Added OpenDriveActor custom path

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/OpenDrive/OpenDrive.cpp

@@ -122,6 +122,26 @@ FString UOpenDrive::LoadXODR(const FString &MapName)
   return Content;
 }
 
+FString UOpenDrive::LoadXODRFullPath(const FString &FullPath)
+{
+  FString Content;
+
+  if (FullPath.IsEmpty())
+  {
+    UE_LOG(LogTemp, Error, TEXT("Failed to find OpenDrive file for map '%s'"), *FullPath);
+  }
+  else if (FFileHelper::LoadFileToString(Content, *FullPath))
+  {
+    UE_LOG(LogTemp, Log, TEXT("Loaded OpenDrive file '%s'"), *FullPath);
+  }
+  else
+  {
+    UE_LOG(LogTemp, Error, TEXT("Failed to load OpenDrive file '%s'"), *FullPath);
+  }
+
+  return Content;
+}
+
 FString UOpenDrive::GetXODRByPath(FString XODRPath, FString MapName){
 
   // When playing in editor the map name gets an extra prefix, here we

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/OpenDrive/OpenDrive.h

@@ -37,6 +37,9 @@ public:
   UFUNCTION(BlueprintCallable, Category="CARLA|OpenDrive")
   static FString LoadXODR(const FString &MapName);
 
+  UFUNCTION(BlueprintCallable, Category="CARLA|OpenDrive")
+  static FString LoadXODRFullPath(const FString &FullPath);
+
   /// Load OpenDriveMap associated to the given MapName. Return nullptr if no
   /// XODR can be found with same MapName.
   UFUNCTION(BlueprintCallable, Category="CARLA|OpenDrive")

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/OpenDrive/OpenDriveActor.cpp

@@ -143,7 +143,12 @@ void AOpenDriveActor::BuildRoutes(FString MapName)
 
   // As the OpenDrive file has the same name as level, build the path to the
   // xodr file using the lavel name and the game content directory.
-  const FString XodrContent = UOpenDrive::LoadXODR(MapName);
+  static FString XodrContent;
+  if (CustomPath.IsEmpty()){
+    XodrContent = UOpenDrive::LoadXODR(MapName);
+  } else {
+    XodrContent = UOpenDrive::LoadXODRFullPath(CustomPath);
+  }
 
   auto map = carla::opendrive::OpenDriveParser::Load(carla::rpc::FromLongFString(XodrContent));
 

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/OpenDrive/OpenDriveActor.h

@@ -38,11 +38,15 @@ private:
 
 #if WITH_EDITORONLY_DATA
   /// Generate the road network using an OpenDrive file (named as the current
-  /// .umap)
+  /// .umap, or the custom one)
   UPROPERTY(Category = "Generate", EditAnywhere)
   bool bGenerateRoutes = false;
 #endif // WITH_EDITORONLY_DATA
 
+  /// Specify a custom path. Expected a full path to the xodr.
+  UPROPERTY(Category = "Generate", EditAnywhere)
+  FString CustomPath = "";
+
   /// Distance between waypoints where the cars will drive
   UPROPERTY(Category = "Generate", EditAnywhere, meta = (ClampMin = "0.01", UIMin = "0.01"))
   float RoadAccuracy = 2.f;