Remove intermediate map when changing map. (carla-simulator#2911)

* Fixed load_new_episode and removed intermediate check.

* Recovered intermediate state.

* Removing intermediate map

* Fixing merge issue

* Remove unnecessary check in load_new_episode

Author: doterop

LibCarla/source/carla/client/detail/Client.cpp

@@ -145,10 +145,6 @@ namespace detail {
     _pimpl->CallAndWait<void>("load_new_episode", std::move(map_name));
   }
 
-  bool Client::CheckIntermediateEpisode() {
-    return _pimpl->CallAndWait<bool>("check_intermediate_episode");
-  }
-
   void Client::CopyOpenDriveToServer(std::string opendrive, const rpc::OpendriveGenerationParameters & params) {
     // Await response, we need to be sure in this one.
     _pimpl->CallAndWait<void>("copy_opendrive_to_file", std::move(opendrive), params);

LibCarla/source/carla/client/detail/Client.h

@@ -89,8 +89,6 @@ namespace detail {
 
     void LoadEpisode(std::string map_name);
 
-    bool CheckIntermediateEpisode();
-
     void CopyOpenDriveToServer(
         std::string opendrive, const rpc::OpendriveGenerationParameters & params);
 

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -90,7 +90,7 @@ namespace detail {
       using namespace std::literals::chrono_literals;
       _episode->WaitForState(10ms);
       auto episode = GetCurrentEpisode();
-      if (episode.GetId() != id && !_client.CheckIntermediateEpisode()) {
+      if (episode.GetId() != id) {
         return episode;
       }
     }

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

@@ -17,18 +17,3 @@ UCarlaGameInstance::UCarlaGameInstance() {
 }
 
 UCarlaGameInstance::~UCarlaGameInstance() = default;
-
-void UCarlaGameInstance::SetMapToLoad(const FString MapName)
-{
-  MapToLoad = MapName;
-  bShouldLoadLevel = true;
-}
-
-void UCarlaGameInstance::CheckAndLoadMap(UWorld *world, UCarlaEpisode &Episode)
-{
-  if(bShouldLoadLevel)
-  {
-    Episode.LoadNewEpisode(MapToLoad);
-    bShouldLoadLevel = false;
-  }
-}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameInstance.h

@@ -83,14 +83,6 @@ class CARLA_API UCarlaGameInstance : public UGameInstance
     return GenerationParameters;
   }
 
-  void SetMapToLoad(const FString MapName);
-
-  void CheckAndLoadMap(UWorld *world, UCarlaEpisode &Episode);
-
-  bool IsLevelPendingLoad() const {
-    return bShouldLoadLevel;
-  }
-
 private:
 
   UPROPERTY(Category = "CARLA Settings", EditAnywhere)
@@ -100,9 +92,4 @@ class CARLA_API UCarlaGameInstance : public UGameInstance
 
   carla::rpc::OpendriveGenerationParameters GenerationParameters;
 
-  UPROPERTY()
-  bool bShouldLoadLevel = false;
-
-  UPROPERTY()
-  FString MapToLoad;
 };

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

@@ -142,7 +142,6 @@ void ACarlaGameModeBase::BeginPlay()
     Recorder->GetReplayer()->CheckPlayAfterMapLoaded();
   }
 
-  UCarlaStatics::GetGameInstance(GetWorld())->CheckAndLoadMap(GetWorld(), *Episode);
 }
 
 void ACarlaGameModeBase::Tick(float DeltaSeconds)
@@ -194,15 +193,12 @@ void ACarlaGameModeBase::SpawnActorFactories()
 
 void ACarlaGameModeBase::ParseOpenDrive(const FString &MapName)
 {
-  if(!UCarlaStatics::GetGameInstance(Episode->GetWorld())->IsLevelPendingLoad())
-  {
-    std::string opendrive_xml = carla::rpc::FromLongFString(UOpenDrive::LoadXODR(MapName));
-    Map = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
-    if (!Map.has_value()) {
-      UE_LOG(LogCarla, Error, TEXT("Invalid Map"));
-    } else {
-      Episode->MapGeoReference = Map->GetGeoReference();
-    }
+  std::string opendrive_xml = carla::rpc::FromLongFString(UOpenDrive::LoadXODR(MapName));
+  Map = carla::opendrive::OpenDriveParser::Load(opendrive_xml);
+  if (!Map.has_value()) {
+    UE_LOG(LogCarla, Error, TEXT("Invalid Map"));
+  } else {
+    Episode->MapGeoReference = Map->GetGeoReference();
   }
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -229,34 +229,13 @@ void FCarlaServer::FPimpl::BindActions()
   BIND_SYNC(load_new_episode) << [this](const std::string &map_name) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();
-    FString MapName = cr::ToFString(map_name);
-    MapName = MapName.IsEmpty() ? Episode->GetMapName() : MapName;
-    auto Maps = UCarlaStatics::GetAllMapNames();
-    Maps.Add("OpenDriveMap");
-    bool bMissingMap = true;
-    for (auto & Map : Maps)
-    {
-      if(Map.Contains(MapName))
-      {
-        bMissingMap = false;
-        break;
-      }
-    }
-    if(bMissingMap)
+    if(!Episode->LoadNewEpisode(cr::ToFString(map_name)))
     {
       RESPOND_ERROR("map not found");
     }
-    UCarlaStatics::GetGameInstance(Episode->GetWorld())->SetMapToLoad(MapName);
-    Episode->LoadNewEpisode(cr::ToFString("EmptyMap"));
     return R<void>::Success();
   };
 
-  BIND_SYNC(check_intermediate_episode) << [this]() -> R<bool>
-  {
-    REQUIRE_CARLA_EPISODE();
-    return UCarlaStatics::GetGameInstance(Episode->GetWorld())->IsLevelPendingLoad();
-  };
-
   BIND_SYNC(copy_opendrive_to_file) << [this](const std::string &opendrive, cr::OpendriveGenerationParameters Params) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();