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Remove intermediate map when changing map. (#2911) 

* Fixed load_new_episode and removed intermediate check.

* Recovered intermediate state.

* Removing intermediate map

* Fixing merge issue

* Remove unnecessary check in load_new_episode
This commit is contained in:
doterop 2020-06-15 10:53:26 +02:00 committed by GitHub
parent d8c165ae07
commit f114dc0aa1
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 8 additions and 67 deletions
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4
LibCarla/source/carla/client/detail/Client.cpp
View File

@ -145,10 +145,6 @@ namespace detail {
_pimpl->CallAndWait<void>("load_new_episode", std::move(map_name));
}
bool Client::CheckIntermediateEpisode() {
return _pimpl->CallAndWait<bool>("check_intermediate_episode");
}
void Client::CopyOpenDriveToServer(std::string opendrive, const rpc::OpendriveGenerationParameters & params) {
// Await response, we need to be sure in this one.
_pimpl->CallAndWait<void>("copy_opendrive_to_file", std::move(opendrive), params);

2
LibCarla/source/carla/client/detail/Client.h
View File

@ -89,8 +89,6 @@ namespace detail {
void LoadEpisode(std::string map_name);
bool CheckIntermediateEpisode();
void CopyOpenDriveToServer(
std::string opendrive, const rpc::OpendriveGenerationParameters & params);

2
LibCarla/source/carla/client/detail/Simulator.cpp
View File

@ -90,7 +90,7 @@ namespace detail {
using namespace std::literals::chrono_literals;
_episode->WaitForState(10ms);
auto episode = GetCurrentEpisode();
if (episode.GetId() != id && !_client.CheckIntermediateEpisode()) {
if (episode.GetId() != id) {
return episode;
}
}

15
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.cpp
View File

@ -17,18 +17,3 @@ UCarlaGameInstance::UCarlaGameInstance() {
}
UCarlaGameInstance::~UCarlaGameInstance() = default;
void UCarlaGameInstance::SetMapToLoad(const FString MapName)
{
MapToLoad = MapName;
bShouldLoadLevel = true;
}
void UCarlaGameInstance::CheckAndLoadMap(UWorld *world, UCarlaEpisode &Episode)
{
if(bShouldLoadLevel)
{
Episode.LoadNewEpisode(MapToLoad);
bShouldLoadLevel = false;
}
}

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h
View File

@ -83,14 +83,6 @@ public:
return GenerationParameters;
}
void SetMapToLoad(const FString MapName);
void CheckAndLoadMap(UWorld *world, UCarlaEpisode &Episode);
bool IsLevelPendingLoad() const {
return bShouldLoadLevel;
}
private:
UPROPERTY(Category = "CARLA Settings", EditAnywhere)
@ -100,9 +92,4 @@ private:
carla::rpc::OpendriveGenerationParameters GenerationParameters;
UPROPERTY()
bool bShouldLoadLevel = false;
UPROPERTY()
FString MapToLoad;
};

16
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
View File

@ -142,7 +142,6 @@ void ACarlaGameModeBase::BeginPlay()
Recorder->GetReplayer()->CheckPlayAfterMapLoaded();
}
UCarlaStatics::GetGameInstance(GetWorld())->CheckAndLoadMap(GetWorld(), *Episode);
}
void ACarlaGameModeBase::Tick(float DeltaSeconds)
@ -194,15 +193,12 @@ void ACarlaGameModeBase::SpawnActorFactories()
void ACarlaGameModeBase::ParseOpenDrive(const FString &MapName)
{
if(!UCarlaStatics::GetGameInstance(Episode->GetWorld())->IsLevelPendingLoad())
{
std::string opendrive_xml = carla::rpc::FromLongFString(UOpenDrive::LoadXODR(MapName));
Map = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
if (!Map.has_value()) {
UE_LOG(LogCarla, Error, TEXT("Invalid Map"));
} else {
Episode->MapGeoReference = Map->GetGeoReference();
}
std::string opendrive_xml = carla::rpc::FromLongFString(UOpenDrive::LoadXODR(MapName));
Map = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
if (!Map.has_value()) {
UE_LOG(LogCarla, Error, TEXT("Invalid Map"));
} else {
Episode->MapGeoReference = Map->GetGeoReference();
}
}

23
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -229,34 +229,13 @@ void FCarlaServer::FPimpl::BindActions()
BIND_SYNC(load_new_episode) << [this](const std::string &map_name) -> R<void>
{
REQUIRE_CARLA_EPISODE();
FString MapName = cr::ToFString(map_name);
MapName = MapName.IsEmpty() ? Episode->GetMapName() : MapName;
auto Maps = UCarlaStatics::GetAllMapNames();
Maps.Add("OpenDriveMap");
bool bMissingMap = true;
for (auto & Map : Maps)
{
if(Map.Contains(MapName))
{
bMissingMap = false;
break;
}
}
if(bMissingMap)
if(!Episode->LoadNewEpisode(cr::ToFString(map_name)))
{
RESPOND_ERROR("map not found");
}
UCarlaStatics::GetGameInstance(Episode->GetWorld())->SetMapToLoad(MapName);
Episode->LoadNewEpisode(cr::ToFString("EmptyMap"));
return R<void>::Success();
};
BIND_SYNC(check_intermediate_episode) << [this]() -> R<bool>
{
REQUIRE_CARLA_EPISODE();
return UCarlaStatics::GetGameInstance(Episode->GetWorld())->IsLevelPendingLoad();
};
BIND_SYNC(copy_opendrive_to_file) << [this](const std::string &opendrive, cr::OpendriveGenerationParameters Params) -> R<void>
{
REQUIRE_CARLA_EPISODE();