Merge pull request #111 from HARPLab/dev

Backend overhaul (+Custom EgoVehicles + better autopilot + Auto sign placements)

Author: ajdroid

CHANGELOG.md

@@ -1,3 +1,21 @@
+## DReyeVR 0.2.1
+- Adding smart (weak) pointers for the major DReyeVR class connections to ensure better pointer validity before dereference. Helps with detecting dangling (freed, but not-null) pointers which happens commonly during map changes and would otherwise crash the replay system.
+- Adding PythonAPI startup function (namely a custom `__init__.py` script that is loaded when using `DReyeVR_utils.py`)
+- Fix bug with shaders not being cooked in package mode
+- Fine-tune ego-vehicle mirrors according to vehicle chassis
+- Adding threshold for manual takeover of logitech inputs. Logitech wheel actuation follows autopilot otherwise.
+- Disabling shadows for wheel face buttons
+- Adding autopilot light indicator
+
+## DReyeVR 0.2.0
+- Add face button indicators on the steering wheel
+- Revamping `ConfigFile` class rather than a static `ReadConfigFile` helper function
+- Adding Config-file check as part of the tracked DReyeVRData, gives you a warning if your loaded ConfigFile is different from the one that was used during recording (so you can match your replay config with that which was recorded)
+- Adding per-vehicle configuration files in `Content/DReyeVR/EgoVehicle` that can be selected via parameters. Allows parameterization of all EgoVehicle components, magic numbers (ex. location of camera, mirrors, engine), sound files, mirror meshes, steering wheel types, and enable/disable these on a highly granular basis
+- Revamp EgoVehicle input controls to use parent (ACarlaWheeledVehicle) controls and flush
+- Disabling (turning invisible) default Carla spectator in map
+- Added tutorial for custom EgoVehicle
+
 ## 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"`
@@ -30,4 +48,4 @@
 - Improved vehicle dash with blinking turn signal and fixed bugs with inconsistent gear indicator. 
 - Fixed bugs and inconsistencies with replayer media control and special actions such as toggling reverse/turn signals in replay.
 - Enabled cooking for `Town06` and `Town07` in package/shipping mode.
-- Updated documentation and config file
+- Updated documentation and config file

Carla/Actor/DReyeVRCustomActor.cpp

@@ -49,12 +49,6 @@ ADReyeVRCustomActor::ADReyeVRCustomActor(const FObjectInitializer &ObjectInitial
     Internals.Scale3D = this->GetActorScale3D();
 }
 
-ADReyeVRCustomActor::~ADReyeVRCustomActor()
-{
-    this->Deactivate();
-    this->Destroy(); // UE4 Destroy method
-}
-
 bool ADReyeVRCustomActor::AssignSM(const FString &Path, UWorld *World)
 {
     UStaticMesh *SM = LoadObject<UStaticMesh>(nullptr, *Path);
@@ -164,9 +158,14 @@ void ADReyeVRCustomActor::Tick(float DeltaSeconds)
         Internals.Scale3D = this->GetActorScale3D();
         Internals.MaterialParams = MaterialParams;
     }
+    UpdateMaterial();
+    /// TODO: use other string?
+}
+
+void ADReyeVRCustomActor::UpdateMaterial()
+{
     // update the materials according to the params
     MaterialParams.Apply(DynamicMat);
-    /// TODO: use other string?
 }
 
 void ADReyeVRCustomActor::SetInternals(const DReyeVR::CustomActorData &InData)

Carla/Actor/DReyeVRCustomActor.h

@@ -24,7 +24,7 @@ class CARLA_API ADReyeVRCustomActor : public AActor // abstract class
 
   public:
     ADReyeVRCustomActor(const FObjectInitializer &ObjectInitializer);
-    ~ADReyeVRCustomActor();
+    ~ADReyeVRCustomActor() = default;
 
     /// factory function to create a new instance of a given type
     static ADReyeVRCustomActor *CreateNew(const FString &SM_Path, const FString &Mat_Path, UWorld *World,
@@ -39,6 +39,16 @@ class CARLA_API ADReyeVRCustomActor : public AActor // abstract class
         return bIsActive;
     }
 
+    void SetActorRecordEnabled(const bool bEnabled)
+    {
+        bShouldRecord = bEnabled;
+    }
+
+    const bool GetShouldRecord() const
+    {
+        return bShouldRecord;
+    }
+
     void Initialize(const FString &Name);
 
     void SetInternals(const DReyeVR::CustomActorData &In);
@@ -47,14 +57,21 @@ class CARLA_API ADReyeVRCustomActor : public AActor // abstract class
 
     static std::unordered_map<std::string, class ADReyeVRCustomActor *> ActiveCustomActors;
 
+    inline class UStaticMeshComponent *GetMesh()
+    {
+        return ActorMesh;
+    }
+
     // function to dynamically change the material params of the object at runtime
     void AssignMat(const FString &Path);
+    void UpdateMaterial();
     struct DReyeVR::CustomActorData::MaterialParamsStruct MaterialParams;
 
   private:
     void BeginPlay() override;
     void BeginDestroy() override;
-    bool bIsActive = false; // initially deactivated
+    bool bIsActive = false;    // initially deactivated
+    bool bShouldRecord = true; // should record in the Carla Recorder/Replayer
 
     bool AssignSM(const FString &Path, UWorld *World);
 

Carla/Recorder/CarlaRecorder.cpp

@@ -91,12 +91,15 @@ void ACarlaRecorder::Ticking(float DeltaSeconds)
     PlatformTime.UpdateTime();
     const FActorRegistry &Registry = Episode->GetActorRegistry();
 
+    // Skip the spectator actor
+    FCarlaActor* CarlaSpectator = Episode->FindCarlaActor(Episode->GetSpectatorPawn());
+
     // through all actors in registry
     for (auto It = Registry.begin(); It != Registry.end(); ++It)
     {
       FCarlaActor* View = It.Value().Get();
 
-      if (View->GetActorId() == 0)
+      if (CarlaSpectator && (View->GetActor() == CarlaSpectator->GetActor()))
         continue; // don't record the spectator
 
       switch (View->GetActorType())
@@ -277,18 +280,20 @@ void ACarlaRecorder::AddActorBoundingBox(FCarlaActor *CarlaActor)
 
 void ACarlaRecorder::AddDReyeVRData()
 {
+  static bool bAddedConfigFile;
+  if (!bAddedConfigFile) {
+    // add DReyeVR config files (only once at the beginning of recording)
+    DReyeVRConfigFileData.Add(ADReyeVRSensor::ConfigFile);
+    bAddedConfigFile = true;
+  }
+
   // Add the latest instance of the DReyeVR snapshot to our data
   DReyeVRAggData.Add(DReyeVRDataRecorder<DReyeVR::AggregateData>(ADReyeVRSensor::Data));
 
-  TArray<AActor *> FoundActors;
-  if (Episode != nullptr && Episode->GetWorld() != nullptr)
+  for (auto &ActiveCAs : ADReyeVRCustomActor::ActiveCustomActors)
   {
-      UGameplayStatics::GetAllActorsOfClass(Episode->GetWorld(), ADReyeVRCustomActor::StaticClass(), FoundActors);
-  }
-  for (AActor *A : FoundActors)
-  {
-    ADReyeVRCustomActor *CustomActor = Cast<ADReyeVRCustomActor>(A);
-    if (CustomActor != nullptr && CustomActor->IsActive())
+    ADReyeVRCustomActor *CustomActor = ActiveCAs.second;
+    if (CustomActor != nullptr && CustomActor->IsActive() && CustomActor->GetShouldRecord())
     {
       DReyeVRCustomActorData.Add(DReyeVRDataRecorder<DReyeVR::CustomActorData>(&(CustomActor->GetInternals())));
     }
@@ -427,6 +432,7 @@ void ACarlaRecorder::Clear(void)
   TrafficLightTimes.Clear();
   DReyeVRAggData.Clear();
   DReyeVRCustomActorData.Clear();
+  DReyeVRConfigFileData.Clear();
   Weathers.Clear();
 }
 
@@ -470,6 +476,14 @@ void ACarlaRecorder::Write(double DeltaSeconds)
   // custom DReyeVR Actor data write
   DReyeVRCustomActorData.Write(File);
 
+  // only write this once (at the beginning)
+  static bool bWroteConfigFile = false;
+  if (!bWroteConfigFile) {
+    // DReyeVR configuration/parameters
+    DReyeVRConfigFileData.Write(File);
+    bWroteConfigFile = true;
+  }
+
   // weather state
   Weathers.Write(File);
 

Carla/Recorder/CarlaRecorder.h

@@ -47,6 +47,7 @@ class ATrafficLightBase;
 
 #define DREYEVR_PACKET_ID 139
 #define DREYEVR_CUSTOM_ACTOR_PACKET_ID 140
+#define DREYEVR_CONFIG_FILE_PACKET_ID 141
 
 enum class CarlaRecorderPacketId : uint8_t
 {
@@ -70,8 +71,9 @@ enum class CarlaRecorderPacketId : uint8_t
   TriggerVolume,
   Weather,
   // "We suggest to use id over 100 for user custom packets, because this list will keep growing in the future"
-  DReyeVR = DREYEVR_PACKET_ID,                        // our custom DReyeVR packet (for raw sensor data)
-  DReyeVRCustomActor = DREYEVR_CUSTOM_ACTOR_PACKET_ID // custom DReyeVR actors (not raw sensor data)
+  DReyeVR = DREYEVR_PACKET_ID,                         // our custom DReyeVR packet (for raw sensor data)
+  DReyeVRCustomActor = DREYEVR_CUSTOM_ACTOR_PACKET_ID, // custom DReyeVR actors (not raw sensor data)
+  DReyeVRConfigFile = DREYEVR_CONFIG_FILE_PACKET_ID    // DReyeVR configuration files (parameters)
 };
 
 /// Recorder for the simulation
@@ -205,6 +207,7 @@ class CARLA_API ACarlaRecorder : public AActor
   CarlaRecorderWeathers Weathers;
   DReyeVRDataRecorders<DReyeVR::AggregateData, DREYEVR_PACKET_ID> DReyeVRAggData;
   DReyeVRDataRecorders<DReyeVR::CustomActorData, DREYEVR_CUSTOM_ACTOR_PACKET_ID> DReyeVRCustomActorData;
+  DReyeVRDataRecorders<DReyeVR::ConfigFileData, DREYEVR_CONFIG_FILE_PACKET_ID> DReyeVRConfigFileData;
 
   // replayer
   CarlaReplayer Replayer;

Carla/Recorder/CarlaRecorderQuery.cpp

@@ -604,6 +604,27 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
         else
             SkipPacket();
         break;
+
+        // DReyeVR data (ConfigFileData)
+        case static_cast<char>(CarlaRecorderPacketId::DReyeVRConfigFile):
+        if (bShowAll)
+        {
+            ReadValue<uint16_t>(File, Total);
+            if (Total > 0 && !bFramePrinted)
+            {
+                PrintFrame(Info);
+                bFramePrinted = true;
+            }
+            Info << " DReyeVR config files: " << Total << std::endl;
+            for (i = 0; i < Total; ++i)
+            { 
+                DReyeVRConfigFileDataInstance.Read(File);
+                Info << DReyeVRConfigFileDataInstance.Print() << std::endl;
+            }
+        }
+        else
+            SkipPacket();
+        break;
         // frame end
         case static_cast<char>(CarlaRecorderPacketId::FrameEnd):
         // do nothing, it is empty

Carla/Recorder/CarlaRecorderQuery.h

@@ -72,6 +72,7 @@ class CarlaRecorderQuery
   // custom DReyeVR packets
   DReyeVRDataRecorder<DReyeVR::AggregateData> DReyeVRAggDataInstance;
   DReyeVRDataRecorder<DReyeVR::CustomActorData> DReyeVRCustomActorDataInstance;
+  DReyeVRDataRecorder<DReyeVR::ConfigFileData> DReyeVRConfigFileDataInstance;
 
   // read next header packet
   bool ReadHeader(void);