Carla.cpp

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// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
 
#include "Carla.h"
#include "Developer/Settings/Public/ISettingsModule.h"
#include "Developer/Settings/Public/ISettingsSection.h"
#include "Developer/Settings/Public/ISettingsContainer.h"
#include "Settings/CarlaSettings.h"
 
#define LOCTEXT_NAMESPACE "FCarlaModule"
 
DEFINE_LOG_CATEGORY(LogCarla);
DEFINE_LOG_CATEGORY(LogCarlaServer);
 
void FCarlaModule::StartupModule()
{
    RegisterSettings();
    LoadChronoDll();
}
 
void FCarlaModule::LoadChronoDll()
{
    #if defined(WITH_CHRONO) && PLATFORM_WINDOWS
    const FString BaseDir = FPaths::Combine(*FPaths::ProjectPluginsDir(), TEXT("Carla"));
    const FString DllDir = FPaths::Combine(*BaseDir, TEXT("CarlaDependencies"), TEXT("dll"));
    FString ChronoEngineDll = FPaths::Combine(*DllDir, TEXT("ChronoEngine.dll"));
    FString ChronoVehicleDll = FPaths::Combine(*DllDir, TEXT("ChronoEngine_vehicle.dll"));
    FString ChronoModelsDll = FPaths::Combine(*DllDir, TEXT("ChronoModels_vehicle.dll"));
    FString ChronoRobotDll = FPaths::Combine(*DllDir, TEXT("ChronoModels_robot.dll"));
    UE_LOG(LogCarla, Log, TEXT("Loading Dlls from: %s"), *DllDir);
    auto ChronoEngineHandle = FPlatformProcess::GetDllHandle(*ChronoEngineDll);
    if (!ChronoEngineHandle)
    {
        UE_LOG(LogCarla, Warning, TEXT("Error: ChronoEngine.dll could not be loaded"));
    }
    auto ChronoVehicleHandle = FPlatformProcess::GetDllHandle(*ChronoVehicleDll);
    if (!ChronoVehicleHandle)
    {
        UE_LOG(LogCarla, Warning, TEXT("Error: ChronoEngine_vehicle.dll could not be loaded"));
    }
    auto ChronoModelsHandle = FPlatformProcess::GetDllHandle(*ChronoModelsDll);
    if (!ChronoModelsHandle)
    {
        UE_LOG(LogCarla, Warning, TEXT("Error: ChronoModels_vehicle.dll could not be loaded"));
    }
    auto ChronoRobotHandle = FPlatformProcess::GetDllHandle(*ChronoRobotDll);
    if (!ChronoRobotHandle)
    {
        UE_LOG(LogCarla, Warning, TEXT("Error: ChronoModels_robot.dll could not be loaded"));
    }
    #endif
}
 
void FCarlaModule::ShutdownModule()
{
    if (UObjectInitialized())
    {
        UnregisterSettings();
    }
}
 
void FCarlaModule::RegisterSettings()
{
    // Registering some settings is just a matter of exposing the default UObject of
    // your desired class, add here all those settings you want to expose
    // to your LDs or artists.
 
    if (ISettingsModule* SettingsModule = FModuleManager::GetModulePtr<ISettingsModule>("Settings"))
    {
        // Create the new category
        ISettingsContainerPtr SettingsContainer = SettingsModule->GetContainer("Project");
 
        SettingsContainer->DescribeCategory("CARLASettings",
            LOCTEXT("RuntimeWDCategoryName", "CARLA Settings"),
            LOCTEXT("RuntimeWDCategoryDescription", "CARLA plugin settings"));
 
        // Register the settings
        ISettingsSectionPtr SettingsSection = SettingsModule->RegisterSettings("Project", "CARLASettings", "General",
            LOCTEXT("RuntimeGeneralSettingsName", "General"),
            LOCTEXT("RuntimeGeneralSettingsDescription", "General configuration for the CARLA plugin"),
            GetMutableDefault<UCarlaSettings>()
        );
 
        // Register the save handler to your settings, you might want to use it to
        // validate those or just act to settings changes.
        if (SettingsSection.IsValid())
        {
            SettingsSection->OnModified().BindRaw(this, &FCarlaModule::HandleSettingsSaved);
        }
    }
}
 
void FCarlaModule::UnregisterSettings()
{
    // Ensure to unregister all of your registered settings here, hot-reload would
    // otherwise yield unexpected results.
 
    if (ISettingsModule* SettingsModule = FModuleManager::GetModulePtr<ISettingsModule>("Settings"))
    {
        SettingsModule->UnregisterSettings("Project", "CustomSettings", "General");
    }
}
 
bool FCarlaModule::HandleSettingsSaved()
{
    UCarlaSettings* Settings = GetMutableDefault<UCarlaSettings>();
    bool ResaveSettings = false;
 
    // Put any validation code in here and resave the settings in case an invalid
    // value has been entered
 
    if (ResaveSettings)
    {
        Settings->SaveConfig();
    }
 
    return true;
}
 
#undef LOCTEXT_NAMESPACE
 
IMPLEMENT_MODULE(FCarlaModule, Carla)
 
// =============================================================================
// -- Implement carla throw_exception ------------------------------------------
// =============================================================================
 
#include <compiler/disable-ue4-macros.h>
#include <carla/Exception.h>
#include <compiler/enable-ue4-macros.h>
 
#include <exception>
 
namespace carla {
 
  void throw_exception(const std::exception &e) {
    UE_LOG(LogCarla, Fatal, TEXT("Exception thrown: %s"), UTF8_TO_TCHAR(e.what()));
    // It should never reach this part.
    std::terminate();
  }
 
} // namespace carla