From f9b7578d6c84dbc60e54211441f84375d698017c Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 28 Jul 2018 13:04:59 +0200
Subject: [PATCH] Allow destroying actors from Python

---
 LibCarla/source/carla/client/Actor.cpp         | 18 ++++++++++++++++++
 LibCarla/source/carla/client/Actor.h           |  2 ++
 LibCarla/source/carla/client/Client.cpp        |  4 ++++
 LibCarla/source/carla/client/Client.h          |  2 ++
 PythonAPI/source/libcarla/Actor.cpp            |  1 +
 .../Source/Carla/Server/TheNewCarlaServer.cpp  |  9 +++++++++
 6 files changed, 36 insertions(+)
 create mode 100644 LibCarla/source/carla/client/Actor.cpp

diff --git a/LibCarla/source/carla/client/Actor.cpp b/LibCarla/source/carla/client/Actor.cpp
new file mode 100644
index 000000000..7ad70ccca
--- /dev/null
+++ b/LibCarla/source/carla/client/Actor.cpp
@@ -0,0 +1,18 @@
+// 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>.
+
+#include "carla/client/Actor.h"
+#include "carla/client/Client.h"
+
+namespace carla {
+namespace client {
+
+  void Actor::Destroy() {
+    GetWorld()->GetClient().DestroyActor(*this);
+  }
+
+} // namespace client
+} // namespace carla
diff --git a/LibCarla/source/carla/client/Actor.h b/LibCarla/source/carla/client/Actor.h
index c7c641b1e..6216eae92 100644
--- a/LibCarla/source/carla/client/Actor.h
+++ b/LibCarla/source/carla/client/Actor.h
@@ -43,6 +43,8 @@ namespace client {
       return _actor;
     }
 
+    void Destroy();
+
   protected:
 
     Actor(carla::rpc::Actor actor, SharedPtr<World> world)
diff --git a/LibCarla/source/carla/client/Client.cpp b/LibCarla/source/carla/client/Client.cpp
index 93c11d61b..43eb5c1c5 100644
--- a/LibCarla/source/carla/client/Client.cpp
+++ b/LibCarla/source/carla/client/Client.cpp
@@ -35,6 +35,10 @@ namespace client {
     return SharedPtr<Actor>(new Vehicle{actor, GetWorld()});
   }
 
+  void Client::DestroyActor(Actor &actor) {
+    _client.call("destroy_actor", actor.Serialize());
+  }
+
   void Client::ApplyControlToActor(
       const Actor &actor,
       const VehicleControl &control) {
diff --git a/LibCarla/source/carla/client/Client.h b/LibCarla/source/carla/client/Client.h
index 9ecca995a..c1446ddc7 100644
--- a/LibCarla/source/carla/client/Client.h
+++ b/LibCarla/source/carla/client/Client.h
@@ -76,6 +76,8 @@ namespace client {
         const Transform &transform,
         Actor *parent = nullptr);
 
+    void DestroyActor(Actor &actor);
+
     void ApplyControlToActor(
         const Actor &actor,
         const VehicleControl &control);
diff --git a/PythonAPI/source/libcarla/Actor.cpp b/PythonAPI/source/libcarla/Actor.cpp
index 5821bb2e1..a3f75c776 100644
--- a/PythonAPI/source/libcarla/Actor.cpp
+++ b/PythonAPI/source/libcarla/Actor.cpp
@@ -79,6 +79,7 @@ void export_actor() {
       return self.GetTypeId();
     })
     .def("get_world", &cc::Actor::GetWorld)
+    .def("destroy", &cc::Actor::Destroy)
     .def(self_ns::str(self_ns::self))
   ;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
index 35d7b7bcf..d3c94f1e2 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
@@ -185,6 +185,15 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return SerializeActor(ActorView);
   });
 
+  Server.BindSync("destroy_actor", [this](cr::Actor Actor) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to destroy actor: actor not found");
+    }
+    Episode->DestroyActor(ActorView.GetActor());
+  });
+
   Server.BindSync("attach_actors", [this](cr::Actor Child, cr::Actor Parent) {
     RequireEpisode();
     auto &Registry = Episode->GetActorRegistry();