@ std::string CarlaReplayer::ReplayFile(std::string Filename, double TimeStart, do
if (!File.is_open())
{
Info << "File " << Filename << " not found on server\n";
Stop();
return Info.str();
}
// from start
Rewind();
// check to load map if different
if (Episode->GetMapName() != RecInfo.Mapfile)
{
if (!Episode->LoadNewEpisode(RecInfo.Mapfile))
{
Info << "Could not load mapfile " << TCHAR_TO_UTF8(*RecInfo.Mapfile) << std::endl;
Stop();
return Info.str();
}
Info << "Loading map " << TCHAR_TO_UTF8(*RecInfo.Mapfile) << std::endl;
Info << "Replayer will start after map is loaded..." << std::endl;
// prepare autoplay after map is loaded
Autoplay.Enabled = true;
Autoplay.Filename = Filename;
Autoplay.Mapfile = RecInfo.Mapfile;
Autoplay.TimeStart = TimeStart;
Autoplay.Duration = Duration;
Autoplay.FollowId = FollowId;
Autoplay.TimeFactor = TimeFactor;
}
// get Total time of recorder
TotalTime = GetTotalTime();
Info << "Total time recorded: " << TotalTime << std::endl;
// set time to start replayer
if (TimeStart < 0.0f)
{
TimeStart = TotalTime + TimeStart;
if (TimeStart < 0.0f)
TimeStart = 0.0f;
}
// set time to stop replayer
if (Duration > 0.0f)
TimeToStop = TimeStart + Duration;
else
TimeToStop = TotalTime;
Info << "Replaying from " << TimeStart << " s - " << TimeToStop << " s (" << TotalTime << " s)" <<
std::endl;
// set the follow Id
FollowId = ThisFollowId;
// if we don't need to load a new map, then start
if (!Autoplay.Enabled)
{
// process all events until the time
ProcessToTime(TimeStart);
// mark as enabled
Enabled = true;
}
return Info.str();
}
void CarlaReplayer::CheckPlayAfterMapLoaded(void)
{
// check if the autoplay is enabled (means waiting until map is loaded)
if (!Autoplay.Enabled)
return;
// disable
Autoplay.Enabled = false;
// check to stop if we are replaying another
if (Enabled)
{
Stop();
}
// try to open
File.open(Autoplay.Filename, std::ios::binary);
if (!File.is_open())
{
return;
}
// from start
Rewind();
// get Total time of recorder
TotalTime = GetTotalTime();
Info << "Total time recorded: " << TotalTime << std::endl;
// set time to start replayer
double TimeStart = Autoplay.TimeStart;
if (TimeStart < 0.0f)
{
TimeStart = TotalTime + TimeStart;
TimeStart = TotalTime + Autoplay.TimeStart;
if (TimeStart < 0.0f)
{
TimeStart = 0.0f;
}
}
// set time to stop replayer
if (Duration > 0.0f)
{
TimeToStop = TimeStart + Duration;
}
if (Autoplay.Duration > 0.0f)
TimeToStop = TimeStart + Autoplay.Duration;
else
{
TimeToStop = TotalTime;
}
Info << "Replaying from " << TimeStart << " s - " << TimeToStop << " s (" << TotalTime << " s)" <<
std::endl;
// set the follow Id
FollowId = Autoplay.FollowId;
// apply time factor
TimeFactor = Autoplay.TimeFactor;
// process all events until the time
ProcessToTime(TimeStart);
// set the follow Id
if (ThisFollowId != 0)
FollowId = ThisFollowId;
else
FollowId = 0;
// mark as enabled
Enabled = true;
return Info.str();
}
void CarlaReplayer::ProcessToTime(double Time)
@ -302,18 +371,15 @@ void CarlaReplayer::ProcessEventsAdd(void)
if (!EventAdd.Description.Id.StartsWith("sensor."))
{
// show log
/*
Info.str("");
Info << " Create " << EventAdd.DatabaseId << ": " << TCHAR_TO_UTF8(*EventAdd.Description.Id) << " (" <<
EventAdd.Description.UId << ") at (" << EventAdd.Location.X << ", " <<
EventAdd.Location.Y << ", " << EventAdd.Location.Z << ")" << std::endl;
for (auto &Att : EventAdd.Description.Attributes)
{
Info << " " << TCHAR_TO_UTF8(*Att.Id) << " = " << TCHAR_TO_UTF8(*Att.Value) << std::endl;
}
UE_LOG(LogCarla, Log, "%s", Info.str().c_str());
*/
// Info.str("");
// Info << " Create " << EventAdd.DatabaseId << ": " << TCHAR_TO_UTF8(*EventAdd.Description.Id) << " (" <<
// EventAdd.Description.UId << ") at (" << EventAdd.Location.X << ", " <<
// EventAdd.Location.Y << ", " << EventAdd.Location.Z << ")" << std::endl;
// for (auto &Att : EventAdd.Description.Attributes)
// {
// Info << " " << TCHAR_TO_UTF8(*Att.Id) << " = " << TCHAR_TO_UTF8(*Att.Value) << std::endl;
// }
// UE_LOG(LogCarla, Log, TEXT("%s"), Info.str().c_str());
// auto Result = CallbackEventAdd(
auto Result = Helper.ProcessReplayerEventAdd(
@ -331,10 +397,14 @@ void CarlaReplayer::ProcessEventsAdd(void)
// actor created but with different id
case 1:
if (Result.second != EventAdd.DatabaseId)
{
// UE_LOG(LogCarla, Log, TEXT("actor created but with different id"));
}
// if (Result.second != EventAdd.DatabaseId)
// {
// UE_LOG(LogCarla, Log, TEXT("actor created but with different id"));
// }
// else
// {
// UE_LOG(LogCarla, Log, TEXT("actor created with same id"));
// }
// mapping id (recorded Id is a new Id in replayer)
MappedId[EventAdd.DatabaseId] = Result.second;
break;
@ -433,6 +503,8 @@ void CarlaReplayer::ProcessPositions(void)
{
Pos.DatabaseId = NewId->second;
}
else
UE_LOG(LogCarla, Log, TEXT("Actor not found when trying to move from replayer (id. %d)"), Pos.DatabaseId);
CurrPos.push_back(std::move(Pos));
}
}

15
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.h
View File

@ -35,6 +35,18 @@ class CarlaReplayer
#pragma pack(pop)
public:
struct PlayAfterLoadMap
{
bool Enabled;
std::string Filename;
FString Mapfile;
double TimeStart;
double Duration;
uint32_t FollowId;
double TimeFactor;
};
static PlayAfterLoadMap Autoplay;
CarlaReplayer() {};
~CarlaReplayer() { Stop(); };
@ -63,6 +75,9 @@ public:
// playback speed (time factor)
void SetSpeed(double NewTimeFactor);
// check if after a map is loaded, we need to replay
void CheckPlayAfterMapLoaded(void);
// tick for the replayer
void Tick(float Time);