Minor fixes to non-rendering mode

Docs/Example.CarlaSettings.ini

@@ -24,9 +24,9 @@ SynchronousMode=true
 ; vehicles, pedestrians and traffic signs. Disabled by default to improve
 ; performance.
 SendNonPlayerAgentsInfo=false
-; Flag to enable or disable the world and hud rendering.
+; If set to true, all cameras and HUD will stop rendering. By default rendering
-; Disabled by default.
+; is enabled.
-DisableRendering = false
+DisableRendering=false
 
 [CARLA/QualitySettings]
 ; Quality level of the graphics, a lower level makes the simulation run

PythonClient/carla/settings.py

@@ -96,7 +96,7 @@ class CarlaSettings(object):
         add_section(S_SERVER, self, [
             'SynchronousMode',
             'SendNonPlayerAgentsInfo',
-			'DisableRendering'])
+            'DisableRendering'])
         add_section(S_QUALITY, self, [
             'QualityLevel'])
         add_section(S_LEVEL, self, [

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

@@ -81,45 +81,55 @@ void ACarlaGameModeBase::InitGame(
   }
 
   // Set default pawn class.
-  if (!CarlaSettings.PlayerVehicle.IsEmpty()) {
+  if (!CarlaSettings.PlayerVehicle.IsEmpty())
+  {
     auto Class = FindObject<UClass>(ANY_PACKAGE, *CarlaSettings.PlayerVehicle);
-    if (Class) {
+    if (Class)
+    {
       DefaultPawnClass = Class;
-    } else {
+    }
+    else
+    {
       UE_LOG(LogCarla, Error, TEXT("Failed to load player pawn class \"%s\""), *CarlaSettings.PlayerVehicle)
     }
   }
 
-  if (TaggerDelegate != nullptr) {
+  if (TaggerDelegate != nullptr)
+  {
     TaggerDelegate->RegisterSpawnHandler(world);
-  } else {
+  }
+  else
+  {
     UE_LOG(LogCarla, Error, TEXT("Missing TaggerDelegate!"));
   }
 
-  if(CarlaSettingsDelegate!=nullptr) {
+  if(CarlaSettingsDelegate!=nullptr)
+  {
     //apply quality settings
     CarlaSettingsDelegate->ApplyQualitySettingsLevelPostRestart();
     //assign settings delegate for every new actor from now on
     CarlaSettingsDelegate->RegisterSpawnHandler(world);
 
-  } else {
+  }
+  else
+  {
     UE_LOG(LogCarla, Error, TEXT("Missing CarlaSettingsDelegate!"));
   }
 
-  if (DynamicWeatherClass != nullptr) {
+  if (DynamicWeatherClass != nullptr)
+  {
     DynamicWeather = world->SpawnActor<ADynamicWeather>(DynamicWeatherClass);
   }
 
-  if (VehicleSpawnerClass != nullptr) {
+  if (VehicleSpawnerClass != nullptr)
+  {
     VehicleSpawner = world->SpawnActor<AVehicleSpawnerBase>(VehicleSpawnerClass);
   }
 
-  if (WalkerSpawnerClass != nullptr) {
+  if (WalkerSpawnerClass != nullptr)
+  {
     WalkerSpawner = world->SpawnActor<AWalkerSpawnerBase>(WalkerSpawnerClass);
   }
-
-
-
 }
 
 void ACarlaGameModeBase::RestartPlayer(AController* NewPlayer)
@@ -128,16 +138,20 @@ void ACarlaGameModeBase::RestartPlayer(AController* NewPlayer)
   TArray<APlayerStart *> UnOccupiedStartPoints;
   APlayerStart *PlayFromHere = FindUnOccupiedStartPoints(NewPlayer, UnOccupiedStartPoints);
   bool bStartSpotFound = false;
-  if (PlayFromHere != nullptr) {
+  if (PlayFromHere != nullptr)
+  {
     RestartPlayerAtPlayerStart(NewPlayer, PlayFromHere);
     RegisterPlayer(*NewPlayer);
     bStartSpotFound = true;
-  } else if (UnOccupiedStartPoints.Num() > 0u) {
+  }
+  else if (UnOccupiedStartPoints.Num() > 0u)
+  {
     check(GameController != nullptr);
     APlayerStart *StartSpot = GameController->ChoosePlayerStart(UnOccupiedStartPoints);
-    if (StartSpot != nullptr) {
+    if (StartSpot != nullptr)
+    {
       RestartPlayerAtPlayerStart(NewPlayer, StartSpot);
-      RegisterPlayer(*NewPlayer);      
+      RegisterPlayer(*NewPlayer);
       bStartSpotFound = true;
     }
   }
@@ -145,9 +159,8 @@ void ACarlaGameModeBase::RestartPlayer(AController* NewPlayer)
   {
     UE_LOG(LogCarla, Error, TEXT("No start spot found!"));
   }
-  if(CarlaSettingsDelegate!=nullptr) 
+  if(CarlaSettingsDelegate != nullptr)
   {
-    //apply quality settings
     CarlaSettingsDelegate->ApplyQualitySettingsLevelPreRestart();
   }
 }
@@ -159,20 +172,25 @@ void ACarlaGameModeBase::BeginPlay()
   const auto &CarlaSettings = GameInstance->GetCarlaSettings();
 
   // Setup semantic segmentation if necessary.
-  if (CarlaSettings.bSemanticSegmentationEnabled) {
+  if (CarlaSettings.bSemanticSegmentationEnabled)
+  {
     TagActorsForSemanticSegmentation();
     TaggerDelegate->SetSemanticSegmentationEnabled();
   }
 
   // Change weather.
-  if (DynamicWeather != nullptr) {
+  if (DynamicWeather != nullptr)
+  {
     const auto *Weather = CarlaSettings.GetActiveWeatherDescription();
-    if (Weather != nullptr) {
+    if (Weather != nullptr)
+    {
       UE_LOG(LogCarla, Log, TEXT("Changing weather settings to \"%s\""), *Weather->Name);
       DynamicWeather->SetWeatherDescription(*Weather);
       DynamicWeather->RefreshWeather();
     }
-  } else {
+  }
+  else
+  {
     UE_LOG(LogCarla, Error, TEXT("Missing dynamic weather actor!"));
   }
 
@@ -180,30 +198,40 @@ void ACarlaGameModeBase::BeginPlay()
   TActorIterator<ACityMapGenerator> It(GetWorld());
   URoadMap *RoadMap = (It ? It->GetRoadMap() : nullptr);
 
-  if (PlayerController != nullptr) {
+  if (PlayerController != nullptr)
+  {
     PlayerController->SetRoadMap(RoadMap);
-  } else {
+  }
+  else
+  {
     UE_LOG(LogCarla, Error, TEXT("Player controller is not a AWheeledVehicleAIController!"));
   }
 
   // Setup other vehicles.
-  if (VehicleSpawner != nullptr) {
+  if (VehicleSpawner != nullptr)
+  {
     VehicleSpawner->SetNumberOfVehicles(CarlaSettings.NumberOfVehicles);
     VehicleSpawner->SetSeed(CarlaSettings.SeedVehicles);
     VehicleSpawner->SetRoadMap(RoadMap);
-    if (PlayerController != nullptr) {
+    if (PlayerController != nullptr)
+    {
       PlayerController->GetRandomEngine()->Seed(
           VehicleSpawner->GetRandomEngine()->GenerateSeed());
     }
-  } else {
+  }
+  else
+  {
     UE_LOG(LogCarla, Error, TEXT("Missing vehicle spawner actor!"));
   }
 
   // Setup walkers.
-  if (WalkerSpawner != nullptr) {
+  if (WalkerSpawner != nullptr)
+  {
     WalkerSpawner->SetNumberOfWalkers(CarlaSettings.NumberOfPedestrians);
     WalkerSpawner->SetSeed(CarlaSettings.SeedPedestrians);
-  } else {
+  }
+  else
+  {
     UE_LOG(LogCarla, Error, TEXT("Missing walker spawner actor!"));
   }
 
@@ -230,11 +258,14 @@ void ACarlaGameModeBase::RegisterPlayer(AController &NewPlayer)
   check(GameController != nullptr);
   AddTickPrerequisiteActor(&NewPlayer);
   PlayerController = Cast<ACarlaVehicleController>(&NewPlayer);
-  if (PlayerController != nullptr) {
+  if (PlayerController != nullptr)
+  {
     GetDataRouter().RegisterPlayer(*PlayerController);
     GameController->RegisterPlayer(*PlayerController);
     AttachSensorsToPlayer();
-  } else {
+  }
+  else
+  {
     UE_LOG(LogCarla, Error, TEXT("ACarlaGameModeBase: Player is not a ACarlaVehicleController"));
   }
 }
@@ -273,20 +304,26 @@ APlayerStart *ACarlaGameModeBase::FindUnOccupiedStartPoints(
   APlayerStart* FoundPlayerStart = nullptr;
   UClass* PawnClass = GetDefaultPawnClassForController(Player);
   APawn* PawnToFit = PawnClass ? PawnClass->GetDefaultObject<APawn>() : nullptr;
-  for (TActorIterator<APlayerStart> It(GetWorld()); It; ++It) {
+  for (TActorIterator<APlayerStart> It(GetWorld()); It; ++It)
+  {
     APlayerStart* PlayerStart = *It;
 
-    if (PlayerStart->IsA<APlayerStartPIE>()) {
+    if (PlayerStart->IsA<APlayerStartPIE>())
+    {
       FoundPlayerStart = PlayerStart;
       break;
-    } else {
+    }
+    else
+    {
       FVector ActorLocation = PlayerStart->GetActorLocation();
       const FRotator ActorRotation = PlayerStart->GetActorRotation();
-      if (!GetWorld()->EncroachingBlockingGeometry(PawnToFit, ActorLocation, ActorRotation)) {
+      if (!GetWorld()->EncroachingBlockingGeometry(PawnToFit, ActorLocation, ActorRotation))
+      {
         UnOccupiedStartPoints.Add(PlayerStart);
       }
 #if WITH_EDITOR
-      else if (GetWorld()->FindTeleportSpot(PawnToFit, ActorLocation, ActorRotation)) {
+      else if (GetWorld()->FindTeleportSpot(PawnToFit, ActorLocation, ActorRotation))
+      {
         UE_LOG(
             LogCarla,
             Warning,

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp

@@ -211,10 +211,6 @@ void UCarlaSettings::LoadSettings()
     {
       bUseNetworking = false;
     }
-    if(FParse::Param(FCommandLine::Get(), TEXT("disable-rendering")))
-    {
-      bDisableRendering = true;
-    }
   }
 }
 
@@ -255,7 +251,7 @@ void UCarlaSettings::LogSettings() const
   UE_LOG(LogCarla, Log, TEXT("Server Time-out = %d ms"), ServerTimeOut);
   UE_LOG(LogCarla, Log, TEXT("Synchronous Mode = %s"), EnabledDisabled(bSynchronousMode));
   UE_LOG(LogCarla, Log, TEXT("Send Non-Player Agents Info = %s"), EnabledDisabled(bSendNonPlayerAgentsInfo));
-  UE_LOG(LogCarla, Log, TEXT("Disable Render World = %s"), bDisableRendering?TEXT("YES"):TEXT("NO"));
+  UE_LOG(LogCarla, Log, TEXT("Rendering = %s"), EnabledDisabled(!bDisableRendering));
   UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_LEVELSETTINGS);
   UE_LOG(LogCarla, Log, TEXT("Player Vehicle        = %s"), (PlayerVehicle.IsEmpty() ? TEXT("Default") : *PlayerVehicle));
   UE_LOG(LogCarla, Log, TEXT("Number Of Vehicles    = %d"), NumberOfVehicles);