A simulation episode. More...

#include <CarlaEpisode.h>

Inheritance diagram for UCarlaEpisode:

Public Member Functions
void	AddRosParentNames (FCarlaActor &Child)
	ROS 2: registers the ros_name of each of Child's ancestors as one of its parent frames.

void	ApplySettings (const FEpisodeSettings &Settings)

void	AttachActors (AActor Child, AActor Parent, EAttachmentType InAttachmentType=EAttachmentType::Rigid)
	Attach Child to Parent.

bool	DestroyActor (AActor *Actor)

bool	DestroyActor (carla::rpc::ActorId ActorId)

bool	DrawWalkerIsCrosser ()
	Draw once per walker at navigation start: crosser or not.

FCarlaActor *	FindCarlaActor (AActor *Actor) const
	Find the actor view of Actor.

FCarlaActor *	FindCarlaActor (FCarlaActor::IdType ActorId)
	Find a Carla actor by id.

FCarlaActor *	FindCarlaActorFromStream (carla::streaming::detail::stream_id_type StreamId)
	Find the Carla actor (sensor) that owns the stream StreamId, or nullptr.

const TArray< FActorDefinition > &	GetActorDefinitions () const
	Return the list of actor definitions that are available to be spawned this episode.

FString	GetActorDescriptionFromStream (carla::streaming::detail::stream_id_type StreamId)
	Get the description of the Carla actor (sensor) using specific stream id.

FActorRegistry &	GetActorRegistry ()

const FActorRegistry &	GetActorRegistry () const

FIntVector	GetCurrentMapOrigin () const

double	GetElapsedGameTime () const
	Game seconds since the start of this episode.

FFrameData &	GetFrameData ()

const carla::geom::GeoProjection &	GetGeoProjection () const
	Return the geo projection of the map loaded.

auto	GetId () const
	Return the unique id of this episode.

const FString &	GetMapName () const

FPrimaryWorldState &	GetMultiGpuWorldState ()
	Multi-GPU primary: the world state the frames sent so far carried.

TArray< FTransform >	GetRecommendedSpawnPoints () const
	Return the list of recommended spawn points for vehicles.

ACarlaRecorder *	GetRecorder () const

CarlaReplayer *	GetReplayer () const

FSensorManager &	GetSensorManager ()

const FEpisodeSettings &	GetSettings () const

APawn *	GetSpectatorPawn () const

double	GetVisualGameTime () const
	Visual game seconds.

AWeather *	GetWeather () const

bool	LoadNewEpisode (const FString &MapString, bool ResetSettings=true)
	Load a new map and start a new episode.

bool	LoadNewOpendriveEpisode (const FString &OpenDriveString, const carla::rpc::OpendriveGenerationParameters &Params)
	Load a new map generating the mesh from OpenDRIVE data and start a new episode.

void	MarkSceneLightChanged (int32 LightId)
	A scene light changed: Multi-GPU secondaries get its new state.

void	PutActorToSleep (carla::rpc::ActorId ActorId)

AActor *	ReSpawnActorWithInfo (const FTransform &Transform, FActorDescription thisActorDescription)
	Spawns an actor based on ActorDescription at Transform.

carla::rpc::Actor	SerializeActor (AActor *Actor) const
	Create a serializable object describing the actor.

carla::rpc::Actor	SerializeActor (FCarlaActor *CarlaActor) const
	Create a serializable object describing the actor.

carla::rpc::Actor	SerializeActorWithPrimaryIds (AActor *Actor) const
	SerializeActor, with the ids the primary's clients know on a Multi-GPU secondary (for data a sensor streams to them).

void	SetCurrentMapOrigin (const FIntVector &NewOrigin)

void	SetPedestriansCrossFactor (float InCrossFactor)
	Probability that a walker whose navigation starts after this call is a "crosser" (may traverse crosswalk/road nav areas).

void	SetPedestriansSeed (uint32 InSeed)
	Seed the RNG behind the crosser draw (and any future navigation randomness).

void	SetRecorder (ACarlaRecorder *Rec)

void	SetVisualGameTime (double Time)

AActor *	SpawnActor (const FTransform &Transform, FActorDescription ActorDescription)
	Spawns an actor based on ActorDescription at Transform.

TPair< EActorSpawnResultStatus, FCarlaActor * >	SpawnActorWithInfo (const FTransform &Transform, FActorDescription thisActorDescription, FCarlaActor::IdType DesiredId=0)
	Spawns an actor based on ActorDescription at Transform.

std::string	StartRecorder (std::string name, bool AdditionalData, bool StopReplayer)

	UCarlaEpisode (const FObjectInitializer &ObjectInitializer)

void	WakeActorUp (carla::rpc::ActorId ActorId)

Static Public Member Functions
static void	ClearGeneratedWorldFiles ()
	Delete Saved/OpenDrive\|Nav/OpenDriveMap.

static bool	WaitForPendingNavigationBuild (double TimeoutSeconds)
	Return the name of the map loaded in this episode.

Public Attributes
bool	bIsPrimaryServer = true

Private Member Functions
void	EndPlay ()

void	InitializeAtBeginPlay ()

void	RegisterActorFactory (ACarlaActorFactory &ActorFactory)

bool	SetActorCollisions (FCarlaActor &CarlaActor, bool bEnabled)

bool	SetActorDead (FCarlaActor &CarlaActor)

bool	SetActorSimulatePhysics (FCarlaActor &CarlaActor, bool bEnabled)

void	SetTimers (double InElapsedGameTime, double InVisualGameTime)
	Multi-GPU secondary: adopt the primary's clocks for the frame being played.

void	TickTimers (float DeltaSeconds)

std::pair< int, FCarlaActor & >	TryToCreateReplayerActor (FVector &Location, FVector &Rotation, FActorDescription &ActorDesc, unsigned int desiredId)

Private Attributes
UActorDispatcher *	ActorDispatcher = nullptr

FIntVector	CurrentMapOrigin

double	ElapsedGameTime = 0.0

FEpisodeSettings	EpisodeSettings

FFrameData	FrameData

const uint64	Id = 0u

carla::geom::GeoProjection	MapGeoProjection

FString	MapName

UMaterialParameterCollectionInstance *	MaterialParameters = nullptr

FPrimaryWorldState	MultiGpuWorldState

float	PedestriansCrossFactor = 0.0f

FRandomStream	PedestriansNavRNG = FRandomStream(0)

ACarlaRecorder *	Recorder = nullptr

FSensorManager	SensorManager

APawn *	Spectator = nullptr

double	VisualGameTime = 0.0

AWeather *	Weather = nullptr

Friends
class	AAutowareGameModeBase

class	ACarlaGameModeBase

class	FCarlaEngine

Detailed Description

A simulation episode.

Each time the level is restarted a new episode is created.

Definition at line 42 of file CarlaEpisode.h.

Constructor & Destructor Documentation

◆ UCarlaEpisode()

UCarlaEpisode::UCarlaEpisode ( const FObjectInitializer & ObjectInitializer )

Definition at line 138 of file CarlaEpisode.cpp.

References ActorDispatcher, BuildRecastBuilderFile(), FrameData, and FFrameData::SetEpisode().

Member Function Documentation

◆ AddRosParentNames()

void UCarlaEpisode::AddRosParentNames ( FCarlaActor & Child )

ROS 2: registers the ros_name of each of Child's ancestors as one of its parent frames.

Definition at line 401 of file CarlaEpisode.cpp.

References FActorInfo::Description, FindCarlaActor(), FCarlaActor::GetActor(), FCarlaActor::GetActorInfo(), carla::ros2::ROS2::GetInstance(), FCarlaActor::GetParent(), and FActorDescription::Variations.

Referenced by FCarlaServer::FPimpl::BindActions(), and FFrameData::ProcessReplayerEventParent().

◆ ApplySettings()

void UCarlaEpisode::ApplySettings ( const FEpisodeSettings & Settings )

Definition at line 343 of file CarlaEpisode.cpp.

References FEpisodeSettings::ActorActiveDistance, EpisodeSettings, FCarlaStaticDelegates::OnEpisodeSettingsChange, and FEpisodeSettings::TileStreamingDistance.

Referenced by FCarlaServer::FPimpl::BindActions(), LoadNewEpisode(), FCarlaEngine::MirrorPrimarySettings(), FCarlaEngine::NotifyBeginEpisode(), and FCarlaEngine::OnPreTick().

◆ AttachActors()

void UCarlaEpisode::AttachActors	(	AActor *	Child,
		AActor *	Parent,
		EAttachmentType	InAttachmentType = `EAttachmentType::Rigid`
	)

Attach Child to Parent.

Precondition: Actors cannot be null.

Definition at line 458 of file CarlaEpisode.cpp.

References FFrameData::AddEvent(), ACarlaRecorder::AddEvent(), UActorAttacher::AttachActors(), bIsPrimaryServer, CurrentMapOrigin, FindCarlaActor(), FCarlaActor::GetActorId(), GetFrameData(), ACarlaRecorder::IsEnabled(), and Recorder.

Referenced by FCarlaServer::FPimpl::BindActions(), CarlaReplayerHelper::ProcessReplayerEventParent(), and FActorRegistry::WakeActorUp().

◆ ClearGeneratedWorldFiles()

void UCarlaEpisode::ClearGeneratedWorldFiles ( )

static

Delete Saved/OpenDrive|Nav/OpenDriveMap.

left by a previous generated world (server startup and before each generation).

Definition at line 100 of file CarlaEpisode.cpp.

Referenced by LoadNewOpendriveEpisode(), and FCarlaEngine::NotifyInitGame().

◆ DestroyActor() [1/2]

bool UCarlaEpisode::DestroyActor ( AActor * Actor )

inline

Definition at line 271 of file CarlaEpisode.h.

References FCarlaActor::GetActorId().

Referenced by FCarlaServer::FPimpl::BindActions(), FFrameData::ProcessReplayerEventDel(), and CarlaReplayerHelper::ProcessReplayerEventDel().

◆ DestroyActor() [2/2]

bool UCarlaEpisode::DestroyActor ( carla::rpc::ActorId ActorId )

inline

Definition at line 282 of file CarlaEpisode.h.

◆ DrawWalkerIsCrosser()

bool UCarlaEpisode::DrawWalkerIsCrosser ( )

inline

Draw once per walker at navigation start: crosser or not.

Definition at line 389 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions().

◆ EndPlay()

void UCarlaEpisode::EndPlay ( void )

private

Definition at line 569 of file CarlaEpisode.cpp.

References ACarlaRecorder::GetReplayer(), CarlaReplayer::IsEnabled(), Recorder, CarlaReplayer::Stop(), and ACarlaRecorder::Stop().

Referenced by ACarlaGameModeBase::EndPlay().

◆ FindCarlaActor() [1/2]

FCarlaActor * UCarlaEpisode::FindCarlaActor ( AActor * Actor ) const

inline

Find the actor view of Actor.

If the actor is not found or is pending kill, the returned view is invalid.

Definition at line 195 of file CarlaEpisode.h.

◆ FindCarlaActor() [2/2]

FCarlaActor * UCarlaEpisode::FindCarlaActor ( FCarlaActor::IdType ActorId )

inline

Find a Carla actor by id.

If the actor is not found or is pending kill, the returned view is invalid.

Definition at line 186 of file CarlaEpisode.h.

Referenced by AddRosParentNames(), ApplyTextureToActor(), AttachActors(), FCarlaServer::FPimpl::BindActions(), FCarlaEngine::BindReplayedSensor(), CarlaGetActorAngularVelocityInRadians(), ALargeMapManager::CheckActiveActors(), ALargeMapManager::CheckDormantActors(), ALargeMapManager::ConvertDormantToActiveActors(), FFrameData::CreateOrReuseActor(), ACarlaRecorder::CreateRecorderEventAdd(), FFrameData::CreateRecorderEventAdd(), ALargeMapManager::OnActorDestroyed(), FFrameData::PlayAppearances(), FFrameData::PlayFrameData(), FFrameData::PlayKinematics(), FFrameData::PlayPositions(), FFrameData::PlayVehicleParts(), FFrameData::ProcessReplayerAnimBiker(), CarlaReplayerHelper::ProcessReplayerAnimBiker(), FFrameData::ProcessReplayerAnimVehicle(), CarlaReplayerHelper::ProcessReplayerAnimVehicle(), CarlaReplayerHelper::ProcessReplayerAnimVehicleWheels(), CarlaReplayerHelper::ProcessReplayerDoorVehicle(), FFrameData::ProcessReplayerEventDel(), CarlaReplayerHelper::ProcessReplayerEventDel(), CarlaReplayerHelper::ProcessReplayerEventParent(), FFrameData::ProcessReplayerEventParent(), FFrameData::ProcessReplayerLightVehicle(), CarlaReplayerHelper::ProcessReplayerLightVehicle(), FFrameData::ProcessReplayerPosition(), CarlaReplayerHelper::ProcessReplayerPosition(), FFrameData::ProcessReplayerStateTrafficLight(), CarlaReplayerHelper::ProcessReplayerStateTrafficLight(), CarlaReplayerHelper::ProcessReplayerWalkerBones(), FCarlaEngine::RestorePlayedPoses(), SerializeActor(), CaService::SetActor(), FFrameData::SetCameraPosition(), CarlaReplayerHelper::SetCameraPosition(), ACustomV2XSensor::SetOwner(), FFrameData::SetWalkerSpeed(), CarlaReplayerHelper::SetWalkerSpeed(), and ACustomV2XSensor::UpdateStationId().

◆ FindCarlaActorFromStream()

FCarlaActor * UCarlaEpisode::FindCarlaActorFromStream ( carla::streaming::detail::stream_id_type StreamId )

inline

Find the Carla actor (sensor) that owns the stream StreamId, or nullptr.

Definition at line 209 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), and IsUnrenderableLocalSensorStream().

◆ GetActorDefinitions()

const TArray< FActorDefinition > & UCarlaEpisode::GetActorDefinitions ( ) const

inline

Return the list of actor definitions that are available to be spawned this episode.

Definition at line 137 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), and InitializeAtBeginPlay().

◆ GetActorDescriptionFromStream()

FString UCarlaEpisode::GetActorDescriptionFromStream ( carla::streaming::detail::stream_id_type StreamId )

inline

Get the description of the Carla actor (sensor) using specific stream id.

If the actor is not found returns an empty string

Definition at line 203 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions().

◆ GetActorRegistry() [1/2]

FActorRegistry & UCarlaEpisode::GetActorRegistry ( )

inline

Definition at line 173 of file CarlaEpisode.h.

◆ GetActorRegistry() [2/2]

const FActorRegistry & UCarlaEpisode::GetActorRegistry ( ) const

inline

Definition at line 168 of file CarlaEpisode.h.

Referenced by ACarlaRecorder::AddCollision(), FFrameData::AddExistingActors(), ACarlaRecorder::AddExistingActors(), FFrameData::AddPhysicsControl(), ACarlaRecorder::AddPhysicsControl(), FFrameData::AddTrafficLightTime(), ACarlaRecorder::AddTrafficLightTime(), FFrameData::AddTriggerVolume(), ACarlaRecorder::AddTriggerVolume(), ACarlaRecorder::AddVehicleDoor(), FCarlaServer::FPimpl::BindActions(), ARayCastSemanticLidar::ComputeRawDetection(), FFrameData::FindTrafficSignAt(), CarlaReplayerHelper::FindTrafficSignAt(), FWorldObserver_Serialize(), FFrameData::GetFrameData(), PathLossModel::GetLocationIfVehicle(), PathLossModel::IsVehicle(), FCarlaEngine::NotifyBeginEpisode(), ALargeMapManager::OnActorSpawned(), AV2XSensor::PostPhysTick(), FFrameData::ProcessReplayerFinish(), CarlaReplayerHelper::ProcessReplayerFinish(), ALargeMapManager::RegisterInitialObjects(), FCarlaShowOnlyFilter::Rescan(), PathLossModel::Simulate(), and ACarlaRecorder::Ticking().

◆ GetCurrentMapOrigin()

FIntVector UCarlaEpisode::GetCurrentMapOrigin ( ) const

inline

Definition at line 349 of file CarlaEpisode.h.

Referenced by FWorldObserver_Serialize(), FActorData::GetLocalTransform(), and FActorData::RecordActorData().

◆ GetElapsedGameTime()

double UCarlaEpisode::GetElapsedGameTime ( ) const

inline

Game seconds since the start of this episode.

Definition at line 112 of file CarlaEpisode.h.

Referenced by CaService::AddCooperativeAwarenessMessage(), FWorldObserver::BroadcastTick(), ASensor::MakeCaptureContext(), FCarlaEngine::OnPostTick(), CaService::SetActor(), and CaService::Trigger().

◆ GetFrameData()

FFrameData & UCarlaEpisode::GetFrameData ( )

inline

Definition at line 353 of file CarlaEpisode.h.

Referenced by AttachActors(), UActorDispatcher::OnActorDestroyed(), FCarlaEngine::OnPostTick(), and SpawnActorWithInfo().

◆ GetGeoProjection()

const carla::geom::GeoProjection & UCarlaEpisode::GetGeoProjection ( ) const

inline

Return the geo projection of the map loaded.

Definition at line 147 of file CarlaEpisode.h.

Referenced by AAutowareGnssSensor::BeginPlay(), AGnssSensor::BeginPlay(), and CaService::SetActor().

◆ GetId()

auto UCarlaEpisode::GetId ( ) const

inline

Return the unique id of this episode.

Definition at line 90 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), and FWorldObserver_Serialize().

◆ GetMapName()

const FString & UCarlaEpisode::GetMapName ( ) const

inline

Definition at line 106 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), FCarlaEngine::NotifyBeginEpisode(), FCarlaServer::NotifyBeginEpisode(), and CarlaReplayer::ReplayFile().

◆ GetMultiGpuWorldState()

FPrimaryWorldState & UCarlaEpisode::GetMultiGpuWorldState ( )

inline

Multi-GPU primary: the world state the frames sent so far carried.

Definition at line 356 of file CarlaEpisode.h.

Referenced by FFrameData::AddActorAppearance(), FFrameData::AddWorldState(), and FFrameData::GetFrameData().

◆ GetRecommendedSpawnPoints()

TArray< FTransform > UCarlaEpisode::GetRecommendedSpawnPoints ( ) const

Return the list of recommended spawn points for vehicles.

Definition at line 354 of file CarlaEpisode.cpp.

References UCarlaStatics::GetGameMode(), and ACarlaGameModeBase::GetSpawnPointsTransforms().

Referenced by FCarlaServer::FPimpl::BindActions().

◆ GetRecorder()

ACarlaRecorder * UCarlaEpisode::GetRecorder ( ) const

inline

Definition at line 332 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), and FCarlaEngine::OnPostTick().

◆ GetReplayer()

CarlaReplayer * UCarlaEpisode::GetReplayer ( ) const

inline

Definition at line 342 of file CarlaEpisode.h.

Referenced by ACarlaRecorder::Ticking().

◆ GetSensorManager()

FSensorManager & UCarlaEpisode::GetSensorManager ( )

inline

Definition at line 367 of file CarlaEpisode.h.

Referenced by ASensor::BeginPlay(), ASensor::EndPlay(), FCarlaEngine::OnPostTick(), and UCarlaLidarSubsystem::RegisterLidar().

◆ GetSettings()

const FEpisodeSettings & UCarlaEpisode::GetSettings ( ) const

inline

Definition at line 77 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::BeginPlay(), FCarlaServer::FPimpl::BindActions(), FCarlaEngine::MirrorPrimarySettings(), and ASceneCaptureCamera_RayTracedLens::TickCaptureAndReadback().

◆ GetSpectatorPawn()

APawn * UCarlaEpisode::GetSpectatorPawn ( ) const

inline

Definition at line 157 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), FFrameData::SetCameraPosition(), and CarlaReplayerHelper::SetCameraPosition().

◆ GetVisualGameTime()

double UCarlaEpisode::GetVisualGameTime ( ) const

inline

Visual game seconds.

Definition at line 118 of file CarlaEpisode.h.

Referenced by FCarlaEngine::OnPostTick(), and ACarlaRecorder::Ticking().

◆ GetWeather()

AWeather * UCarlaEpisode::GetWeather ( ) const

inline

Definition at line 163 of file CarlaEpisode.h.

References Weather.

Referenced by ACarlaRecorder::AddExistingWeather(), FFrameData::AddWorldState(), ASceneCaptureSensor::BeginPlay(), ASceneCaptureSensor_WideAngleLens::BeginPlay(), FCarlaServer::FPimpl::BindActions(), FFrameData::PlayWorldState(), and CarlaReplayerHelper::ProcessReplayerWeather().

◆ InitializeAtBeginPlay()

void UCarlaEpisode::InitializeAtBeginPlay ( )

private

Definition at line 486 of file CarlaEpisode.cpp.

References ActorDispatcher, FActorDescription::Class, Float, GetActorDefinitions(), FActorDescription::Id, MaterialParameters, UActorDispatcher::RegisterActor(), Spectator, String, UCarlaEpisode_GetTrafficSignId(), FActorDescription::UId, and FActorDescription::Variations.

Referenced by ACarlaGameModeBase::BeginPlay().

◆ LoadNewEpisode()

bool UCarlaEpisode::LoadNewEpisode	(	const FString &	MapString,
		bool	ResetSettings = `true`
	)

Load a new map and start a new episode.

If MapString is empty, the current map is reloaded.

Definition at line 155 of file CarlaEpisode.cpp.

References ApplySettings(), bIsPrimaryServer, carla::Buffer::data(), UCarlaStatics::FindMapPath(), carla::multigpu::LoadMapExtras::generation_parameters, UCarlaGameInstance::GetCarlaEngine(), UCarlaStatics::GetGameInstance(), UCarlaGameInstance::GetOpendriveGenerationParameters(), UOpenDrive::GetSavedXODRPath(), FCarlaEngine::GetSecondaryServer(), carla::multigpu::LoadMapExtras::opendrive, carla::MsgPack::Pack(), and carla::Buffer::size().

Referenced by FCarlaServer::FPimpl::BindActions(), and CarlaReplayer::ReplayFile().

◆ LoadNewOpendriveEpisode()

bool UCarlaEpisode::LoadNewOpendriveEpisode	(	const FString &	OpenDriveString,
		const carla::rpc::OpendriveGenerationParameters &	Params
	)

Load a new map generating the mesh from OpenDRIVE data and start a new episode.

If MapString is empty, it fails.

Todo:: this can take too long to finish, clients need a method to know if the navigation is available or not.

Definition at line 195 of file CarlaEpisode.cpp.

References BuildRecastBuilderFile(), ClearGeneratedWorldFiles(), carla::rpc::OpendriveGenerationParameters::enable_pedestrian_navigation, UCarlaStatics::GetGameInstance(), UOpenDrive::GetSavedXODRPath(), GNavBuildLock, GNavBuildPending, GNavBuildSucceeded, carla::opendrive::OpenDriveParser::Load(), carla::log_warning(), UCarlaGameInstance::SetOpendriveGenerationParameters(), carla::rpc::OpendriveGenerationParameters::vertex_distance, and WaitForPendingNavigationBuild().

Referenced by FCarlaServer::FPimpl::BindActions().

◆ MarkSceneLightChanged()

void UCarlaEpisode::MarkSceneLightChanged ( int32 LightId )

inline

A scene light changed: Multi-GPU secondaries get its new state.

Definition at line 359 of file CarlaEpisode.h.

◆ PutActorToSleep()

void UCarlaEpisode::PutActorToSleep ( carla::rpc::ActorId ActorId )

inline

Definition at line 307 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), ALargeMapManager::ConvertActiveToDormantActors(), CarlaReplayerHelper::ProcessReplayerEventParent(), and FFrameData::ProcessReplayerEventParent().

◆ RegisterActorFactory()

void UCarlaEpisode::RegisterActorFactory ( ACarlaActorFactory & ActorFactory )

inlineprivate

Definition at line 406 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::SpawnActorFactories().

◆ ReSpawnActorWithInfo()

AActor * UCarlaEpisode::ReSpawnActorWithInfo	(	const FTransform &	Transform,
		FActorDescription	thisActorDescription
	)

inline

Spawns an actor based on ActorDescription at Transform.

Returns: the actor to be spawned

Definition at line 232 of file CarlaEpisode.h.

Referenced by FActorData::RespawnActor().

◆ SerializeActor() [1/2]

carla::rpc::Actor UCarlaEpisode::SerializeActor ( AActor * Actor ) const

Create a serializable object describing the actor.

Can be used to serialized actors that are not in the registry

Definition at line 431 of file CarlaEpisode.cpp.

References carla::rpc::Actor::bounding_box, CarlaGetRelevantTagAsString(), carla::rpc::Actor::description, FindCarlaActor(), UBoundingBoxCalculator::GetActorBoundingBox(), ATagger::GetTagsOfTaggedActor(), carla::rpc::Actor::id, FActorDescription::Id, carla::rpc::Actor::semantic_tags, and SerializeActor().

◆ SerializeActor() [2/2]

carla::rpc::Actor UCarlaEpisode::SerializeActor ( FCarlaActor * CarlaActor ) const

Create a serializable object describing the actor.

Definition at line 361 of file CarlaEpisode.cpp.

References FCarlaActor::GetActorInfo(), FCarlaActor::GetParent(), and FActorInfo::SerializedData.

Referenced by FCarlaServer::FPimpl::BindActions(), SerializeActor(), and SerializeActorWithPrimaryIds().

◆ SerializeActorWithPrimaryIds()

carla::rpc::Actor UCarlaEpisode::SerializeActorWithPrimaryIds ( AActor * Actor ) const

SerializeActor, with the ids the primary's clients know on a Multi-GPU secondary (for data a sensor streams to them).

Definition at line 380 of file CarlaEpisode.cpp.

References ActorDispatcher, bIsPrimaryServer, FActorRegistry::FindCarlaActor(), UActorDispatcher::GetActorRegistry(), carla::rpc::Actor::id, carla::rpc::Actor::parent_id, and SerializeActor().

◆ SetActorCollisions()

bool UCarlaEpisode::SetActorCollisions	(	FCarlaActor &	CarlaActor,
		bool	bEnabled
	)

private

◆ SetActorDead()

bool UCarlaEpisode::SetActorDead ( FCarlaActor & CarlaActor )

private

◆ SetActorSimulatePhysics()

bool UCarlaEpisode::SetActorSimulatePhysics	(	FCarlaActor &	CarlaActor,
		bool	bEnabled
	)

private

◆ SetCurrentMapOrigin()

void UCarlaEpisode::SetCurrentMapOrigin ( const FIntVector & NewOrigin )

inline

Definition at line 351 of file CarlaEpisode.h.

Referenced by ALargeMapManager::PostWorldOriginOffset().

◆ SetPedestriansCrossFactor()

void UCarlaEpisode::SetPedestriansCrossFactor ( float InCrossFactor )

inline

Probability that a walker whose navigation starts after this call is a "crosser" (may traverse crosswalk/road nav areas).

Legacy semantics of carla.World.set_pedestrians_cross_factor.

Definition at line 376 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions().

◆ SetPedestriansSeed()

void UCarlaEpisode::SetPedestriansSeed ( uint32 InSeed )

inline

Seed the RNG behind the crosser draw (and any future navigation randomness).

Deterministic given the same seed and start order.

Definition at line 383 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions().

◆ SetRecorder()

void UCarlaEpisode::SetRecorder ( ACarlaRecorder * Rec )

inline

Definition at line 337 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::InitGame(), and FCarlaEngine::NotifyBeginEpisode().

◆ SetTimers()

void UCarlaEpisode::SetTimers	(	double	InElapsedGameTime,
		double	InVisualGameTime
	)

inlineprivate

Multi-GPU secondary: adopt the primary's clocks for the frame being played.

Absolute, not accumulated, so frames a secondary never played (while it was loading) cause no drift.

Definition at line 438 of file CarlaEpisode.h.

References carla::ros2::ROS2::GetInstance().

Referenced by FCarlaEngine::PlayPrimaryFrame().

◆ SetVisualGameTime()

void UCarlaEpisode::SetVisualGameTime ( double Time )

inline

Definition at line 123 of file CarlaEpisode.h.

Referenced by CarlaReplayer::ProcessVisualTime().

◆ SpawnActor()

AActor * UCarlaEpisode::SpawnActor	(	const FTransform &	Transform,
		FActorDescription	ActorDescription
	)

inline

Spawns an actor based on ActorDescription at Transform.

To properly despawn an actor created with this function call DestroyActor.

Returns: nullptr on failure.

Note: Special overload for blueprints.

Definition at line 253 of file CarlaEpisode.h.

Referenced by FTrafficSignData::RespawnActor(), and FTrafficLightData::RespawnActor().

◆ SpawnActorWithInfo()

TPair< EActorSpawnResultStatus, FCarlaActor * > UCarlaEpisode::SpawnActorWithInfo	(	const FTransform &	Transform,
		FActorDescription	thisActorDescription,
		FCarlaActor::IdType	DesiredId = `0`
	)

Spawns an actor based on ActorDescription at Transform.

To properly despawn an actor created with this function call DestroyActor.

Returns: A pair containing the result of the spawn function and a view over the actor and its properties. If the status is different of Success the view is invalid.

Definition at line 598 of file CarlaEpisode.cpp.

References ActorDispatcher, bIsPrimaryServer, ACarlaRecorder::CreateRecorderEventAdd(), FFrameData::CreateRecorderEventAdd(), EpisodeSettings, GetFrameData(), UCarlaStatics::GetLargeMapManager(), ALargeMapManager::GlobalToLocalTransform(), ACarlaRecorder::IsEnabled(), Recorder, UActorDispatcher::SpawnActor(), FEpisodeSettings::TileStreamingDistance, FActorAttribute::Value, and FActorDescription::Variations.

Referenced by FCarlaServer::FPimpl::BindActions(), FFrameData::CreateOrReuseActor(), and CarlaReplayerHelper::TryToCreateReplayerActor().

◆ StartRecorder()

std::string UCarlaEpisode::StartRecorder	(	std::string	name,
		bool	AdditionalData,
		bool	StopReplayer
	)

Definition at line 582 of file CarlaEpisode.cpp.

References MapName, Recorder, and ACarlaRecorder::Start().

Referenced by FCarlaServer::FPimpl::BindActions().

◆ TickTimers()

void UCarlaEpisode::TickTimers ( float DeltaSeconds )

inlineprivate

Definition at line 423 of file CarlaEpisode.h.

References carla::ros2::ROS2::GetInstance().

Referenced by FCarlaEngine::OnPreTick(), and FCarlaEngine::PlayPrimaryFrame().

◆ TryToCreateReplayerActor()

std::pair< int, FCarlaActor & > UCarlaEpisode::TryToCreateReplayerActor	(	FVector &	Location,
		FVector &	Rotation,
		FActorDescription &	ActorDesc,
		unsigned int	desiredId
	)

private

◆ WaitForPendingNavigationBuild()

bool UCarlaEpisode::WaitForPendingNavigationBuild ( double TimeoutSeconds )

static

Return the name of the map loaded in this episode.

Block (game thread, bounded) until the RecastBuilder run started by the last generate_opendrive_world has finished. Returns whether the navmesh was built (true when no build is pending).

Definition at line 71 of file CarlaEpisode.cpp.

References GNavBuildLock, GNavBuildPending, and GNavBuildSucceeded.

Referenced by FCarlaServer::FPimpl::BindActions(), and LoadNewOpendriveEpisode().

◆ WakeActorUp()

void UCarlaEpisode::WakeActorUp ( carla::rpc::ActorId ActorId )

inline

Definition at line 312 of file CarlaEpisode.h.

Referenced by ALargeMapManager::ConvertDormantToActiveActors().

Friends And Related Symbol Documentation

◆ AAutowareGameModeBase

friend class AAutowareGameModeBase

friend

Definition at line 399 of file CarlaEpisode.h.

◆ ACarlaGameModeBase

friend class ACarlaGameModeBase

friend

Definition at line 398 of file CarlaEpisode.h.

◆ FCarlaEngine

friend class FCarlaEngine

friend

Definition at line 400 of file CarlaEpisode.h.

Member Data Documentation

◆ ActorDispatcher

UActorDispatcher* UCarlaEpisode::ActorDispatcher = nullptr

private

Definition at line 464 of file CarlaEpisode.h.

Referenced by InitializeAtBeginPlay(), SerializeActorWithPrimaryIds(), SpawnActorWithInfo(), and UCarlaEpisode().

◆ bIsPrimaryServer

bool UCarlaEpisode::bIsPrimaryServer = true

Definition at line 394 of file CarlaEpisode.h.

Referenced by AttachActors(), AWalkerBase_IsMirror(), ASensor::BeginPlay(), ACarlaGameModeBase::BeginPlay(), FCarlaServer::FPimpl::BindActions(), CarlaGetActorAngularVelocityInRadians(), AVehicleStatusSensor::CollectAndStream(), ACarlaGameModeBase::InitGame(), LoadNewEpisode(), FCarlaEngine::NotifyBeginEpisode(), UActorDispatcher::OnActorDestroyed(), SerializeActorWithPrimaryIds(), and SpawnActorWithInfo().

◆ CurrentMapOrigin

FIntVector UCarlaEpisode::CurrentMapOrigin

private

Definition at line 479 of file CarlaEpisode.h.

Referenced by AttachActors().

◆ ElapsedGameTime

double UCarlaEpisode::ElapsedGameTime = 0.0

private

Definition at line 452 of file CarlaEpisode.h.

◆ EpisodeSettings

FEpisodeSettings UCarlaEpisode::EpisodeSettings

private

Definition at line 461 of file CarlaEpisode.h.

Referenced by ApplySettings(), FCarlaEngine::NotifyBeginEpisode(), and SpawnActorWithInfo().

◆ FrameData

FFrameData UCarlaEpisode::FrameData

private

Definition at line 485 of file CarlaEpisode.h.

Referenced by UCarlaEpisode().

◆ Id

const uint64 UCarlaEpisode::Id = 0u

private

Definition at line 449 of file CarlaEpisode.h.

◆ MapGeoProjection

carla::geom::GeoProjection UCarlaEpisode::MapGeoProjection

private

Definition at line 477 of file CarlaEpisode.h.

Referenced by AAutowareGameModeBase::LoadGeoReference(), and ACarlaGameModeBase::ParseOpenDrive().

◆ MapName

FString UCarlaEpisode::MapName

private

Definition at line 458 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::InitGame(), and StartRecorder().

◆ MaterialParameters

UMaterialParameterCollectionInstance* UCarlaEpisode::MaterialParameters = nullptr

private

Definition at line 473 of file CarlaEpisode.h.

Referenced by InitializeAtBeginPlay().

◆ MultiGpuWorldState

FPrimaryWorldState UCarlaEpisode::MultiGpuWorldState

private

Definition at line 487 of file CarlaEpisode.h.

◆ PedestriansCrossFactor

float UCarlaEpisode::PedestriansCrossFactor = 0.0f

private

Definition at line 481 of file CarlaEpisode.h.

◆ PedestriansNavRNG

FRandomStream UCarlaEpisode::PedestriansNavRNG = FRandomStream(0)

private

Definition at line 483 of file CarlaEpisode.h.

◆ Recorder

ACarlaRecorder* UCarlaEpisode::Recorder = nullptr

private

Definition at line 475 of file CarlaEpisode.h.

Referenced by AttachActors(), EndPlay(), SpawnActorWithInfo(), and StartRecorder().

◆ SensorManager

FSensorManager UCarlaEpisode::SensorManager

private

Definition at line 489 of file CarlaEpisode.h.

◆ Spectator

APawn* UCarlaEpisode::Spectator = nullptr

private

Definition at line 467 of file CarlaEpisode.h.

Referenced by InitializeAtBeginPlay().

◆ VisualGameTime

double UCarlaEpisode::VisualGameTime = 0.0

private

Definition at line 455 of file CarlaEpisode.h.

◆ Weather

AWeather* UCarlaEpisode::Weather = nullptr

private

Definition at line 470 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::BeginPlay(), and ACarlaGameModeBase::InitGame().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ UCarlaEpisode()

Member Function Documentation

◆ AddRosParentNames()

◆ ApplySettings()

◆ AttachActors()

◆ ClearGeneratedWorldFiles()

◆ DestroyActor() [1/2]

◆ DestroyActor() [2/2]

◆ DrawWalkerIsCrosser()

◆ EndPlay()

◆ FindCarlaActor() [1/2]

◆ FindCarlaActor() [2/2]

◆ FindCarlaActorFromStream()

◆ GetActorDefinitions()

◆ GetActorDescriptionFromStream()

◆ GetActorRegistry() [1/2]

◆ GetActorRegistry() [2/2]

◆ GetCurrentMapOrigin()

◆ GetElapsedGameTime()

◆ GetFrameData()

◆ GetGeoProjection()

◆ GetId()

◆ GetMapName()

◆ GetMultiGpuWorldState()

◆ GetRecommendedSpawnPoints()

◆ GetRecorder()

◆ GetReplayer()

◆ GetSensorManager()

◆ GetSettings()

◆ GetSpectatorPawn()

◆ GetVisualGameTime()

◆ GetWeather()

◆ InitializeAtBeginPlay()

◆ LoadNewEpisode()

◆ LoadNewOpendriveEpisode()

◆ MarkSceneLightChanged()

◆ PutActorToSleep()

◆ RegisterActorFactory()

◆ ReSpawnActorWithInfo()

◆ SerializeActor() [1/2]

◆ SerializeActor() [2/2]

◆ SerializeActorWithPrimaryIds()

◆ SetActorCollisions()

◆ SetActorDead()

◆ SetActorSimulatePhysics()

◆ SetCurrentMapOrigin()

◆ SetPedestriansCrossFactor()

◆ SetPedestriansSeed()

◆ SetRecorder()

◆ SetTimers()

◆ SetVisualGameTime()

◆ SpawnActor()

◆ SpawnActorWithInfo()

◆ StartRecorder()

◆ TickTimers()

◆ TryToCreateReplayerActor()

◆ WaitForPendingNavigationBuild()

◆ WakeActorUp()

Friends And Related Symbol Documentation

◆ AAutowareGameModeBase

◆ ACarlaGameModeBase

◆ FCarlaEngine

Member Data Documentation

◆ ActorDispatcher

◆ bIsPrimaryServer

◆ CurrentMapOrigin

◆ ElapsedGameTime

◆ EpisodeSettings

◆ FrameData

◆ Id

◆ MapGeoProjection

◆ MapName