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Luis/extend spawn actor (#7154) 

* Extended spawn_actor to accept a socket name and spawn the actor in the parents socket

* fix pr review
This commit is contained in:
LuisPoveda 2024-02-19 11:21:36 +01:00 committed by GitHub
parent 5d6862c3d7
commit cb9a9d77ab
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GPG Key ID: B5690EEEBB952194
14 changed files with 67 additions and 29 deletions
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10
LibCarla/source/carla/client/World.cpp
View File

@ -119,17 +119,19 @@ namespace client {
const ActorBlueprint &blueprint,
const geom::Transform &transform,
Actor *parent_actor,
rpc::AttachmentType attachment_type) {
return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type);
rpc::AttachmentType attachment_type,
const std::string& socket_name) {
return _episode.Lock()->SpawnActor(blueprint, transform, parent_actor, attachment_type, GarbageCollectionPolicy::Inherit, socket_name);
}
SharedPtr<Actor> World::TrySpawnActor(
const ActorBlueprint &blueprint,
const geom::Transform &transform,
Actor *parent_actor,
rpc::AttachmentType attachment_type) noexcept {
rpc::AttachmentType attachment_type,
const std::string& socket_name) noexcept {
try {
return SpawnActor(blueprint, transform, parent_actor, attachment_type);
return SpawnActor(blueprint, transform, parent_actor, attachment_type, socket_name);
} catch (const std::exception &) {
return nullptr;
}

7
LibCarla/source/carla/client/World.h
View File

@ -29,6 +29,7 @@
#include "carla/rpc/Texture.h"
#include "carla/rpc/MaterialParameter.h"
#include <string>
#include <boost/optional.hpp>
namespace carla {
@ -112,7 +113,8 @@ namespace client {
const ActorBlueprint &blueprint,
const geom::Transform &transform,
Actor *parent = nullptr,
rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid);
rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
const std::string& socket_name = "");
/// Same as SpawnActor but return nullptr on failure instead of throwing an
/// exception.
@ -120,7 +122,8 @@ namespace client {
const ActorBlueprint &blueprint,
const geom::Transform &transform,
Actor *parent = nullptr,
rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid) noexcept;
rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
const std::string& socket_name = "") noexcept;
/// Block calling thread until a world tick is received.
WorldSnapshot WaitForTick(time_duration timeout) const;

6
LibCarla/source/carla/client/detail/Client.cpp
View File

@ -330,7 +330,8 @@ namespace detail {
const rpc::ActorDescription &description,
const geom::Transform &transform,
rpc::ActorId parent,
rpc::AttachmentType attachment_type) {
rpc::AttachmentType attachment_type,
const std::string& socket_name) {
if (attachment_type == rpc::AttachmentType::SpringArm ||
attachment_type == rpc::AttachmentType::SpringArmGhost)
@ -348,7 +349,8 @@ namespace detail {
description,
transform,
parent,
attachment_type);
attachment_type,
socket_name);
}
bool Client::DestroyActor(rpc::ActorId actor) {

3
LibCarla/source/carla/client/detail/Client.h
View File

@ -179,7 +179,8 @@ namespace detail {
const rpc::ActorDescription &description,
const geom::Transform &transform,
rpc::ActorId parent,
rpc::AttachmentType attachment_type);
rpc::AttachmentType attachment_type,
const std::string& socket_name = "");
bool DestroyActor(rpc::ActorId actor);

6
LibCarla/source/carla/client/detail/Simulator.cpp
View File

@ -347,14 +347,16 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
const geom::Transform &transform,
Actor *parent,
rpc::AttachmentType attachment_type,
GarbageCollectionPolicy gc) {
GarbageCollectionPolicy gc,
const std::string& socket_name) {
rpc::Actor actor;
if (parent != nullptr) {
actor = _client.SpawnActorWithParent(
blueprint.MakeActorDescription(),
transform,
parent->GetId(),
attachment_type);
attachment_type,
socket_name);
} else {
actor = _client.SpawnActor(
blueprint.MakeActorDescription(),

3
LibCarla/source/carla/client/detail/Simulator.h
View File

@ -357,7 +357,8 @@ namespace detail {
const geom::Transform &transform,
Actor *parent = nullptr,
rpc::AttachmentType attachment_type = rpc::AttachmentType::Rigid,
GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit);
GarbageCollectionPolicy gc = GarbageCollectionPolicy::Inherit,
const std::string& socket_name = "");
bool DestroyActor(Actor &actor);

13
LibCarla/source/carla/rpc/Command.h
View File

@ -10,6 +10,7 @@
#include "carla/MsgPackAdaptors.h"
#include "carla/geom/Transform.h"
#include "carla/rpc/ActorDescription.h"
#include "carla/rpc/AttachmentType.h"
#include "carla/rpc/ActorId.h"
#include "carla/rpc/TrafficLightState.h"
#include "carla/rpc/VehicleAckermannControl.h"
@ -18,6 +19,8 @@
#include "carla/rpc/VehicleLightState.h"
#include "carla/rpc/WalkerControl.h"
#include <string>
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable:4583)
@ -59,11 +62,19 @@ namespace rpc {
: description(std::move(description)),
transform(transform),
parent(parent) {}
SpawnActor(ActorDescription description, const geom::Transform &transform, ActorId parent, AttachmentType attachment_type, const std::string& bone)
: description(std::move(description)),
transform(transform),
parent(parent),
attachment_type(attachment_type),
socket_name(bone) {}
ActorDescription description;
geom::Transform transform;
boost::optional<ActorId> parent;
AttachmentType attachment_type;
std::string socket_name;
std::vector<Command> do_after;
MSGPACK_DEFINE_ARRAY(description, transform, parent, do_after);
MSGPACK_DEFINE_ARRAY(description, transform, parent, attachment_type, socket_name, do_after);
};
struct DestroyActor : CommandBase<DestroyActor> {

6
PythonAPI/carla/source/libcarla/Commands.cpp
View File

@ -82,9 +82,15 @@ void export_commands() {
"__init__",
&command_impl::CustomSpawnActorInit<cc::ActorBlueprint, cg::Transform, ActorPtr>,
(arg("blueprint"), arg("transform"), arg("parent")))
.def(
"__init__",
&command_impl::CustomSpawnActorInit<cc::ActorBlueprint, cg::Transform, ActorPtr, cr::AttachmentType, std::string>,
(arg("blueprint"), arg("transform"), arg("parent"), arg("attachment_type"), arg("socket_name")))
.def(init<cr::Command::SpawnActor>())
.def_readwrite("transform", &cr::Command::SpawnActor::transform)
.def_readwrite("parent_id", &cr::Command::SpawnActor::parent)
.def_readwrite("attachment_type", &cr::Command::SpawnActor::attachment_type)
.def_readwrite("socket_name", &cr::Command::SpawnActor::socket_name)
.def("then", &command_impl::Then, (arg("command")))
;

10
PythonAPI/carla/source/libcarla/World.cpp
View File

@ -11,6 +11,8 @@
#include <carla/rpc/EnvironmentObject.h>
#include <carla/rpc/ObjectLabel.h>
#include <string>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
namespace carla {
@ -293,15 +295,17 @@ void export_world() {
const cc::ActorBlueprint &blueprint, \
const cg::Transform &transform, \
cc::Actor *parent, \
cr::AttachmentType attachment_type) { \
cr::AttachmentType attachment_type, \
const std::string& bone) { \
carla::PythonUtil::ReleaseGIL unlock; \
return self.fn(blueprint, transform, parent, attachment_type); \
return self.fn(blueprint, transform, parent, attachment_type, bone); \
}, \
( \
arg("blueprint"), \
arg("transform"), \
arg("attach_to")=carla::SharedPtr<cc::Actor>(), \
arg("attachment_type")=cr::AttachmentType::Rigid)
arg("attachment_type")=cr::AttachmentType::Rigid, \
arg("bone")=std::string())
class_<cc::World>("World", no_init)
.add_property("id", &cc::World::GetId)

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

@ -294,11 +294,12 @@ carla::rpc::Actor UCarlaEpisode::SerializeActor(AActor* Actor) const
void UCarlaEpisode::AttachActors(
AActor *Child,
AActor *Parent,
EAttachmentType InAttachmentType)
EAttachmentType InAttachmentType,
const FString& SocketName)
{
Child->AddActorWorldOffset(FVector(CurrentMapOrigin));
UActorAttacher::AttachActors(Child, Parent, InAttachmentType);
UActorAttacher::AttachActors(Child, Parent, InAttachmentType, SocketName);
if (bIsPrimaryServer)
{

3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
View File

@ -245,7 +245,8 @@ public:
void AttachActors(
AActor *Child,
AActor *Parent,
EAttachmentType InAttachmentType = EAttachmentType::Rigid);
EAttachmentType InAttachmentType = EAttachmentType::Rigid,
const FString& SocketName = "");
/// @copydoc FActorDispatcher::DestroyActor(AActor*)
UFUNCTION(BlueprintCallable)

9
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -711,7 +711,8 @@ void FCarlaServer::FPimpl::BindActions()
cr::ActorDescription Description,
const cr::Transform &Transform,
cr::ActorId ParentId,
cr::AttachmentType InAttachmentType) -> R<cr::Actor>
cr::AttachmentType InAttachmentType,
const std::string& socket_name) -> R<cr::Actor>
{
REQUIRE_CARLA_EPISODE();
@ -765,7 +766,8 @@ void FCarlaServer::FPimpl::BindActions()
Episode->AttachActors(
CarlaActor->GetActor(),
ParentCarlaActor->GetActor(),
static_cast<EAttachmentType>(InAttachmentType));
static_cast<EAttachmentType>(InAttachmentType),
FString(socket_name.c_str()));
}
else
{
@ -2761,7 +2763,8 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
c.description,
c.transform,
*c.parent,
cr::AttachmentType::Rigid) :
cr::AttachmentType::Rigid,
c.socket_name) :
spawn_actor(c.description, c.transform);
if (!result.HasError())
{

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.cpp
View File

@ -96,7 +96,8 @@ static void UActorAttacher_AttachActorsWithSpringArmGhost(
void UActorAttacher::AttachActors(
AActor *Child,
AActor *Parent,
const EAttachmentType AttachmentType)
const EAttachmentType AttachmentType,
const FString& SocketName)
{
check(Child != nullptr);
check(Parent != nullptr);
@ -104,7 +105,7 @@ void UActorAttacher::AttachActors(
switch (AttachmentType)
{
case EAttachmentType::Rigid:
Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform);
Child->AttachToActor(Parent, FAttachmentTransformRules::KeepRelativeTransform, FName(*SocketName));
break;
case EAttachmentType::SpringArm:
UActorAttacher_AttachActorsWithSpringArm(Child, Parent);

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/ActorAttacher.h
View File

@ -42,5 +42,5 @@ class CARLA_API UActorAttacher : public UBlueprintFunctionLibrary
public:
UFUNCTION(BlueprintCallable, Category="CARLA|Actor Attacher")
static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType);
static void AttachActors(AActor *Child, AActor *Parent, EAttachmentType AttachmentType, const FString& SocketName = "");
};