From 7b07075480692bc5e26a07ecc83b79acb36701a3 Mon Sep 17 00:00:00 2001
From: Jiayuan Zhu <jizhu@nvidia.com>
Date: Sun, 23 Mar 2025 05:48:00 +0000
Subject: [PATCH] fix a recorder crash and replay hang for 0.9.15 log issue
 after introducing vehicle door animation into the log

---
 .../Carla/Source/Carla/Game/FrameData.cpp     | 38 ++++++++++-----
 .../Source/Carla/Recorder/CarlaRecorder.cpp   | 47 ++++++++++++-------
 .../Source/Carla/Recorder/CarlaRecorder.h     |  4 +-
 3 files changed, 59 insertions(+), 30 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp
index 4d4dbaa4d..b00889ec9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/FrameData.cpp
@@ -553,12 +553,18 @@ void FFrameData::AddTriggerVolume(const ATrafficSignBase &TrafficSign)
   {
     return;
   }
+
+  auto CarlaActor = Episode->GetActorRegistry().FindCarlaActor(&TrafficSign);
+  if (!CarlaActor)
+  {
+      return;
+  }
   UBoxComponent* Trigger = Triggers.Top();
   auto VolumeOrigin = Trigger->GetComponentLocation();
   auto VolumeExtent = Trigger->GetScaledBoxExtent();
   CarlaRecorderActorBoundingBox TriggerVolume =
   {
-    Episode->GetActorRegistry().FindCarlaActor(&TrafficSign)->GetActorId(),
+    CarlaActor->GetActorId(),
     {VolumeOrigin, VolumeExtent}
   };
   TriggerVolumes.Add(TriggerVolume);
@@ -567,21 +573,29 @@ void FFrameData::AddTriggerVolume(const ATrafficSignBase &TrafficSign)
 void FFrameData::AddPhysicsControl(const ACarlaWheeledVehicle& Vehicle)
 {
   CarlaRecorderPhysicsControl Control;
-  Control.DatabaseId = Episode->GetActorRegistry().FindCarlaActor(&Vehicle)->GetActorId();
-  Control.VehiclePhysicsControl = Vehicle.GetVehiclePhysicsControl();
-  PhysicsControls.Add(Control);
+  auto CarlaActor = Episode->GetActorRegistry().FindCarlaActor(&Vehicle);
+  if (CarlaActor)
+  {
+      Control.DatabaseId = CarlaActor->GetActorId();
+      Control.VehiclePhysicsControl = Vehicle.GetVehiclePhysicsControl();
+      PhysicsControls.Add(Control);
+  }
 }
 
 void FFrameData::AddTrafficLightTime(const ATrafficLightBase& TrafficLight)
 {
-  auto DatabaseId = Episode->GetActorRegistry().FindCarlaActor(&TrafficLight)->GetActorId();
-  CarlaRecorderTrafficLightTime TrafficLightTime{
-    DatabaseId,
-    TrafficLight.GetGreenTime(),
-    TrafficLight.GetYellowTime(),
-    TrafficLight.GetRedTime()
-  };
-  TrafficLightTimes.Add(TrafficLightTime);
+    auto CarlaActor = Episode->GetActorRegistry().FindCarlaActor(&TrafficLight);
+    if (CarlaActor)
+    {
+        auto DatabaseId = CarlaActor->GetActorId();
+        CarlaRecorderTrafficLightTime TrafficLightTime{
+          DatabaseId,
+          TrafficLight.GetGreenTime(),
+          TrafficLight.GetYellowTime(),
+          TrafficLight.GetRedTime()
+        };
+        TrafficLightTimes.Add(TrafficLightTime);
+    }
 }
 
 void FFrameData::AddPosition(const CarlaRecorderPosition &Position)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
index 596e8473f..3d9fcfdc7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
@@ -307,10 +307,14 @@ void ACarlaRecorder::AddVehicleLight(FCarlaActor *CarlaActor)
 void ACarlaRecorder::AddVehicleDoor(const ACarlaWheeledVehicle &Vehicle, const EVehicleDoor SDoors, bool bIsOpen)
 {
   CarlaRecorderDoorVehicle DoorVehicle;
-  DoorVehicle.DatabaseId = Episode->GetActorRegistry().FindCarlaActor(&Vehicle)->GetActorId();
-  DoorVehicle.Doors = static_cast<CarlaRecorderDoorVehicle::VehicleDoorType>(SDoors);
-  DoorVehicle.bIsOpen = bIsOpen;
-  AddDoorVehicle(DoorVehicle);
+  auto CarlaActor = Episode->GetActorRegistry().FindCarlaActor(&Vehicle);
+  if (CarlaActor)
+  {
+      DoorVehicle.DatabaseId = CarlaActor->GetActorId();
+      DoorVehicle.Doors = static_cast<CarlaRecorderDoorVehicle::VehicleDoorType>(SDoors);
+      DoorVehicle.bIsOpen = bIsOpen;
+      AddDoorVehicle(DoorVehicle);
+  }
 }
 
 void ACarlaRecorder::AddActorKinematics(FCarlaActor *CarlaActor)
@@ -353,12 +357,17 @@ void ACarlaRecorder::AddTriggerVolume(const ATrafficSignBase &TrafficSign)
     {
       return;
     }
+    auto CarlaActor = Episode->GetActorRegistry().FindCarlaActor(&TrafficSign);
+    if (!CarlaActor)
+    {
+        return;
+    }
     UBoxComponent* Trigger = Triggers.Top();
     auto VolumeOrigin = Trigger->GetComponentLocation();
     auto VolumeExtent = Trigger->GetScaledBoxExtent();
     CarlaRecorderActorBoundingBox TriggerVolume =
     {
-      Episode->GetActorRegistry().FindCarlaActor(&TrafficSign)->GetActorId(),
+      CarlaActor->GetActorId(),
       {VolumeOrigin, VolumeExtent}
     };
     TriggerVolumes.Add(TriggerVolume);
@@ -370,9 +379,12 @@ void ACarlaRecorder::AddPhysicsControl(const ACarlaWheeledVehicle& Vehicle)
   if (bAdditionalData)
   {
     CarlaRecorderPhysicsControl Control;
-    Control.DatabaseId = Episode->GetActorRegistry().FindCarlaActor(&Vehicle)->GetActorId();
-    Control.VehiclePhysicsControl = Vehicle.GetVehiclePhysicsControl();
-    PhysicsControls.Add(Control);
+    if (auto CarlaActor = Episode->GetActorRegistry().FindCarlaActor(&Vehicle))
+    {
+        Control.DatabaseId = CarlaActor->GetActorId();
+        Control.VehiclePhysicsControl = Vehicle.GetVehiclePhysicsControl();
+        PhysicsControls.Add(Control);
+    }
   }
 }
 
@@ -380,14 +392,17 @@ void ACarlaRecorder::AddTrafficLightTime(const ATrafficLightBase& TrafficLight)
 {
   if (bAdditionalData)
   {
-    auto DatabaseId = Episode->GetActorRegistry().FindCarlaActor(&TrafficLight)->GetActorId();
-    CarlaRecorderTrafficLightTime TrafficLightTime{
-      DatabaseId,
-      TrafficLight.GetGreenTime(),
-      TrafficLight.GetYellowTime(),
-      TrafficLight.GetRedTime()
-    };
-    TrafficLightTimes.Add(TrafficLightTime);
+      if (auto CarlaActor = Episode->GetActorRegistry().FindCarlaActor(&TrafficLight))
+      {
+          auto DatabaseId = CarlaActor->GetActorId();
+          CarlaRecorderTrafficLightTime TrafficLightTime{
+            DatabaseId,
+            TrafficLight.GetGreenTime(),
+            TrafficLight.GetYellowTime(),
+            TrafficLight.GetRedTime()
+          };
+          TrafficLightTimes.Add(TrafficLightTime);
+      }
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.h
index 12f527728..a1683595f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.h
@@ -69,9 +69,9 @@ enum class CarlaRecorderPacketId : uint8_t
   FrameCounter,
   WalkerBones,
   VisualTime,
-  VehicleDoor,
   AnimVehicleWheels,
-  AnimBiker
+  AnimBiker,
+  VehicleDoor
 };
 
 /// Recorder for the simulation