Add smart ptr branch into awareness gamemode

CHANGELOG.md

@@ -1,10 +1,14 @@
-## DReyeVR 0.1.2 (for Carla 0.9.13)
+## DReyeVR 0.1.3
+- Fix bug where other non-ego Autopilto vehicles ignored the EgoVehicle and would routinely crash into it
+- Fix bug where some EgoVehicle attributes were missing, notably `"number_of_wheels"`
+
+## DReyeVR 0.1.2
 - Update documentation to refer to CarlaUnreal UE4 fork rather than HarpLab fork
 - Apply patches for installation of zlib (broken link) and xerces (broken link & `-Dtranscoder=windows` flag) and PythonAPI
 - Fix crash on BeginPlay when EgoVehicle blueprint is already present in map (before world start)
 - Prefer building PythonAPI with `python` rather than Windows built-in `py -3` (good if using conda) but fallback if `python` is not available 
 
-## DReyeVR 0.1.1 (for Carla 0.9.13)
+## DReyeVR 0.1.1
 - Update documentation, add developer-centric in-depth documentation
 - Adding missing includes for TrafficSign RoadInfoSignal in SignComponent
 - Replacing `DReyeVRData.inl` with `DReyeVRData.cpp` and corresponding virtual classes
@@ -15,7 +19,7 @@
 - Fix bug with spectator being reenacted by Carla, preferring to use our own ASpectator
 - Automatically possess spectator pawn when EgoVehicle is destroyed. Can re-spawn EgoVehicle by pressing 1. 
 
-## DReyeVR 0.1.0 (for Carla 0.9.13)
+## DReyeVR 0.1.0
 - Replace existing `LevelScript` (`ADReyeVRLevel`) with `GameMode` (`ADReyeVRGameMode`). This allows us to not need to carry the (large) map blueprint files (ue4 binary) and we can use the vanilla Carla maps without modification. By default we spawn the EgoVehicle in the first of the recommended Carla locations, but this default behavior can be changed in the PythonAPI. For instance, you can delay spawning the EgoVehicle until via PythonAPI where you can specify the spawn transform. Existing functionality is preserved using `find_ego_vehicle` and `find_ego_sensor` which spawn the DReyeVR EgoVehicle if it does not exist in the world. 
 - Added `ADReyeVRFactory` as the Carla-esque spawning and registry functionality so the `EgoVehicle` and `EgoSensor` are spawned with the same "Factory" mechanisms as existing Carla vehicles/sensors/props/etc.
 - Renamed DReyeVR-specific actors to be addressible in PythonAPI as `"harplab.dreyevr_$X.$id"` such as `"harplab.dreyevr_vehicle.model3"` and `"harplab.dreyevr_sensor.ego_sensor"`. Avoids conflicts with existing Carla PythonAPI scripts that may filter on `"vehicle.*"`.

Carla/Recorder/CarlaReplayer.cpp

@@ -32,6 +32,10 @@ void CarlaReplayer::Stop(bool bKeepActors)
 
     // callback
     Helper.ProcessReplayerFinish(bKeepActors, IgnoreHero, IsHeroMap);
+
+    // turn off DReyeVR replay
+    if (GetEgoSensor())
+      GetEgoSensor()->StopReplaying();
   }
 
   File.close();
@@ -291,6 +295,70 @@ void CarlaReplayer::CheckPlayAfterMapLoaded(void)
   Enabled = true;
 }
 
+class ADReyeVRSensor *CarlaReplayer::GetEgoSensor()
+{
+  if (EgoSensor.IsValid()) {
+    return EgoSensor.Get();
+  }
+  // not tracked yet, lets find the EgoSensor
+  if (Episode == nullptr) {
+    DReyeVR_LOG_ERROR("No Replayer Episode available!");
+    return nullptr;
+  }
+  EgoSensor = ADReyeVRSensor::GetDReyeVRSensor(Episode->GetWorld());
+  if (!EgoSensor.IsValid()) {
+    DReyeVR_LOG_ERROR("No EgoSensor available!");
+    return nullptr;
+  }
+  return EgoSensor.Get();
+}
+
+template<>
+void CarlaReplayer::ProcessDReyeVR<DReyeVR::AggregateData>(double Per, double DeltaTime)
+{
+  uint16_t Total;
+  // read number of DReyeVR entries
+  ReadValue<uint16_t>(File, Total); // read number of events
+  check(Total == 1); // should be only one Agg data
+  for (uint16_t i = 0; i < Total; ++i)
+  {
+    struct DReyeVRDataRecorder<DReyeVR::AggregateData> Instance;
+    Instance.Read(File);
+    Helper.ProcessReplayerDReyeVR<DReyeVR::AggregateData>(GetEgoSensor(), Instance.Data, Per);
+  }
+}
+
+template<>
+void CarlaReplayer::ProcessDReyeVR<DReyeVR::CustomActorData>(double Per, double DeltaTime)
+{
+  uint16_t Total;
+  ReadValue<uint16_t>(File, Total); // read number of events
+  CustomActorsVisited.clear();
+  for (uint16_t i = 0; i < Total; ++i)
+  {
+    struct DReyeVRDataRecorder<DReyeVR::CustomActorData> Instance;
+    Instance.Read(File);
+    Helper.ProcessReplayerDReyeVR<DReyeVR::CustomActorData>(GetEgoSensor(), Instance.Data, Per);
+    auto Name = Instance.GetUniqueName();
+    CustomActorsVisited.insert(Name); // to track lifetime
+  }
+
+  for (auto It = ADReyeVRCustomActor::ActiveCustomActors.begin(); It != ADReyeVRCustomActor::ActiveCustomActors.end();){
+    const std::string &ActiveActorName = It->first;
+    if (CustomActorsVisited.find(ActiveActorName) == CustomActorsVisited.end()) // currently alive actor who was not visited... time to disable
+    {
+      // now this has to be garbage collected
+      auto Next = std::next(It, 1); // iterator following the last removed element
+      It->second->Deactivate();
+      It = Next;
+    }
+    else
+    {
+      ++It; // increment iterator if not erased
+    }
+  }
+}
+
 void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
 {
   double Per = 0.0f;
@@ -401,18 +469,18 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
         ProcessWeather();
         break;
 
-      // DReyeVR eye logging data
+      // DReyeVR ego sensor data
       case static_cast<char>(CarlaRecorderPacketId::DReyeVR):
         if (bFrameFound)
-          ProcessDReyeVRData<DReyeVRDataRecorder<DReyeVR::AggregateData>>(Per, Time, true);
+          ProcessDReyeVR<DReyeVR::AggregateData>(Per, Time);
         else
           SkipPacket();
         break;
 
-      // DReyeVR eye logging data
+      // DReyeVR custom actor data
       case static_cast<char>(CarlaRecorderPacketId::DReyeVRCustomActor):
         if (bFrameFound)
-          ProcessDReyeVRData<DReyeVRDataRecorder<DReyeVR::CustomActorData>>(Per, Time, false);
+          ProcessDReyeVR<DReyeVR::CustomActorData>(Per, Time);
         else
           SkipPacket();
         break;
@@ -647,49 +715,6 @@ void CarlaReplayer::ProcessWeather(void)
   }
 }
 
-template <typename T> void CarlaReplayer::ProcessDReyeVRData(double Per, double DeltaTime, bool bShouldBeOnlyOne)
-{
-  uint16_t Total;
-  // custom DReyeVR packets
-
-  // read Total DReyeVR events
-  ReadValue<uint16_t>(File, Total); // read number of events
-
-  Visited.clear();
-  for (uint16_t i = 0; i < Total; ++i)
-  {
-    T DReyeVRDataInstance;
-    DReyeVRDataInstance.Read(File);
-    Helper.ProcessReplayerDReyeVRData<T>(DReyeVRDataInstance, Per);
-    if (!bShouldBeOnlyOne)
-    {
-      auto Name = DReyeVRDataInstance.GetUniqueName();
-      Visited.insert(Name);
-    }
-  }
-  if (bShouldBeOnlyOne)
-  {
-    check(Total == 1);
-  }
-  else
-  {
-    for (auto It = ADReyeVRCustomActor::ActiveCustomActors.begin(); It != ADReyeVRCustomActor::ActiveCustomActors.end();){
-      const std::string &ActiveActorName = It->first;
-      if (Visited.find(ActiveActorName) == Visited.end()) // currently alive actor who was not visited... time to disable
-      {
-        // now this has to be garbage collected
-        auto Next = std::next(It, 1); // iterator following the last removed element
-        It->second->Deactivate();
-        It = Next;
-      }
-      else
-      {
-        ++It; // increment iterator if not erased
-      }
-    }
-  }
-}
-
 void CarlaReplayer::ProcessPositions(bool IsFirstTime)
 {
   uint16_t i, Total;
@@ -823,12 +848,8 @@ void CarlaReplayer::ProcessFrameByFrame()
   if (SyncCurrentFrameId > 0)
     LastTime = FrameStartTimes[SyncCurrentFrameId - 1];
   ProcessToTime(FrameStartTimes[SyncCurrentFrameId] - LastTime, (SyncCurrentFrameId == 0));
-  if (ADReyeVRSensor::GetDReyeVRSensor(Episode->GetWorld()))
-    // have the vehicle camera take a screenshot to record the replay
-    ADReyeVRSensor::GetDReyeVRSensor()->TakeScreenshot();
-  else
-    DReyeVR_LOG_ERROR("No DReyeVR sensor available!");
-
+  if (GetEgoSensor()) // take screenshot of this frame
+    GetEgoSensor()->TakeScreenshot();
   // progress to the next frame
   if (SyncCurrentFrameId < FrameStartTimes.size() - 1)
     SyncCurrentFrameId++;

Carla/Recorder/CarlaReplayer.h

@@ -168,8 +168,11 @@ class CARLA_API CarlaReplayer
   void ProcessWeather(void);
 
   // DReyeVR recordings
-  template <typename T> void ProcessDReyeVRData(double Per, double DeltaTime, bool bShouldBeOnlyOne);
-  std::unordered_set<std::string> Visited = {};
+  template <typename T>
+  void ProcessDReyeVR(double Per, double DeltaTime);
+  std::unordered_set<std::string> CustomActorsVisited = {};
+  class ADReyeVRSensor *GetEgoSensor(); // (safe) getter for EgoSensor
+  TWeakObjectPtr<class ADReyeVRSensor> EgoSensor;
 
   // For restarting the recording with the same params
   struct LastReplayStruct

Carla/Recorder/CarlaReplayerHelper.cpp

@@ -477,20 +477,20 @@ bool CarlaReplayerHelper::ProcessReplayerFinish(bool bApplyAutopilot, bool bIgno
         break;
     }
   }
-  // tell the DReyeVR sensor to NOT continue replaying
-  if (ADReyeVRSensor::GetDReyeVRSensor(Episode->GetWorld()))
-    ADReyeVRSensor::GetDReyeVRSensor()->StopReplaying();
-  else
-    DReyeVR_LOG_ERROR("No DReyeVR sensor available!");
   return true;
 }
 
-template <typename T> void CarlaReplayerHelper::ProcessReplayerDReyeVRData(const T &DReyeVRDataInstance, const double Per)
+template <typename T> 
+void CarlaReplayerHelper::ProcessReplayerDReyeVR(ADReyeVRSensor *EgoSensor, const T &Data, const double Per)
 {
-  if (ADReyeVRSensor::GetDReyeVRSensor(Episode->GetWorld()))
-    ADReyeVRSensor::GetDReyeVRSensor()->UpdateData(DReyeVRDataInstance.Data, Per);
-  else
+  if (EgoSensor == nullptr) { // try getting and assigning the new EgoSensor
+    EgoSensor = ADReyeVRSensor::GetDReyeVRSensor(Episode->GetWorld());
+  }
+  if (EgoSensor == nullptr) { // still null?? throw an error
     DReyeVR_LOG_ERROR("No DReyeVR sensor available!");
+    return;
+  }
+  EgoSensor->UpdateData(Data, Per);
 }
 
 void CarlaReplayerHelper::SetActorVelocity(FCarlaActor *CarlaActor, FVector Velocity)

Carla/Recorder/CarlaReplayerHelper.h

@@ -23,6 +23,7 @@
 class UCarlaEpisode;
 class FCarlaActor;
 struct FActorDescription;
+class ADReyeVRSensor; // fwd for DReyeVR (avoid header conflict)
 
 class CarlaReplayerHelper
 {
@@ -75,7 +76,8 @@ class CarlaReplayerHelper
   bool ProcessReplayerFinish(bool bApplyAutopilot, bool bIgnoreHero, std::unordered_map<uint32_t, bool> &IsHero);
 
   // update the DReyeVR ego sensor and custom types
-  template <typename T> void ProcessReplayerDReyeVRData(const T &DReyeVRDataInstance, const double Per);
+  template <typename T> 
+  void ProcessReplayerDReyeVR(ADReyeVRSensor *EgoSensor, const T &Data, const double Per);
 
   // set the camera position to follow an actor
   bool SetCameraPosition(uint32_t Id, FVector Offset, FQuat Rotation);

DReyeVR/DReyeVRFactory.cpp

@@ -3,6 +3,7 @@
 #include "Carla/Actor/ActorBlueprintFunctionLibrary.h" // UActorBlueprintFunctionLibrary
 #include "Carla/Actor/VehicleParameters.h"             // FVehicleParameters
 #include "Carla/Game/CarlaEpisode.h"                   // UCarlaEpisode
+#include "DReyeVRGameMode.h"                           // ADReyeVRGameMode
 #include "EgoSensor.h"                                 // AEgoSensor
 #include "EgoVehicle.h"                                // AEgoVehicle
 
@@ -63,46 +64,28 @@ void ADReyeVRFactory::MakeVehicleDefinition(const FVehicleParameters &Parameters
     Definition = MakeGenericDefinition(CATEGORY, TEXT("DReyeVR_Vehicle"), Parameters.Model);
     Definition.Class = Parameters.Class;
 
-    FActorVariation ActorRole;
-    {
-        ActorRole.Id = TEXT("role_name");
-        ActorRole.Type = EActorAttributeType::String;
-        ActorRole.RecommendedValues = {TEXT("ego_vehicle")}; // assume this is the CARLA "hero"
-        ActorRole.bRestrictToRecommended = false;
-    }
-    Definition.Variations.Emplace(ActorRole);
-
-    FActorVariation StickyControl;
-    {
-        StickyControl.Id = TEXT("sticky_control");
-        StickyControl.Type = EActorAttributeType::Bool;
-        StickyControl.bRestrictToRecommended = false;
-        StickyControl.RecommendedValues.Emplace(TEXT("false"));
-    }
-    Definition.Variations.Emplace(StickyControl);
+    FActorAttribute ActorRole;
+    ActorRole.Id = "role_name";
+    ActorRole.Type = EActorAttributeType::String;
+    ActorRole.Value = "hero";
+    Definition.Attributes.Emplace(ActorRole);
 
     FActorAttribute ObjectType;
-    {
-        ObjectType.Id = TEXT("object_type");
-        ObjectType.Type = EActorAttributeType::String;
-        ObjectType.Value = Parameters.ObjectType;
-    }
+    ObjectType.Id = "object_type";
+    ObjectType.Type = EActorAttributeType::String;
+    ObjectType.Value = Parameters.ObjectType;
     Definition.Attributes.Emplace(ObjectType);
 
     FActorAttribute NumberOfWheels;
-    {
-        NumberOfWheels.Id = TEXT("number_of_wheels");
-        NumberOfWheels.Type = EActorAttributeType::Int;
-        NumberOfWheels.Value = FString::FromInt(Parameters.NumberOfWheels);
-    }
+    NumberOfWheels.Id = "number_of_wheels";
+    NumberOfWheels.Type = EActorAttributeType::Int;
+    NumberOfWheels.Value = FString::FromInt(Parameters.NumberOfWheels);
     Definition.Attributes.Emplace(NumberOfWheels);
 
     FActorAttribute Generation;
-    {
-        Generation.Id = TEXT("generation");
-        Generation.Type = EActorAttributeType::Int;
-        Generation.Value = FString::FromInt(Parameters.Generation);
-    }
+    Generation.Id = "generation";
+    Generation.Type = EActorAttributeType::Int;
+    Generation.Value = FString::FromInt(Parameters.Generation);
     Definition.Attributes.Emplace(Generation);
 }
 
@@ -156,6 +139,11 @@ FActorSpawnResult ADReyeVRFactory::SpawnActor(const FTransform &SpawnAtTransform
             // EgoVehicle needs the special EgoVehicleBPClass since they depend on the EgoVehicle Blueprint
             return World->SpawnActor<AEgoVehicle>(EgoVehicleBPClass, SpawnAtTransform, SpawnParameters);
         });
+
+        // update the GameMode's EgoVehicle in case it was spawned by someone else
+        auto *Game = Cast<ADReyeVRGameMode>(UGameplayStatics::GetGameMode(World));
+        if (Game != nullptr)
+            Game->SetEgoVehicle(Cast<AEgoVehicle>(SpawnedActor));
     }
     else if (ActorDescription.Class == AEgoSensor::StaticClass())
     {