Recorder bug fixes (#1752)

* Fix bug initializing structure
* Fixing the end of replayer when actors continue in autopilot enabled

CHANGELOG.md

@@ -1,5 +1,7 @@
 ## Latest
 
+  * Bugfix about recorder query system
+  * Fixed problem when vehicles enable autopilot after a replayer, now it works better.
   * Vulkan support: Changed project settings to make vulkan default on linux and updated make script to allow user to select opengl
   * Add ability to set motion blur settings for rgb camera in sensor python blueprint
   * Improved visual quality of the screen capture for the rgb sensor

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderQuery.cpp

@@ -268,8 +268,6 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
         break;
 
       default:
-        // skip packet
-        Info << "Unknown packet id: " << Header.Id << " at offset " << File.tellg() << std::endl;
         SkipPacket();
         break;
     }
@@ -441,8 +439,6 @@ std::string CarlaRecorderQuery::QueryCollisions(std::string Filename, char Categ
         break;
 
       default:
-        // skip packet
-        Info << "Unknown packet id: " << Header.Id << " at offset " << File.tellg() << std::endl;
         SkipPacket();
         break;
     }
@@ -520,7 +516,7 @@ std::string CarlaRecorderQuery::QueryBlocked(std::string Filename, double MinTim
         {
           // add
           EventAdd.Read(File);
-          Actors[EventAdd.DatabaseId] = ReplayerActorInfo { EventAdd.Type, EventAdd.Description.Id };
+          Actors[EventAdd.DatabaseId] = ReplayerActorInfo { EventAdd.Type, EventAdd.Description.Id, FVector(0, 0, 0), 0.0, 0.0 };
         }
         break;
 
@@ -590,8 +586,6 @@ std::string CarlaRecorderQuery::QueryBlocked(std::string Filename, double MinTim
         break;
 
       default:
-        // skip packet
-        Info << "Unknown packet id: " << Header.Id << " at offset " << File.tellg() << std::endl;
         SkipPacket();
         break;
     }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.cpp

@@ -359,16 +359,8 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
   // stop replay?
   if (CurrentTime >= TimeToStop)
   {
-    // check if we need to stop the replayer and let it continue in simulation
-    // mode
-    if (TimeToStop < TotalTime)
-    {
-      Stop(true); // keep actors in scene so they continue with AI
-    }
-    else
-    {
-      Stop();
-    }
+    // keep actors in scene and let them continue with autopilot
+    Stop(true);
   }
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.h

@@ -136,5 +136,4 @@ private:
   void UpdatePositions(double Per, double DeltaTime);
 
   void InterpolatePosition(const CarlaRecorderPosition &Start, const CarlaRecorderPosition &End, double Per, double DeltaTime);
-
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.cpp

@@ -128,7 +128,7 @@ bool CarlaReplayerHelper::SetActorSimulatePhysics(FActorView &ActorView, bool bE
 }
 
 // enable / disable autopilot for an actor
-bool CarlaReplayerHelper::SetActorAutopilot(FActorView &ActorView, bool bEnabled)
+bool CarlaReplayerHelper::SetActorAutopilot(FActorView &ActorView, bool bEnabled, bool bKeepState)
 {
   if (!ActorView.IsValid())
   {
@@ -144,7 +144,7 @@ bool CarlaReplayerHelper::SetActorAutopilot(FActorView &ActorView, bool bEnabled
   {
     return false;
   }
-  Controller->SetAutopilot(bEnabled);
+  Controller->SetAutopilot(bEnabled, bKeepState);
 
   return true;
 }
@@ -181,7 +181,7 @@ std::pair<int, uint32_t> CarlaReplayerHelper::ProcessReplayerEventAdd(
       // disable physics
       SetActorSimulatePhysics(result.second, false);
       // disable autopilot
-      SetActorAutopilot(result.second, false);
+      SetActorAutopilot(result.second, false, false);
     }
   }
 
@@ -351,9 +351,10 @@ bool CarlaReplayerHelper::ProcessReplayerFinish(bool bApplyAutopilot)
       SetActorSimulatePhysics(ActorView, true);
       // autopilot
       if (bApplyAutopilot)
-        SetActorAutopilot(ActorView, true);
+        SetActorAutopilot(ActorView, true, true);
     }
   }
   return true;
 }
 
+

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.h

@@ -67,5 +67,5 @@ private:
   // enable / disable physics for an actor
   bool SetActorSimulatePhysics(FActorView &ActorView, bool bEnabled);
   // enable / disable autopilot for an actor
-  bool SetActorAutopilot(FActorView &ActorView, bool bEnabled);
+  bool SetActorAutopilot(FActorView &ActorView, bool bEnabled, bool bKeepState = false);
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp

@@ -151,21 +151,25 @@ void AWheeledVehicleAIController::Tick(const float DeltaTime)
 // -- Autopilot ----------------------------------------------------------------
 // =============================================================================
 
-void AWheeledVehicleAIController::ConfigureAutopilot(const bool Enable)
+void AWheeledVehicleAIController::ConfigureAutopilot(const bool Enable, const bool KeepState)
 {
   bAutopilotEnabled = Enable;
-  // Reset state.
-  Vehicle->SetSteeringInput(0.0f);
-  Vehicle->SetThrottleInput(0.0f);
-  Vehicle->SetBrakeInput(0.0f);
-  Vehicle->SetReverse(false);
-  Vehicle->SetHandbrakeInput(false);
+  if (!KeepState)
+  {
+    // Reset state.
+    Vehicle->SetSteeringInput(0.0f);
+    Vehicle->SetThrottleInput(0.0f);
+    Vehicle->SetBrakeInput(0.0f);
+    Vehicle->SetReverse(false);
+    Vehicle->SetHandbrakeInput(false);
+    ClearQueue(TargetLocations);
+    Vehicle->SetAIVehicleState(
+        bAutopilotEnabled ?
+        ECarlaWheeledVehicleState::FreeDriving :
+        ECarlaWheeledVehicleState::AutopilotOff);
+  }
+
   TrafficLightState = ETrafficLightState::Green;
-  ClearQueue(TargetLocations);
-  Vehicle->SetAIVehicleState(
-      bAutopilotEnabled ?
-      ECarlaWheeledVehicleState::FreeDriving :
-      ECarlaWheeledVehicleState::AutopilotOff);
 
   /// @todo Workaround for a race condition between client and server when
   /// enabling autopilot right after initializing a vehicle.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h

@@ -137,11 +137,11 @@ public:
   }
 
   UFUNCTION(Category = "Wheeled Vehicle Controller", BlueprintCallable)
-  void SetAutopilot(bool Enable)
+  void SetAutopilot(bool Enable, bool KeepState = false)
   {
     if (IsAutopilotEnabled() != Enable)
     {
-      ConfigureAutopilot(Enable);
+      ConfigureAutopilot(Enable, KeepState);
     }
   }
 
@@ -153,7 +153,7 @@ public:
 
 private:
 
-  void ConfigureAutopilot(bool Enable);
+  void ConfigureAutopilot(const bool Enable, const bool KeepState = false);
 
   /// @}
   // ===========================================================================