Attach description to actor instance

LibCarla/source/carla/client/Actor.h

@@ -30,13 +30,9 @@ namespace client {
       return _actor.id;
     }
 
-    // const std::string &GetTypeId() const {
-    //   return _actor.blueprint.type_id;
-    // }
-
-    // ActorBlueprint GetBlueprint() const {
-    //   return _actor.blueprint;
-    // }
+    const std::string &GetTypeId() const {
+      return _actor.description.id;
+    }
 
     SharedPtr<World> GetWorld() const {
       return _world;

LibCarla/source/carla/rpc/Actor.h

@@ -6,7 +6,8 @@
 
 #pragma once
 
-#include "carla/rpc/ActorDefinition.h"
+#include "carla/Debug.h"
+#include "carla/rpc/ActorDescription.h"
 
 namespace carla {
 namespace rpc {
@@ -16,11 +17,23 @@ namespace rpc {
 
     using id_type = uint32_t;
 
+    Actor() = default;
+
     id_type id;
 
-    ActorDefinition definition;
+    ActorDescription description;
 
-    MSGPACK_DEFINE_ARRAY(id, definition);
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    Actor(FActorView View)
+      : id(View.GetActorId()),
+        description(*View.GetActorDescription()) {
+      DEBUG_ASSERT(View.IsValid());
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    MSGPACK_DEFINE_ARRAY(id, description);
   };
 
 } // namespace rpc

LibCarla/source/carla/rpc/ActorAttribute.h

@@ -79,6 +79,9 @@ namespace rpc {
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
+    ActorAttributeValue(const FActorAttribute &Attribute)
+      : ActorAttributeValue(ActorAttribute(Attribute)) {}
+
     operator FActorAttribute() const {
       FActorAttribute Attribute;
       Attribute.Id = ToFString(id);

LibCarla/source/carla/rpc/ActorDescription.h

@@ -28,6 +28,15 @@ namespace rpc {
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
+    ActorDescription(const FActorDescription &Description)
+      : uid(Description.UId),
+        id(FromFString(Description.Id)) {
+      attributes.reserve(Description.Variations.Num());
+      for (const auto &Item : Description.Variations) {
+        attributes.push_back(Item);
+      }
+    }
+
     operator FActorDescription() const {
       FActorDescription Description;
       Description.UId = uid;

LibCarla/source/carla/rpc/Server.cpp

@@ -0,0 +1,19 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/rpc/Server.h"
+
+#include <rpc/this_handler.h>
+
+namespace carla {
+namespace rpc {
+
+  void Server::RespondError(std::string error_message) {
+    ::rpc::this_handler().respond_error(std::move(error_message));
+  }
+
+} // namespace carla
+} // namespace rpc

LibCarla/source/carla/rpc/Server.h

@@ -11,7 +11,6 @@
 #include <boost/asio/io_service.hpp>
 
 #include <rpc/server.h>
-#include <rpc/this_handler.h>
 
 #include <future>
 
@@ -109,10 +108,7 @@ namespace detail {
       _server.stop();
     }
 
-    template <typename T>
-    static void RespondError(T &&error_object) {
-      ::rpc::this_handler().respond_error(std::forward<T>(error_object));
-    }
+    static void RespondError(std::string error_message);
 
   private:
 

PythonAPI/source/libcarla/Actor.cpp

@@ -27,11 +27,10 @@ void export_actor() {
 
   class_<cc::Actor, boost::noncopyable, boost::shared_ptr<cc::Actor>>("Actor", no_init)
     .add_property("id", &cc::Actor::GetId)
-    // .add_property("type_id", +[](const cc::Actor &self) -> std::string {
-    //   // Needs to copy the string by value.
-    //   return self.GetTypeId();
-    // })
-    // .add_property("blueprint", &cc::Actor::GetBlueprint)
+    .add_property("type_id", +[](const cc::Actor &self) -> std::string {
+      // Needs to copy the string by value.
+      return self.GetTypeId();
+    })
     .def("get_world", &cc::Actor::GetWorld)
     .def("apply_control", &cc::Actor::ApplyControl)
     .def(self_ns::str(self_ns::self))

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

@@ -36,7 +36,7 @@ void FActorDispatcher::Bind(IActorSpawner &ActorSpawner)
 
 TPair<EActorSpawnResultStatus, FActorView> FActorDispatcher::SpawnActor(
     const FTransform &Transform,
-    const FActorDescription &Description)
+    FActorDescription Description)
 {
   if ((Description.UId == 0) || (Description.UId > SpawnFunctions.Num()))
   {
@@ -44,7 +44,7 @@ TPair<EActorSpawnResultStatus, FActorView> FActorDispatcher::SpawnActor(
     return MakeTuple(EActorSpawnResultStatus::InvalidDescription, FActorView());
   }
   auto Result = SpawnFunctions[Description.UId - 1](Transform, Description);
-  auto View = Result.IsValid() ? Registry.Register(*Result.Actor) : FActorView();
+  auto View = Result.IsValid() ? Registry.Register(*Result.Actor, std::move(Description)) : FActorView();
   return MakeTuple(Result.Status, View);
 }
 

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

@@ -43,7 +43,7 @@ public:
   /// view is invalid.
   TPair<EActorSpawnResultStatus, FActorView> SpawnActor(
       const FTransform &Transform,
-      const FActorDescription &ActorDescription);
+      FActorDescription ActorDescription);
 
   /// Destroys an actor, properly removing it from the registry.
   void DestroyActor(AActor *Actor);

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

@@ -9,13 +9,13 @@
 #include "Carla.h"
 #include "Carla/Actor/ActorRegistry.h"
 
-FActorView FActorRegistry::Register(AActor &Actor)
+FActorView FActorRegistry::Register(AActor &Actor, FActorDescription Description)
 {
   static IdType ID_COUNTER = 0u;
   const auto Id = ++ID_COUNTER;
   Actors.Emplace(Id, &Actor);
   Ids.Emplace(&Actor, Id);
-  auto Result = ActorDatabase.emplace(Id, FActorView(Id, Actor));
+  auto Result = ActorDatabase.emplace(Id, FActorView(Id, Actor, std::move(Description)));
   check(Result.second);
   check(static_cast<size_t>(Actors.Num()) == ActorDatabase.size());
   check(static_cast<size_t>(Ids.Num()) == ActorDatabase.size());

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

@@ -33,7 +33,7 @@ public:
   /// actor.
   ///
   /// @warning Undefined if an actor is registered more than once.
-  FActorView Register(AActor &Actor);
+  FActorView Register(AActor &Actor, FActorDescription Description);
 
   void Deregister(IdType Id);
 

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

@@ -6,6 +6,8 @@
 
 #pragma once
 
+#include "Carla/Actor/ActorDescription.h"
+
 class AActor;
 
 /// A view over an actor and its properties.
@@ -20,7 +22,7 @@ public:
 
   bool IsValid() const
   {
-    return TheActor != nullptr;
+    return (TheActor != nullptr) && Description.IsValid();
   }
 
   IdType GetActorId() const
@@ -38,15 +40,25 @@ public:
     return TheActor;
   }
 
+  const FActorDescription *GetActorDescription() const
+  {
+    return Description.Get();
+  }
+
 private:
 
   friend class FActorRegistry;
 
-  FActorView(IdType ActorId, AActor &Actor)
+  FActorView(IdType ActorId, AActor &Actor, FActorDescription Description)
     : Id(ActorId),
-      TheActor(&Actor) {}
+      TheActor(&Actor),
+      Description(MakeShared<FActorDescription>(std::move(Description))) {
+    check(Id != 0u);
+  }
 
   IdType Id = 0u;
 
   AActor *TheActor = nullptr;
+
+  TSharedPtr<const FActorDescription> Description = nullptr;
 };

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

@@ -52,9 +52,9 @@ public:
   /// view is invalid.
   TPair<EActorSpawnResultStatus, FActorView> SpawnActorWithInfo(
       const FTransform &Transform,
-      const FActorDescription &ActorDescription)
+      FActorDescription ActorDescription)
   {
-    return ActorDispatcher.SpawnActor(Transform, ActorDescription);
+    return ActorDispatcher.SpawnActor(Transform, std::move(ActorDescription));
   }
 
   /// Spawns an actor based on @a ActorDescription at @a Transform. To properly
@@ -66,9 +66,9 @@ public:
   UFUNCTION(BlueprintCallable)
   AActor *SpawnActor(
       const FTransform &Transform,
-      const FActorDescription &ActorDescription)
+      FActorDescription ActorDescription)
   {
-    return SpawnActorWithInfo(Transform, ActorDescription).Value.GetActor();
+    return SpawnActorWithInfo(Transform, std::move(ActorDescription)).Value.GetActor();
   }
 
   /// Destroys an actor, properly removing it from the registry.

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

@@ -85,16 +85,14 @@ void FTheNewCarlaServer::FPimpl::BindActions()
 
   Server.BindSync("spawn_actor", [this](
       const cr::Transform &Transform,
-      const cr::ActorDescription &Definition) {
+      cr::ActorDescription Description) -> cr::Actor {
     RequireEpisode();
-    auto Result = Episode->SpawnActorWithInfo(Transform, Definition);
+    auto Result = Episode->SpawnActorWithInfo(Transform, std::move(Description));
     if (Result.Key != EActorSpawnResultStatus::Success)
     {
       RespondError(FActorSpawnResult::StatusToString(Result.Key));
     }
-    cr::Actor actor;
-    actor.id = Result.Value.GetActorId();
-    return actor;
+    return Result.Value;
   });
 }