Added function to set custom carsim simfile. Added option to use ue4 carsim road definition or unreal callback method.

LibCarla/source/carla/client/Vehicle.cpp

@@ -88,8 +88,12 @@ namespace client {
     return boost::static_pointer_cast<TrafficLight>(GetWorld().GetActor(id));
   }
 
-  void Vehicle::SetCarSimEnabled(bool enabled) {
-    GetEpisode().Lock()->SetCarSimEnabled(*this, enabled);
+  void Vehicle::SetCarSimEnabled(bool enabled, std::string simfile_path) {
+    GetEpisode().Lock()->SetCarSimEnabled(*this, enabled, simfile_path);
+  }
+
+  void Vehicle::UseCarSimRoad(bool enabled) {
+    GetEpisode().Lock()->UseCarSimRoad(*this, enabled);
   }
 
 } // namespace client

LibCarla/source/carla/client/Vehicle.h

@@ -88,7 +88,10 @@ namespace client {
     SharedPtr<TrafficLight> GetTrafficLight() const;
 
     /// Enables CarSim simulation if it is availiable
-    void SetCarSimEnabled(bool enabled);
+    void SetCarSimEnabled(bool enabled, std::string simfile_path);
+
+    /// Enables the use of CarSim internal road definition instead of unreal's
+    void UseCarSimRoad(bool enabled);
 
   private:
 

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

@@ -330,8 +330,12 @@ namespace detail {
     _pimpl->AsyncCall("apply_control_to_vehicle", vehicle, control);
   }
 
-  void Client::SetCarSimEnabled(rpc::ActorId vehicle, bool enabled) {
-    _pimpl->AsyncCall("set_carsim_enabled", vehicle, enabled);
+  void Client::SetCarSimEnabled(rpc::ActorId vehicle, bool enabled, std::string simfile_path) {
+    _pimpl->AsyncCall("set_carsim_enabled", vehicle, enabled, simfile_path);
+  }
+
+  void Client::UseCarSimRoad(rpc::ActorId vehicle, bool enabled) {
+    _pimpl->AsyncCall("use_carsim_road", vehicle, enabled);
   }
 
   void Client::ApplyControlToWalker(rpc::ActorId walker, const rpc::WalkerControl &control) {

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

@@ -212,6 +212,11 @@ namespace detail {
         const rpc::VehicleControl &control);
 
     void SetCarSimEnabled(
+        rpc::ActorId vehicle,
+        bool enabled,
+        std::string simfile_path);
+
+    void UseCarSimRoad(
         rpc::ActorId vehicle,
         bool enabled);
 

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

@@ -445,8 +445,12 @@ namespace detail {
       _client.SetLightStateToVehicle(vehicle.GetId(), light_state);
     }
 
-    void SetCarSimEnabled(Vehicle &vehicle, bool enabled) {
-      _client.SetCarSimEnabled(vehicle.GetId(), enabled);
+    void SetCarSimEnabled(Vehicle &vehicle, bool enabled, std::string simfile_path) {
+      _client.SetCarSimEnabled(vehicle.GetId(), enabled, simfile_path);
+    }
+
+    void UseCarSimRoad(Vehicle &vehicle, bool enabled) {
+      _client.UseCarSimRoad(vehicle.GetId(), enabled);
     }
 
     /// @}

PythonAPI/carla/source/libcarla/Actor.cpp

@@ -141,7 +141,8 @@ void export_actor() {
       .def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState)
       .def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight)
       .def("get_traffic_light", &cc::Vehicle::GetTrafficLight)
-      .def("set_carsim_enabled", &cc::Vehicle::SetCarSimEnabled)
+      .def("set_carsim_enabled", &cc::Vehicle::SetCarSimEnabled, (arg("enabled"), arg("simfile_path") = ""))
+      .def("use_carsim_road", &cc::Vehicle::UseCarSimRoad, (arg("enabled")))
       .def(self_ns::str(self_ns::self))
   ;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -1083,9 +1083,11 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+//-----CARSIM--------------------------------
   BIND_SYNC(set_carsim_enabled) << [this](
       cr::ActorId ActorId,
-      bool bEnabled) -> R<void>
+      bool bEnabled,
+      std::string SimfilePath) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();
     auto ActorView = Episode->FindActor(ActorId);
@@ -1098,9 +1100,29 @@ void FCarlaServer::FPimpl::BindActions()
     {
       RESPOND_ERROR("unable to set carsim: not actor is not a vehicle");
     }
-    Vehicle->SetCarSimEnabled(bEnabled);
+    Vehicle->SetCarSimEnabled(bEnabled, carla::rpc::ToFString(SimfilePath));
     return R<void>::Success();
   };
+
+  BIND_SYNC(use_carsim_road) << [this](
+      cr::ActorId ActorId,
+      bool bEnabled) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto ActorView = Episode->FindActor(ActorId);
+    if (!ActorView.IsValid())
+    {
+      RESPOND_ERROR("unable to set carsim road: actor not found");
+    }
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
+    if (Vehicle == nullptr)
+    {
+      RESPOND_ERROR("unable to set carsim road: not actor is not a vehicle");
+    }
+    Vehicle->UseCarSimRoad(bEnabled);
+    return R<void>::Success();
+  };
+//-----CARSIM--------------------------------
   // ~~ Traffic lights ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
   BIND_SYNC(set_traffic_light_state) << [this](

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

@@ -183,6 +183,7 @@ void ACarlaWheeledVehicle::FlushVehicleControl()
 {
   if (bCarSimEnabled)
   {
+    //-----CARSIM--------------------------------
     CarSimMovementComponent->SetThrottleInput(InputControl.Control.Throttle);
     CarSimMovementComponent->SetSteeringInput(InputControl.Control.Steer);
     CarSimMovementComponent->SetBrakeInput(InputControl.Control.Brake);
@@ -205,6 +206,7 @@ void ACarlaWheeledVehicle::FlushVehicleControl()
     //   }
     // }
     InputControl.Control.Gear = CarSimMovementComponent->GetCurrentGear();
+    //-----------------------------------------
   }
   else
   {
@@ -487,14 +489,16 @@ void ACarlaWheeledVehicle::SetVehicleLightState(const FVehicleLightState &LightS
 }
 
 //-----CARSIM--------------------------------
-void ACarlaWheeledVehicle::SetCarSimEnabled(bool bEnabled)
+void ACarlaWheeledVehicle::SetCarSimEnabled(bool bEnabled, FString SimfilePath)
 {
   carla::log_warning("Enabling CarSim", bEnabled);
   bCarSimEnabled = bEnabled;
   if (bCarSimEnabled)
   {
+    carla::log_warning("Loading simfile:", carla::rpc::FromFString(SimfilePath));
     GetVehicleMovementComponent()->SetComponentTickEnabled(false);
     GetVehicleMovementComponent()->Deactivate();
+    CarSimMovementComponent->VsConfigFile = SimfilePath;
     CarSimMovementComponent->Activate();
     CarSimMovementComponent->ResetVsVehicle(false);
     CarSimMovementComponent->SyncVsVehicleLocOri();
@@ -507,7 +511,16 @@ void ACarlaWheeledVehicle::SetCarSimEnabled(bool bEnabled)
     GetVehicleMovementComponent()->Activate();
     CarSimMovementComponent->SetComponentTickEnabled(false);
     CarSimMovementComponent->Deactivate();
+    CarSimMovementComponent->VsConfigFile = "";
     GetMesh()->SetSimulatePhysics(true);
   }
 }
+
+void ACarlaWheeledVehicle::UseCarSimRoad(bool bEnabled)
+{
+  carla::log_warning("Enabling CarSim Road", bEnabled);
+  CarSimMovementComponent->UseVehicleSimRoad = bEnabled;
+  CarSimMovementComponent->ResetVsVehicle(false);
+  CarSimMovementComponent->SyncVsVehicleLocOri();
+}
 //-------------------------------------------

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

@@ -245,7 +245,10 @@ private:
 public:
 
   UFUNCTION(Category="CARLA Wheeled Vehicle", BlueprintCallable)
-  void SetCarSimEnabled(bool bEnabled);
+  void SetCarSimEnabled(bool bEnabled, FString SimfilePath = "");
+
+  UFUNCTION(Category="CARLA Wheeled Vehicle", BlueprintCallable)
+  void UseCarSimRoad(bool bEnabled);
 
 private: