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Updated CarlaRecorder and CarlaReplayer to use new FCarlaActor interface for vehicles, walkers and sensors.

This commit is contained in:
Axel 2021-06-03 13:06:09 +02:00 committed by bernat
parent e2ebdf8d89
commit 84c5995509
8 changed files with 89 additions and 103 deletions
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4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
View File

@ -803,7 +803,7 @@ ECarlaServerResponse FVehicleActor::GetVehicleControl(FVehicleControl& VehicleCo
return ECarlaServerResponse::Success;
}
ECarlaServerResponse FVehicleActor::SetActorAutopilot(bool bEnabled)
ECarlaServerResponse FVehicleActor::SetActorAutopilot(bool bEnabled, bool bKeepState)
{
if (IsDormant())
{
@ -820,7 +820,7 @@ ECarlaServerResponse FVehicleActor::SetActorAutopilot(bool bEnabled)
{
return ECarlaServerResponse::AutoPilotNotSupported;
}
Controller->SetAutopilot(bEnabled);
Controller->SetAutopilot(bEnabled, bKeepState);
}
return ECarlaServerResponse::Success;
}

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
View File

@ -273,7 +273,7 @@ public:
return ECarlaServerResponse::ActorTypeMismatch;
}
virtual ECarlaServerResponse SetActorAutopilot(bool)
virtual ECarlaServerResponse SetActorAutopilot(bool, bool bKeepState = false)
{
return ECarlaServerResponse::ActorTypeMismatch;
}
@ -431,7 +431,7 @@ public:
virtual ECarlaServerResponse GetVehicleControl(FVehicleControl&) final;
virtual ECarlaServerResponse SetActorAutopilot(bool bEnabled) final;
virtual ECarlaServerResponse SetActorAutopilot(bool bEnabled, bool bKeepState = false) final;
virtual ECarlaServerResponse EnableCarSim(const FString& SimfilePath) final;

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
View File

@ -136,6 +136,11 @@ public:
return ActorDispatcher->GetActorRegistry();
}
FActorRegistry &GetActorRegistry()
{
return ActorDispatcher->GetActorRegistry();
}
// ===========================================================================
// -- Actor look up methods --------------------------------------------------
// ===========================================================================

19
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
View File

@ -201,21 +201,20 @@ void ACarlaRecorder::AddWalkerAnimation(FCarlaActor *CarlaActor)
void ACarlaRecorder::AddTrafficLightState(FCarlaActor *CarlaActor)
{
check(CarlaActor != nullptr);
// get states
UTrafficLightController* Controller =
CarlaActor->GetTrafficLightController();
if (Controller != nullptr)
// Todo: interface with FCarlaActor and UTrafficLightController
AActor *Actor = CarlaActor->GetActor();
if(Actor)
{
auto* Group = Controller->GetGroup();
if (Group)
// get states
auto TrafficLight = Cast<ATrafficLightBase>(Actor);
if (TrafficLight != nullptr)
{
AddState(CarlaRecorderStateTrafficLight
{
CarlaActor->GetActorId(),
Group->IsFrozen(),
Controller->GetElapsedTime(),
static_cast<char>(Controller->GetCurrentState().State)
TrafficLight->GetTimeIsFrozen(),
TrafficLight->GetElapsedTime(),
static_cast<char>(TrafficLight->GetTrafficLightState())
});
}
}

141
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.cpp
View File

@ -20,6 +20,8 @@
#include "Carla/Traffic/TrafficLightBase.h"
#include "Carla/Vehicle/CarlaWheeledVehicle.h"
#include "Engine/StaticMeshActor.h"
#include "Carla/Game/CarlaStatics.h"
#include "Carla/MapGen/LargeMapManager.h"
#include <compiler/disable-ue4-macros.h>
#include <carla/rpc/VehicleLightState.h>
@ -38,16 +40,12 @@ std::pair<int, FCarlaActor*>CarlaReplayerHelper::TryToCreateReplayerActor(
{
check(Episode != nullptr);
FCarlaActor view_empty;
// check type of actor we need
if (ActorDesc.Id.StartsWith("traffic."))
{
AActor *Actor = FindTrafficLightAt(Location);
if (Actor != nullptr)
FCarlaActor* CarlaActor = FindTrafficLightAt(Location);
if (CarlaActor != nullptr)
{
// actor found
FCarlaActor* CarlaActor = Episode->FindCarlaActor(Actor);
// reuse that actor
return std::pair<int, FCarlaActor*>(2, CarlaActor);
}
@ -85,6 +83,11 @@ std::pair<int, FCarlaActor*>CarlaReplayerHelper::TryToCreateReplayerActor(
// relocate
FTransform Trans2(Rot, Location, FVector(1, 1, 1));
Result.Value->GetActor()->SetActorTransform(Trans2, false, nullptr, ETeleportType::TeleportPhysics);
ALargeMapManager * LargeMapManager = UCarlaStatics::GetLargeMapManager(Episode->GetWorld());
if (LargeMapManager)
{
LargeMapManager->OnActorSpawned(*Result.Value);
}
return std::pair<int, FCarlaActor*>(1, Result.Value);
}
else
@ -100,7 +103,7 @@ std::pair<int, FCarlaActor*>CarlaReplayerHelper::TryToCreateReplayerActor(
}
}
AActor *CarlaReplayerHelper::FindTrafficLightAt(FVector Location)
FCarlaActor *CarlaReplayerHelper::FindTrafficLightAt(FVector Location)
{
check(Episode != nullptr);
auto World = Episode->GetWorld();
@ -111,19 +114,22 @@ AActor *CarlaReplayerHelper::FindTrafficLightAt(FVector Location)
int y = static_cast<int>(Location.Y);
int z = static_cast<int>(Location.Z);
// search an "traffic." actor at that position
for (TActorIterator<ATrafficSignBase> It(World); It; ++It)
const FActorRegistry &Registry = Episode->GetActorRegistry();
// through all actors in registry
for (auto It = Registry.begin(); It != Registry.end(); ++It)
{
ATrafficSignBase *Actor = *It;
check(Actor != nullptr);
FVector vec = Actor->GetTransform().GetTranslation();
int x2 = static_cast<int>(vec.X);
int y2 = static_cast<int>(vec.Y);
int z2 = static_cast<int>(vec.Z);
if ((x2 == x) && (y2 == y) && (z2 == z))
FCarlaActor* CarlaActor = It.Value().Get();
if(CarlaActor->GetActorType() == FCarlaActor::ActorType::TrafficLight)
{
// actor found
return static_cast<AActor *>(Actor);
FVector vec = CarlaActor->GetActorGlobalLocation();
int x2 = static_cast<int>(vec.X);
int y2 = static_cast<int>(vec.Y);
int z2 = static_cast<int>(vec.Z);
if ((x2 == x) && (y2 == y) && (z2 == z))
{
// actor found
return CarlaActor;
}
}
}
// actor not found
@ -131,41 +137,34 @@ AActor *CarlaReplayerHelper::FindTrafficLightAt(FVector Location)
}
// enable / disable physics for an actor
bool CarlaReplayerHelper::SetActorSimulatePhysics(const FCarlaActor* CarlaActor, bool bEnabled)
bool CarlaReplayerHelper::SetActorSimulatePhysics(FCarlaActor* CarlaActor, bool bEnabled)
{
if (!CarlaActor)
{
return false;
}
auto RootComponent = Cast<UPrimitiveComponent>(CarlaActor->GetActor()->GetRootComponent());
if (RootComponent == nullptr)
ECarlaServerResponse Response =
CarlaActor->SetActorSimulatePhysics(bEnabled);
if (Response != ECarlaServerResponse::Success)
{
return false;
}
RootComponent->SetSimulatePhysics(bEnabled);
return true;
}
// enable / disable autopilot for an actor
bool CarlaReplayerHelper::SetActorAutopilot(const FCarlaActor* CarlaActor, bool bEnabled, bool bKeepState)
bool CarlaReplayerHelper::SetActorAutopilot(FCarlaActor* CarlaActor, bool bEnabled, bool bKeepState)
{
if (!CarlaActor)
{
return false;
}
auto Vehicle = Cast<ACarlaWheeledVehicle>(CarlaActor->GetActor());
if (Vehicle == nullptr)
ECarlaServerResponse Response =
CarlaActor->SetActorAutopilot(bEnabled, bKeepState);
if (Response != ECarlaServerResponse::Success)
{
return false;
}
auto Controller = Cast<AWheeledVehicleAIController>(Vehicle->GetController());
if (Controller == nullptr)
{
return false;
}
Controller->SetAutopilot(bEnabled, bKeepState);
return true;
}
@ -223,9 +222,9 @@ std::pair<int, uint32_t> CarlaReplayerHelper::ProcessReplayerEventAdd(
SetActorSimulatePhysics(result.second, true);
}
}
return std::make_pair(result.first, result.second->GetActorId());
}
return std::make_pair(result.first, result.second->GetActorId());
return std::make_pair(result.first, 0);
}
// replay event for removing actor
@ -265,10 +264,10 @@ bool CarlaReplayerHelper::ProcessReplayerEventParent(uint32_t ChildId, uint32_t
bool CarlaReplayerHelper::ProcessReplayerPosition(CarlaRecorderPosition Pos1, CarlaRecorderPosition Pos2, double Per, double DeltaTime)
{
check(Episode != nullptr);
AActor *Actor = Episode->FindCarlaActor(Pos1.DatabaseId)->GetActor();
FCarlaActor* CarlaActor = Episode->FindCarlaActor(Pos1.DatabaseId);
FVector Location;
FRotator Rotation;
if (Actor && !Actor->IsPendingKill())
if(CarlaActor)
{
// check to assign first position or interpolate between both
if (Per == 0.0)
@ -285,7 +284,7 @@ bool CarlaReplayerHelper::ProcessReplayerPosition(CarlaRecorderPosition Pos1, Ca
}
// set new transform
FTransform Trans(Rotation, Location, FVector(1, 1, 1));
Actor->SetActorTransform(Trans, false, nullptr, ETeleportType::None);
CarlaActor->SetActorGlobalTransform(Trans, ETeleportType::None);
return true;
}
return false;
@ -299,7 +298,10 @@ bool CarlaReplayerHelper::SetCameraPosition(uint32_t Id, FVector Offset, FQuat R
// get specator pawn
APawn *Spectator = Episode->GetSpectatorPawn();
// get the actor to follow
AActor *Actor = Episode->FindCarlaActor(Id)->GetActor();
FCarlaActor* CarlaActor = Episode->FindCarlaActor(Id);
if (!CarlaActor)
return false;
AActor *Actor = CarlaActor->GetActor();
// check
if (!Spectator || !Actor)
@ -317,6 +319,7 @@ bool CarlaReplayerHelper::SetCameraPosition(uint32_t Id, FVector Offset, FQuat R
bool CarlaReplayerHelper::ProcessReplayerStateTrafficLight(CarlaRecorderStateTrafficLight State)
{
check(Episode != nullptr);
// Todo: interface with FCarlaActor and UTrafficLightController
AActor *Actor = Episode->FindCarlaActor(State.DatabaseId)->GetActor();
if (Actor && !Actor->IsPendingKill())
{
@ -336,15 +339,9 @@ bool CarlaReplayerHelper::ProcessReplayerStateTrafficLight(CarlaRecorderStateTra
void CarlaReplayerHelper::ProcessReplayerAnimVehicle(CarlaRecorderAnimVehicle Vehicle)
{
check(Episode != nullptr);
AActor *Actor = Episode->FindCarlaActor(Vehicle.DatabaseId)->GetActor();
if (Actor && !Actor->IsPendingKill())
FCarlaActor *CarlaActor = Episode->FindCarlaActor(Vehicle.DatabaseId);
if (CarlaActor)
{
auto Veh = Cast<ACarlaWheeledVehicle>(Actor);
if (Veh == nullptr)
{
return;
}
FVehicleControl Control;
Control.Throttle = Vehicle.Throttle;
Control.Steer = Vehicle.Steering;
@ -353,7 +350,7 @@ void CarlaReplayerHelper::ProcessReplayerAnimVehicle(CarlaRecorderAnimVehicle Ve
Control.bReverse = (Vehicle.Gear < 0);
Control.Gear = Vehicle.Gear;
Control.bManualGearShift = false;
Veh->ApplyVehicleControl(Control, EVehicleInputPriority::User);
CarlaActor->ApplyControlToVehicle(Control, EVehicleInputPriority::User);
}
}
@ -361,17 +358,11 @@ void CarlaReplayerHelper::ProcessReplayerAnimVehicle(CarlaRecorderAnimVehicle Ve
void CarlaReplayerHelper::ProcessReplayerLightVehicle(CarlaRecorderLightVehicle LightVehicle)
{
check(Episode != nullptr);
AActor *Actor = Episode->FindCarlaActor(LightVehicle.DatabaseId)->GetActor();
if (Actor && !Actor->IsPendingKill())
FCarlaActor * CarlaActor = Episode->FindCarlaActor(LightVehicle.DatabaseId);
if (CarlaActor)
{
auto Veh = Cast<ACarlaWheeledVehicle>(Actor);
if (Veh == nullptr)
{
return;
}
carla::rpc::VehicleLightState LightState(LightVehicle.State);
Veh->SetVehicleLightState(FVehicleLightState(LightState));
CarlaActor->SetVehicleLightState(FVehicleLightState(LightState));
}
}
@ -410,7 +401,7 @@ bool CarlaReplayerHelper::ProcessReplayerFinish(bool bApplyAutopilot, bool bIgno
const FActorRegistry& Registry = Episode->GetActorRegistry();
for (auto& It : Registry)
{
const FCarlaActor* CarlaActor = It.Value.Get();
FCarlaActor* CarlaActor = It.Value.Get();
// enable physics only on vehicles
switch (CarlaActor->GetActorType())
@ -452,21 +443,13 @@ bool CarlaReplayerHelper::ProcessReplayerFinish(bool bApplyAutopilot, bool bIgno
return true;
}
void CarlaReplayerHelper::SetActorVelocity(const FCarlaActor *CarlaActor, FVector Velocity)
void CarlaReplayerHelper::SetActorVelocity(FCarlaActor *CarlaActor, FVector Velocity)
{
if (!CarlaActor)
{
return;
}
auto RootComponent = Cast<UPrimitiveComponent>(CarlaActor->GetActor()->GetRootComponent());
if (RootComponent == nullptr)
{
return;
}
RootComponent->SetPhysicsLinearVelocity(
Velocity,
false,
"None");
CarlaActor->SetActorTargetVelocity(Velocity);
}
// set the animation speed for walkers
@ -474,25 +457,13 @@ void CarlaReplayerHelper::SetWalkerSpeed(uint32_t ActorId, float Speed)
{
check(Episode != nullptr);
FCarlaActor * CarlaActor = Episode->FindCarlaActor(ActorId);
AActor *Actor = nullptr;
if (CarlaActor)
if (!CarlaActor)
{
Actor = CarlaActor->GetActor();
}
if (Actor && !Actor->IsPendingKill())
{
auto Wal = Cast<APawn>(Actor);
if (Wal)
{
auto Controller = Cast<AWalkerController>(Wal->GetController());
if (Controller != nullptr)
{
FWalkerControl Control;
Control.Speed = Speed;
Controller->ApplyWalkerControl(Control);
}
}
return;
}
FWalkerControl Control;
Control.Speed = Speed;
CarlaActor->ApplyControlToWalker(Control);
}
void CarlaReplayerHelper::RemoveStaticProps()

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.h
View File

@ -71,7 +71,7 @@ public:
bool SetCameraPosition(uint32_t Id, FVector Offset, FQuat Rotation);
// set the velocity of the actor
void SetActorVelocity(const FCarlaActor *CarlaActor, FVector Velocity);
void SetActorVelocity(FCarlaActor *CarlaActor, FVector Velocity);
// set the animation speed for walkers
void SetWalkerSpeed(uint32_t ActorId, float Speed);
@ -89,10 +89,10 @@ private:
uint32_t DesiredId,
bool SpawnSensors);
AActor *FindTrafficLightAt(FVector Location);
FCarlaActor* FindTrafficLightAt(FVector Location);
// enable / disable physics for an actor
bool SetActorSimulatePhysics(const FCarlaActor *CarlaActor, bool bEnabled);
bool SetActorSimulatePhysics(FCarlaActor *CarlaActor, bool bEnabled);
// enable / disable autopilot for an actor
bool SetActorAutopilot(const FCarlaActor *CarlaActor, bool bEnabled, bool bKeepState = false);
bool SetActorAutopilot(FCarlaActor *CarlaActor, bool bEnabled, bool bKeepState = false);
};

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightController.cpp
View File

@ -90,6 +90,7 @@ bool UTrafficLightController::IsCycleFinished() const
void UTrafficLightController::SetTrafficLightsState(ETrafficLightState NewState)
{
SetCurrentLightState(NewState);
for(auto *Light : TrafficLights)
{
Light->SetLightState(NewState);

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightController.h
View File

@ -120,6 +120,15 @@ public:
const ATrafficLightGroup* GetGroup() const;
ETrafficLightState GetCurrentLightState() const
{
return CurrentLightState;
}
void SetCurrentLightState(ETrafficLightState NewState)
{
CurrentLightState = NewState;
}
private:
void SetStateTime(const ETrafficLightState State, float NewTime);
@ -153,4 +162,5 @@ private:
UPROPERTY()
float ElapsedTime = 0;
ETrafficLightState CurrentLightState = ETrafficLightState::Green;
};