Sensor id should be set by the sensor description

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.cpp

@@ -8,8 +8,8 @@
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 #include "StaticMeshResources.h"
 
-ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
-  Super(ObjectInitializer)
+ALidar::ALidar(const FObjectInitializer& ObjectInitializer)
+  : Super(ObjectInitializer)
 {
   PrimaryActorTick.bCanEverTick = true;
 
@@ -23,8 +23,9 @@ ALidar::ALidar(const FObjectInitializer& ObjectInitializer) :
 
 void ALidar::Set(const ULidarDescription &LidarDescription)
 {
+  Super::Set(LidarDescription);
   Description = &LidarDescription;
-  LidarMeasurement = FLidarMeasurement(Description->Channels);
+  LidarMeasurement = FLidarMeasurement(GetId(), Description->Channels);
   CreateLasers();
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/LidarMeasurement.h

@@ -34,7 +34,8 @@ class FLidarMeasurement {
   static_assert(sizeof(float) == sizeof(uint32), "Invalid float size");
 public:
 
-  explicit FLidarMeasurement(uint32 ChannelCount = 0u)
+  explicit FLidarMeasurement(uint32 SensorId = 0u, uint32 ChannelCount = 0u)
+    : SensorId(SensorId)
   {
     Header.AddDefaulted(2u + ChannelCount);
     Header[1] = ChannelCount;
@@ -42,8 +43,10 @@ public:
 
   FLidarMeasurement &operator=(FLidarMeasurement &&Other)
   {
+    SensorId = Other.SensorId;
     Header = std::move(Other.Header);
     Points = std::move(Other.Points);
+    Other.SensorId = 0u;
     return *this;
   }
 
@@ -73,11 +76,13 @@ public:
 
   FSensorDataView GetView() const
   {
-    return FSensorDataView(Header, Points);
+    return FSensorDataView(SensorId, Header, Points);
   }
 
 private:
 
+  uint32 SensorId;
+
   TArray<uint32> Header;
 
   TArray<float> Points;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp

@@ -144,6 +144,7 @@ void ASceneCaptureCamera::Tick(const float DeltaSeconds)
   TArray<FColor> BitMap;
   if (ReadPixels(BitMap)) {
     FSensorDataView DataView(
+        GetId(),
         FReadOnlyBufferView{reinterpret_cast<const void *>(&ImageHeader), sizeof(ImageHeader)},
         FReadOnlyBufferView{BitMap});
 
@@ -202,6 +203,7 @@ void ASceneCaptureCamera::Set(const UCameraDescription &CameraDescription)
   //   PostProcessSettings.bOverride_AutoExposureBias = true;
   //   PostProcessSettings.AutoExposureBias = Override.AutoExposureBias;
   // }
+  Super::Set(CameraDescription);
   SetImageSize(CameraDescription.ImageSizeX, CameraDescription.ImageSizeY);
   SetPostProcessEffect(CameraDescription.PostProcessEffect);
   SetFOVAngle(CameraDescription.FOVAngle);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp

@@ -7,15 +7,9 @@
 #include "Carla.h"
 #include "Sensor.h"
 
-static uint32 GetNextSensorId()
-{
-  static uint32 COUNT = 0u;
-  return ++COUNT;
-}
-
 ASensor::ASensor(const FObjectInitializer& ObjectInitializer)
   : Super(ObjectInitializer),
-    Id(GetNextSensorId()) {}
+    Id(0u) {}
 
 void ASensor::AttachToActor(AActor *Actor)
 {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.h

@@ -9,6 +9,7 @@
 #include "GameFramework/Actor.h"
 
 #include "Sensor/SensorDataSink.h"
+#include "Settings/SensorDescription.h"
 
 #include "Sensor.generated.h"
 
@@ -36,6 +37,11 @@ public:
 
 protected:
 
+  void Set(const USensorDescription &SensorDescription)
+  {
+    Id = SensorDescription.GetId();
+  }
+
   void WriteSensorData(const FSensorDataView &SensorData)
   {
     if (SensorDataSink.IsValid()) {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorDataView.h

@@ -13,11 +13,18 @@ class FSensorDataView {
 public:
 
   FSensorDataView(
+      uint32 InSensorId,
       FReadOnlyBufferView InHeader,
       FReadOnlyBufferView InData)
-    : Header(InHeader),
+    : SensorId(InSensorId),
+      Header(InHeader),
       Data(InData) {}
 
+  uint32 GetSensorId() const
+  {
+    return SensorId;
+  }
+
   FReadOnlyBufferView GetHeader() const
   {
     return Header;
@@ -30,6 +37,8 @@ public:
 
 private:
 
+  uint32 SensorId;
+
   FReadOnlyBufferView Header;
 
   FReadOnlyBufferView Data;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SensorFactory.cpp

@@ -18,7 +18,7 @@ template <typename T, typename D>
 static T *SpawnSensor(const D &Description, UWorld &World)
 {
   FActorSpawnParameters Params;
-  Params.Name = Description.Name;
+  Params.Name = FName(*Description.Name);
   return World.SpawnActor<T>(Description.Position, Description.Rotation, Params);
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp

@@ -54,7 +54,7 @@ static void LoadSensorFromConfig(
     const FIniFile &ConfigFile,
     USensorDescription &Sensor)
 {
-  ForEachSectionInName(Sensor.Name.ToString(), [&](const auto &Section){
+  ForEachSectionInName(Sensor.Name, [&](const auto &Section){
     Sensor.Load(ConfigFile, Section);
   });
 }
@@ -63,7 +63,7 @@ template <typename T>
 static T *MakeSensor(UObject *Parent, const FString &Name, const FString &Type)
 {
   auto *Sensor = NewObject<T>(Parent);
-  Sensor->Name = FName(*Name);
+  Sensor->Name = Name;
   Sensor->Type = Type;
   return Sensor;
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.cpp

@@ -9,6 +9,16 @@
 
 #include "Util/IniFile.h"
 
+static uint32 GetNextSensorDescriptionId()
+{
+  static uint32 COUNT = 0u;
+  return ++COUNT;
+}
+
+USensorDescription::USensorDescription(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer),
+    Id(GetNextSensorDescriptionId()) {}
+
 void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
 {
   unimplemented();
@@ -26,7 +36,8 @@ void USensorDescription::Load(const FIniFile &Config, const FString &Section)
 
 void USensorDescription::Log() const
 {
-  UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), *Name.ToString());
+  UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), *Name);
+  UE_LOG(LogCarla, Log, TEXT("Id = %d"), Id);
   UE_LOG(LogCarla, Log, TEXT("Type = %s"), *Type);
   UE_LOG(LogCarla, Log, TEXT("Position = (%s)"), *Position.ToString());
   UE_LOG(LogCarla, Log, TEXT("Rotation = (%s)"), *Rotation.ToString());

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h

@@ -19,6 +19,13 @@ class CARLA_API USensorDescription : public UObject
 
 public:
 
+  USensorDescription(const FObjectInitializer &ObjectInitializer);
+
+  uint32 GetId() const
+  {
+    return Id;
+  }
+
   virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const;
 
   virtual void Load(const FIniFile &Config, const FString &Section);
@@ -32,9 +39,16 @@ public:
 
   virtual void Log() const;
 
+private:
+
+  UPROPERTY(Category = "Sensor Description", VisibleAnywhere)
+  uint32 Id;
+
+public:
+
   /** Display name of the sensor. */
   UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)
-  FName Name;
+  FString Name;
 
   /** Sensor type. */
   UPROPERTY(Category = "Sensor Description", EditDefaultsOnly)