Add get_actor_name & get_actor_class_name. (#8165)

* Add initial GetUnrealName & GetUnrealClassName code.

* Remove snapshot-based code.

* Code cleanup.

LibCarla/source/carla/client/Actor.cpp

@@ -32,6 +32,16 @@ namespace client {
     return GetEpisode().Lock()->GetActorAcceleration(*this);
   }
 
+  std::string Actor::GetActorName() const
+  {
+    return GetEpisode().Lock()->GetActorName(*this);
+  }
+
+  std::string Actor::GetActorClassName() const
+  {
+    return GetEpisode().Lock()->GetActorClassName(*this);
+  }
+
   void Actor::SetLocation(const geom::Location &location) {
     GetEpisode().Lock()->SetActorLocation(*this, location);
   }

LibCarla/source/carla/client/Actor.h

@@ -60,6 +60,18 @@ namespace client {
     /// acceleration calculated after the actor's velocity.
     geom::Vector3D GetAcceleration() const;
 
+    /// Return the name of the underlying Unreal actor.
+    ///
+    /// @note This function does not call the simulator, it returns the
+    /// acceleration calculated after the actor's velocity.
+    std::string GetActorName() const;
+
+    /// Return the name of the underlying actor's Unreal class.
+    ///
+    /// @note This function does not call the simulator, it returns the
+    /// acceleration calculated after the actor's velocity.
+    std::string GetActorClassName() const;
+
     /// Teleport the actor to @a location.
     void SetLocation(const geom::Location &location);
 

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

@@ -710,6 +710,16 @@ namespace detail {
     return _pimpl->CallAndWait<return_t>("cast_ray", start_location, end_location);
   }
 
+  std::string Client::GetActorName(rpc::ActorId actor) const
+  {
+    return _pimpl->CallAndWait<std::string>("get_actor_name", actor);
+  }
+
+  std::string Client::GetActorClassName(rpc::ActorId actor) const
+  {
+    return _pimpl->CallAndWait<std::string>("get_actor_class_name", actor);
+  }
+
 } // namespace detail
 } // namespace client
 } // namespace carla

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

@@ -439,6 +439,10 @@ namespace detail {
     std::vector<rpc::LabelledPoint> CastRay(
         geom::Location start_location, geom::Location end_location) const;
 
+    std::string GetActorName(rpc::ActorId actor) const;
+
+    std::string GetActorClassName(rpc::ActorId actor) const;
+
   private:
 
     class Pimpl;

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

@@ -438,6 +438,16 @@ namespace detail {
       return GetActorSnapshot(actor).acceleration;
     }
 
+    std::string GetActorName(const Actor& actor) const
+    {
+      return _client.GetActorName(actor.GetId());
+    }
+
+    std::string GetActorClassName(const Actor& actor) const
+    {
+      return _client.GetActorClassName(actor.GetId());
+    }
+
     void SetActorLocation(Actor &actor, const geom::Location &location) {
       _client.SetActorLocation(actor.GetId(), location);
     }

LibCarla/source/carla/sensor/data/ActorDynamicState.h

@@ -134,7 +134,6 @@ namespace detail {
     geom::Vector3D angular_velocity;
 
     geom::Vector3D acceleration;
-
     union TypeDependentState {
       detail::TrafficLightData traffic_light_data;
       detail::TrafficSignData traffic_sign_data;

PythonAPI/carla/src/Actor.cpp

@@ -111,6 +111,8 @@ void export_actor() {
       .def("get_velocity", &cc::Actor::GetVelocity)
       .def("get_angular_velocity", &cc::Actor::GetAngularVelocity)
       .def("get_acceleration", &cc::Actor::GetAcceleration)
+      .def("get_actor_name", &cc::Actor::GetActorName)
+      .def("get_actor_class_name", &cc::Actor::GetActorClassName)
       .def("set_location", &cc::Actor::SetLocation, (arg("location")))
       .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
       .def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity")))

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp

@@ -353,6 +353,9 @@ static carla::Buffer FWorldObserver_Serialize(
     }
     ActorTransform = View->GetActorGlobalTransform();
 
+    auto ActorPtr = View->GetActor();
+    check(ActorPtr != nullptr);
+
     ActorDynamicState info = {
       View->GetActorId(),
       View->GetActorState(),
@@ -360,7 +363,7 @@ static carla::Buffer FWorldObserver_Serialize(
       carla::geom::Vector3D(Velocity.X, Velocity.Y, Velocity.Z),
       AngularVelocity,
       Acceleration,
-      State,
+      State
     };
     write_data(info);
   }

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

@@ -2650,6 +2650,34 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
     return URayTracer::CastRay(StartLocation, EndLocation, World);
   };
 
+  BIND_SYNC(get_actor_name) << [this](
+    cr::ActorId ActorID) -> R<std::string>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto CarlaActor = Episode->FindCarlaActor(ActorID);
+    check(CarlaActor != nullptr);
+    auto Actor = CarlaActor->GetActor();
+    check(Actor != nullptr);
+    auto Name = Actor->GetName();
+    auto NameStr = StringCast<UTF8CHAR>(*Name, Name.Len());
+    return std::string((const char*)NameStr.Get(), NameStr.Length());
+  };
+
+  BIND_SYNC(get_actor_class_name) << [this](
+    cr::ActorId ActorID) -> R<std::string>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto CarlaActor = Episode->FindCarlaActor(ActorID);
+    check(CarlaActor != nullptr);
+    auto Actor = CarlaActor->GetActor();
+    check(Actor != nullptr);
+    auto Class = Actor->GetClass();
+    check(Class != nullptr);
+    auto Name = Class->GetName();
+    auto NameStr = StringCast<UTF8CHAR>(*Name, Name.Len());
+    return std::string((const char*)NameStr.Get(), NameStr.Length());
+  };
+
 }
 
 // =============================================================================