Improvements to actor spawners

LibCarla/source/carla/client/Client.cpp

@@ -23,7 +23,7 @@ namespace client {
   SharedPtr<Actor> Client::SpawnActor(
       const ActorBlueprint &blueprint,
       const Transform &transform) {
-    auto actor = Call<carla::rpc::Actor>("spawn_actor", blueprint.MakeActorDescription(), transform);
+    auto actor = Call<carla::rpc::Actor>("spawn_actor", transform, blueprint.MakeActorDescription());
     return SharedPtr<Actor>(new Actor{actor, GetWorld()});
   }
 

PythonAPI/source/libcarla/Exception.cpp

@@ -10,11 +10,12 @@
 
 #include <sstream>
 
-void translator(rpc::rpc_error e) {
+void translator(const rpc::rpc_error &e) {
   std::stringstream ss;
-  ss << e.what()
+  ss << e.what() << " in function " << e.get_function_name();
-     << " in function " << e.get_function_name()
+  /// @todo Supposedly we can extract the error string here as provided by the
-     << ": " << e.get_error().as<std::string>();
+  /// server with e.get_error().as<std::string>(), but it gives the wrong
+  /// string.
   PyErr_SetString(PyExc_RuntimeError, ss.str().c_str());
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorAttribute.h

@@ -43,7 +43,7 @@ struct CARLA_API FActorVariation
   FString Id;
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
-  EActorAttributeType Type = EActorAttributeType::Int;
+  EActorAttributeType Type = EActorAttributeType::String;
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
   TArray<FString> RecommendedValues;
@@ -63,7 +63,7 @@ struct CARLA_API FActorAttribute
   FString Id;
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
-  EActorAttributeType Type = EActorAttributeType::Int;
+  EActorAttributeType Type = EActorAttributeType::String;
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
   FString Value;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorDefinition.h

@@ -25,6 +25,13 @@ struct FActorDefinition
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
   FString Id;
 
+  /// Class of the actor to be spawned (Optional).
+  ///
+  /// Note that this parameter is not exposed on the client-side, only used by
+  /// the spawner itself.
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  TSubclassOf<AActor> Class;
+
   /// A list of comma-separated tags.
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
   FString Tags;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorDescription.h

@@ -23,6 +23,10 @@ struct FActorDescription
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
   FString Id;
 
+  /// Class of the actor to be spawned.
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  TSubclassOf<AActor> Class;
+
   /// User selected variations of the actor. Note that at this point are
   /// represented by non-modifiable attributes.
   UPROPERTY(EditAnywhere, BlueprintReadWrite)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.cpp

@@ -17,6 +17,7 @@ void FActorDispatcher::Bind(FActorDefinition Definition, SpawnFunctionType Funct
     Definition.UId = static_cast<uint32>(SpawnFunctions.Num()) + 1u;
     Definitions.Emplace(Definition);
     SpawnFunctions.Emplace(Functor);
+    Classes.Emplace(Definition.Class);
   }
   else
   {
@@ -24,7 +25,7 @@ void FActorDispatcher::Bind(FActorDefinition Definition, SpawnFunctionType Funct
   }
 }
 
-void FActorDispatcher::Bind(IActorSpawner &ActorSpawner)
+void FActorDispatcher::Bind(AActorSpawner &ActorSpawner)
 {
   for (const auto &Definition : ActorSpawner.MakeDefinitions())
   {
@@ -40,11 +41,30 @@ TPair<EActorSpawnResultStatus, FActorView> FActorDispatcher::SpawnActor(
 {
   if ((Description.UId == 0u) || (Description.UId > static_cast<uint32>(SpawnFunctions.Num())))
   {
-    UE_LOG(LogCarla, Error, TEXT("Invalid ActorDescription \"%s\" (UId=%d)"), *Description.Id, Description.UId);
+    UE_LOG(LogCarla, Error, TEXT("Invalid ActorDescription '%s' (UId=%d)"), *Description.Id, Description.UId);
     return MakeTuple(EActorSpawnResultStatus::InvalidDescription, FActorView());
   }
+
+  UE_LOG(LogCarla, Log, TEXT("Spawning actor '%s'"), *Description.Id);
+
+  Description.Class = Classes[Description.UId - 1];
   auto Result = SpawnFunctions[Description.UId - 1](Transform, Description);
+
+  if ((Result.Status == EActorSpawnResultStatus::Success) && (Result.Actor == nullptr))
+  {
+    UE_LOG(LogCarla, Warning, TEXT("ActorSpawnResult: Trying to spawn '%s'"), *Description.Id);
+    UE_LOG(LogCarla, Warning, TEXT("ActorSpawnResult: Reported success but did not return an actor"));
+    Result.Status = EActorSpawnResultStatus::UnknownError;
+  }
+
   auto View = Result.IsValid() ? Registry.Register(*Result.Actor, std::move(Description)) : FActorView();
+
+  if (!View.IsValid())
+  {
+    UE_LOG(LogCarla, Warning, TEXT("Failed to spawn actor '%s'"), *Description.Id);
+    check(Result.Status != EActorSpawnResultStatus::Success);
+  }
+
   return MakeTuple(Result.Status, View);
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorDispatcher.h

@@ -14,7 +14,7 @@
 #include "Containers/Array.h"
 #include "Templates/Function.h"
 
-class IActorSpawner;
+class AActorSpawner;
 
 /// Actor in charge of binding ActorDefinitions to spawn functions, as well as
 /// keeping the registry of all the actors spawned.
@@ -33,7 +33,7 @@ public:
   /// Bind all the definitions of @a ActorSpawner to its spawn function.
   ///
   /// @warning Invalid definitions are ignored.
-  void Bind(IActorSpawner &ActorSpawner);
+  void Bind(AActorSpawner &ActorSpawner);
 
   /// Spawns an actor based on @a ActorDescription at @a Transform. To properly
   /// despawn an actor created with this function call DestroyActor.
@@ -64,5 +64,7 @@ private:
 
   TArray<SpawnFunctionType> SpawnFunctions;
 
+  TArray<TSubclassOf<AActor>> Classes;
+
   FActorRegistry Registry;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorSpawnResult.cpp

@@ -22,7 +22,7 @@ FString FActorSpawnResult::StatusToString(EActorSpawnResultStatus InStatus)
     case EActorSpawnResultStatus::InvalidDescription:
       return TEXT("Spawn failed because of invalid actor description");
     case EActorSpawnResultStatus::Collision:
-      return TEXT("Spawn failed because due to a collision at spawn position");
+      return TEXT("Spawn failed because of collision at spawn position");
     case EActorSpawnResultStatus::UnknownError:
     default:
       return TEXT("Unknown error while trying to spawn actor");

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorSpawnResult.h

@@ -26,6 +26,14 @@ struct FActorSpawnResult
 {
   GENERATED_BODY()
 
+  FActorSpawnResult() = default;
+
+  explicit FActorSpawnResult(AActor *InActor)
+    : Actor(InActor),
+      Status(Actor != nullptr ?
+          EActorSpawnResultStatus::Success :
+          EActorSpawnResultStatus::UnknownError) {}
+
   static FString StatusToString(EActorSpawnResultStatus Status);
 
   bool IsValid() const

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorSpawner.h

@@ -13,15 +13,27 @@
 #include "Containers/Array.h"
 #include "GameFramework/Actor.h"
 
-/// Interface for Carla actor spawners.
+#include "ActorSpawner.generated.h"
-class IActorSpawner
+
+/// Base class for Carla actor spawners.
+UCLASS(Abstract)
+class CARLA_API AActorSpawner : public AActor
 {
+  GENERATED_BODY()
+
 public:
 
-  virtual ~IActorSpawner() {}
+  AActorSpawner(const FObjectInitializer& ObjectInitializer)
+    : Super(ObjectInitializer)
+  {
+    PrimaryActorTick.bCanEverTick = false;
+  }
 
   /// Retrieve the list of actor definitions that this class is able to spawn.
-  virtual TArray<FActorDefinition> MakeDefinitions() = 0;
+  virtual TArray<FActorDefinition> MakeDefinitions() {
+    unimplemented();
+    return {};
+  }
 
   /// Spawn an actor based on @a ActorDescription and @a Transform.
   ///
@@ -29,5 +41,8 @@ public:
   /// definitions retrieved with MakeDefinitions.
   virtual FActorSpawnResult SpawnActor(
       const FTransform &SpawnAtTransform,
-      const FActorDescription &ActorDescription) = 0;
+      const FActorDescription &ActorDescription) {
+    unimplemented();
+    return {};
+  }
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorSpawnerBlueprint.h

@@ -9,27 +9,27 @@
 #include "Carla/Actor/ActorSpawner.h"
 #include "Carla/Actor/ActorSpawnResult.h"
 
-#include "ActorSpawnerBlueprintBase.generated.h"
+#include "GameFramework/Actor.h"
 
-/// Base class for Blueprints implementing IActorSpawner interface.
+#include "ActorSpawnerBlueprint.generated.h"
+
+/// Base class for Blueprints implementing AActorSpawner interface.
 ///
 /// Blueprints deriving from this class are expected to override
 /// GenerateDefinitions and SpawnActor functions.
-UCLASS(BlueprintType, Blueprintable)
+UCLASS(Abstract, BlueprintType, Blueprintable)
-class CARLA_API AActorSpawnerBlueprintBase
+class CARLA_API AActorSpawnerBlueprint : public AActorSpawner
-  : public AActor,
-    public IActorSpawner
 {
   GENERATED_BODY()
 
 public:
 
-  virtual TArray<FActorDefinition> MakeDefinitions() final
+  TArray<FActorDefinition> MakeDefinitions() final
   {
     return GenerateDefinitions();
   }
 
-  virtual FActorSpawnResult SpawnActor(
+  FActorSpawnResult SpawnActor(
       const FTransform &SpawnAtTransform,
       const FActorDescription &ActorDescription) final
   {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h

@@ -31,7 +31,7 @@ public:
     return MapName;
   }
 
-  void RegisterActorSpawner(IActorSpawner &ActorSpawner)
+  void RegisterActorSpawner(AActorSpawner &ActorSpawner)
   {
     ActorDispatcher.Bind(ActorSpawner);
   }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TheNewCarlaGameModeBase.cpp

@@ -61,15 +61,15 @@ void ATheNewCarlaGameModeBase::SpawnActorSpawners()
   auto *World = GetWorld();
   check(World != nullptr);
 
-  for (auto &SpawnerClass : BlueprintSpawners)
+  for (auto &SpawnerClass : ActorSpawners)
   {
     if (SpawnerClass != nullptr)
     {
-      auto *Spawner = World->SpawnActor<AActorSpawnerBlueprintBase>(SpawnerClass);
+      auto *Spawner = World->SpawnActor<AActorSpawner>(SpawnerClass);
       if (Spawner != nullptr)
       {
         Episode->RegisterActorSpawner(*Spawner);
-        BlueprintSpawnerInstances.Add(Spawner);
+        ActorSpawnerInstances.Add(Spawner);
       }
       else
       {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/TheNewCarlaGameModeBase.h

@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "Carla/Actor/ActorSpawnerBlueprintBase.h"
+#include "Carla/Actor/ActorSpawner.h"
 #include "Carla/Game/CarlaEpisode.h"
 
 #include "CoreMinimal.h"
@@ -44,9 +44,11 @@ private:
   UPROPERTY()
   UCarlaEpisode *Episode = nullptr;
 
+  /// List of actor spawners that will be used to define and spawn the actors
+  /// available in game.
   UPROPERTY(EditAnywhere)
-  TArray<TSubclassOf<AActorSpawnerBlueprintBase>> BlueprintSpawners;
+  TSet<TSubclassOf<AActorSpawner>> ActorSpawners;
 
   UPROPERTY()
-  TArray<AActorSpawnerBlueprintBase *> BlueprintSpawnerInstances;
+  TArray<AActorSpawner *> ActorSpawnerInstances;
 };

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

@@ -28,6 +28,12 @@ static std::vector<T> MakeVectorFromTArray(const TArray<Other> &Array)
   return {Array.GetData(), Array.GetData() + Array.Num()};
 }
 
+static void AttachActors(AActor *Child, AActor *Parent)
+{
+  Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform);
+  Child->SetOwner(Parent);
+}
+
 // =============================================================================
 // -- FTheNewCarlaServer::FPimpl -----------------------------------------------
 // =============================================================================
@@ -64,6 +70,30 @@ private:
       RespondErrorStr("episode not ready");
     }
   }
+
+  auto SpawnActor(const FTransform &Transform, FActorDescription Description)
+  {
+    auto Result = Episode->SpawnActorWithInfo(Transform, std::move(Description));
+    if (Result.Key != EActorSpawnResultStatus::Success)
+    {
+      RespondError(FActorSpawnResult::StatusToString(Result.Key));
+    }
+    check(Result.Value.IsValid());
+    return Result.Value;
+  }
+
+  void AttachActors(FActorView Child, FActorView Parent)
+  {
+    if (!Child.IsValid())
+    {
+      RespondError("unable to attach actor: child actor not found");
+    }
+    if (!Parent.IsValid())
+    {
+      RespondError("unable to attach actor: parent actor not found");
+    }
+    ::AttachActors(Child.GetActor(), Parent.GetActor());
+  }
 };
 
 // =============================================================================
@@ -87,12 +117,24 @@ void FTheNewCarlaServer::FPimpl::BindActions()
       const cr::Transform &Transform,
       cr::ActorDescription Description) -> cr::Actor {
     RequireEpisode();
-    auto Result = Episode->SpawnActorWithInfo(Transform, std::move(Description));
+    return SpawnActor(Transform, Description);
-    if (Result.Key != EActorSpawnResultStatus::Success)
+  });
-    {
+
-      RespondError(FActorSpawnResult::StatusToString(Result.Key));
+  Server.BindSync("spawn_actor_with_parent", [this](
-    }
+      const cr::Transform &Transform,
-    return Result.Value;
+      cr::ActorDescription Description,
+      cr::Actor Parent) -> cr::Actor {
+    RequireEpisode();
+    auto ActorView = SpawnActor(Transform, Description);
+    auto ParentActorView = Episode->GetActorRegistry().Find(Parent.id);
+    AttachActors(ActorView, ParentActorView);
+    return ActorView;
+  });
+
+  Server.BindSync("attach_actors", [this](cr::Actor Child, cr::Actor Parent) {
+    RequireEpisode();
+    auto &Registry = Episode->GetActorRegistry();
+    AttachActors(Registry.Find(Child.id), Registry.Find(Parent.id));
   });
 }