Add function to apply control to vehicles

LibCarla/source/carla/client/Actor.h

@@ -8,7 +8,6 @@
 
 #include "carla/Debug.h"
 #include "carla/NonCopyable.h"
-#include "carla/client/Control.h"
 #include "carla/client/Memory.h"
 #include "carla/client/World.h"
 #include "carla/rpc/Actor.h"
@@ -40,10 +39,6 @@ namespace client {
       return _world;
     }
 
-    void ApplyControl(const VehicleControl &control) {
-      _world->GetClient().ApplyControlToActor(*this, control);
-    }
-
     const auto &Serialize() const {
       return _actor;
     }

LibCarla/source/carla/client/Client.cpp

@@ -9,6 +9,7 @@
 #include "carla/client/Actor.h"
 #include "carla/client/Control.h"
 #include "carla/client/Sensor.h"
+#include "carla/client/Vehicle.h"
 #include "carla/client/World.h"
 
 namespace carla {
@@ -31,7 +32,7 @@ namespace client {
     if (actor.IsASensor()) {
       return SharedPtr<Actor>(new Sensor{actor, GetWorld()});
     }
-    return SharedPtr<Actor>(new Actor{actor, GetWorld()});
+    return SharedPtr<Actor>(new Vehicle{actor, GetWorld()});
   }
 
   void Client::ApplyControlToActor(

LibCarla/source/carla/client/Vehicle.h

@@ -0,0 +1,31 @@
+// 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>.
+
+#pragma once
+
+#include "carla/client/Actor.h"
+#include "carla/client/Control.h"
+
+namespace carla {
+namespace client {
+
+  class Vehicle : public Actor {
+  public:
+
+    void ApplyControl(const VehicleControl &control) {
+      GetWorld()->GetClient().ApplyControlToActor(*this, control);
+    }
+
+  private:
+
+    friend class Client;
+
+    template <typename ... Args>
+    Vehicle(Args && ... args) : Actor(std::forward<Args>(args)...) {}
+  };
+
+} // namespace client
+} // namespace carla

LibCarla/source/carla/rpc/VehicleControl.h

@@ -34,6 +34,27 @@ namespace rpc {
     bool hand_brake = false;
     bool reverse = false;
 
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    VehicleControl(const FVehicleControl &Control)
+      : throttle(Control.Throttle),
+        steer(Control.Steer),
+        brake(Control.Brake),
+        hand_brake(Control.bHandBrake),
+        reverse(Control.bReverse) {}
+
+    operator FVehicleControl() const {
+      FVehicleControl Control;
+      Control.Throttle = throttle;
+      Control.Steer = steer;
+      Control.Brake = brake;
+      Control.bHandBrake = hand_brake;
+      Control.bReverse = reverse;
+      return Control;
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
     MSGPACK_DEFINE_ARRAY(
         throttle,
         steer,

PythonAPI/source/libcarla/Actor.cpp

@@ -7,6 +7,7 @@
 #include <carla/client/Actor.h>
 #include <carla/client/Image.h>
 #include <carla/client/Sensor.h>
+#include <carla/client/Vehicle.h>
 
 #include <boost/python.hpp>
 
@@ -40,6 +41,11 @@ namespace client {
     return out;
   }
 
+  std::ostream &operator<<(std::ostream &out, const Vehicle &vehicle) {
+    out << "Vehicle(id=" << vehicle.GetId() << ", type=" << vehicle.GetTypeId() << ')';
+    return out;
+  }
+
   std::ostream &operator<<(std::ostream &out, const Sensor &sensor) {
     out << "Sensor(id=" << sensor.GetId() << ", type=" << sensor.GetTypeId() << ')';
     return out;
@@ -51,6 +57,7 @@ namespace client {
 void export_actor() {
   using namespace boost::python;
   namespace cc = carla::client;
+  namespace cr = carla::rpc;
 
   class_<cc::Image, boost::noncopyable, boost::shared_ptr<cc::Image>>("Image", no_init)
     .add_property("frame_number", &cc::Image::GetFrameNumber)
@@ -72,7 +79,11 @@ void export_actor() {
       return self.GetTypeId();
     })
     .def("get_world", &cc::Actor::GetWorld)
-    .def("apply_control", &cc::Actor::ApplyControl)
+    .def(self_ns::str(self_ns::self))
+  ;
+
+  class_<cc::Vehicle, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Vehicle>>("Vehicle", no_init)
+    .def("apply_control", &cc::Vehicle::ApplyControl)
     .def(self_ns::str(self_ns::self))
   ;
 
@@ -103,5 +114,6 @@ void export_actor() {
         }
       });
     })
+    .def(self_ns::str(self_ns::self))
   ;
 }

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

@@ -16,6 +16,7 @@
 #include <carla/rpc/ActorDescription.h>
 #include <carla/rpc/Server.h>
 #include <carla/rpc/Transform.h>
+#include <carla/rpc/VehicleControl.h>
 #include <carla/streaming/Server.h>
 #include <compiler/enable-ue4-macros.h>
 
@@ -123,11 +124,11 @@ private:
   {
     if (!Child.IsValid())
     {
-      RespondError("unable to attach actor: child actor not found");
+      RespondErrorStr("unable to attach actor: child actor not found");
     }
     if (!Parent.IsValid())
     {
-      RespondError("unable to attach actor: parent actor not found");
+      RespondErrorStr("unable to attach actor: parent actor not found");
     }
     ::AttachActors(Child.GetActor(), Parent.GetActor());
   }
@@ -189,6 +190,19 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     auto &Registry = Episode->GetActorRegistry();
     AttachActors(Registry.Find(Child.id), Registry.Find(Parent.id));
   });
+
+  Server.BindSync("apply_control_to_actor", [this](cr::Actor Actor, cr::VehicleControl Control) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid()) {
+      RespondErrorStr("unable to apply control: actor not found");
+    }
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
+    if (Vehicle == nullptr) {
+      RespondErrorStr("unable to apply control: actor is not a vehicle");
+    }
+    Vehicle->ApplyVehicleControl(Control);
+  });
 }
 
 // =============================================================================