More robust sensor and agent id

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.cpp

@@ -12,12 +12,6 @@
 #include "Game/CarlaGameModeBase.h"
 #include "Game/DataRouter.h"
 
-static uint32 GetNextAgentId()
-{
-  static uint32 COUNT = 0u;
-  return ++COUNT;
-}
-
 static FDataRouter &GetDataRouter(UWorld *World)
 {
   check(World != nullptr);
@@ -26,10 +20,6 @@ static FDataRouter &GetDataRouter(UWorld *World)
   return GameMode->GetDataRouter();
 }
 
-UAgentComponent::UAgentComponent(const FObjectInitializer &ObjectInitializer)
-  : Super(ObjectInitializer),
-    Id(GetNextAgentId()) {}
-
 void UAgentComponent::AcceptVisitor(IAgentComponentVisitor &Visitor) const
 {
   unimplemented();

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h

@@ -22,11 +22,9 @@ class CARLA_API UAgentComponent : public USceneComponent
 
 public:
 
-  UAgentComponent(const FObjectInitializer &ObjectInitializer);
-
   uint32 GetId() const
   {
-    return Id;
+    return GetTypeHash(this);
   }
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const;
@@ -36,9 +34,4 @@ protected:
   virtual void BeginPlay() override;
 
   virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
-
-private:
-
-  UPROPERTY(VisibleAnywhere)
-  uint32 Id;
 };

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

@@ -196,12 +196,14 @@ void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)
 void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
 {
   auto &Vehicle = Agent.GetVehicle();
+  Data.type = CARLA_SERVER_AGENT_VEHICLE;
   Data.forward_speed = Vehicle.GetVehicleForwardSpeed();
   ::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
 }
 
 void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
 {
+  Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
   Data.forward_speed = Agent.GetForwardSpeed();
   ::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);
 }

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

@@ -9,16 +9,6 @@
 
 #include "Util/IniFile.h"
 
-static uint32 GetNextSensorDescriptionId()
-{
-  static uint32 COUNT = 0u;
-  return ++COUNT;
-}
-
-USensorDescription::USensorDescription(const FObjectInitializer &ObjectInitializer)
-  : Super(ObjectInitializer),
-    Id(GetNextSensorDescriptionId()) {}
-
 void USensorDescription::AcceptVisitor(ISensorDescriptionVisitor &Visitor) const
 {
   unimplemented();
@@ -37,7 +27,7 @@ void USensorDescription::Load(const FIniFile &Config, const FString &Section)
 void USensorDescription::Log() const
 {
   UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), TEXT("CARLA/Sensor"), *Name);
-  UE_LOG(LogCarla, Log, TEXT("Id = %d"), Id);
+  UE_LOG(LogCarla, Log, TEXT("Id = %d"), GetId());
   UE_LOG(LogCarla, Log, TEXT("Type = %s"), *Type);
   UE_LOG(LogCarla, Log, TEXT("Position = (%s)"), *Position.ToString());
   UE_LOG(LogCarla, Log, TEXT("Rotation = (%s)"), *Rotation.ToString());

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/SensorDescription.h

@@ -19,11 +19,9 @@ class CARLA_API USensorDescription : public UObject
 
 public:
 
-  USensorDescription(const FObjectInitializer &ObjectInitializer);
-
   uint32 GetId() const
   {
-    return Id;
+    return GetTypeHash(this);
   }
 
   virtual void AcceptVisitor(ISensorDescriptionVisitor &Visitor) const;
@@ -39,11 +37,6 @@ public:
 
   virtual void Log() const;
 
-private:
-
-  UPROPERTY(Category = "Sensor Description", VisibleAnywhere)
-  uint32 Id;
-
 public:
 
   /** Display name of the sensor. */

Util/CarlaServer/source/carla/server/CarlaEncoder.cpp

@@ -118,6 +118,8 @@ namespace server {
         return SetTrafficLight(lhs->mutable_traffic_light(), rhs, cs::TrafficLight::YELLOW);
       case CARLA_SERVER_AGENT_TRAFFICLIGHT_RED:
         return SetTrafficLight(lhs->mutable_traffic_light(), rhs, cs::TrafficLight::RED);
+      default:
+        log_error("invalid agent type");
     }
   }