Removed some commented code

CHANGELOG.md

@@ -1,7 +1,7 @@
 ## Latest
-
   * Upgraded to Unreal Engine 4.22
   * Recorder fixes:
+    - Fixed a possible crash if an actor is respawned before the episode is ready when a new map is loaded automatically.
     - Actors at start of playback could interpolate positions from its current position instead than the recorded position, making some fast sliding effect during 1 frame.
     - Camera following in playback was not working if a new map was needed to load.
     - API function 'show_recorder_file_info' was showing the wrong parent id.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp

@@ -111,7 +111,10 @@ void ACarlaGameModeBase::BeginPlay()
 
   /// @todo Recorder should not tick here, FCarlaEngine should do it.
   // check if replayer is waiting to autostart
-  if (Recorder) Recorder->GetReplayer()->CheckPlayAfterMapLoaded();
+  if (Recorder)
+  {
+    Recorder->GetReplayer()->CheckPlayAfterMapLoaded();
+  }
 }
 
 void ACarlaGameModeBase::Tick(float DeltaSeconds)
@@ -119,7 +122,10 @@ void ACarlaGameModeBase::Tick(float DeltaSeconds)
   Super::Tick(DeltaSeconds);
 
   /// @todo Recorder should not tick here, FCarlaEngine should do it.
-  if (Recorder) Recorder->Tick(DeltaSeconds);
+  if (Recorder)
+  {
+    Recorder->Tick(DeltaSeconds);
+  }
 }
 
 void ACarlaGameModeBase::EndPlay(const EEndPlayReason::Type EndPlayReason)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp

@@ -215,8 +215,6 @@ std::string ACarlaRecorder::Start(std::string Name, FString MapName)
   std::string Filename = GetRecorderFilename(Name);
 
   // binary file
-  // file.open(filename.str(), std::ios::binary | std::ios::trunc |
-  // std::ios::out);
   File.open(Filename, std::ios::binary);
   if (!File.is_open())
   {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderQuery.cpp

@@ -72,7 +72,6 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
   auto PrintFrame = [this](std::stringstream &Info)
   {
     Info << "Frame " << Frame.Id << " at " << Frame.Elapsed << " seconds\n";
-    // Info << "Frame " << Frame.Id << " at " << Frame.Elapsed << " seconds (offset 0x" << std::hex << File.tellg() << std::dec << ")\n";
   };
 
   if (!CheckFileInfo(Info))
@@ -178,6 +177,7 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
         }
         break;
 
+      // positions
       case static_cast<char>(CarlaRecorderPacketId::Position):
         if (bShowAll)
         {
@@ -198,6 +198,7 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
           SkipPacket();
         break;
 
+      // traffic light
       case static_cast<char>(CarlaRecorderPacketId::State):
         if (bShowAll)
         {
@@ -412,14 +413,12 @@ std::string CarlaRecorderQuery::QueryCollisions(std::string Filename, char Categ
             auto collisionPair = std::make_pair(Collision.DatabaseId1, Collision.DatabaseId2);
             if (oldCollisions.count(collisionPair) == 0)
             {
-              // Info << std::setw(5) << Collision.Id << " ";
               Info << std::setw(8) << std::setprecision(0) << std::right << std::fixed << Frame.Elapsed;
               Info << " " << "  " << Type1 << " " << Type2 << " ";
               Info << " " << std::setw(6) << std::right << Collision.DatabaseId1;
               Info << " " << std::setw(35) << std::left << TCHAR_TO_UTF8(*Actors[Collision.DatabaseId1].Id);
               Info << " " << std::setw(6) << std::right << Collision.DatabaseId2;
               Info << " " << std::setw(35) << std::left << TCHAR_TO_UTF8(*Actors[Collision.DatabaseId2].Id);
-              //Info << std::setw(8) << Frame.Id;
               Info << std::endl;
             }
             // save current collision
@@ -429,7 +428,6 @@ std::string CarlaRecorderQuery::QueryCollisions(std::string Filename, char Categ
         break;
 
       case static_cast<char>(CarlaRecorderPacketId::Position):
-        // Info << "Positions\n";
         SkipPacket();
         break;
 
@@ -546,6 +544,7 @@ std::string CarlaRecorderQuery::QueryBlocked(std::string Filename, double MinTim
         SkipPacket();
         break;
 
+      // positions
       case static_cast<char>(CarlaRecorderPacketId::Position):
         // read all positions
         ReadValue<uint16_t>(File, Total);
@@ -580,6 +579,7 @@ std::string CarlaRecorderQuery::QueryBlocked(std::string Filename, double MinTim
         }
         break;
 
+      // traffic light
       case static_cast<char>(CarlaRecorderPacketId::State):
         SkipPacket();
         break;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.cpp

@@ -257,7 +257,6 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
     Per = (NewTime - Frame.Elapsed) / Frame.DurationThis;
     bFrameFound = true;
     bExitLoop = true;
-    // UE_LOG(LogCarla, Log, TEXT("Frame %f (%f) now %f per %f"), Frame.Elapsed, Frame.Elapsed + Frame.DurationThis, NewTime, Per);
   }
 
   // process all frames until time we want or end
@@ -278,7 +277,6 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
         {
           Per = (NewTime - Frame.Elapsed) / Frame.DurationThis;
           bFrameFound = true;
-          // UE_LOG(LogCarla, Log, TEXT("Frame %f (%f) now %f per %f"), Frame.Elapsed, Frame.Elapsed + Frame.DurationThis, NewTime, Per);
         }
         break;
 
@@ -378,7 +376,6 @@ void CarlaReplayer::ProcessEventsAdd(void)
 {
   uint16_t i, Total;
   CarlaRecorderEventAdd EventAdd;
-  // std::stringstream Info;
 
   // process creation events
   ReadValue<uint16_t>(File, Total);
@@ -386,17 +383,6 @@ void CarlaReplayer::ProcessEventsAdd(void)
   {
     EventAdd.Read(File);
 
-    // show log
-    // Info.str("");
-    // Info << " Create " << EventAdd.DatabaseId << ": " << TCHAR_TO_UTF8(*EventAdd.Description.Id) << " (" <<
-      // EventAdd.Description.UId << ") at (" << EventAdd.Location.X << ", " <<
-      // EventAdd.Location.Y << ", " << EventAdd.Location.Z << ")" << std::endl;
-    // for (auto &Att : EventAdd.Description.Attributes)
-    // {
-    //   Info << "  " << TCHAR_TO_UTF8(*Att.Id) << " = " << TCHAR_TO_UTF8(*Att.Value) << std::endl;
-    // }
-    // UE_LOG(LogCarla, Log, TEXT("%s"), Info.str().c_str());
-
     // auto Result = CallbackEventAdd(
     auto Result = Helper.ProcessReplayerEventAdd(
         EventAdd.Location,
@@ -413,21 +399,12 @@ void CarlaReplayer::ProcessEventsAdd(void)
 
       // actor created but with different id
       case 1:
-        // if (Result.second != EventAdd.DatabaseId)
-        // {
-        //   UE_LOG(LogCarla, Log, TEXT("actor created but with different id"));
-        // }
-        // else
-        // {
-        //   UE_LOG(LogCarla, Log, TEXT("actor created with same id"));
-        // }
         // mapping id (recorded Id is a new Id in replayer)
         MappedId[EventAdd.DatabaseId] = Result.second;
         break;
 
       // actor reused from existing
       case 2:
-        // UE_LOG(LogCarla, Log, TEXT("actor already exist, not created"));
         // mapping id (say desired Id is mapped to what)
         MappedId[EventAdd.DatabaseId] = Result.second;
         break;
@@ -439,16 +416,12 @@ void CarlaReplayer::ProcessEventsDel(void)
 {
   uint16_t i, Total;
   CarlaRecorderEventDel EventDel;
-  // std::stringstream Info;
 
   // process destroy events
   ReadValue<uint16_t>(File, Total);
   for (i = 0; i < Total; ++i)
   {
     EventDel.Read(File);
-    // Info.str("");
-    // Info << "Destroy " << MappedId[EventDel.DatabaseId] << "\n";
-    // UE_LOG(LogCarla, Log, "%s", Info.str().c_str());
     Helper.ProcessReplayerEventDel(MappedId[EventDel.DatabaseId]);
     MappedId.erase(EventDel.DatabaseId);
   }
@@ -465,10 +438,6 @@ void CarlaReplayer::ProcessEventsParent(void)
   for (i = 0; i < Total; ++i)
   {
     EventParent.Read(File);
-    // Info.str("");
-    // Info << "Parenting " << MappedId[EventParent.DatabaseId] << " with " << MappedId[EventParent.DatabaseId] <<
-      // " (parent)\n";
-    // UE_LOG(LogCarla, Log, "%s", Info.str().c_str());
     Helper.ProcessReplayerEventParent(MappedId[EventParent.DatabaseId], MappedId[EventParent.DatabaseIdParent]);
   }
 }
@@ -485,7 +454,6 @@ void CarlaReplayer::ProcessStates(void)
   {
     StateTrafficLight.Read(File);
 
-    // UE_LOG(LogCarla, Log, TEXT("calling callback add"));
     StateTrafficLight.DatabaseId = MappedId[StateTrafficLight.DatabaseId];
     if (!Helper.ProcessReplayerStateTrafficLight(StateTrafficLight))
     {
@@ -581,7 +549,6 @@ void CarlaReplayer::UpdatePositions(double Per, double DeltaTime)
     if (NewId != MappedId.end())
     {
       NewFollowId = NewId->second;
-      // UE_LOG(LogCarla, Log, TEXT("Following %d (%d)"), NewFollowId, FollowId);
     }
   }
 
@@ -611,7 +578,6 @@ void CarlaReplayer::UpdatePositions(double Per, double DeltaTime)
     {
       if (NewFollowId == CurrPos[i].DatabaseId)
         Helper.SetCameraPosition(NewFollowId, FVector(-1000, 0, 500), FQuat::MakeFromEuler({0, -25, 0}));
-        // Helper.SetCameraPosition(NewFollowId, FVector(0, 0, 2000), FQuat::MakeFromEuler({0, -70, 0}));
     }
   }
 }
@@ -635,6 +601,4 @@ void CarlaReplayer::Tick(float Delta)
   {
     ProcessToTime(Delta * TimeFactor, false);
   }
-
-  // UE_LOG(LogCarla, Log, TEXT("Replayer tick"));
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.cpp

@@ -33,7 +33,6 @@ std::pair<int, FActorView>CarlaReplayerHelper::TryToCreateReplayerActor(
       // actor found
       auto view = Episode->GetActorRegistry().Find(Actor);
       // reuse that actor
-      // UE_LOG(LogCarla, Log, TEXT("TrafficLight found with id: %d"), view.GetActorId());
       return std::pair<int, FActorView>(2, view);
     }
     else
@@ -46,12 +45,10 @@ std::pair<int, FActorView>CarlaReplayerHelper::TryToCreateReplayerActor(
   else if (!ActorDesc.Id.StartsWith("sensor."))
   {
     // check if an actor of that type already exist with same id
-    // UE_LOG(LogCarla, Log, TEXT("Trying to create actor: %s (%d)"), *ActorDesc.Id, DesiredId);
     if (Episode->GetActorRegistry().Contains(DesiredId))
     {
       auto view = Episode->GetActorRegistry().Find(DesiredId);
       const FActorDescription *desc = &view.GetActorInfo()->Description;
-      // UE_LOG(LogCarla, Log, TEXT("actor '%s' already exist with id %d"), *(desc->Id), view.GetActorId());
       if (desc->Id == ActorDesc.Id)
       {
         // we don't need to create, actor of same type already exist
@@ -60,17 +57,14 @@ std::pair<int, FActorView>CarlaReplayerHelper::TryToCreateReplayerActor(
     }
     // create the transform
     FRotator Rot = FRotator::MakeFromEuler(Rotation);
-    // FTransform Trans(Rot, Location, FVector(1, 1, 1));
     FTransform Trans(Rot, FVector(0, 0, 100000), FVector(1, 1, 1));
     // create as new actor
     TPair<EActorSpawnResultStatus, FActorView> Result = Episode->SpawnActorWithInfo(Trans, ActorDesc, DesiredId);
     if (Result.Key == EActorSpawnResultStatus::Success)
     {
-      // UE_LOG(LogCarla, Log, TEXT("Actor created by replayer with id %d"), Result.Value.GetActorId());
       // relocate
       FTransform Trans2(Rot, Location, FVector(1, 1, 1));
       Result.Value.GetActor()->SetActorTransform(Trans2, false, nullptr, ETeleportType::TeleportPhysics);
-      // Result.Value.GetActor()->SetLocation(Trans2);
       return std::pair<int, FActorView>(1, Result.Value);
     }
     else
@@ -96,7 +90,6 @@ AActor *CarlaReplayerHelper::FindTrafficLightAt(FVector Location)
   int x = static_cast<int>(Location.X);
   int y = static_cast<int>(Location.Y);
   int z = static_cast<int>(Location.Z);
-  // UE_LOG(LogCarla, Log, TEXT("Trying to find traffic: [%d,%d,%d]"), x, y, z);
 
   // search an "traffic." actor at that position
   for (TActorIterator<ATrafficSignBase> It(World); It; ++It)
@@ -107,7 +100,6 @@ AActor *CarlaReplayerHelper::FindTrafficLightAt(FVector Location)
     int x2 = static_cast<int>(vec.X);
     int y2 = static_cast<int>(vec.Y);
     int z2 = static_cast<int>(vec.Z);
-    // UE_LOG(LogCarla, Log, TEXT(" Checking with [%d,%d,%d]"), x2, y2, z2);
     if ((x2 == x) && (y2 == y) && (z2 == z))
     {
       // actor found
@@ -220,7 +212,6 @@ bool CarlaReplayerHelper::ProcessReplayerEventParent(uint32_t ChildId, uint32_t
   {
     child->AttachToActor(parent, FAttachmentTransformRules::KeepRelativeTransform);
     child->SetOwner(parent);
-    // UE_LOG(LogCarla, Log, TEXT("Parenting Actor"));
     return true;
   }
   else
@@ -280,7 +271,6 @@ bool CarlaReplayerHelper::SetCameraPosition(uint32_t Id, FVector Offset, FQuat R
   Spectator->SetActorLocation(Pos);
   Spectator->SetActorRotation(ActorRot * Rotation);
 
-  // UE_LOG(LogCarla, Log, TEXT("Set camera at [%d,%d,%d]"), Pos.X, Pos.Y, Pos.Z);
   return true;
 }