Merge branch 'dev' into xisco

CHANGELOG.md

@@ -1,3 +1,16 @@
+## CARLA 0.3.0
+
+  * Added basic dynamic weather functionality.
+    - Weather and sun light can be changed during game.
+    - Presets stored in config file CarlaWeather.ini.
+  * Add basic functionality to spawn pedestrians.
+  * Split road meshes for intersections and turns for better precission of the road map.
+  * Better debug for road map.
+  * Implemented collision count for other cars and pedestrians.
+  * Command line argument -carla-settings now accepts relative paths.
+  * Improved performance when semantic segmentation is disabled.
+  * Improved tagger system.
+
 ## CARLA 0.2.4
 
   * Fixed serialization of road map resulting in a huge map size.

Carla.uplugin

@@ -1,7 +1,7 @@
 {
 	"FileVersion": 3,
 	"Version": 1,
-	"VersionName": "0.2.4",
+	"VersionName": "0.3.0",
 	"FriendlyName": "CARLA",
 	"Description": "",
 	"Category": "Science",

Resources/Example.CarlaSettings.ini

@@ -14,6 +14,14 @@ WorldPort=2000
 WritePort=2001
 ReadPort=2002
 
+[CARLA/LevelSettings]
+; Number of NPC vehicles to be spawned into the level.
+NumberOfVehicles=5
+; Number of NPC pedestrians to be spawned into the level.
+NumberOfPedestrians=15
+; Index of the weather presets to use. If negative, weather won't be changed.
+WeatherId=-1
+
 [CARLA/SceneCapture]
 ; Names of the scene capture cameras to attach to the player, each of them
 ; should be defined in its own subsection.

Resources/RELEASE.README.md

@@ -20,3 +20,32 @@ following
 [/Script/Engine.RendererSettings]
 r.CustomDepth=3
 ```
+
+Weather presets
+---------------
+
+To change the weather and sun light, set `WeatherId` in CarlaSettings.ini
+from the following
+
+  * 0 - Default
+  * 1 - ClearNoon
+  * 2 - CloudyNoon
+  * 3 - WetNoon
+  * 4 - WetCloudyNoon
+  * 5 - MidRainyNoon
+  * 6 - HardRainNoon
+  * 7 - SoftRainNoon
+  * 8 - ClearSunset
+  * 9 - CloudySunset
+  * 10 - WetSunset
+  * 11 - WetCloudySunset
+  * 12 - MidRainSunset
+  * 13 - HardRainSunset
+  * 14 - SoftRainSunset
+
+E.g., to choose the weather to be hard-rain at noon, add to CarlaSettings.ini
+
+```
+[CARLA/LevelSettings]
+WeatherId=6
+```

Source/Carla/AI/WalkerSpawnPoint.h

@@ -5,9 +5,25 @@
 #include "Engine/TargetPoint.h"
 #include "WalkerSpawnPoint.generated.h"
 
-/// Used to set spawner locations for walkers in the level.
-UCLASS()
-class CARLA_API AWalkerSpawnPoint : public ATargetPoint
+/// Base class for spawner locations for walkers.
+UCLASS(Abstract)
+class CARLA_API AWalkerSpawnPointBase : public ATargetPoint
+{
+  GENERATED_BODY()
+};
+
+/// Used to set spawner locations for walkers in the level. These positions will
+/// be used solely to spawn walkers at begin play.
+UCLASS()
+class CARLA_API AWalkerStartSpawnPoint : public AWalkerSpawnPointBase
+{
+  GENERATED_BODY()
+};
+
+/// Used to set spawner locations for walkers in the level. These positions will
+/// be used as spawn points as well as destination points for walkers.
+UCLASS()
+class CARLA_API AWalkerSpawnPoint : public AWalkerSpawnPointBase
 {
   GENERATED_BODY()
 };

Source/Carla/AI/WalkerSpawnerBase.cpp

@@ -14,9 +14,24 @@
 // -- Static local methods -----------------------------------------------------
 // =============================================================================
 
+static bool WalkerIsValid(ACharacter *Walker)
+{
+  return ((Walker != nullptr) && !Walker->IsPendingKill());
+}
+
 static AWalkerAIController *GetController(ACharacter *Walker)
 {
-  return (Walker != nullptr ? Cast<AWalkerAIController>(Walker->GetController()) : nullptr);
+  return (WalkerIsValid(Walker) ? Cast<AWalkerAIController>(Walker->GetController()) : nullptr);
+}
+
+static float GetDistance(const FVector &Location0, const FVector &Location1)
+{
+  return FMath::Abs((Location0 - Location1).Size());
+}
+
+static float GetDistance(const AActor &Actor0, const AActor &Actor1)
+{
+  return GetDistance(Actor0.GetActorLocation(), Actor1.GetActorLocation());
 }
 
 // =============================================================================
@@ -39,6 +54,8 @@ void AWalkerSpawnerBase::BeginPlay()
 {
   Super::BeginPlay();
 
+  NumberOfWalkers = FMath::Max(0, NumberOfWalkers);
+
   // Allocate space for walkers.
   Walkers.Reserve(NumberOfWalkers);
 
@@ -50,14 +67,32 @@ void AWalkerSpawnerBase::BeginPlay()
   }
 
   // Find spawn points present in level.
-  for (TActorIterator<AWalkerSpawnPoint> It(GetWorld()); It; ++It) {
-    SpawnPoints.Add(*It);
+  TArray<AWalkerSpawnPointBase *> BeginSpawnPoints;
+  for (TActorIterator<AWalkerSpawnPointBase> It(GetWorld()); It; ++It) {
+    BeginSpawnPoints.Add(*It);
+    AWalkerSpawnPoint *SpawnPoint = Cast<AWalkerSpawnPoint>(*It);
+    if (SpawnPoint != nullptr) {
+      SpawnPoints.Add(SpawnPoint);
+    }
   }
-  UE_LOG(LogCarla, Log, TEXT("Found %d positions for spawning walkers"), SpawnPoints.Num());
+  UE_LOG(LogCarla, Log, TEXT("Found %d positions for spawning walkers at begin play."), BeginSpawnPoints.Num());
+  UE_LOG(LogCarla, Log, TEXT("Found %d positions for spawning walkers during game play."), SpawnPoints.Num());
 
   if (SpawnPoints.Num() < 2) {
     bSpawnWalkers = false;
     UE_LOG(LogCarla, Error, TEXT("We don't have enough spawn points for walkers!"));
+  } else if (BeginSpawnPoints.Num() < NumberOfWalkers) {
+    UE_LOG(LogCarla, Warning, TEXT("Requested %d walkers, but we only have %d spawn points. Some will fail to spawn."), NumberOfWalkers, BeginSpawnPoints.Num());
+  }
+
+  if (bSpawnWalkers) {
+    uint32 Count = 0u;
+    for (auto i = 0; i < NumberOfWalkers; ++i) {
+      if (TryToSpawnWalkerAt(*BeginSpawnPoints[i % BeginSpawnPoints.Num()])) {
+        ++Count;
+      }
+    }
+    UE_LOG(LogCarla, Log, TEXT("Spawned %d walkers at begin play."), Count);
   }
 }
 
@@ -65,21 +100,39 @@ void AWalkerSpawnerBase::Tick(float DeltaTime)
 {
   Super::Tick(DeltaTime);
 
-  if (bSpawnWalkers && (NumberOfWalkers > Walkers.Num())) {
+  if (bSpawnWalkers && (NumberOfWalkers > GetCurrentNumberOfWalkers())) {
     // Try to spawn one walker.
-    TryToSpawnRandomWalker();
+    TryToSpawnWalkerAt(GetRandomSpawnPoint());
+  }
+
+  if (WalkersBlackList.Num() > 0) {
+    // If still stuck in the black list, just kill it.
+    const int32 Index = (++CurrentIndexToCheck % WalkersBlackList.Num());
+    auto Walker = WalkersBlackList[Index];
+    auto Controller = GetController(Walker);
+    if ((Controller == nullptr) ||
+        (Controller->GetMoveStatus() != EPathFollowingStatus::Moving)) {
+      WalkersBlackList.RemoveAtSwap(Index);
+      if (Walker != nullptr) {
+        Walker->Destroy();
+      }
+    }
   }
 
   if (Walkers.Num() > 0) {
-    // Check one walker and kill it if necessary.
+    // Check one walker, if fails black-list it or kill it.
     const int32 Index = (++CurrentIndexToCheck % Walkers.Num());
     auto Walker = Walkers[Index];
     auto Controller = GetController(Walker);
-    if ((Controller == nullptr) || (Controller->GetMoveStatus() != EPathFollowingStatus::Moving)) {
+    if (Controller == nullptr) {
       Walkers.RemoveAtSwap(Index);
       if (Walker != nullptr) {
         Walker->Destroy();
       }
+    } else if (Controller->GetMoveStatus() != EPathFollowingStatus::Moving) {
+      TrySetDestination(*Walker);
+      WalkersBlackList.Add(Walker);
+      Walkers.RemoveAtSwap(Index);
     }
   }
 }
@@ -98,45 +151,64 @@ void AWalkerSpawnerBase::SetNumberOfWalkers(const int32 Count)
   }
 }
 
-void AWalkerSpawnerBase::TryToSpawnRandomWalker()
+const AWalkerSpawnPointBase &AWalkerSpawnerBase::GetRandomSpawnPoint() const
 {
-  auto SpawnPoint = GetRandomSpawnPoint();
-  auto DestinationPoint = GetRandomSpawnPoint();
-  if ((SpawnPoint != nullptr) && (DestinationPoint != nullptr)) {
-    const auto StraightDistance =
-        DestinationPoint->GetActorLocation() -
-        SpawnPoint->GetActorLocation();
-    if (StraightDistance.Size() >= MinimumWalkDistance) {
-      SpawnWalkerAtSpawnPoint(*SpawnPoint, DestinationPoint->GetActorLocation());
-    }
-  } else {
-    UE_LOG(LogCarla, Error, TEXT("Unable to find spawn point"));
-  }
+  check(SpawnPoints.Num() > 0);
+  return *SpawnPoints[RandomStream.RandRange(0, SpawnPoints.Num() - 1)];
 }
 
-void AWalkerSpawnerBase::SpawnWalkerAtSpawnPoint(
-    const AWalkerSpawnPoint &SpawnPoint,
-    const FVector &Destination)
+bool AWalkerSpawnerBase::TryGetValidDestination(const FVector &Origin, FVector &Destination) const
 {
+  const auto &DestinationPoint = GetRandomSpawnPoint();
+  Destination = DestinationPoint.GetActorLocation();
+  return (GetDistance(Origin, Destination) >= MinimumWalkDistance);
+}
+
+bool AWalkerSpawnerBase::TryToSpawnWalkerAt(const AWalkerSpawnPointBase &SpawnPoint)
+{
+  // Try find destination.
+  FVector Destination;
+  if (!TryGetValidDestination(SpawnPoint.GetActorLocation(), Destination)) {
+    return false;
+  }
+
+  // Spawn walker.
   ACharacter *Walker;
   SpawnWalker(SpawnPoint.GetActorTransform(), Walker);
-  if ((Walker != nullptr) && !Walker->IsPendingKill()) {
-    Walker->AIControllerClass = AWalkerAIController::StaticClass();
-    Walker->SpawnDefaultController();
-    auto Controller = GetController(Walker);
-    if (Controller != nullptr) { // Sometimes fails...
-      Controller->MoveToLocation(Destination);
-      Walkers.Add(Walker);
-    } else {
-      UE_LOG(LogCarla, Error, TEXT("Something went wrong creating the controller for the new walker"));
-      Walker->Destroy();
-    }
+  if (!WalkerIsValid(Walker)) {
+    return false;
   }
+
+  // Assign controller.
+  Walker->AIControllerClass = AWalkerAIController::StaticClass();
+  Walker->SpawnDefaultController();
+  auto Controller = GetController(Walker);
+  if (Controller == nullptr) { // Sometimes fails...
+    UE_LOG(LogCarla, Error, TEXT("Something went wrong creating the controller for the new walker"));
+    Walker->Destroy();
+    return false;
+  }
+
+  // Add walker and set destination.
+  Walkers.Add(Walker);
+  Controller->MoveToLocation(Destination);
+  return true;
 }
 
-AWalkerSpawnPoint *AWalkerSpawnerBase::GetRandomSpawnPoint() const
+bool AWalkerSpawnerBase::TrySetDestination(ACharacter &Walker) const
 {
-  return (SpawnPoints.Num() > 0 ?
-      SpawnPoints[RandomStream.RandRange(0, SpawnPoints.Num() - 1)] :
-      nullptr);
+  // Try to retrieve controller.
+  auto Controller = GetController(&Walker);
+  if (Controller == nullptr) {
+    return false;
+  }
+
+  // Try find destination.
+  FVector Destination;
+  if (!TryGetValidDestination(Walker.GetActorLocation(), Destination)) {
+    return false;
+  }
+
+  Controller->MoveToLocation(Destination);
+  return true;
 }

Source/Carla/AI/WalkerSpawnerBase.h

@@ -6,6 +6,7 @@
 #include "WalkerSpawnerBase.generated.h"
 
 class AWalkerSpawnPoint;
+class AWalkerSpawnPointBase;
 class UBoxComponent;
 
 /// Base class for spawning walkers. Implement SpawnWalker in derived
@@ -64,13 +65,20 @@ public:
 
   void SetNumberOfWalkers(int32 Count);
 
+  int32 GetCurrentNumberOfWalkers() const
+  {
+    return Walkers.Num() + WalkersBlackList.Num();
+  }
+
 private:
 
-  void TryToSpawnRandomWalker();
+  const AWalkerSpawnPointBase &GetRandomSpawnPoint() const;
 
-  void SpawnWalkerAtSpawnPoint(const AWalkerSpawnPoint &SpawnPoint, const FVector &Destination);
+  bool TryGetValidDestination(const FVector &Origin, FVector &Destination) const;
 
-  AWalkerSpawnPoint *GetRandomSpawnPoint() const;
+  bool TryToSpawnWalkerAt(const AWalkerSpawnPointBase &SpawnPoint);
+
+  bool TrySetDestination(ACharacter &Walker) const;
 
   /// @}
 
@@ -105,5 +113,8 @@ private:
   UPROPERTY(Category = "Walker Spawner", VisibleAnywhere, AdvancedDisplay)
   TArray<ACharacter *> Walkers;
 
+  UPROPERTY(Category = "Walker Spawner", VisibleAnywhere, AdvancedDisplay)
+  TArray<ACharacter *> WalkersBlackList;
+
   uint32 CurrentIndexToCheck = 0u;
 };

Source/Carla/Carla.h

@@ -12,7 +12,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogCarla, Log, All);
 DECLARE_LOG_CATEGORY_EXTERN(LogCarlaServer, Log, All);
 
 // Options to compile with extra debug options.
-#ifdef WITH_EDITOR
+#if WITH_EDITOR
 // #define CARLA_ROAD_GENERATOR_EXTRA_LOG /// @todo #1 Crashes in Linux.
 // #define CARLA_SERVER_EXTRA_LOG
 // #define CARLA_TAGGER_EXTRA_LOG

Source/Carla/CityMapGenerator.cpp

@@ -276,7 +276,7 @@ void ACityMapGenerator::GenerateRoadMap()
     }
   }
 
-#ifdef WITH_EDITOR
+#if WITH_EDITOR
   RoadMap->Log();
 #endif // WITH_EDITOR
 
@@ -286,7 +286,7 @@ void ACityMapGenerator::GenerateRoadMap()
     RoadMap->SaveAsPNG(FilePath);
   }
 
-#ifdef WITH_EDITOR
+#if WITH_EDITOR
   RoadMap->DrawDebugPixelsToLevel(GetWorld(), !bDrawDebugPixelsToLevel);
 #endif // WITH_EDITOR
 }

Source/Carla/DynamicWeather.cpp

@@ -71,7 +71,17 @@ ADynamicWeather::ADynamicWeather(const FObjectInitializer& ObjectInitializer)
 void ADynamicWeather::OnConstruction(const FTransform &Transform)
 {
   Super::OnConstruction(Transform);
+#if WITH_EDITOR
   Update();
+#endif // WITH_EDITOR
+}
+
+void ADynamicWeather::BeginPlay()
+{
+  Super::BeginPlay();
+#if WITH_EDITOR
+  Update();
+#endif // WITH_EDITOR
 }
 
 #if WITH_EDITOR
@@ -82,6 +92,9 @@ void ADynamicWeather::PostEditChangeProperty(FPropertyChangedEvent &Event)
   const FName PropertyName = (Event.Property != NULL ? Event.Property->GetFName() : NAME_None);
   if (PropertyName == GET_MEMBER_NAME_CHECKED(ADynamicWeather, Weather)) {
     Update();
+  } else if ((PropertyName == GET_MEMBER_NAME_CHECKED(ADynamicWeather, bSaveToConfigFile)) ||
+             (PropertyName == GET_MEMBER_NAME_CHECKED(ADynamicWeather, bLoadFromConfigFile))) {
+    // Do nothing.
   } else {
     AdjustSunPositionBasedOnActorRotation();
   }
@@ -97,6 +110,7 @@ void ADynamicWeather::PostEditChangeProperty(FPropertyChangedEvent &Event)
     bLoadFromConfigFile = false;
     if (LoadFromConfigFile()) {
       UE_LOG(LogCarla, Log, TEXT("Weather \"%s\" loaded from config file"), *Weather.Name);
+      Update();
     } else {
       UE_LOG(LogCarla, Error, TEXT("Error loading weather from config file"));
     }
@@ -123,16 +137,6 @@ FVector ADynamicWeather::GetSunDirection() const
   return - SphericalCoords.SphericalToUnitCartesian();
 }
 
-void ADynamicWeather::Update()
-{
-  // Modify this actor's rotation according to Sun position.
-  if (!SetActorRotation(FQuat(GetSunDirection().Rotation()), ETeleportType::None)) {
-    UE_LOG(LogCarla, Warning, TEXT("Unable to rotate actor"));
-  }
-
-  RefreshWeather();
-}
-
 void ADynamicWeather::AdjustSunPositionBasedOnActorRotation()
 {
   const FVector Direction = - GetActorQuat().GetForwardVector();
@@ -143,6 +147,18 @@ void ADynamicWeather::AdjustSunPositionBasedOnActorRotation()
 
 #if WITH_EDITOR
 
+void ADynamicWeather::Update()
+{
+  // Modify this actor's rotation according to Sun position.
+  if (!SetActorRotation(FQuat(GetSunDirection().Rotation()), ETeleportType::None)) {
+    UE_LOG(LogCarla, Warning, TEXT("Unable to rotate actor"));
+  }
+
+  if (bRefreshAutomatically) {
+    RefreshWeather();
+  }
+}
+
 bool ADynamicWeather::LoadFromConfigFile()
 {
   FString FileName;

Source/Carla/DynamicWeather.h

@@ -22,6 +22,8 @@ public:
 
   virtual void OnConstruction(const FTransform &Transform) override;
 
+  virtual void BeginPlay() override;
+
 #if WITH_EDITOR
 
   virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
@@ -49,12 +51,12 @@ public:
 
 private:
 
-  void Update();
-
   void AdjustSunPositionBasedOnActorRotation();
 
 #if WITH_EDITOR
 
+  void Update();
+
   bool LoadFromConfigFile();
 
   bool SaveToConfigFile() const;
@@ -66,9 +68,17 @@ private:
   UPROPERTY()
   UArrowComponent *ArrowComponent;
 
+  /** If true, the weather is refreshed on construction and at begin play.
+    * Useful for editing the weather (Editor only).
+    */
+  UPROPERTY(Category = "Weather Description", EditAnywhere)
+  bool bRefreshAutomatically = false;
+
+  /** Load the section with the currently set name. */
   UPROPERTY(Category = "Weather Description", EditAnywhere)
   bool bLoadFromConfigFile = false;
 
+  /** Save current settings to disk. */
   UPROPERTY(Category = "Weather Description", EditAnywhere)
   bool bSaveToConfigFile = false;
 

Source/Carla/Game/CarlaGameInstance.cpp

@@ -16,7 +16,8 @@ UCarlaGameInstance::UCarlaGameInstance() {
 
 UCarlaGameInstance::~UCarlaGameInstance() {}
 
-void UCarlaGameInstance::InitializeGameControllerIfNotPresent()
+void UCarlaGameInstance::InitializeGameControllerIfNotPresent(
+    const FMockGameControllerSettings &MockControllerSettings)
 {
   if (GameController == nullptr) {
     if (CarlaSettings->bUseNetworking) {
@@ -25,8 +26,8 @@ void UCarlaGameInstance::InitializeGameControllerIfNotPresent()
           CarlaSettings->WritePort,
           CarlaSettings->ReadPort);
     } else {
-      GameController = MakeUnique<MockGameController>();
-      UE_LOG(LogCarla, Warning, TEXT("Using mock CARLA controller"));
+      GameController = MakeUnique<MockGameController>(MockControllerSettings);
+      UE_LOG(LogCarla, Log, TEXT("Using mock CARLA controller"));
     }
   }
 }

Source/Carla/Game/CarlaGameInstance.h

@@ -7,6 +7,7 @@
 #include "CarlaGameInstance.generated.h"
 
 class UCarlaSettings;
+struct FMockGameControllerSettings;
 
 /// The game instance contains elements that must be kept alive in between
 /// levels. It is instantiate once per game.
@@ -21,7 +22,8 @@ public:
 
   ~UCarlaGameInstance();
 
-  void InitializeGameControllerIfNotPresent();
+  void InitializeGameControllerIfNotPresent(
+      const FMockGameControllerSettings &MockControllerSettings);
 
   CarlaGameControllerBase &GetGameController()
   {

Source/Carla/Game/CarlaGameModeBase.cpp

@@ -23,6 +23,7 @@ ACarlaGameModeBase::ACarlaGameModeBase(const FObjectInitializer& ObjectInitializ
 {
   PrimaryActorTick.bCanEverTick = true;
   PrimaryActorTick.TickGroup = TG_PrePhysics;
+  bAllowTickBeforeBeginPlay = false;
 
   PlayerControllerClass = ACarlaVehicleController::StaticClass();
   GameStateClass = ACarlaGameState::StaticClass();
@@ -43,7 +44,7 @@ void ACarlaGameModeBase::InitGame(
   checkf(
       GameInstance != nullptr,
       TEXT("GameInstance is not a UCarlaGameInstance, did you forget to set it in the project settings?"));
-  GameInstance->InitializeGameControllerIfNotPresent();
+  GameInstance->InitializeGameControllerIfNotPresent(MockGameControllerSettings);
   GameController = &GameInstance->GetGameController();
   GameController->Initialize(GameInstance->GetCarlaSettings());
   GameInstance->GetCarlaSettings().LogSettings();
@@ -98,14 +99,21 @@ void ACarlaGameModeBase::BeginPlay()
 
   // Change weather.
   if (DynamicWeather != nullptr) {
-    const auto &Weather = CarlaSettings.GetActiveWeatherDescription();
-    UE_LOG(LogCarla, Log, TEXT("Changing weather settings to \"%s\""), *Weather.Name);
-    DynamicWeather->SetWeatherDescription(Weather);
+    const auto *Weather = CarlaSettings.GetActiveWeatherDescription();
+    if (Weather != nullptr) {
+      UE_LOG(LogCarla, Log, TEXT("Changing weather settings to \"%s\""), *Weather->Name);
+      DynamicWeather->SetWeatherDescription(*Weather);
+      DynamicWeather->RefreshWeather();
+    }
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("Missing dynamic weather actor!"));
   }
 
   // Setup walkers.
   if (WalkerSpawner != nullptr) {
     WalkerSpawner->SetNumberOfWalkers(CarlaSettings.NumberOfPedestrians);
+  } else {
+    UE_LOG(LogCarla, Error, TEXT("Missing walker spawner actor!"));
   }
 
   GameController->BeginPlay();
@@ -164,7 +172,7 @@ APlayerStart *ACarlaGameModeBase::FindUnOccupiedStartPoints(
       if (!GetWorld()->EncroachingBlockingGeometry(PawnToFit, ActorLocation, ActorRotation)) {
         UnOccupiedStartPoints.Add(PlayerStart);
       }
-#ifdef WITH_EDITOR
+#if WITH_EDITOR
       else if (GetWorld()->FindTeleportSpot(PawnToFit, ActorLocation, ActorRotation)) {
         UE_LOG(
             LogCarla,

Source/Carla/Game/CarlaGameModeBase.h

@@ -6,6 +6,7 @@
 #include "AI/WalkerSpawnerBase.h"
 #include "CarlaGameControllerBase.h"
 #include "DynamicWeather.h"
+#include "MockGameControllerSettings.h"
 #include "CarlaGameModeBase.generated.h"
 
 class APlayerStart;
@@ -15,7 +16,7 @@ class UTaggerDelegate;
 /**
  *
  */
-UCLASS()
+UCLASS(HideCategories=(ActorTick))
 class CARLA_API ACarlaGameModeBase : public AGameModeBase
 {
   GENERATED_BODY()
@@ -34,6 +35,10 @@ public:
 
 protected:
 
+  /** Used only when networking is disabled. */
+  UPROPERTY(Category = "Mock CARLA Controller", EditAnywhere, BlueprintReadOnly, meta = (ExposeFunctionCategories = "Mock CARLA Controller"))
+  FMockGameControllerSettings MockGameControllerSettings;
+
   /** The class of DynamicWeather to spawn. */
   UPROPERTY(Category = "CARLA Classes", EditAnywhere, BlueprintReadOnly)
   TSubclassOf<ADynamicWeather> DynamicWeatherClass;

Source/Carla/Game/CarlaSettings.cpp

@@ -90,9 +90,9 @@ static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settin
   Settings.WeatherDescriptions.Empty();
   ADynamicWeather::LoadWeatherDescriptionsFromFile(Settings.WeatherDescriptions);
   check(Settings.WeatherDescriptions.Num() > 0);
-  if (static_cast<int32>(Settings.WeatherId) >= Settings.WeatherDescriptions.Num()) {
+  if (Settings.WeatherId >= Settings.WeatherDescriptions.Num()) {
     UE_LOG(LogCarla, Error, TEXT("Provided weather id %d cannot be found"), Settings.WeatherId);
-    Settings.WeatherId = 0u;
+    Settings.WeatherId = -1;
   }
   // SceneCapture.
   FString Cameras;

Source/Carla/Game/CarlaSettings.h

@@ -22,9 +22,12 @@ public:
   /** Log settings values. */
   void LogSettings() const;
 
-  const FWeatherDescription &GetActiveWeatherDescription() const
+  const FWeatherDescription *GetActiveWeatherDescription() const
   {
-    return WeatherDescriptions[WeatherId];
+    if ((WeatherId >= 0) && (WeatherId < WeatherDescriptions.Num())) {
+      return &WeatherDescriptions[WeatherId];
+    }
+    return nullptr;
   }
 
 private:
@@ -70,9 +73,9 @@ public:
   UPROPERTY(Category = "Level Settings", EditDefaultsOnly)
   uint32 NumberOfPedestrians = 15u;
 
-  /** Index of the weather setting to use. */
+  /** Index of the weather setting to use. If negative, weather won't be changed. */
   UPROPERTY(Category = "Level Settings", EditDefaultsOnly)
-  uint32 WeatherId = 0;
+  int32 WeatherId = -1;
 
   /** Available weather settings. */
   UPROPERTY(Category = "Level Settings", EditDefaultsOnly)

Source/Carla/Game/MockGameController.cpp

@@ -3,15 +3,46 @@
 #include "Carla.h"
 #include "MockGameController.h"
 
-void MockGameController::Initialize(UCarlaSettings & /*CarlaSettings*/)
-{
+MockGameController::MockGameController(const FMockGameControllerSettings &InSettings) :
+  Settings(InSettings) {}
 
+void MockGameController::Initialize(UCarlaSettings & CarlaSettings)
+{
+#if WITH_EDITOR
+  if (Settings.bOverrideCarlaSettings) {
+    CarlaSettings.NumberOfVehicles = Settings.NumberOfVehicles;
+    CarlaSettings.NumberOfPedestrians = Settings.NumberOfPedestrians;
+    CarlaSettings.WeatherId = Settings.WeatherId;
+  }
+#endif // WITH_EDITOR
+
+  if (Settings.bChangeWeatherOnBeginPlay && (CarlaSettings.WeatherDescriptions.Num() > 0)) {
+    static uint32 StaticIndex = 0u;
+    CarlaSettings.WeatherId = StaticIndex % CarlaSettings.WeatherDescriptions.Num();
+    ++StaticIndex;
+  }
+
+#if WITH_EDITOR
+  if (Settings.bForceEnableSemanticSegmentation) {
+    CarlaSettings.bSemanticSegmentationEnabled = true;
+  }
+#endif // WITH_EDITOR
 }
 
 APlayerStart *MockGameController::ChoosePlayerStart(
     const TArray<APlayerStart *> &AvailableStartSpots)
 {
-  return AvailableStartSpots[FMath::RandRange(0, AvailableStartSpots.Num() - 1)];
+  check(AvailableStartSpots.Num() > 0);
+  uint32 Index;
+  if (Settings.bRandomPlayerStart) {
+    Index = FMath::RandRange(0, AvailableStartSpots.Num() - 1);
+  } else {
+    static uint32 StaticIndex = 0u;
+    Index = StaticIndex % AvailableStartSpots.Num();
+    ++StaticIndex;
+  }
+  UE_LOG(LogCarla, Log, TEXT("Spawning player at player start %d/%d"), Index, AvailableStartSpots.Num());
+  return AvailableStartSpots[Index];
 }
 
 void MockGameController::RegisterPlayer(AController &NewPlayer)

Source/Carla/Game/MockGameController.h

@@ -3,12 +3,15 @@
 #pragma once
 
 #include "CarlaGameControllerBase.h"
+#include "MockGameControllerSettings.h"
 
 /// Mocks the CARLA game controller class for testing purposes.
 class CARLA_API MockGameController : public CarlaGameControllerBase
 {
 public:
 
+  explicit MockGameController(const FMockGameControllerSettings &Settings);
+
   virtual void Initialize(UCarlaSettings &CarlaSettings) override;
 
   virtual APlayerStart *ChoosePlayerStart(const TArray<APlayerStart *> &AvailableStartSpots) override;
@@ -18,4 +21,8 @@ public:
   virtual void BeginPlay() override;
 
   virtual void Tick(float DeltaSeconds) override;
+
+private:
+
+  FMockGameControllerSettings Settings;
 };

Source/Carla/Game/MockGameControllerSettings.h

@@ -0,0 +1,46 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+#include "MockGameControllerSettings.generated.h"
+
+USTRUCT(BlueprintType)
+struct FMockGameControllerSettings
+{
+  GENERATED_USTRUCT_BODY()
+
+  /** If true, weather will be changed every time we start the level.
+    *
+    * Has precedence over options in "Override CARLA Settings".
+    */
+  UPROPERTY(EditAnywhere, Category = "Mock CARLA Controller")
+  bool bChangeWeatherOnBeginPlay = true;
+
+  /** If true, a random player start position will be chosen every time we start the level. */
+  UPROPERTY(EditAnywhere, Category = "Mock CARLA Controller")
+  bool bRandomPlayerStart = true;
+
+  /** If true, semantic segmentation will be always enabled even if no camera needs it. */
+  UPROPERTY(EditAnywhere, Category = "Mock CARLA Controller")
+  bool bForceEnableSemanticSegmentation = false;
+
+#if WITH_EDITORONLY_DATA
+
+  /** Override available settings in CARLA Settings (Editor only). */
+  UPROPERTY(EditAnywhere, Category = "Mock CARLA Controller", meta = (DisplayName = "Override CARLA Settings"))
+  bool bOverrideCarlaSettings = false;
+
+  /** Number of NPC vehicles to be spawned into the level. */
+  UPROPERTY(EditAnywhere, Category = "Mock CARLA Controller", meta = (EditCondition = "bOverrideCarlaSettings", ClampMin = 0))
+  int32 NumberOfVehicles = 5;
+
+  /** Number of NPC pedestrians to be spawned into the level. */
+  UPROPERTY(EditAnywhere, Category = "Mock CARLA Controller", meta = (EditCondition = "bOverrideCarlaSettings", ClampMin = 0))
+  int32 NumberOfPedestrians = 15;
+
+  /** Index of the weather setting to use. If negative, weather won't be changed. */
+  UPROPERTY(EditAnywhere, Category = "Mock CARLA Controller", meta = (EditCondition = "bOverrideCarlaSettings"))
+  int32 WeatherId = -1;
+
+#endif // WITH_EDITORONLY_DATA
+};

Source/Carla/MapGen/RoadMap.cpp

@@ -5,7 +5,7 @@
 
 #include "HighResScreenshot.h"
 
-#ifdef WITH_EDITOR
+#if WITH_EDITOR
 #include "DrawDebugHelpers.h"
 #endif // WITH_EDITOR
 
@@ -261,7 +261,7 @@ bool URoadMap::SaveAsPNG(const FString &Path) const
   return true;
 }
 
-#ifdef WITH_EDITOR
+#if WITH_EDITOR
 
 void URoadMap::Log() const
 {

Source/Carla/MapGen/RoadMap.h

@@ -141,7 +141,7 @@ public:
   /// Save the current map as PNG with the pixel data encoded as color.
   bool SaveAsPNG(const FString &Path) const;
 
-#ifdef WITH_EDITOR
+#if WITH_EDITOR
 
   /// Log status of the map to the console.
   void Log() const;