From 86aae744b05ad4e1060a17a84eae02cbe83b888e Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Thu, 28 Nov 2019 01:24:58 +0100
Subject: [PATCH 01/43] - separate depth was always performed even if not
 needed

---
 .../Capture/CaptureCameraComponent.cpp        | 58 +++++++++----------
 .../Public/Capture/CaptureCameraComponent.h   |  3 -
 2 files changed, 28 insertions(+), 33 deletions(-)

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp
index c1fb6120..dbea2892 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Capture/CaptureCameraComponent.cpp
@@ -24,9 +24,11 @@ void UCaptureCameraComponent::Initialize(UTextureRenderTarget2D *colorRenderTarg
 
 	m_SceneCapture = NewObject<USceneCaptureComponent2D>(owningActor, FName( *("ColorCaptureComponent_" + FString::FromInt(CameraId)) ));
 	m_SceneCapture->RegisterComponent();
+	m_SceneCapture->ProfilingEventName = "DeepDriveCapture_Scene";
 
 	m_DepthCapture = NewObject<USceneCaptureComponent2D>(owningActor, FName( *("DepthCaptureComponent_" + FString::FromInt(CameraId)) ));
 	m_DepthCapture->RegisterComponent();
+	m_DepthCapture->ProfilingEventName = "DeepDriveCapture_Depth";
 
 	if (m_SceneCapture && m_DepthCapture)
 	{
@@ -43,17 +45,22 @@ void UCaptureCameraComponent::Initialize(UTextureRenderTarget2D *colorRenderTarg
 
 		if(IsCapturingActive)
 		{
+			m_SceneCapture->bCaptureEveryFrame = true;
+			m_SceneCapture->bCaptureOnMovement = true;
 			m_SceneCapture->Activate();
+
+			m_DepthCapture->bCaptureEveryFrame = m_needsSeparateDepthCapture;
+			m_DepthCapture->bCaptureOnMovement = m_needsSeparateDepthCapture;
 			m_DepthCapture->Activate();
-			m_SceneCapture->bCaptureEveryFrame = CaptureSceneEveryFrame;
-			m_SceneCapture->bCaptureOnMovement = CaptureSceneEveryFrame;
 		}
 		else
 		{
 			m_SceneCapture->Deactivate();
-			m_DepthCapture->Deactivate();
 			m_SceneCapture->bCaptureEveryFrame = false;
 			m_SceneCapture->bCaptureOnMovement = false;
+			m_DepthCapture->Deactivate();
+			m_DepthCapture->bCaptureEveryFrame = false;
+			m_DepthCapture->bCaptureOnMovement = false;
 		}
 
 		m_SceneCapture->AttachToComponent(this, FAttachmentTransformRules(EAttachmentRule::KeepRelative, false));
@@ -87,10 +94,12 @@ void UCaptureCameraComponent::ActivateCapturing()
 	if (m_SceneCapture)
 	{
 		m_SceneCapture->Activate();
-		m_SceneCapture->bCaptureEveryFrame = CaptureSceneEveryFrame;
-		m_SceneCapture->bCaptureOnMovement = CaptureSceneEveryFrame;
+		m_SceneCapture->bCaptureEveryFrame = true;
+		m_SceneCapture->bCaptureOnMovement = true;
 
 		m_DepthCapture->Activate();
+		m_DepthCapture->bCaptureEveryFrame = m_needsSeparateDepthCapture;
+		m_DepthCapture->bCaptureOnMovement = m_needsSeparateDepthCapture;
 	}
 	IsCapturingActive = true;
 }
@@ -105,6 +114,8 @@ void UCaptureCameraComponent::DeactivateCapturing()
 		m_SceneCapture->bCaptureOnMovement = false;
 
 		m_DepthCapture->Deactivate();
+		m_DepthCapture->bCaptureEveryFrame = false;
+		m_DepthCapture->bCaptureOnMovement = false;
 	}
 	IsCapturingActive = false;
 }
@@ -120,31 +131,9 @@ bool UCaptureCameraComponent::capture(SCaptureRequest &reqData)
 		FTextureRenderTargetResource *sceneSrc = m_SceneCapture ? m_SceneCapture->TextureTarget->GameThread_GetRenderTargetResource() : 0;
 		if (sceneSrc)
 		{
-			if (!CaptureSceneEveryFrame)
-			{
-				if(m_hasValidViewMode)
-					m_SceneCapture->bCaptureEveryFrame = true;
-
-				m_SceneCapture->CaptureScene();
-
-				if(m_hasValidViewMode)
-					m_SceneCapture->bCaptureEveryFrame = false;
-			}
 			reqData.scene_capture_source = sceneSrc;
 
-			FTextureRenderTargetResource *depthSrc = m_hasValidViewMode && m_needsSeparateDepthCapture && m_DepthCapture ? m_DepthCapture->TextureTarget->GameThread_GetRenderTargetResource() : 0;
-			if(depthSrc)
-			{
-				if (!CaptureSceneEveryFrame)
-				{
-					m_DepthCapture->bCaptureEveryFrame = true;
-					m_DepthCapture->CaptureScene();
-					m_DepthCapture->bCaptureEveryFrame = false;
-				}
-				reqData.depth_capture_source = depthSrc;
-			}
-			else
-				reqData.depth_capture_source = 0;
+			reqData.depth_capture_source = m_hasValidViewMode && m_needsSeparateDepthCapture && m_DepthCapture ? m_DepthCapture->TextureTarget->GameThread_GetRenderTargetResource() : 0;
 	
 			reqData.camera_type = CameraType;
 			reqData.camera_id = CameraId;
@@ -168,14 +157,23 @@ void UCaptureCameraComponent::setViewMode(const FDeepDriveViewMode *viewMode)
 			m_hasValidViewMode = true;
 			m_InternalCaptureEncoding = viewMode->ViewModeEncoding;
 			m_needsSeparateDepthCapture = m_InternalCaptureEncoding == EDeepDriveInternalCaptureEncoding::SEPARATE ? true : false;
-		}
 
-		if(m_hasValidViewMode)
 			m_SceneCapture->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
+		}
+		else
+		{
+			m_hasValidViewMode = false;
+			m_needsSeparateDepthCapture = false;
+		}
 	}
 	else
 	{
 		m_SceneCapture->CaptureSource = ESceneCaptureSource::SCS_SceneColorSceneDepth;
 		m_InternalCaptureEncoding = EDeepDriveInternalCaptureEncoding::RGB_DEPTH;
+		m_hasValidViewMode = false;
+		m_needsSeparateDepthCapture = false;
 	}
+
+	m_DepthCapture->bCaptureEveryFrame = m_needsSeparateDepthCapture;
+	m_DepthCapture->bCaptureOnMovement = m_needsSeparateDepthCapture;
 }
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h
index cef5c551..f847fc06 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Capture/CaptureCameraComponent.h
@@ -32,9 +32,6 @@ class DEEPDRIVEPLUGIN_API UCaptureCameraComponent : public UCameraComponent
 	UPROPERTY(EditDefaultsOnly, BlueprintReadOnly, Category = "CaptureCamera")
 	bool	IsCapturingActive = true;
 
-	UPROPERTY(EditDefaultsOnly, Category = "CaptureCamera")
-	bool	CaptureSceneEveryFrame = false;
-
 	UFUNCTION(BlueprintCallable, Category = "CaptureCamera")
 	void Initialize(UTextureRenderTarget2D *colorRenderTarget, UTextureRenderTarget2D *depthRenderTarget, float FoV);
 

From d790ab96ff6e6dc79455b097a9bb4520cef16802 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 1 Dec 2019 01:35:06 +0100
Subject: [PATCH 02/43] - evaluate remote_ai command line switch for non
 scenario mode

---
 .../Private/Simulation/DeepDriveSimulation.cpp     | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
index de567f3a..10747cf6 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
@@ -80,6 +80,7 @@ void ADeepDriveSimulation::PreInitializeComponents()
 		}
 	}
 
+	bool forceRemoteAI = false;
 	{
 #if WITH_EDITOR
 		ScenarioMode = InitialScenarioMode;
@@ -94,11 +95,20 @@ void ADeepDriveSimulation::PreInitializeComponents()
 			if(s == "scenario_mode")
 			{
 				ScenarioMode = true;
-				break;
+			}
+			else if (s == "remote_ai")
+			{
+				forceRemoteAI = true;
 			}
 		}
 	}
-	UE_LOG(LogDeepDriveSimulation, Log, TEXT(">> Scenario Mode %c"), ScenarioMode ? 'T' :'F');
+	UE_LOG(LogDeepDriveSimulation, Log, TEXT(">> Scenario Mode %c RemoteAI %c"), ScenarioMode ? 'T' :'F', forceRemoteAI ? 'T' : 'F');
+
+	if(forceRemoteAI && ScenarioMode == false)
+	{
+		InitialControllerMode = EDeepDriveAgentControlMode::REMOTE_AI;
+		UE_LOG(LogDeepDriveSimulation, Log, TEXT("Intital Controller Mode forced to be RemoteAI"));
+	}
 
 	if (!alreadyRegistered)
 	{

From 3533dc73fd96862bf5eb7bbd43843d310433c283 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 15 Dec 2019 00:56:39 +0100
Subject: [PATCH 03/43] - immediate manual mode added

---
 .../DeepDriveAgentCityAIController.cpp        | 242 ------------------
 .../DeepDriveAgentLocalAIController.cpp       |  11 +-
 .../DeepDriveAgentOneOffController.cpp        |  12 +
 .../DeepDriveAgentRemoteAIController.cpp      |  18 +-
 .../DeepDriveAgentTrafficAIController.cpp     |  11 +-
 .../Agent/DeepDriveAgentControllerBase.cpp    |  41 +++
 .../Simulation/DeepDriveSimulation.cpp        |   1 -
 .../DeepDriveSimulationConfigureState.cpp     |   2 +-
 .../DeepDriveAgentCityAIController.h          |  94 -------
 .../DeepDriveAgentOneOffController.h          |   6 +
 .../DeepDriveAgentRemoteAIController.h        |   2 +
 .../DeepDriveAgentTrafficAIController.h       |   1 -
 .../Agent/DeepDriveAgentControllerBase.h      |  12 +-
 13 files changed, 102 insertions(+), 351 deletions(-)
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.cpp
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.cpp
deleted file mode 100644
index ba67d624..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.cpp
+++ /dev/null
@@ -1,242 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "DeepDriveAgentCityAIController.h"
-#include "Public/Simulation/DeepDriveSimulation.h"
-#include "Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h"
-#include "Public/Simulation/RoadNetwork/DeepDriveRoute.h"
-#include "Public/Simulation/Agent/DeepDriveAgent.h"
-#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSpeedController.h"
-#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSteeringController.h"
-
-ADeepDriveAgentCityAIController::ADeepDriveAgentCityAIController()
-{
-	m_ControllerName = "City AI Controller";
-
-	//	for testing purposes
-	m_isCollisionEnabled = true;
-}
-
-void ADeepDriveAgentCityAIController::Tick( float DeltaSeconds )
-{
-	if(m_Route && m_Agent && m_SpeedController && m_SteeringController)
-	{
-		m_Route->update(*m_Agent);
-
-		switch(m_State)
-		{
-			case ActiveRouteGuidance:
-				{
-					if (m_Route->getRemainingDistance() - m_Agent->getFrontBumperDistance() < 800.0f)
-					{
-						m_State = m_StartIndex < 0 && m_OperationMode == OperationMode::Standard ? Waiting : Idle;
-						m_WaitTimer = FMath::RandRange(3.0f, 4.0f);
-
-					}
-					float desiredSpeed = m_DesiredSpeed;
-
-					desiredSpeed = m_SpeedController->limitSpeedByTrack(desiredSpeed, 1.0f);
-					const float safetyDistance = calculateSafetyDistance();
-					float dist2Obstacle = checkForObstacle(safetyDistance);
-					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("SafetyDistance %f Dist2Obstalce %f"), safetyDistance, dist2Obstacle);
-					if(dist2Obstacle < 0.0f)
-						m_SpeedController->update(DeltaSeconds, desiredSpeed, -1.0f, 0.0f);
-					else
-						m_SpeedController->update(DeltaSeconds, desiredSpeed, safetyDistance, dist2Obstacle);
-					m_SteeringController->update(DeltaSeconds, desiredSpeed, 0.0f);
-				}
-				break;
-
-			case Waiting:
-				m_WaitTimer -= DeltaSeconds;
-				if(m_WaitTimer <= 0.0f)
-				{
-					FVector start = m_Agent->GetActorLocation();
-					FVector destination;
-					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentCityAIController::Activate Random start pos %s"), *(start.ToString()) );
-
-					TArray<uint32> routeLinks = m_DeepDriveSimulation->RoadNetwork->calculateRandomRoute(start, destination);
-					if (routeLinks.Num() > 0)
-					{
-						ADeepDriveRoute *route = GetWorld()->SpawnActor<ADeepDriveRoute>(FVector(0.0f, 0.0f, 0.0f), FRotator(0.0f, 0.0f, 0.0f), FActorSpawnParameters());
-
-						SDeepDriveRouteData routeData;
-						routeData.Start = start;
-						routeData.Destination = destination;
-						routeData.Links = routeLinks;
-
-						UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork;
-						route->initialize(roadNetwork->getRoadNetwork(), routeData);
-
-						route->convert(start);
-
-						m_SteeringController->setRoute(*route);
-						m_SpeedController->setRoute(*route);
-						route->update(*m_Agent);
-
-						m_Route->Destroy();
-						m_Route = route;
-
-						m_State = ActiveRouteGuidance;
-					}
-					else
-					{
-						m_State = Idle;
-					}
-				}			//	fall through
-
-			case Idle:
-				m_Agent->SetThrottle(0.0f);
-				m_Agent->SetBrake(1.0f);
-				m_Agent->SetSteering(0.0f);
-				break;
-		}
-	}
-}
-
-bool ADeepDriveAgentCityAIController::Activate(ADeepDriveAgent &agent, bool keepPosition)
-{
-	bool res = false;
-
-	UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork;
-
-	TArray<uint32> routeLinks;
-	FVector start = FVector(0.0f, 0.0f, 0.0f);
-	FVector destination = m_ScenarionConfiguration.EndPosition;
-
-	switch(m_OperationMode)
-	{
-		case OperationMode::Standard:
-			if(m_StartIndex < 0 || m_StartIndex < m_Configuration.Routes.Num())
-			{
-				if(m_StartIndex < 0)
-				{
-					do
-					{
-						start = roadNetwork->GetRandomLocation(EDeepDriveLaneType::MAJOR_LANE, -1);
-					} while(m_DeepDriveSimulation->isLocationOccupied(start, 300.0f));
-					
-					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentCityAIController::Activate Random start pos %s"), *(start.ToString()) );
-
-					routeLinks = roadNetwork->calculateRandomRoute(start, destination);
-				}
-				else
-				{
-					start = m_Configuration.Routes[m_StartIndex].Start;
-					destination = m_Configuration.Routes[m_StartIndex].Destination;
-					routeLinks = roadNetwork->CalculateRoute(start, destination);
-				}
-			}
-			else if(m_StartIndex < m_Configuration.StartPositions.Num())
-			{
-				roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true);
-			}
-			break;
-
-		case OperationMode::Scenario:
-			start = m_ScenarionConfiguration.StartPosition;
-			roadNetwork->PlaceAgentOnRoad(&agent, start, true);
-			routeLinks = roadNetwork->CalculateRoute(start, m_ScenarionConfiguration.EndPosition);
-			break;
-	}
-
-	if (routeLinks.Num() > 0)
-	{
-		ADeepDriveRoute *route = GetWorld()->SpawnActor<ADeepDriveRoute>(FVector(0.0f, 0.0f, 0.0f), FRotator(0.0f, 0.0f, 0.0f), FActorSpawnParameters());
-
-		SDeepDriveRouteData routeData;
-		routeData.Start = start;
-		routeData.Destination = destination;
-		routeData.Links = routeLinks;
-		route->initialize(roadNetwork->getRoadNetwork(), routeData);
-
-		route->convert(start);
-		route->placeAgentAtStart(agent);
-
-		m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake);
-		m_SpeedController->initialize(agent, *route, m_Configuration.SafetyDistanceFactor);
-
-		m_SteeringController = new DeepDriveAgentSteeringController(m_Configuration.PIDSteering);
-		m_SteeringController->initialize(agent, *route);
-		m_State = ActiveRouteGuidance;
-
-		res = true;
-		m_Route = route;
-	}
-	else
-	{
-		roadNetwork->PlaceAgentOnRoad(&agent, start, true);
-	}
-
-	if(res)
-		activateController(agent);
-
-	return res;
-}
-
-bool ADeepDriveAgentCityAIController::ResetAgent()
-{
-	bool res = false;
-	if(m_Agent)
-	{
-        res = true;
-		m_Agent->reset();
-	}
-	return res;
-}
-
-void ADeepDriveAgentCityAIController::Configure(const FDeepDriveCityAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation)
-{
-	m_Configuration = Configuration;
-	m_DeepDriveSimulation = DeepDriveSimulation;
-	m_StartIndex = StartPositionSlot;
-
-	m_OperationMode = OperationMode::Standard;
-
-	m_DesiredSpeed = FMath::RandRange(Configuration.SpeedRange.X, Configuration.SpeedRange.Y);
-}
-
-void ADeepDriveAgentCityAIController::ConfigureScenario(const FDeepDriveCityAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation)
-{
-	m_Configuration = Configuration;
-	m_DeepDriveSimulation = DeepDriveSimulation;
-	m_StartIndex = -1;
-
-	m_OperationMode = OperationMode::Scenario;
-	m_ScenarionConfiguration.StartPosition = ScenarioConfiguration.StartPosition;
-	m_ScenarionConfiguration.EndPosition = ScenarioConfiguration.EndPosition;
-
-	m_DesiredSpeed = ScenarioConfiguration.MaxSpeed;
-}
-
-float ADeepDriveAgentCityAIController::checkForObstacle(float maxDistance)
-{
-	float distance = -1.0f;
-
-	FHitResult hitResult;
-
-	FVector forward = m_Agent-> GetActorForwardVector();
-	FVector start = m_Agent->GetActorLocation() + forward * m_Agent->getFrontBumperDistance() + FVector(0.0f, 0.0f, 100.0f);
-	FVector end = start + forward * maxDistance;
-
-	DrawDebugLine(GetWorld(), start, end, FColor::Green, false, 0.0f, 100, 4.0f);
-
-	FCollisionQueryParams params;
-	params.AddIgnoredActor(m_Agent);
-	if(GetWorld()->LineTraceSingleByChannel(hitResult, start, end, ECollisionChannel::ECC_Visibility, params, FCollisionResponseParams() ))
-	{
-		distance = hitResult.Distance;
-	}
-
-	return distance;
-}
-
-float ADeepDriveAgentCityAIController::calculateSafetyDistance()
-{
-	const float brakingDeceleration = 400.0f;
-	const float curSpeed = m_Agent->getSpeed();
-	const float safetyDistance = curSpeed * curSpeed / (2.0f * brakingDeceleration);
-
-	return FMath::Max(100.0f, safetyDistance);
-}
-
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp
index b2b919d4..87acc179 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp
@@ -17,6 +17,8 @@
 
 #include "Private/Simulation/Agent/Controllers/LocalAI/States/DeepDriveAgentAbortOvertakingState.h"
 
+#include "WheeledVehicleMovementComponent.h"
+
 DEFINE_LOG_CATEGORY(LogDeepDriveAgentLocalAIController);
 
 ADeepDriveAgentLocalAIController::ADeepDriveAgentLocalAIController()
@@ -28,7 +30,6 @@ ADeepDriveAgentLocalAIController::ADeepDriveAgentLocalAIController()
 	m_isCollisionEnabled = true;
 }
 
-
 bool ADeepDriveAgentLocalAIController::Activate(ADeepDriveAgent &agent, bool keepPosition)
 {
 	bool activated = false;
@@ -112,8 +113,14 @@ void ADeepDriveAgentLocalAIController::Configure(const FDeepDriveLocalAIControll
 
 void ADeepDriveAgentLocalAIController::Tick( float DeltaSeconds )
 {
-	if (m_Agent && m_Track)
+	if (m_InputTimer > 0.0f)
 	{
+		m_InputTimer -= DeltaSeconds;
+	}
+	else if (m_Agent && m_Track)
+	{
+		m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false);
+
 		FVector curAgentLocation = m_Agent->GetActorLocation();
 		m_Track->setBaseLocation(curAgentLocation);
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp
index 21c86df0..8b861f0b 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.cpp
@@ -60,3 +60,15 @@ bool ADeepDriveAgentOneOffController::Activate(ADeepDriveAgent &agent, bool keep
 	}
 	return res;
 }
+
+void ADeepDriveAgentOneOffController::MoveForward(float axisValue)
+{
+}
+
+void ADeepDriveAgentOneOffController::MoveRight(float axisValue)
+{
+}
+
+void ADeepDriveAgentOneOffController::Brake(float axisValue)
+{
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp
index a5c38156..dce9c0a6 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp
@@ -20,6 +20,14 @@ ADeepDriveAgentRemoteAIController::ADeepDriveAgentRemoteAIController()
 	m_isCollisionEnabled = true;
 }
 
+void ADeepDriveAgentRemoteAIController::Tick(float DeltaSeconds)
+{
+	if (m_InputTimer > 0.0f)
+	{
+		m_InputTimer -= DeltaSeconds;
+	}
+}
+
 void ADeepDriveAgentRemoteAIController::OnConfigureSimulation(const SimulationConfiguration &configuration, bool initialConfiguration)
 {
 	UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentRemoteAIController Reconfigure %f"), configuration.agent_start_location);
@@ -33,10 +41,12 @@ void ADeepDriveAgentRemoteAIController::OnConfigureSimulation(const SimulationCo
 
 void ADeepDriveAgentRemoteAIController::SetControlValues(float steering, float throttle, float brake, bool handbrake)
 {
-	if (m_Agent)
-	{
-		m_Agent->SetControlValues(steering, throttle, brake, handbrake);
-		m_Agent->setIsGameDriving(false);
+	if	(	m_Agent
+		&&	m_InputTimer <= 0.0f
+		)
+		{
+			m_Agent->SetControlValues(steering, throttle, brake, handbrake);
+			m_Agent->setIsGameDriving(false);
 	}
 }
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index cd5de60d..1aae7e15 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -14,6 +14,8 @@
 #include "Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h"
 #include "Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h"
 
+#include "WheeledVehicleMovementComponent.h"
+
 ADeepDriveAgentTrafficAIController::ADeepDriveAgentTrafficAIController()
 {
 	m_ControllerName = "Traffic AI Controller";
@@ -49,9 +51,14 @@ bool ADeepDriveAgentTrafficAIController::updateAgentOnPath( float DeltaSeconds )
 
 void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds )
 {
-	if(m_Agent && m_SpeedController)
+	if(m_InputTimer > 0.0f)
+	{
+		m_InputTimer -= DeltaSeconds;
+	}
+	else if(m_Agent && m_SpeedController)
 	{
-		switch(m_State)
+		m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false);
+		switch (m_State)
 		{
 			case ActiveRouteGuidance:
 				{
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
index 7411ea3f..13c75048 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
@@ -10,6 +10,8 @@
 #include "Runtime/Engine/Classes/Components/SplineComponent.h"
 #include "Runtime/Landscape/Classes/Landscape.h"
 
+#include "WheeledVehicleMovementComponent.h"
+
 DEFINE_LOG_CATEGORY(LogDeepDriveAgentControllerBase);
 
 ADeepDriveAgentControllerBase::ADeepDriveAgentControllerBase()
@@ -36,17 +38,56 @@ void ADeepDriveAgentControllerBase::Deactivate()
 
 void ADeepDriveAgentControllerBase::MoveForward(float axisValue)
 {
+	if (m_Agent)
+	{
+		if(FMath::Abs(axisValue) > InputThreshold)
+			m_InputTimer = 0.1f;
 
+		if(m_InputTimer > 0.0f)
+		{
+			if (axisValue > 0.0f)
+			{
+				m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false);
+			}
+			else if (axisValue < 0.0f)
+			{
+				m_Agent->GetVehicleMovementComponent()->SetTargetGear(-1, false);
+			}
+
+			m_Agent->SetThrottle(axisValue);
+			m_Agent->setIsGameDriving(true);
+		}
+	}
 }
 
 void ADeepDriveAgentControllerBase::MoveRight(float axisValue)
 {
+	if (m_Agent)
+	{
+		if(FMath::Abs(axisValue) > InputThreshold)
+			m_InputTimer = 0.1f;
 
+		if (m_InputTimer > 0.0f)
+		{
+			m_Agent->SetSteering(axisValue);
+			m_Agent->setIsGameDriving(true);
+		}
+	}
 }
 
 void ADeepDriveAgentControllerBase::Brake(float axisValue)
 {
+	if (m_Agent)
+	{
+		if(axisValue > InputThreshold)
+			m_InputTimer = 0.1f;
 
+		if(m_InputTimer > 0.0f)
+		{
+			const float curBrakeValue = FMath::Clamp(axisValue, 0.0f, 1.0f);
+			m_Agent->SetBrake(curBrakeValue);
+		}
+	}
 }
 
 void ADeepDriveAgentControllerBase::SetControlValues(float steering, float throttle, float brake, bool handbrake)
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
index 10747cf6..2b598df2 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
@@ -10,7 +10,6 @@
 #include "Private/Simulation/States/DeepDriveSimulationConfigureState.h"
 #include "Private/Simulation/States/DeepDriveSimulationResetState.h"
 #include "Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h"
-#include "Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h"
 
 #include "Private/Server/DeepDriveServer.h"
 #include "Public/Simulation/DeepDriveSimulationServerProxy.h"
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp
index 90ee11ee..2d40b34d 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp
@@ -3,7 +3,7 @@
 #include "Private/Simulation/States/DeepDriveSimulationConfigureState.h"
 #include "Public/Simulation/DeepDriveSimulation.h"
 #include "Public/Simulation/Agent/DeepDriveAgent.h"
-#include "Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h"
+#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h"
 #include "Public/Simulation/Misc/DeepDriveSplineTrack.h"
 #include "Public/Simulation/Misc/DeepDriveRandomStream.h"
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h
deleted file mode 100644
index 05445663..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentCityAIController.h
+++ /dev/null
@@ -1,94 +0,0 @@
-
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "Simulation/Agent/DeepDriveAgentControllerBase.h"
-#include "DeepDriveAgentCityAIController.generated.h"
-
-class DeepDriveAgentSpeedController;
-class DeepDriveAgentSteeringController;
-class ADeepDriveRoadLinkProxy;
-
-USTRUCT(BlueprintType) struct FDeepDriveCityAIControllerConfiguration
-{
-	GENERATED_USTRUCT_BODY()
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	FString		ConfigurationName;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Debug)
-	TArray<FDeepDriveStaticRoute> Routes;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	TArray<FVector>		StartPositions;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	FVector PIDThrottle;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	FVector PIDSteering;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	FVector PIDBrake;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	FVector2D SpeedRange;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Safety)
-	float SafetyDistanceFactor = 1.0f;
-
-};
-
-/**
- * 
- */
-UCLASS()
-class DEEPDRIVEPLUGIN_API ADeepDriveAgentCityAIController : public ADeepDriveAgentControllerBase
-{
-	GENERATED_BODY()
-
-public:
-
-	ADeepDriveAgentCityAIController();
-
-	virtual void Tick( float DeltaSeconds ) override;
-
-	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
-
-	virtual bool ResetAgent();
-
-	UFUNCTION(BlueprintCallable, Category = "Configuration")
-	void Configure(const FDeepDriveCityAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation);
-
-	UFUNCTION(BlueprintCallable, Category = "Configuration")
-	void ConfigureScenario(const FDeepDriveCityAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation);
-
-protected:
-
-    UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
-	FDeepDriveCityAIControllerConfiguration		m_Configuration;
-
-private:
-
-	float checkForObstacle(float maxDistance);
-	float calculateSafetyDistance();
-
-	enum State
-	{
-		Idle,
-		ActiveRouteGuidance,
-		Waiting
-	};
-
-	DeepDriveAgentSpeedController		*m_SpeedController = 0;
-	DeepDriveAgentSteeringController	*m_SteeringController = 0;
-
-	int32								m_StartIndex;
-
-	float								m_DesiredSpeed = 0.0f;
-
-	State								m_State = Idle;
-
-	float								m_WaitTimer = 0.0f;
-};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h
index 191bed43..03786577 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h
@@ -20,6 +20,12 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentOneOffController : public ADeepDriveAge
 
 	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
 
+	virtual void MoveForward(float axisValue);
+
+	virtual void MoveRight(float axisValue);
+
+	virtual void Brake(float axisValue);
+
 	void configure(ADeepDriveSimulation* deepDriveSim, const FTransform &transform, bool bindToRoad);
 
 protected:
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h
index 9a6a587c..82953e5e 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h
@@ -36,6 +36,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentRemoteAIController : public ADeepDriveA
 
 	ADeepDriveAgentRemoteAIController();
 
+	virtual void Tick(float DeltaSeconds) override;
+
 	virtual void OnConfigureSimulation(const SimulationConfiguration &configuration, bool initialConfiguration);
 
 	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h
index 484e2771..5e91e946 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h
@@ -100,7 +100,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive
 	SDeepDrivePathConfiguration			*m_PathConfiguration = 0;
 	DeepDrivePathPlanner				*m_PathPlanner = 0;
 
-
 	int32								m_StartIndex;
 
 	float								m_DesiredSpeed = 0.0f;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
index 5b88f249..ad065907 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
@@ -43,13 +43,13 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController
 	virtual void MoveForward(float axisValue);
 
 	virtual void MoveRight(float axisValue);
-	
+
 	virtual void Brake(float axisValue);
-	
+
 	virtual void SetControlValues(float steering, float throttle, float brake, bool handbrake);
-	
+
 	virtual bool ResetAgent( /* const SimulationConfiguration &configuration */);
-	
+
 	virtual void OnRemoveAgent();
 
 	virtual void SetSpeedRange(float MinSpeed, float MaxSpeed);
@@ -123,6 +123,10 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController
 
 	bool								m_hasCollisionOccured = false;
 	DeepDriveCollisionData				m_CollisionData;
+
+	float								m_InputTimer = -1.0f;
+
+	const float							InputThreshold = 0.01f;
 };
 
 

From b8290d0e209adb9d5961adc4045dd2e21f66a513 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 15 Dec 2019 10:15:37 +0100
Subject: [PATCH 04/43] - removed obsolete file

---
 .../CityAIControllerCreator.uasset             | Bin 102386 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 Content/DeepDrive/Simulation/Agents/ControllerCreators/CityAIControllerCreator.uasset

diff --git a/Content/DeepDrive/Simulation/Agents/ControllerCreators/CityAIControllerCreator.uasset b/Content/DeepDrive/Simulation/Agents/ControllerCreators/CityAIControllerCreator.uasset
deleted file mode 100644
index 97e2ec2a01784d6893a9c5a24668c12ab1507dce..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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From f5532b837ab3a9bac2eca0983b25c956851c192c Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 15 Dec 2019 13:02:49 +0100
Subject: [PATCH 05/43] - removal of city ai pt. 1

---
 .../DeepDriveSim_CityMapTraffic_Demo.umap     | Bin 275793 -> 270996 bytes
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 23913 -> 23913 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 487316 -> 482630 bytes
 .../Simulation/DeepDriveSimulation.cpp        |   2 +-
 4 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap
index fd680539320221143ce0e946adb494b35cee6e8c..0d99ae79c0a39022ac82c9f82f941cbfac887e70 100644
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index 9cdc877d8b4f2a1cf085067eacd58d4839c067ac..0744a13aecff0d70e2963667cab17f84ea1236d1 100644
GIT binary patch
delta 101
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
index 6d3f73686fcfd53ac62a2b45b9d3c3cd702edfbe..68522a58d1902e8cf40de1221df33eddf4dc4246 100644
GIT binary patch
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zQu!BU)ewY{;V@ks=T#n;X!f4jK3qPa+{FcTk)Q(j2D}vm4pRYe$mpW({rlFkDwhS-
zNP9)qxnWL#88~)orvm@yPE^kRX_cVUO6|0eG@Gq*RRF})m|InxzEnJdRE$s;U#PQR
z{|@6^H!|@T2%iYCi0~02T_xp<sh@He{ndq?j3S2gnMwFWh#rKGe0@Rs^dWt)>XcIi
zV;xwn2Ga7%T}6<0x`&7|LVTr63M_)V2s0rjkv=0ypGOIw2oWBW32KB0kI6s{c5?DE
zJSMBUlK=Fk>f*y=vgGA2)t8$dlRGO?{m02v!Y4v3CVYgThlLS@O@wHx`eWa(+{fTJ
zHC9~|6cD@$6%Z0BR6v+)6e=LJ&_V?)UD$wS3L6jxKfk1BDw_PpHOTt6%F~zRfy!MB
zQWrZ_Y52t=BQcn4+y~zB@U2D>B1ZG@^T~U1eVt0WfSJ{KM-AGub4(QqEVw^TCOnJu
z!Rf{X6~gcNIGB!Cp7@l#u}@%8UOGU)Ir0zJo+^yr$@kSlzOO3p9hEd<Sg(Y!V~3A?
UaLjGZ^F8ZFs1W1s$qiroe}Sr}S^xk5

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
index 2b598df2..8f78fb4f 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
@@ -522,7 +522,7 @@ ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioC
 		agent->initialize(*this);
 		agent->setResetTransform(transform);
 
-		EDeepDriveAgentControlMode mode = remotelyControlled ? EDeepDriveAgentControlMode::REMOTE_AI : EDeepDriveAgentControlMode::CITY_AI;
+		EDeepDriveAgentControlMode mode = remotelyControlled ? EDeepDriveAgentControlMode::REMOTE_AI : EDeepDriveAgentControlMode::LOCAL_AI;
 		if(ControllerCreators.Contains(mode))
 		{
 			ADeepDriveAgentControllerBase *controller = ControllerCreators[mode]->CreateAgentControllerForScenario(scenarioCfg, this);

From cf96c5e13af94ccb6309e4714aeba88da9486ebd Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 18 Dec 2019 16:49:54 +0100
Subject: [PATCH 06/43] - added DestinationReached maneuver at end of route

---
 .../DeepDriveAgentTrafficAIController.cpp     |  8 ++--
 .../Tasks/DeepDriveTBTStopAtLocationTask.cpp  | 10 +++--
 .../Tasks/DeepDriveTBTStopAtLocationTask.h    |  7 ++--
 .../Maneuver/DeepDriveManeuverCalculator.cpp  | 38 +++++++++++++++++++
 .../Maneuver/DeepDriveManeuverCalculator.h    |  3 ++
 .../Traffic/Path/DeepDriveBasePath.cpp        | 11 ++++--
 .../Traffic/Path/DeepDriveBasePath.h          |  2 +-
 .../Traffic/Path/DeepDrivePartialPath.cpp     | 14 ++++---
 .../Traffic/Path/DeepDrivePartialPath.h       |  9 ++++-
 .../Traffic/Path/DeepDrivePathBuilder.cpp     |  4 +-
 .../Traffic/Path/DeepDrivePathPlanner.cpp     |  4 +-
 .../Traffic/Path/DeepDrivePathPlanner.h       |  2 +-
 .../RoadNetwork/DeepDriveRoadNetwork.h        |  4 +-
 13 files changed, 89 insertions(+), 27 deletions(-)

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 1aae7e15..7c789806 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -46,7 +46,9 @@ bool ADeepDriveAgentTrafficAIController::updateAgentOnPath( float DeltaSeconds )
 
 	// m_SteeringController->update(DeltaSeconds, heading);
 
-	return m_PathPlanner->isCloseToEnd(200.0f);
+	const bool hasReachedDestination = m_PathPlanner->hasReachedDestination();
+
+	return hasReachedDestination;
 }
 
 void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds )
@@ -62,9 +64,9 @@ void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds )
 		{
 			case ActiveRouteGuidance:
 				{
-					const bool isCloseToEnd = updateAgentOnPath(DeltaSeconds);
+					const bool hasReachedDestination  = updateAgentOnPath(DeltaSeconds);
 
-					if (isCloseToEnd)
+					if (hasReachedDestination)
 					{
 						m_State = m_StartIndex < 0 && m_OperationMode == OperationMode::Standard ? Waiting : Idle;
 						m_Agent->SetThrottle(0.0f);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
index 99953e69..c65a8613 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
@@ -7,10 +7,12 @@
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTStopAtLocationTask);
 
-DeepDriveTBTStopAtLocationTask::DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent)
+DeepDriveTBTStopAtLocationTask::DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent, float stopBeginDistance, float slowDownBeginDistance)
+	:	m_StopLocationName(stopLocationName)
+	,	m_Exponent(exponent)
+	,	StopBeginDistance(stopBeginDistance)
+	,	SlowDownBeginDistance(slowDownBeginDistance)
 {
-	m_StopLocationName = stopLocationName;
-	m_Exponent = exponent;
 }
 
 void DeepDriveTBTStopAtLocationTask::bind(DeepDriveTrafficBlackboard &blackboard, DeepDrivePartialPath &path)
@@ -45,7 +47,7 @@ bool DeepDriveTBTStopAtLocationTask::execute(DeepDriveTrafficBlackboard &blackbo
 			const float speedFac = FMath::Pow(curT, m_Exponent);
 
 			speed = pathPointIndex < m_StopLocationIndex ? speed * speedFac : 0.0f;
-			hasStopped = pathPointIndex > m_StopBeginIndex && agent->getSpeedKmh() < 1.0f;
+			hasStopped = pathPointIndex >= m_StopBeginIndex && agent->getSpeedKmh() < 1.0f;
 
 			// UE_LOG(LogDeepDriveTBTStopAtLocationTask, Log, TEXT("DeepDriveTBTStopAtLocationTask[%p] %d spd %f spdFac %f curT %f agntSpd %f -> %c"), this, pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), m_hasStopped ? 'T' : 'F');
 		}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h
index 7628d7f6..d5a9912d 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h
@@ -8,8 +8,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveTBTStopAtLocationTask, Log, All);
 class DeepDriveTBTStopAtLocationTask : public DeepDriveTBTTaskBase
 {
 public:
-
-	DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent);
+	DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent, float stopBeginDistance = 400.0f, float slowDownBeginDistance = 2000.0f);
 
 	virtual ~DeepDriveTBTStopAtLocationTask()	{	}
 
@@ -29,6 +28,6 @@ class DeepDriveTBTStopAtLocationTask : public DeepDriveTBTTaskBase
 
 	int32			m_IndexDelta = 0;
 
-	const float		StopBeginDistance = 400.0f;
-	const float		SlowDownBeginDistance = 2000.0f;
+	const float		StopBeginDistance;
+	const float		SlowDownBeginDistance;
 };
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp
index 8d810e94..59d87511 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp
@@ -13,6 +13,9 @@
 #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTreeNode.h"
 #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h"
 
+#include "Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.h"
+#include "Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTHasPassedLocationTask.h"
+
 #include "Simulation/Agent/DeepDriveAgent.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveManeuverCalculator);
@@ -90,4 +93,39 @@ void DeepDriveManeuverCalculator::calculate(SDeepDriveRoute &route, ADeepDriveAg
 			route.Maneuvers.Add(maneuver);
 		}
 	}
+	addFinalManeuver(route, agent);
+}
+
+void DeepDriveManeuverCalculator::addFinalManeuver(SDeepDriveRoute &route, ADeepDriveAgent &agent)
+{
+	TArray<uint32> &routeLinks = route.Links;
+	const SDeepDriveRoadLink &finalLink = m_RoadNetwork.Links[routeLinks.Last()];
+
+	SDeepDriveManeuver maneuver;
+	maneuver.FromLinkId = finalLink.LinkId;
+	maneuver.ToLinkId = finalLink.LinkId;
+
+	maneuver.JunctionType = EDeepDriveJunctionType::DESTINATION_REACHED;
+
+	maneuver.EntryPoint = finalLink.StartPoint;
+	maneuver.ExitPoint = finalLink.EndPoint;
+
+	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("StopAtEnd");
+	if (behaviorTree)
+	{
+		maneuver.BehaviorTree = behaviorTree;
+
+		DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0);
+
+		stopAtNode->addTask(new DeepDriveTBTStopAtLocationTask("DestinationLocation", 0.25f, 0.0f));
+		stopAtNode->addTask(new DeepDriveTBTHasPassedLocationTask("DestinationLocation", 0.0f, "DestinationReached"));
+
+		DeepDriveTrafficBlackboard &blackboard = behaviorTree->getBlackboard();
+		blackboard.setSimulation(m_Simulation);
+		blackboard.setAgent(agent);
+		blackboard.setIntegerValue("AgentId", agent.GetAgentId());
+		blackboard.setVectorValue("DestinationLocation", route.Destination);
+
+		route.Maneuvers.Add(maneuver);
+	}
 }
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h
index a12bb398..71fe999b 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h
@@ -8,6 +8,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveManeuverCalculator, Log, All);
 struct SDeepDriveRoadNetwork;
 struct SDeepDriveRoute;
 struct SDeepDriveManeuver;
+struct SDeepDriveRoadLink;
 class ADeepDriveAgent;
 class ADeepDriveSimulation;
 
@@ -30,6 +31,8 @@ class DeepDriveManeuverCalculator
 
 	void calculateFakedManeuver(SDeepDriveRoute &route, ADeepDriveAgent &agent);
 
+	void addFinalManeuver(SDeepDriveRoute &route, ADeepDriveAgent &agent);
+
 	const SDeepDriveRoadNetwork				&m_RoadNetwork;
 
 	ADeepDriveSimulation					&m_Simulation;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp
index 11c358d6..fc6658e5 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp
@@ -47,9 +47,9 @@ void DeepDriveBasePath::advance(float deltaSeconds, float &speed, float &steerin
 	}
 }
 
-bool DeepDriveBasePath::isCloseToEnd(float distanceFromEnd) const
+bool DeepDriveBasePath::hasReachedDestination() const
 {
-    return m_PartialPath ? m_PartialPath->isCloseToEnd(distanceFromEnd) : true;
+    return m_PartialPath ? m_PartialPath->hasReachedDestination() : true;
 }
 
 float DeepDriveBasePath::getRouteLength() const
@@ -89,7 +89,12 @@ void DeepDriveBasePath::convertRouteLinks()
 		const SDeepDriveLane &lane = link.Lanes[curLane];
 		basePathSegment.Segments.Append(lane.Segments);
 
-		if (!lastLink)
+		if (lastLink)
+		{
+			if (curManeuverInd < m_Route.Maneuvers.Num())
+				basePathSegment.Maneuver = m_Route.Maneuvers[curManeuverInd++];
+		}
+		else
 		{
 			const SDeepDriveRoadLink &nextLink = m_RoadNetwork.Links[m_Route.Links[i + 1]];
 			const SDeepDriveRoadSegment &segment = m_RoadNetwork.Segments[lane.Segments[lane.Segments.Num() - 1]];
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h
index 3ebef35e..7d474e7b 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.h
@@ -27,7 +27,7 @@ class DeepDriveBasePath
 
 	void advance(float deltaSeconds, float &speed, float &steering, float &brake);
 
-	bool isCloseToEnd(float distanceFromEnd) const;
+	bool hasReachedDestination() const;
 
 	float getRouteLength() const;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
index 8a559334..32551cb2 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
@@ -6,6 +6,7 @@
 #include "Private/Simulation/Traffic/Path/Annotations/DeepDrivePathSpeedAnnotation.h"
 #include "Private/Simulation/Traffic/Path/Annotations/DeepDrivePathDistanceAnnotation.h"
 #include "Private/Simulation/Traffic/Path/Annotations/DeepDrivePathManeuverAnnotations.h"
+#include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h"
 
 #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h"
 
@@ -177,6 +178,14 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 		}
 
 		curManeuver->BehaviorTree->execute(deltaSeconds, speed, m_curPathPointIndex);
+
+		if	(	curManeuver->JunctionType == EDeepDriveJunctionType::DESTINATION_REACHED
+			&&	m_hasReachedDestination == false
+			)
+		{
+			m_hasReachedDestination = curManeuver->BehaviorTree->getBlackboard().getBooleanValue("DestinationReached", false);
+		}
+
 	}
 
 	// UE_LOG(LogDeepDrivePartialPath, Log, TEXT("%5d) dist2ctr %f steering %f corr %f totE %f"), m_curPathPointIndex, dist2Ctr, steering, steeringCorrection, m_totalTrackError);
@@ -205,11 +214,6 @@ float DeepDrivePartialPath::getDistanceToCenterOfTrack() const
 }
 
 
-bool DeepDrivePartialPath::isCloseToEnd(float distanceFromEnd) const
-{
-    return m_PathPoints[m_curPathPointIndex].RemainingDistance <= distanceFromEnd;
-}
-
 float DeepDrivePartialPath::calcSteering(float dT)
 {
 	const int32 ind0 = FMath::Min(m_curPathPointIndex + 4, m_PathPoints.Num() - 1);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h
index bd8681bf..77cd2103 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.h
@@ -36,7 +36,7 @@ class DeepDrivePartialPath
 
 	float getRouteLength() const;
 
-	bool isCloseToEnd(float distanceFromEnd) const;
+	bool hasReachedDestination() const;
 
 	float getDistanceAlongRoute() const;
 
@@ -71,6 +71,8 @@ class DeepDrivePartialPath
 	float								m_curPathSegmentT = 0.0f;
 	float								m_Length = 0.0f;
 
+	bool								m_hasReachedDestination = false;
+
 	TDeepDriveManeuvers					m_Maneuvers;
 
 	FVector								m_curAgentLocation;
@@ -85,3 +87,8 @@ class DeepDrivePartialPath
 	float								m_totalTrackError = 0.0f;
 
 };
+
+inline bool DeepDrivePartialPath::hasReachedDestination() const
+{
+    return m_hasReachedDestination;
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp
index eb042537..f350caad 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathBuilder.cpp
@@ -29,7 +29,7 @@ void DeepDrivePathBuilder::buildPath(const TArray<SDeepDriveBasePathSegment> &ba
 		{
 			maneuvers.Add(baseSegment.Maneuver);
 			curManeuver = &maneuvers.Last();
-			curManeuver->DirectionIndicationBeginIndex = m_PathPoints.Num() - 1;
+			curManeuver->DirectionIndicationBeginIndex = curManeuver->JunctionType == EDeepDriveJunctionType::DESTINATION_REACHED ? -1 : m_PathPoints.Num() - 1;
 
 			UE_LOG(LogDeepDrivePathBuilder, Log, TEXT("Maneuver from %d to %d ind %d"), baseSegment.Maneuver.FromLinkId, baseSegment.Maneuver.ToLinkId, curManeuver->DirectionIndicationBeginIndex);
 		}
@@ -44,7 +44,7 @@ void DeepDrivePathBuilder::buildPath(const TArray<SDeepDriveBasePathSegment> &ba
 		}
 
 		if(curManeuver)
-			curManeuver->DirectionIndicationEndIndex = m_PathPoints.Num() - 1;
+			curManeuver->DirectionIndicationEndIndex = curManeuver->JunctionType == EDeepDriveJunctionType::DESTINATION_REACHED ? -1 : m_PathPoints.Num() - 1;
 	}
 }
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp
index ba00398c..698abaa4 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.cpp
@@ -29,9 +29,9 @@ void DeepDrivePathPlanner::advance(float deltaSeconds, float &speed, float &stee
     }
 }
 
-bool DeepDrivePathPlanner::isCloseToEnd(float distanceFromEnd) const
+bool DeepDrivePathPlanner::hasReachedDestination() const
 {
-    return m_curBasePath ? m_curBasePath->isCloseToEnd(distanceFromEnd) : true;
+    return m_curBasePath ? m_curBasePath->hasReachedDestination() : true;
 }
 
 float DeepDrivePathPlanner::getRouteLength() const
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h
index d6884f03..e4201ec1 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h
@@ -20,7 +20,7 @@ class DeepDrivePathPlanner
 
 	void advance(float deltaSeconds, float &speed, float &steering, float &brake);
 
-	bool isCloseToEnd(float distanceFromEnd) const;
+	bool hasReachedDestination() const;
 
 	float getRouteLength() const;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
index 2ffeea30..de195819 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
@@ -74,7 +74,9 @@ enum class EDeepDriveJunctionType : uint8
 	PASS_THROUGH 			= 0 UMETA(DisplayName = "Pass Through"),
 	FOUR_WAY_JUNCTION		= 1 UMETA(DisplayName = "Four Way Junction"),
 	T_JUNCTION				= 2 UMETA(DisplayName = "T-Junction"),
-	TRAFFIC_CIRCLE			= 3 UMETA(DisplayName = "Traffic Circle")
+	TRAFFIC_CIRCLE			= 3 UMETA(DisplayName = "Traffic Circle"),
+
+	DESTINATION_REACHED		= 255 UMETA(Hidden)
 };
 
 UENUM(BlueprintType)

From 31502dc84eef6cb0be820b2dfa967a03403e64bb Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 19 Jan 2020 23:36:07 +0100
Subject: [PATCH 07/43] - simplification of agent controllers

---
 Config/DefaultInput.ini                       |   3 -
 Content/Data/VERSION                          |   2 +-
 .../DeepDriveInputController.uasset           | Bin 233701 -> 213793 bytes
 .../DeepDrive/Maps/DeepDriveSimCity_Demo.umap | Bin 520155 -> 1183840 bytes
 Content/DeepDrive/Maps/DeepDriveSim_Demo.umap | Bin 1038911 -> 1035590 bytes
 .../Maps/DeepDriveSim_RoadOnly_Demo.umap      | Bin 1441789 -> 2071730 bytes
 Content/DeepDrive/Maps/Mesa.umap              | Bin 4786310 -> 4784580 bytes
 Content/DeepDrive/Maps/Mesa_Maik.umap         | Bin 4116368 -> 4113000 bytes
 Content/DeepDrive/Maps/OvertakingTestMap.umap | Bin 1204073 -> 1693296 bytes
 Content/DeepDrive/Maps/SplineTestMap.umap     | Bin 1265461 -> 1731052 bytes
 .../ManualControllerCreator.uasset            | Bin 51018 -> 0 bytes
 .../RemoteAIControllerCreator.uasset          | Bin 94818 -> 0 bytes
 .../RemoteTrafficAIControllerCreator.uasset   | Bin 104412 -> 0 bytes
 .../DeepDriveSim_CityMapTraffic_Demo.umap     | Bin 270996 -> 261797 bytes
 .../Maps/DeepDriveSim_CityMap_Demo.umap       | Bin 1372874 -> 1365294 bytes
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 23913 -> 23913 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 482630 -> 471145 bytes
 .../Private/Server/DeepDriveServer.cpp        |  21 --
 .../DeepDriveAgentLocalAIController.cpp       |  17 +-
 .../DeepDriveAgentManualController.cpp        |  89 ---------
 .../DeepDriveAgentRemoteAIController.cpp      | 132 ------------
 ...eepDriveAgentRemoteTrafficAIController.cpp | 189 ------------------
 .../DeepDriveAgentTrafficAIController.cpp     |  28 ++-
 .../Agent/DeepDriveAgentControllerBase.cpp    |  21 +-
 .../Simulation/DeepDriveSimulation.cpp        |  93 +++------
 .../DeepDriveSimulationMessageHandler.cpp     |   2 +-
 .../DeepDriveSimulationServerProxy.cpp        |  10 +-
 .../DeepDriveSimulationConfigureState.cpp     |   4 +-
 .../DeepDriveAgentLocalAIController.h         |  14 +-
 .../DeepDriveAgentManualController.h          |  53 -----
 .../DeepDriveAgentRemoteAIController.h        |  57 ------
 .../DeepDriveAgentRemoteTrafficAIController.h |  73 -------
 .../DeepDriveAgentTrafficAIController.h       |   9 +-
 .../Agent/DeepDriveAgentControllerBase.h      |   8 +-
 .../Public/Simulation/DeepDriveSimulation.h   |  27 +--
 .../Simulation/DeepDriveSimulationDefines.h   |  14 +-
 36 files changed, 118 insertions(+), 748 deletions(-)
 delete mode 100644 Content/DeepDrive/Simulation/Agents/ControllerCreators/ManualControllerCreator.uasset
 delete mode 100644 Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteAIControllerCreator.uasset
 delete mode 100644 Content/DeepDrive/Simulation/Agents/ControllerCreators/RemoteTrafficAIControllerCreator.uasset
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentManualController.cpp
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.cpp
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.h

diff --git a/Config/DefaultInput.ini b/Config/DefaultInput.ini
index 6765c59b..8f14471d 100644
--- a/Config/DefaultInput.ini
+++ b/Config/DefaultInput.ini
@@ -65,9 +65,6 @@ DoubleClickTime=0.200000
 +ActionMappings=(ActionName="Flip",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=Gamepad_DPad_Up)
 +ActionMappings=(ActionName="PauseMenu",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=Gamepad_Special_Right)
 +ActionMappings=(ActionName="FreeCamera",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=Four)
-+ActionMappings=(ActionName="ManualMode",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=M)
-+ActionMappings=(ActionName="SplineMode",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=T)
-+ActionMappings=(ActionName="RemoteAI",bShift=False,bCtrl=False,bAlt=False,bCmd=False,Key=X)
 +ActionMappings=(ActionName="DayTime",bShift=False,bCtrl=True,bAlt=False,bCmd=False,Key=One)
 +ActionMappings=(ActionName="DayTime",bShift=False,bCtrl=True,bAlt=False,bCmd=False,Key=Two)
 +ActionMappings=(ActionName="DayTime",bShift=False,bCtrl=True,bAlt=False,bCmd=False,Key=Three)
diff --git a/Content/Data/VERSION b/Content/Data/VERSION
index a24587f5..7358de81 100644
--- a/Content/Data/VERSION
+++ b/Content/Data/VERSION
@@ -1 +1 @@
-3.1.20191111204348
\ No newline at end of file
+3.1.20191218154954
\ No newline at end of file
diff --git a/Content/DeepDrive/Blueprints/DeepDriveInputController.uasset b/Content/DeepDrive/Blueprints/DeepDriveInputController.uasset
index 6a90df082612ad18dc78585df630a677d944e7a9..9651e4239c8bf9bda73740383de4faaf461b1f46 100644
GIT binary patch
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diff --git a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMapTraffic_Demo.umap
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diff --git a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMap_Demo.umap b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/DeepDriveSim_CityMap_Demo.umap
index b15660fff23cc003892ff9b8c6fe6895fbe6a8db..c2acfdefbe643db8e956a88165fd3924393965c1 100644
GIT binary patch
delta 197215
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index 0744a13aecff0d70e2963667cab17f84ea1236d1..1c7638c515309da6bde9ad9505e7a76ecf9af348 100644
GIT binary patch
delta 115
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delta 111
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
index 68522a58d1902e8cf40de1221df33eddf4dc4246..5af0082173b4261fbd470a921d8d78ecf1985c09 100644
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp
index 6f96f37f..9f3b8d89 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveServer.cpp
@@ -468,27 +468,6 @@ void DeepDriveServer::setViewMode(const deepdrive::server::MessageHeader &messag
 	}
 }
 
-#if 0
-void DeepDriveServer::resetSimulation(const deepdrive::server::MessageHeader &message)
-{
-	if (m_Clients.Num() > 0)
-	{
-		const deepdrive::server::ResetSimulationRequest &req = static_cast<const deepdrive::server::ResetSimulationRequest&> (message);
-		DeepDriveClientConnection *client = m_Clients.Find(req.client_id)->connection;
-		if (client)
-		{
-			if(client->isMaster())
-			{
-				m_Proxy->ConfigureSimulation(req.configuration, req.graphics_settings, false);
-				client->enqueueResponse(new deepdrive::server::ResetSimulationResponse(true));
-			}
-			else
-				client->enqueueResponse(new deepdrive::server::ResetSimulationResponse(false));
-		}
-	}
-}
-#endif
-
 void DeepDriveServer::onCaptureFinished(int32 seqNr)
 {
 	UE_LOG(LogDeepDriveServer, Verbose, TEXT("DeepDriveServer::onCaptureFinished %d"), seqNr);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp
index 87acc179..88052f61 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.cpp
@@ -75,6 +75,12 @@ bool ADeepDriveAgentLocalAIController::Activate(ADeepDriveAgent &agent, bool kee
 	return activated;
 }
 
+void ADeepDriveAgentLocalAIController::Reset()
+{
+	if (m_Track && m_Agent)
+		resetAgentPosOnSpline(*m_Agent, m_Track->GetSpline(), m_StartDistance);
+}
+
 bool ADeepDriveAgentLocalAIController::ResetAgent()
 {
 	if(m_Track && m_Agent)
@@ -110,6 +116,15 @@ void ADeepDriveAgentLocalAIController::Configure(const FDeepDriveLocalAIControll
 	m_SafetyDistanceFactor = Configuration.SafetyDistanceFactor;
 }
 
+void ADeepDriveAgentLocalAIController::ConfigureScenario(const FDeepDriveLocalAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation *DeepDriveSimulation)
+{
+	m_Configuration = Configuration;
+	m_DeepDriveSimulation = DeepDriveSimulation;
+
+	m_DesiredSpeed = FMath::RandRange(Configuration.SpeedRange.X, Configuration.SpeedRange.Y);
+	m_Track = Configuration.Track;
+
+}
 
 void ADeepDriveAgentLocalAIController::Tick( float DeltaSeconds )
 {
@@ -117,7 +132,7 @@ void ADeepDriveAgentLocalAIController::Tick( float DeltaSeconds )
 	{
 		m_InputTimer -= DeltaSeconds;
 	}
-	else if (m_Agent && m_Track)
+	else if (m_Agent && m_Track && !m_isRemotelyControlled)
 	{
 		m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false);
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentManualController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentManualController.cpp
deleted file mode 100644
index ddadd564..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentManualController.cpp
+++ /dev/null
@@ -1,89 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h"
-#include "Public/Simulation/DeepDriveSimulation.h"
-#include "Public/Simulation/Misc/DeepDriveRandomStream.h"
-#include "Public/Simulation/Misc/DeepDriveSplineTrack.h"
-
-#include "Public/Simulation/Agent/DeepDriveAgent.h"
-#include "Components/SplineComponent.h"
-
-#include "WheeledVehicleMovementComponent.h"
-
-ADeepDriveAgentManualController::ADeepDriveAgentManualController()
-	:	ADeepDriveAgentControllerBase()
-{
-	m_ControllerName = "Manual Controller";
-
-	//	for testing purposes
-	m_isCollisionEnabled = true;
-}
-
-bool ADeepDriveAgentManualController::Activate(ADeepDriveAgent &agent, bool keepPosition)
-{
-	bool res = false;
-	if(keepPosition || initAgentOnTrack(agent))
-	{
-		activateController(agent);
-		res = true;
-	}
-	return res;
-}
-
-bool ADeepDriveAgentManualController::ResetAgent()
-{
-	bool res = false;
-	if(m_Track && m_Agent)
-	{
-		UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("Reset Agent") );
-		resetAgentPosOnSpline(*m_Agent, m_Track->GetSpline(), m_StartDistance);
-		m_Agent->reset();
-	}
-	return res;
-}
-
-void ADeepDriveAgentManualController::MoveForward(float axisValue)
-{
-	if(m_Agent)
-	{
-		if(axisValue > 0.0f)
-		{
-			m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false);
-		}
-		else if( axisValue < 0.0f)
-		{
-			m_Agent->GetVehicleMovementComponent()->SetTargetGear(-1, false);
-		}
-
-		m_Agent->SetThrottle(axisValue);
-		m_Agent->setIsGameDriving(true);
-	}
-}
-
-void ADeepDriveAgentManualController::MoveRight(float axisValue)
-{
-	if(m_Agent)
-	{
-		m_Agent->SetSteering(axisValue);
-		m_Agent->setIsGameDriving(true);
-	}
-}
-
-void ADeepDriveAgentManualController::Brake(float axisValue)
-{
-	if(m_Agent)
-	{
-		const float curBrakeValue = FMath::Clamp(axisValue, 0.0f, 1.0f);
-		m_Agent->SetBrake(curBrakeValue);
-	}
-}
-
-
-void ADeepDriveAgentManualController::Configure(const FDeepDriveManualControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation)
-{
-	m_DeepDriveSimulation = DeepDriveSimulation;
-	m_Track = Configuration.Track;
-	m_StartDistance = StartPositionSlot >= 0 && StartPositionSlot < Configuration.StartDistances.Num() ? Configuration.StartDistances[StartPositionSlot] : -1.0f;
-}
-
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp
deleted file mode 100644
index dce9c0a6..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.cpp
+++ /dev/null
@@ -1,132 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h"
-#include "Public/Simulation/DeepDriveSimulation.h"
-#include "Public/Simulation/Agent/DeepDriveAgent.h"
-#include "Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h"
-#include "Public/Simulation/RoadNetwork/DeepDriveRoute.h"
-#include "Public/Simulation/Misc/DeepDriveSplineTrack.h"
-#include "Public/Simulation/Misc/DeepDriveRandomStream.h"
-
-#include "Public/Simulation/DeepDriveSimulationTypes.h"
-
-#include "Components/SplineComponent.h"
-
-ADeepDriveAgentRemoteAIController::ADeepDriveAgentRemoteAIController()
-	:	ADeepDriveAgentControllerBase()
-{
-	m_ControllerName = "Remote AI Controller";
-	m_isCollisionEnabled = true;
-}
-
-void ADeepDriveAgentRemoteAIController::Tick(float DeltaSeconds)
-{
-	if (m_InputTimer > 0.0f)
-	{
-		m_InputTimer -= DeltaSeconds;
-	}
-}
-
-void ADeepDriveAgentRemoteAIController::OnConfigureSimulation(const SimulationConfiguration &configuration, bool initialConfiguration)
-{
-	UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentRemoteAIController Reconfigure %f"), configuration.agent_start_location);
-	if (m_Agent)
-	{
-		m_StartDistance = configuration.agent_start_location;
-		initAgentOnTrack(*m_Agent);
-	}
-}
-
-
-void ADeepDriveAgentRemoteAIController::SetControlValues(float steering, float throttle, float brake, bool handbrake)
-{
-	if	(	m_Agent
-		&&	m_InputTimer <= 0.0f
-		)
-		{
-			m_Agent->SetControlValues(steering, throttle, brake, handbrake);
-			m_Agent->setIsGameDriving(false);
-	}
-}
-
-
-bool ADeepDriveAgentRemoteAIController::Activate(ADeepDriveAgent &agent, bool keepPosition)
-{
-	bool activated = false;
-	switch(m_OperationMode)
-	{
-		case OperationMode::Standard:
-			if(keepPosition || initAgentOnTrack(agent))
-			{
-				activateController(agent);
-				m_hasCollisionOccured = false;
-			}
-			break;
-
-		case OperationMode::Scenario:
-			{
-				UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork;
-				FVector start = m_ScenarionConfiguration.StartPosition;
-				FVector destination = m_ScenarionConfiguration.EndPosition;
-				TArray<uint32> routeLinks = roadNetwork->CalculateRoute(start, destination);
-
-				if (routeLinks.Num() > 0)
-				{
-					m_Route = GetWorld()->SpawnActor<ADeepDriveRoute>(FVector(0.0f, 0.0f, 0.0f), FRotator(0.0f, 0.0f, 0.0f), FActorSpawnParameters());
-
-					SDeepDriveRouteData routeData;
-					routeData.Start = start;
-					routeData.Destination = destination;
-					routeData.Links = routeLinks;
-					m_Route->initialize(roadNetwork->getRoadNetwork(), routeData);
-					m_Route->convert(start);
-					m_Route->placeAgentAtStart(agent);
-				}
-				else
-				{
-					roadNetwork->PlaceAgentOnRoad(&agent, start, true);
-				}
-				activated = true;
-			}
-			break;
-	}
-	return true;
-}
-
-bool ADeepDriveAgentRemoteAIController::ResetAgent()
-{
-	bool res = false;
-	if(m_Agent)
-	{
-		UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("Reset Agent at %d"), m_StartPositionSlot);
-		if(m_StartPositionSlot < 0)
-			m_StartDistance = m_Track->getRandomDistanceAlongTrack(*m_DeepDriveSimulation->GetRandomStream(FName("AgentPlacement")));
-
-		resetAgentPosOnSpline(*m_Agent, m_Track->GetSpline(), m_StartDistance);
-		m_Agent->reset();
-		m_hasCollisionOccured = false;
-		res = true;
-	}
-	return res;
-}
-
-
-void ADeepDriveAgentRemoteAIController::Configure(const FDeepDriveRemoteAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation)
-{
-	m_DeepDriveSimulation = DeepDriveSimulation;
-	m_OperationMode = OperationMode::Standard;
-
-	m_Track = Configuration.Track;
-	m_StartPositionSlot = StartPositionSlot;
-	m_StartDistance = StartPositionSlot >= 0 && StartPositionSlot < Configuration.StartDistances.Num() ? Configuration.StartDistances[StartPositionSlot] : -1.0f;
-}
-
-void ADeepDriveAgentRemoteAIController::ConfigureScenario(const FDeepDriveRemoteAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation)
-{
-	m_DeepDriveSimulation = DeepDriveSimulation;
-
-	m_OperationMode = OperationMode::Scenario;
-	m_ScenarionConfiguration.StartPosition = ScenarioConfiguration.StartPosition;
-	m_ScenarionConfiguration.EndPosition = ScenarioConfiguration.EndPosition;
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.cpp
deleted file mode 100644
index ff15a514..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "DeepDriveAgentRemoteTrafficAIController.h"
-#include "Public/Simulation/DeepDriveSimulation.h"
-#include "Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h"
-#include "Public/Simulation/RoadNetwork/DeepDriveRoute.h"
-#include "Public/Simulation/Agent/DeepDriveAgent.h"
-#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSpeedController.h"
-#include "Private/Simulation/Agent/Controllers/DeepDriveAgentSteeringController.h"
-#include "Public/Simulation/Misc/BezierCurveComponent.h"
-
-#include "Private/Simulation/Traffic/Path/DeepDrivePathDefines.h"
-#include "Private/Simulation/Traffic/Path/DeepDrivePathPlanner.h"
-#include "Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.h"
-
-ADeepDriveAgentRemoteTrafficAIController::ADeepDriveAgentRemoteTrafficAIController()
-{
-	m_ControllerName = "Remote Traffic AI Controller";
-	//	for testing purposes
-	m_isCollisionEnabled = true;
-
-	m_BezierCurve = CreateDefaultSubobject<UBezierCurveComponent>(TEXT("BezierCurve"));
-}
-
-void ADeepDriveAgentRemoteTrafficAIController::Tick(float DeltaSeconds)
-{
-	if(m_Agent && m_PathPlanner)
-	{
-		float speed = 0.0f;
-		float brake = 1.0f;
-		float heading = 0.0f;
-		m_PathPlanner->advance(DeltaSeconds, speed, heading, brake);
-	}
-}
-
-void ADeepDriveAgentRemoteTrafficAIController::SetControlValues(float steering, float throttle, float brake, bool handbrake)
-{
-	if (m_Agent)
-	{
-		m_Agent->SetControlValues(steering, throttle, brake, handbrake);
-		m_Agent->setIsGameDriving(false);
-	}
-}
-
-
-
-bool ADeepDriveAgentRemoteTrafficAIController::Activate(ADeepDriveAgent &agent, bool keepPosition)
-{
-	bool res = false;
-
-	UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork;
-
-	m_showPath = roadNetwork->ShowRoutes;
-
-	SDeepDriveRoute route;
-
-	switch(m_OperationMode)
-	{
-		case OperationMode::Standard:
-			if(m_StartIndex < 0 || m_StartIndex < m_Configuration.Routes.Num())
-			{
-				if(m_StartIndex < 0)
-				{
-					uint32_t fromLinkId = 0;
-					do
-					{
-						fromLinkId = roadNetwork->getRandomRoadLink(false, true);
-						if(fromLinkId)
-							route.Start = roadNetwork->getRoadNetwork().getLocationOnLink(fromLinkId, EDeepDriveLaneType::MAJOR_LANE, 0.25f);
-	
-					} while(fromLinkId == 0 ||	m_DeepDriveSimulation->isLocationOccupied(route.Start, 300.0f));
-					
-					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentRemoteTrafficAIController::Activate Random start pos %s"), *(route.Start.ToString()) );
-
-					roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
-					route.Links = roadNetwork->calculateRandomRoute(route.Start, route.Destination);
-				}
-				else
-				{
-					route.Start = m_Configuration.Routes[m_StartIndex].Start;
-					route.Destination = m_Configuration.Routes[m_StartIndex].Destination;
-					roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
-					route.Links = roadNetwork->CalculateRoute(route.Start, route.Destination);
-				}
-			}
-			else if(m_StartIndex < m_Configuration.StartPositions.Num())
-			{
-				roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true);
-			}
-			break;
-
-		case OperationMode::Scenario:
-			route.Start = m_ScenarionConfiguration.StartPosition;
-			route.Destination = m_ScenarionConfiguration.EndPosition;
-			roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
-			route.Links = roadNetwork->CalculateRoute(route.Start, route.Destination);
-			break;
-	}
-
-	if (route.Links.Num() > 0)
-	{
-		//route->convert(start);
-		//route->placeAgentAtStart(agent);
-
-		m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake);
-		m_SpeedController->initialize(agent);
-
-		m_PathConfiguration = new SDeepDrivePathConfiguration;
-		m_PathConfiguration->PIDSteering = m_Configuration.PIDSteering;
-		m_PathPlanner = new DeepDrivePathPlanner(agent, roadNetwork->getRoadNetwork(), *m_BezierCurve, *m_PathConfiguration);
-
-		DeepDriveManeuverCalculator *manCalc = m_DeepDriveSimulation->getManeuverCalculator();
-		if(manCalc)
-			manCalc->calculate(route, agent);
-		m_PathPlanner->setRoute(route);
-		
-		{
-			float speed = 0.0f;
-			float brake = 1.0f;
-			float heading = 0.0f;
-			m_PathPlanner->advance(0.0f, speed, heading, brake);
-		}
-
-		res = true;
-		m_State = ActiveRouteGuidance;
-		m_Route = 0;
-	}
-	else
-	{
-		roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
-	}
-
-	if(res)
-		activateController(agent);
-
-	return res;
-}
-
-bool ADeepDriveAgentRemoteTrafficAIController::ResetAgent()
-{
-	bool res = false;
-	if(m_Agent)
-	{
-        res = true;
-		m_Agent->reset();
-	}
-	return res;
-}
-
-float ADeepDriveAgentRemoteTrafficAIController::getDistanceAlongRoute()
-{
-	return m_PathPlanner && m_Agent ? m_PathPlanner->getDistanceAlongRoute() : 0.0f;
-}
-
-float ADeepDriveAgentRemoteTrafficAIController::getRouteLength()
-{
-	return m_PathPlanner && m_Agent ? m_PathPlanner->getRouteLength() : 0.0f;
-}
-
-float ADeepDriveAgentRemoteTrafficAIController::getDistanceToCenterOfTrack()
-{
-	return m_PathPlanner && m_Agent ? m_PathPlanner->getDistanceToCenterOfTrack() : 0.0f;
-}
-
-void ADeepDriveAgentRemoteTrafficAIController::Configure(const FDeepDriveTrafficAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation)
-{
-	m_Configuration = Configuration;
-	m_DeepDriveSimulation = DeepDriveSimulation;
-	m_StartIndex = StartPositionSlot;
-
-	m_OperationMode = OperationMode::Standard;
-
-	m_DesiredSpeed = FMath::RandRange(Configuration.SpeedRange.X, Configuration.SpeedRange.Y);
-}
-
-void ADeepDriveAgentRemoteTrafficAIController::ConfigureScenario(const FDeepDriveTrafficAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation)
-{
-	m_Configuration = Configuration;
-	m_DeepDriveSimulation = DeepDriveSimulation;
-	m_StartIndex = -1;
-
-	m_OperationMode = OperationMode::Scenario;
-	m_ScenarionConfiguration.StartPosition = ScenarioConfiguration.StartPosition;
-	m_ScenarionConfiguration.EndPosition = ScenarioConfiguration.EndPosition;
-
-	m_DesiredSpeed = ScenarioConfiguration.MaxSpeed;
-}
-
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 7c789806..ff39f066 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -57,7 +57,7 @@ void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds )
 	{
 		m_InputTimer -= DeltaSeconds;
 	}
-	else if(m_Agent && m_SpeedController)
+	else if(m_Agent && m_SpeedController && !m_isRemotelyControlled)
 	{
 		m_Agent->GetVehicleMovementComponent()->SetTargetGear(1, false);
 		switch (m_State)
@@ -171,17 +171,26 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 			break;
 	}
 
+	bool firstActivate = false;
 	if (route.Links.Num() > 0)
 	{
 		//route->convert(start);
 		//route->placeAgentAtStart(agent);
 
-		m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake);
-		m_SpeedController->initialize(agent);
+		if(m_SpeedController == 0)
+		{
+			m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake);
+			m_SpeedController->initialize(agent);
+			firstActivate = true;
+		}
 
-		m_PathConfiguration = new SDeepDrivePathConfiguration;
-		m_PathConfiguration->PIDSteering = m_Configuration.PIDSteering;
-		m_PathPlanner = new DeepDrivePathPlanner(agent, roadNetwork->getRoadNetwork(), *m_BezierCurve, *m_PathConfiguration);
+		if(m_PathConfiguration == 0)
+		{
+			m_PathConfiguration = new SDeepDrivePathConfiguration;
+			m_PathConfiguration->PIDSteering = m_Configuration.PIDSteering;
+		}
+		if(m_PathPlanner == 0)
+			m_PathPlanner = new DeepDrivePathPlanner(agent, roadNetwork->getRoadNetwork(), *m_BezierCurve, *m_PathConfiguration);
 
 		DeepDriveManeuverCalculator *manCalc = m_DeepDriveSimulation->getManeuverCalculator();
 		if(manCalc)
@@ -197,12 +206,17 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 		roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
 	}
 
-	if(res)
+	if (res && firstActivate)
 		activateController(agent);
 
 	return res;
 }
 
+void ADeepDriveAgentTrafficAIController::Reset()
+{
+	Activate(*m_Agent, false);
+}
+
 bool ADeepDriveAgentTrafficAIController::ResetAgent()
 {
 	bool res = false;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
index 13c75048..08e068bb 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
@@ -32,7 +32,17 @@ bool ADeepDriveAgentControllerBase::Activate(ADeepDriveAgent &agent, bool keepPo
 	return false;
 }
 
-void ADeepDriveAgentControllerBase::Deactivate()
+void ADeepDriveAgentControllerBase::RequestControl()
+{
+	m_isRemotelyControlled = true;
+}
+
+void ADeepDriveAgentControllerBase::ReleaseControl()
+{
+	m_isRemotelyControlled = false;
+}
+
+void ADeepDriveAgentControllerBase::Reset()
 {
 }
 
@@ -92,7 +102,14 @@ void ADeepDriveAgentControllerBase::Brake(float axisValue)
 
 void ADeepDriveAgentControllerBase::SetControlValues(float steering, float throttle, float brake, bool handbrake)
 {
-
+	if	(	m_Agent
+		&&	m_InputTimer <= 0.0f
+		&&	m_isRemotelyControlled
+		)
+		{
+			m_Agent->SetControlValues(steering, throttle, brake, handbrake);
+			m_Agent->setIsGameDriving(false);
+	}
 }
 
 bool ADeepDriveAgentControllerBase::ResetAgent()
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
index 8f78fb4f..5479e815 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
@@ -105,7 +105,6 @@ void ADeepDriveSimulation::PreInitializeComponents()
 
 	if(forceRemoteAI && ScenarioMode == false)
 	{
-		InitialControllerMode = EDeepDriveAgentControlMode::REMOTE_AI;
 		UE_LOG(LogDeepDriveSimulation, Log, TEXT("Intital Controller Mode forced to be RemoteAI"));
 	}
 
@@ -394,35 +393,6 @@ void ADeepDriveSimulation::switchToCamera(EDeepDriveAgentCameraType type)
 	}
 }
 
-void ADeepDriveSimulation::SelectMode(EDeepDriveAgentControlMode Mode)
-{
-	if(Mode != m_curAgentMode)
-	{
-		UEnum* pEnum = FindObject<UEnum>(ANY_PACKAGE, TEXT("EDeepDriveAgentControlMode") , true);
-		UE_LOG(LogDeepDriveSimulation, Log, TEXT("SelectMode activating new mode: %s"), *(pEnum ? pEnum->GetNameByIndex(static_cast<uint8>(Mode)).ToString() : FString("UNKOWN")) );
-
-		ADeepDriveAgentControllerBase *controller = spawnController(Mode, 0, 0);
-		ADeepDriveAgentControllerBase *prevController = Cast<ADeepDriveAgentControllerBase> (m_curAgent->GetController());
-
-		if	(	controller
-			&&	controller->Activate(*m_curAgent, true)
-			)
-		{
-			if(prevController)
-			{
-				prevController->Deactivate();
-				prevController->Destroy();
-			}
-
-			controller->restoreStartPositionSlot(StartPositionSlot);
-
-			m_curAgentMode = Mode;
-			m_curAgentController = controller;
-		}
-
-	}
-}
-
 void ADeepDriveSimulation::NextAgent()
 {
 	switchToAgent((m_curAgentIndex + 1) % m_Agents.Num());
@@ -477,9 +447,26 @@ bool ADeepDriveSimulation::resetAgent()
 	return m_curAgentController ? m_curAgentController->ResetAgent() : false;
 }
 
+bool ADeepDriveSimulation::requestControl()
+{
+	bool res = false;
+	if(m_curAgentController)
+	{
+		m_curAgentController->RequestControl();
+		res = true;
+	}
+	return true;
+}
+
+void ADeepDriveSimulation::releaseControl()
+{
+	if(m_curAgentController)
+		m_curAgentController->ReleaseControl();
+}
+
 void ADeepDriveSimulation::initializeAgents()
 {
-	m_curAgent = spawnAgent(InitialControllerMode, InitialConfigurationSlot, StartPositionSlot);
+	m_curAgent = spawnAgent(ControllerCreator, InitialConfigurationSlot, StartPositionSlot);
 	if (m_curAgent)
 	{
 		spawnAdditionalAgents();
@@ -507,7 +494,7 @@ void ADeepDriveSimulation::removeAgents(bool removeEgo)
 	m_Agents.SetNum(removeEgo ? 0 : 1);
 }
 
-ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool isEgoAgent, bool remotelyControlled)
+ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool remotelyControlled)
 {
 	FTransform transform(scenarioCfg.StartPosition);
 
@@ -522,18 +509,15 @@ ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioC
 		agent->initialize(*this);
 		agent->setResetTransform(transform);
 
-		EDeepDriveAgentControlMode mode = remotelyControlled ? EDeepDriveAgentControlMode::REMOTE_AI : EDeepDriveAgentControlMode::LOCAL_AI;
-		if(ControllerCreators.Contains(mode))
+		ADeepDriveAgentControllerBase *controller = ControllerCreator->CreateAgentControllerForScenario(scenarioCfg, this);
+		if (controller)
 		{
-			ADeepDriveAgentControllerBase *controller = ControllerCreators[mode]->CreateAgentControllerForScenario(scenarioCfg, this);
-			if (controller)
+			if (controller->Activate(*agent, false))
 			{
-				if (controller->Activate(*agent, false))
-				{
-					if(isEgoAgent)
-						m_curAgentMode = mode;
-					OnAgentSpawned(agent);
-				}
+				if(remotelyControlled)
+					controller->RequestControl();
+
+				OnAgentSpawned(agent);
 			}
 		}
 	}
@@ -541,7 +525,7 @@ ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(const FDeepDriveAgentScenarioC
 	return agent;
 }
 
-ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot)
+ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(ADeepDriveAgentControllerCreator *ctrlCreator, int32 configSlot, int32 startPosSlot)
 {
 	UE_LOG(LogDeepDriveSimulation, Log, TEXT("Try to spawn agent config slot %d startPosSlot %d"), configSlot, startPosSlot );
 
@@ -554,12 +538,11 @@ ADeepDriveAgent* ADeepDriveSimulation::spawnAgent(EDeepDriveAgentControlMode mod
 		agent->initialize(*this);
 		agent->setResetTransform(transform);
 
-		ADeepDriveAgentControllerBase *controller = spawnController(mode, configSlot, startPosSlot);
-		if(controller)
+		ADeepDriveAgentControllerBase *controller = ctrlCreator->CreateAgentController(configSlot, startPosSlot, this);
+		if (controller)
 		{
 			if(controller->Activate(*agent, false))
 			{
-				m_curAgentMode = mode;
 				OnAgentSpawned(agent);
 				UE_LOG(LogDeepDriveSimulation, Log, TEXT("Spawning agent controlled by %s"), *(controller->getControllerName()) );
 			}
@@ -589,7 +572,7 @@ void ADeepDriveSimulation::spawnAdditionalAgents()
 			m_Agents.Add(agent);
 			agent->setResetTransform(transform);
 
-			ADeepDriveAgentControllerBase *controller = spawnController(data.Mode, data.ConfigurationSlot, data.StartPositionSlot);
+			ADeepDriveAgentControllerBase *controller = (data.ControllerCreator ? data.ControllerCreator : ControllerCreator)->CreateAgentController(data.ConfigurationSlot, data.StartPositionSlot, this);
 			if (controller)
 			{
 				if (controller->Activate(*agent, false))
@@ -609,22 +592,6 @@ void ADeepDriveSimulation::spawnAdditionalAgents()
 	}
 }
 
-ADeepDriveAgentControllerBase* ADeepDriveSimulation::spawnController(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot)
-{
-	ADeepDriveAgentControllerBase *controller = 0;
-
-	if(ControllerCreators.Contains(mode))
-	{
-		controller = ControllerCreators[mode]->CreateAgentController(configSlot, startPosSlot, this);
-	}
-	else
-	{
-		UE_LOG(LogDeepDriveSimulation, Error, TEXT("spawnController No controller creator found") );
-	}
-
-	return controller;
-}
-
 void ADeepDriveSimulation::switchToAgent(int32 index)
 {
 	if(index >= 0 && index < m_Agents.Num())
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp
index b082686d..f8e80fde 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp
@@ -88,7 +88,7 @@ void DeepDriveSimulationMessageHandler::reset(const deepdrive::server::MessageHe
 		if (controller)
 		{
 			controller->OnConfigureSimulation(configuration, false);
-			controller->ResetAgent();
+			controller->Reset();
 		}
 	}
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp
index 588247bc..fec110d0 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationServerProxy.cpp
@@ -81,21 +81,17 @@ void DeepDriveSimulationServerProxy::UnregisterCaptureCamera(uint32 cameraId)
 
 bool DeepDriveSimulationServerProxy::RequestAgentControl()
 {
-	bool res = true;
-
-	if (m_DeepDriveSim.getControllerMode() != EDeepDriveAgentControlMode::REMOTE_AI)
-		m_DeepDriveSim.SelectMode(EDeepDriveAgentControlMode::REMOTE_AI);
+	bool res = m_DeepDriveSim.requestControl();
 
 	UE_LOG(LogDeepDriveSimulationServerProxy, Log, TEXT("Control requested - ensuring agent controller is RemoteAI"));
-
 	return res;
 }
 
 void DeepDriveSimulationServerProxy::ReleaseAgentControl()
 {
-	m_DeepDriveSim.SelectMode(m_DeepDriveSim.InitialControllerMode);
+	m_DeepDriveSim.releaseControl();
 
-	UE_LOG(LogDeepDriveSimulationServerProxy, Log, TEXT("Control released - switiching back to initial controller mode: %d"), static_cast<uint32>(m_DeepDriveSim.InitialControllerMode));
+	UE_LOG(LogDeepDriveSimulationServerProxy, Log, TEXT("Control released"));
 }
 
 void DeepDriveSimulationServerProxy::ResetAgent()
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp
index 2d40b34d..f4fab18a 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/States/DeepDriveSimulationConfigureState.cpp
@@ -40,7 +40,7 @@ void DeepDriveSimulationConfigureState::update(ADeepDriveSimulation &deepDriveSi
 
 	UE_LOG(LogDeepDriveSimulation, Log, TEXT("Spawning ego agent"));
 
-	deepDriveSim.m_curAgent = deepDriveSim.spawnAgent(m_Configuration.EgoAgent, true, m_Configuration.EgoAgent.IsRemotelyControlled);
+	deepDriveSim.m_curAgent = deepDriveSim.spawnAgent(m_Configuration.EgoAgent, m_Configuration.EgoAgent.IsRemotelyControlled);
 	deepDriveSim.OnCurrentAgentChanged(deepDriveSim.m_curAgent);
 
 	deepDriveSim.m_curAgentController = Cast<ADeepDriveAgentControllerBase>(deepDriveSim.m_curAgent->GetController());
@@ -49,7 +49,7 @@ void DeepDriveSimulationConfigureState::update(ADeepDriveSimulation &deepDriveSi
 	UE_LOG(LogDeepDriveSimulation, Log, TEXT("Spawning additional agents %d"), m_Configuration.Agents.Num());
 	for (auto &agentCfg : m_Configuration.Agents)
 	{
-		ADeepDriveAgent *agent = deepDriveSim.spawnAgent(agentCfg, false, false);
+		ADeepDriveAgent *agent = deepDriveSim.spawnAgent(agentCfg, false);
 	}
 
 	m_StateMachine.setNextState("Running");
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h
index b7513a04..24cf53e3 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentLocalAIController.h
@@ -110,6 +110,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentLocalAIController : public ADeepDriveAg
 
 	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
 
+	virtual void Reset();
+
 	virtual bool ResetAgent();
 
 	virtual void SetSpeedRange(float MinSpeed, float MaxSpeed);
@@ -121,6 +123,9 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentLocalAIController : public ADeepDriveAg
 	UFUNCTION(BlueprintCallable, Category = "Configuration")
 	void Configure(const FDeepDriveLocalAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation);
 
+	UFUNCTION(BlueprintCallable, Category = "Configuration")
+	void ConfigureScenario(const FDeepDriveLocalAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation *DeepDriveSimulation);
+
 	//float calculateOvertakingScore();
 	//float calculateOvertakingScore(int32 maxAgentsToOvertake, float overtakingSpeed, ADeepDriveAgent* &finalAgent);
 	//float calculateAbortOvertakingScore();
@@ -142,31 +147,22 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentLocalAIController : public ADeepDriveAg
 
 protected:
 
-    UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	FDeepDriveLocalAIControllerConfiguration	m_Configuration;
 
-//	UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	DeepDriveAgentLocalAIStateMachineContext	*m_StateMachineCtx = 0;
 
-//	UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	DeepDriveAgentSpeedController				*m_SpeedController = 0;
 
-//	UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	DeepDriveAgentSteeringController			*m_SteeringController = 0;
 
-//	UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	ADeepDriveSplineTrack						*m_OppositeTrack = 0;
 
-	UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	float										m_DesiredSpeed;
 
-	UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	float										m_SafetyDistanceFactor = 1.0f;
 
-	UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	float										m_BrakingDeceleration = 800.0f;
 
-    UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
 	bool										m_isPaused = false;
 
 private:
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h
deleted file mode 100644
index 8db54065..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentManualController.h
+++ /dev/null
@@ -1,53 +0,0 @@
-
-#pragma once
-
-#include "Simulation/Agent/DeepDriveAgentControllerBase.h"
-#include "DeepDriveAgentManualController.generated.h"
-
-class ADeepDriveSplineTrack;
-
-USTRUCT(BlueprintType)
-struct FDeepDriveManualControllerConfiguration
-{
-	GENERATED_USTRUCT_BODY()
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	FString		ConfigurationName;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	ADeepDriveSplineTrack	*Track;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	TArray<float>	StartDistances;
-
-};
-
-
-/**
- * 
- */
-UCLASS()
-class DEEPDRIVEPLUGIN_API ADeepDriveAgentManualController : public ADeepDriveAgentControllerBase
-{
-	GENERATED_BODY()
-	
-public:
-
-	ADeepDriveAgentManualController();
-
-	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
-
-	virtual bool ResetAgent();
-
-	virtual void MoveForward(float axisValue);
-
-	virtual void MoveRight(float axisValue);
-
-	virtual void Brake(float axisValue);
-
-	UFUNCTION(BlueprintCallable, Category = "Configuration")
-	void Configure(const FDeepDriveManualControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation);
-
-private:
-
-};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h
deleted file mode 100644
index 82953e5e..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteAIController.h
+++ /dev/null
@@ -1,57 +0,0 @@
-
-
-#pragma once
-
-#include "Simulation/Agent/DeepDriveAgentControllerBase.h"
-#include "DeepDriveAgentRemoteAIController.generated.h"
-
-class ADeepDriveSplineTrack;
-class ADeepDriveSimulation;
-
-USTRUCT(BlueprintType)
-struct FDeepDriveRemoteAIControllerConfiguration
-{
-	GENERATED_USTRUCT_BODY()
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	FString		ConfigurationName;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	ADeepDriveSplineTrack	*Track;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Control)
-	TArray<float>	StartDistances;
-
-};
-
-/**
- * 
- */
-UCLASS()
-class DEEPDRIVEPLUGIN_API ADeepDriveAgentRemoteAIController : public ADeepDriveAgentControllerBase
-{
-	GENERATED_BODY()
-	
-public:
-
-	ADeepDriveAgentRemoteAIController();
-
-	virtual void Tick(float DeltaSeconds) override;
-
-	virtual void OnConfigureSimulation(const SimulationConfiguration &configuration, bool initialConfiguration);
-
-	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
-
-	virtual void SetControlValues(float steering, float throttle, float brake, bool handbrake);
-
-	virtual bool ResetAgent();
-
-	UFUNCTION(BlueprintCallable, Category = "Configuration")
-	void Configure(const FDeepDriveRemoteAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation);
-
-	UFUNCTION(BlueprintCallable, Category = "Configuration")
-	void ConfigureScenario(const FDeepDriveRemoteAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation);
-
-private:
-
-};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.h
deleted file mode 100644
index 7142e313..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentRemoteTrafficAIController.h
+++ /dev/null
@@ -1,73 +0,0 @@
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h"
-#include "DeepDriveAgentRemoteTrafficAIController.generated.h"
-
-
-/**
- * 
- */
-UCLASS()
-class DEEPDRIVEPLUGIN_API ADeepDriveAgentRemoteTrafficAIController : public ADeepDriveAgentControllerBase
-{
-	GENERATED_BODY()
-
-public:
-
-	ADeepDriveAgentRemoteTrafficAIController();
-
-	virtual void Tick(float DeltaSeconds) override;
-
-	virtual void SetControlValues(float steering, float throttle, float brake, bool handbrake);
-
-	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
-
-	virtual bool ResetAgent();
-
-	virtual float getDistanceAlongRoute();
-
-	virtual float getRouteLength();
-
-	virtual float getDistanceToCenterOfTrack();
-
-	UFUNCTION(BlueprintCallable, Category = "Configuration")
-	virtual void Configure(const FDeepDriveTrafficAIControllerConfiguration &Configuration, int32 StartPositionSlot, ADeepDriveSimulation* DeepDriveSimulation);
-
-	UFUNCTION(BlueprintCallable, Category = "Configuration")
-	virtual void ConfigureScenario(const FDeepDriveTrafficAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation);
-
-protected:
-
-    UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
-	FDeepDriveTrafficAIControllerConfiguration		m_Configuration;
-
-private:
-
-	enum State
-	{
-		Idle,
-		ActiveRouteGuidance,
-		Waiting
-	};
-
-	UPROPERTY()
-	UBezierCurveComponent				*m_BezierCurve = 0;
-
-	DeepDriveAgentSpeedController		*m_SpeedController = 0;
-
-	SDeepDrivePathConfiguration			*m_PathConfiguration = 0;
-	DeepDrivePathPlanner				*m_PathPlanner = 0;
-
-
-	int32								m_StartIndex;
-
-	float								m_DesiredSpeed = 0.0f;
-
-	State								m_State = Idle;
-
-	float								m_WaitTimer = 0.0f;
-
-	bool								m_showPath = false;
-};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h
index 5e91e946..75cee4b1 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.h
@@ -59,6 +59,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive
 
 	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
 
+	virtual void Reset();
+
 	virtual bool ResetAgent();
 
 	virtual float getDistanceAlongRoute();
@@ -73,11 +75,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive
 	UFUNCTION(BlueprintCallable, Category = "Configuration")
 	void ConfigureScenario(const FDeepDriveTrafficAIControllerConfiguration &Configuration, const FDeepDriveAgentScenarioConfiguration &ScenarioConfiguration, ADeepDriveSimulation* DeepDriveSimulation);
 
-protected:
-
-    UPROPERTY(VisibleAnywhere, BlueprintReadWrite, Category = "AIProps")
-	FDeepDriveTrafficAIControllerConfiguration		m_Configuration;
-
 private:
 
 	bool updateAgentOnPath( float DeltaSeconds);
@@ -92,6 +89,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentTrafficAIController : public ADeepDrive
 		Waiting
 	};
 
+	FDeepDriveTrafficAIControllerConfiguration	m_Configuration;
+
 	UPROPERTY()
 	UBezierCurveComponent				*m_BezierCurve = 0;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
index ad065907..5adf1f5c 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
@@ -38,7 +38,11 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController
 
 	virtual bool Activate(ADeepDriveAgent &agent, bool keepPosition);
 
-	virtual void Deactivate();
+	virtual void RequestControl();
+
+	virtual void ReleaseControl();
+
+	virtual void Reset();
 
 	virtual void MoveForward(float axisValue);
 
@@ -103,6 +107,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController
 	ADeepDriveSimulation				*m_DeepDriveSimulation = 0;
 	ADeepDriveAgent						*m_Agent = 0;
 
+	bool								m_isRemotelyControlled = false;
+
 	OperationMode						m_OperationMode = OperationMode::Standard;
 	ScenarionConfiguration				m_ScenarionConfiguration;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
index a828da84..4d115a3a 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
@@ -88,7 +88,7 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	TSubclassOf<ADeepDriveAgent>	Agent;
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents)
-	EDeepDriveAgentControlMode	InitialControllerMode = EDeepDriveAgentControlMode::NONE;
+	ADeepDriveAgentControllerCreator	*ControllerCreator = 0;
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents)
 	int32	InitialConfigurationSlot;
@@ -99,9 +99,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents)
 	TArray<FDeepDriveAdditionalAgentData>	AdditionalAgents;
 
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents)
-	TMap<EDeepDriveAgentControlMode, ADeepDriveAgentControllerCreator*>	ControllerCreators;
-
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Agents)
 	ADeepDriveSplineTrack	*OneOffAgentsTrack = 0;
 
@@ -152,9 +149,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	UFUNCTION(BlueprintCallable, Category = "Input")
 	void SelectCamera(EDeepDriveAgentCameraType CameraType);
 
-	UFUNCTION(BlueprintCallable, Category = "Input")
-	void SelectMode(EDeepDriveAgentControlMode Mode);
-
 	UFUNCTION(BlueprintCallable, Category = "Spectator")
 	void NextAgent();
 
@@ -209,7 +203,10 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	void enqueueMessage(deepdrive::server::MessageHeader *message);
 
 	bool resetAgent();
-	
+
+	bool requestControl();
+	void releaseControl();
+
 	ADeepDriveAgent* getCurrentAgent() const;
 	ADeepDriveAgentControllerBase* getCurrentAgentController() const;
 	TArray<UCaptureSinkComponentBase*>& getCaptureSinks();
@@ -223,8 +220,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	void spawnAdditionalAgents();
 	bool hasAdditionalAgents();
 
-	EDeepDriveAgentControlMode getControllerMode() const;
-
 	bool hasEgoAgent() const;
 	void onEgoAgentChanged(bool added);
 
@@ -238,11 +233,9 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 
 	bool isActive() const;
 
-	ADeepDriveAgent *spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool isEgoAgent, bool remotelyControlled);
-
-	ADeepDriveAgent* spawnAgent(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot);
+	ADeepDriveAgent *spawnAgent(const FDeepDriveAgentScenarioConfiguration &scenarioCfg, bool remotelyControlled);
 
-	ADeepDriveAgentControllerBase* spawnController(EDeepDriveAgentControlMode mode, int32 configSlot, int32 startPosSlot);
+	ADeepDriveAgent *spawnAgent(ADeepDriveAgentControllerCreator *ctrlCreator, int32 configSlot, int32 startPosSlot);
 
 	void switchToAgent(int32 index);
 	void switchToCamera(EDeepDriveAgentCameraType type);
@@ -265,7 +258,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	TArray<ADeepDriveAgent*>				m_Agents;
 	int32									m_curAgentIndex = 0;
 	ADeepDriveAgent							*m_curAgent = 0;
-	EDeepDriveAgentControlMode				m_curAgentMode = EDeepDriveAgentControlMode::NONE;
 
 	TMap<int32, ADeepDriveAgent*>			m_OneOffAgents;
 	int32									m_nextOneOffAgentId = 1;
@@ -314,8 +306,3 @@ inline bool ADeepDriveSimulation::hasAdditionalAgents()
 {
 	return m_Agents.Num() > 1;
 }
-
-inline EDeepDriveAgentControlMode ADeepDriveSimulation::getControllerMode() const
-{
-	return m_curAgentMode;
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h
index 0a40e39d..7c2fce3c 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h
@@ -10,17 +10,7 @@
 
 class UDeepDriveRandomStream;
 class ADeepDriveAgent;
-
-UENUM(BlueprintType)
-enum class EDeepDriveAgentControlMode : uint8
-{
-	NONE			= 0	UMETA(DisplayName = "None"),
-	MANUAL			= 1	UMETA(DisplayName = "Manual"),
-	REMOTE_AI		= 2	UMETA(DisplayName = "RemoteAI"),
-	LOCAL_AI		= 3	UMETA(DisplayName = "LocalAI"),
-	CITY_AI			= 4	UMETA(DisplayName = "CityAI")
-};
-
+class ADeepDriveAgentControllerCreator;
 
 UENUM(BlueprintType)
 enum class EDeepDriveAgentCameraType : uint8
@@ -135,7 +125,7 @@ struct FDeepDriveAdditionalAgentData
 	TSubclassOf<ADeepDriveAgent>	Agent;
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Default)
-	EDeepDriveAgentControlMode		Mode;
+	ADeepDriveAgentControllerCreator *ControllerCreator = 0;
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Default)
 	int32	ConfigurationSlot;

From ebf6246b06938c15d726ab5a7679330e53416206 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Fri, 31 Jan 2020 00:06:45 +0100
Subject: [PATCH 08/43] - use PyArray_SimpleNew instead of PyArray_FromDims
 which was returning 0

---
 .../src/deepdrive_capture/PyCaptureLastCollisionObject.cpp  | 6 +++---
 .../src/deepdrive_capture/PyCaptureSnapshotObject.cpp       | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp
index 40be8a21..ae3f3b7f 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureLastCollisionObject.cpp
@@ -30,7 +30,7 @@ PyObject* PyCaptureLastCollisionObject::allocate()
 
 void PyCaptureLastCollisionObject::init(PyCaptureLastCollisionObject *self)
 {
-	int dims[1] = {3};
+	npy_intp dims[1] = {3};
 
 	self->time_utc = 0;
 	self->time_stamp = 0.0;
@@ -40,6 +40,6 @@ void PyCaptureLastCollisionObject::init(PyCaptureLastCollisionObject *self)
 	self->collision_location = ptr;
 	*ptr = 0;
 
-	self->collidee_velocity = reinterpret_cast<PyArrayObject*> (PyArray_FromDims(1, dims, NPY_DOUBLE));
-	self->collision_normal = reinterpret_cast<PyArrayObject*> (PyArray_FromDims(1, dims, NPY_DOUBLE));
+	self->collidee_velocity = reinterpret_cast<PyArrayObject*> (PyArray_SimpleNew(1, dims, NPY_DOUBLE));
+	self->collision_normal = reinterpret_cast<PyArrayObject*> (PyArray_SimpleNew(1, dims, NPY_DOUBLE));
 }
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp
index 35efe44e..aab8fbc8 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_capture/PyCaptureSnapshotObject.cpp
@@ -15,15 +15,15 @@ int PyCaptureSnapshotObject::initNumPy()
 
 PyArrayObject* PyCaptureSnapshotObject::createVec3()
 {
-	int dims[1] = {3};
-	PyArrayObject *vec3 = reinterpret_cast<PyArrayObject*> (PyArray_FromDims(1, dims, NPY_DOUBLE));
+	npy_intp dims[1] = {3};
+	PyArrayObject *vec3 = reinterpret_cast<PyArrayObject*> (PyArray_SimpleNew(1, dims, NPY_DOUBLE));
 
 	return vec3;
 }
 
 void PyCaptureSnapshotObject::init(PyCaptureSnapshotObject *self)
 {
-//	std::cout << "PyCaptureSnapshotObject_init_impl\n";
+	// std::cout << "PyCaptureSnapshotObject_init_impl\n";
 	self->position = createVec3();
 	self->rotation = createVec3();
 	self->velocity = createVec3();

From 80dd4860f24262e99a7936194ede5b14e0f1013b Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Mon, 10 Feb 2020 14:42:50 +0100
Subject: [PATCH 09/43] - added turn signal handling

---
 .../DeepDrive/Materials/MI_TurnLight.uasset   | Bin 0 -> 93417 bytes
 .../DeepDrive/Materials/M_TrafficLight.uasset | Bin 111251 -> 140677 bytes
 .../DeepDrive/Materials/M_TurnLight.uasset    | Bin 0 -> 134450 bytes
 .../Agents/DeepDriveAgent_TurnLightCmp.uasset | Bin 0 -> 161660 bytes
 .../DeepDriveAgent_VoyageAuto_MiniVan.uasset  | Bin 493519 -> 497801 bytes
 .../DeepDriveAgent_VoyageAuto_SUV.uasset      | Bin 492203 -> 496825 bytes
 .../Simulation/Agent/DeepDriveAgent.cpp       |  19 +++++++++++++-----
 .../DeepDriveBehaviorTreeHelpers.cpp          |  12 +++++------
 .../Traffic/Path/DeepDrivePartialPath.cpp     |   8 ++++----
 .../Public/Simulation/Agent/DeepDriveAgent.h  |  12 +++++++----
 .../Simulation/DeepDriveSimulationDefines.h   |   2 +-
 11 files changed, 33 insertions(+), 20 deletions(-)
 create mode 100644 Content/DeepDrive/Materials/MI_TurnLight.uasset
 create mode 100644 Content/DeepDrive/Materials/M_TurnLight.uasset
 create mode 100644 Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset

diff --git a/Content/DeepDrive/Materials/MI_TurnLight.uasset b/Content/DeepDrive/Materials/MI_TurnLight.uasset
new file mode 100644
index 0000000000000000000000000000000000000000..e12243457652851c4db5c986da7285ab6fca33cc
GIT binary patch
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
index 91ea7330..4058c058 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
@@ -498,13 +498,22 @@ void ADeepDriveAgent::SetSpeedRange(float MinSpeed, float MaxSpeed)
 		ctrl->SetSpeedRange(MinSpeed, MaxSpeed);
 }
 
-void ADeepDriveAgent::SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState DirectionIndicator)
+void ADeepDriveAgent::setTurnSignalState(EDeepDriveAgentTurnSignalState TurnSignal)
 {
-	m_DirectionIndicator = DirectionIndicator;
-	UE_LOG(LogDeepDriveAgent, Log, TEXT("SetDirectionIndicatorState %d"), static_cast<int32> (m_DirectionIndicator) );
+	if(m_TurnSignal != TurnSignal)
+	{
+		m_TurnSignal = TurnSignal;
+		UE_LOG(LogDeepDriveAgent, Log, TEXT("SetTurnSignalState for agent %d to %d"), m_AgentId, static_cast<int32>(m_TurnSignal));
+
+		if (OnTurnSignalStateChanged.IsBound())
+		{
+			OnTurnSignalStateChanged.Broadcast(m_TurnSignal);
+		}
+	}
+
 }
 
-EDeepDriveAgentDirectionIndicatorState ADeepDriveAgent::GetDirectionIndicatorState()
+EDeepDriveAgentTurnSignalState ADeepDriveAgent::GetTurnSignalState()
 {
-	return m_DirectionIndicator;
+	return m_TurnSignal;
 }
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp
index 85223e39..72948fde 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveBehaviorTreeHelpers.cpp
@@ -24,21 +24,21 @@ float DeepDriveBehaviorTreeHelpers::calculateJunctionClearValue(DeepDriveTraffic
 		forward.Normalize();
 
 		uint32 agentDirectionMask = 0;
-		switch(curAgent->GetDirectionIndicatorState())
+		switch(curAgent->GetTurnSignalState())
 		{
-			case EDeepDriveAgentDirectionIndicatorState::UNKNOWN:
+			case EDeepDriveAgentTurnSignalState::UNKNOWN:
 				agentDirectionMask = 0xF;
 				break;
-			case EDeepDriveAgentDirectionIndicatorState::LEFT:
+			case EDeepDriveAgentTurnSignalState::LEFT:
 				agentDirectionMask = 1;
 				break;
-			case EDeepDriveAgentDirectionIndicatorState::OFF:
+			case EDeepDriveAgentTurnSignalState::OFF:
 				agentDirectionMask = 2;
 				break;
-			case EDeepDriveAgentDirectionIndicatorState::RIGHT:
+			case EDeepDriveAgentTurnSignalState::RIGHT:
 				agentDirectionMask = 4;
 				break;
-			case EDeepDriveAgentDirectionIndicatorState::HAZARD_LIGHTS:
+			case EDeepDriveAgentTurnSignalState::HAZARD_LIGHTS:
 				agentDirectionMask = 8;
 				break;
 		}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
index 32551cb2..7623298e 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
@@ -157,13 +157,13 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 			switch(curManeuver->ManeuverType)
 			{
 				case EDeepDriveManeuverType::TURN_RIGHT:
-					m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::RIGHT);
+					m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::RIGHT);
 					break;
 				case EDeepDriveManeuverType::GO_ON_STRAIGHT:
-					m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::OFF);
+					m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::OFF);
 					break;
 				case EDeepDriveManeuverType::TURN_LEFT:
-					m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::LEFT);
+					m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::LEFT);
 					break;
 			}
 			curManeuver->DirectionIndicationBeginIndex = -1;
@@ -173,7 +173,7 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 			&&	m_curPathPointIndex >= curManeuver->DirectionIndicationEndIndex
 			)
 		{
-			m_Agent.SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState::UNKNOWN);
+			m_Agent.setTurnSignalState(EDeepDriveAgentTurnSignalState::UNKNOWN);
 			curManeuver->DirectionIndicationEndIndex = -1;
 		}
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
index d083488b..2081856d 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
@@ -15,6 +15,8 @@ class UCaptureCameraComponent;
 class ADeepDriveAgentControllerBase;
 class ADeepDriveSimulation;
 
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FTurnSignalStateChanged, EDeepDriveAgentTurnSignalState, NewState);
+
 /**
  * 
  */
@@ -113,10 +115,10 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle
 	void SetSpeedRange(float MinSpeed, float MaxSpeed);
 
 	UFUNCTION(BlueprintCallable, Category = "Agents")
-	void SetDirectionIndicatorState(EDeepDriveAgentDirectionIndicatorState DirectionIndicator);
+	EDeepDriveAgentTurnSignalState GetTurnSignalState();
 
-	UFUNCTION(BlueprintCallable, Category = "Agents")
-	EDeepDriveAgentDirectionIndicatorState GetDirectionIndicatorState();
+	UPROPERTY(BlueprintAssignable)
+	FTurnSignalStateChanged OnTurnSignalStateChanged;
 
 	void setCollisionMode(bool simple);
 	void setCollisionVisibility(bool visible);
@@ -135,6 +137,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle
 	float getBackBumperDistance() const;
 	float getWheelBase() const;
 
+	void setTurnSignalState(EDeepDriveAgentTurnSignalState TurnSignal);
+
 	void setNextAgent(ADeepDriveAgent *agent, float distance);
 	void setPrevAgent(ADeepDriveAgent *agent, float distance);
 
@@ -235,7 +239,7 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle
 
 	ADeepDriveAgentControllerBase		*m_AgentController = 0;
 
-	EDeepDriveAgentDirectionIndicatorState	m_DirectionIndicator = EDeepDriveAgentDirectionIndicatorState::UNKNOWN;
+	EDeepDriveAgentTurnSignalState	m_TurnSignal = EDeepDriveAgentTurnSignalState::UNKNOWN;
 
 	bool								m_SimpleCollisionMode = false;
 	bool								m_CollisionVisible = false;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h
index 7c2fce3c..20c3dca9 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulationDefines.h
@@ -46,7 +46,7 @@ enum class EDeepDriveAgentState : uint8
 
 
 UENUM(BlueprintType)
-enum class EDeepDriveAgentDirectionIndicatorState : uint8
+enum class EDeepDriveAgentTurnSignalState : uint8
 {
 	UNKNOWN			= 0	UMETA(DisplayName = "Unknown"),
 	OFF				= 1	UMETA(DisplayName = "Off"),

From a98713558550874103aea9b661e38f537d8a6e87 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 12 Feb 2020 09:31:03 +0100
Subject: [PATCH 10/43] - corrected direction value for right turns

---
 .../Agents/DeepDriveAgent_TurnLightCmp.uasset | Bin 161660 -> 160154 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset b/Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset
index 7d5ea5352ea3c0f3666568572782bca65a34244d..a1696e65f215f3895fcd8846ca71c04c01fdcc2d 100644
GIT binary patch
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From fde909a7c64afdaed7d556a4d5ac4d7d85e4741f Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 16 Feb 2020 18:56:27 +0100
Subject: [PATCH 11/43] - tutorial maps added

---
 .../Maps/Tutorials/Tutorial_EmptyMap.umap       | Bin 0 -> 41560 bytes
 .../Tutorials/Tutorial_RoadNetwork_Map.umap     | Bin 0 -> 41847 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap
 create mode 100644 Content/DeepDrive/Maps/Tutorials/Tutorial_RoadNetwork_Map.umap

diff --git a/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap b/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap
new file mode 100644
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HcmV?d00001


From 29a8661a420e30d7a5185566418fda4a64ec165f Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 11 Mar 2020 23:59:01 +0100
Subject: [PATCH 12/43] - removed superfluous turn ban

---
 .../Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp   | 4 ++--
 .../Private/Simulation/Traffic/Path/DeepDrivePathDefines.h    | 2 +-
 .../DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h   | 3 +--
 .../Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h      | 2 +-
 4 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp
index 25e02897..8564224f 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp
@@ -72,7 +72,7 @@ bool SDeepDriveJunction::isTurningAllowed(uint32 fromLinkId, uint32 toLinkId) co
 			for(auto &turnDefinition : entry.TurnDefinitions)
 			{
 				if (turnDefinition.ToLinkId == toLinkId)
-					return turnDefinition.ManeuverType != EDeepDriveManeuverType::TURN_BAN;
+					return turnDefinition.ManeuverType != EDeepDriveManeuverType::UNDEFINED;
 			}
 		}
 	}
@@ -94,7 +94,7 @@ EDeepDriveManeuverType SDeepDriveJunction::getManeuverType(uint32 fromLinkId, ui
 		}
 	}
 
-	return EDeepDriveManeuverType::TURN_BAN;
+	return EDeepDriveManeuverType::UNDEFINED;
 }
 
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h
index 81002c15..37932201 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePathDefines.h
@@ -67,7 +67,7 @@ struct SDeepDriveManeuver
 
 	EDeepDriveJunctionType					JunctionType = EDeepDriveJunctionType::PASS_THROUGH;
 	EDeepDriveJunctionSubType				JunctionSubType = EDeepDriveJunctionSubType::AUTO_DETECT;
-	EDeepDriveManeuverType					ManeuverType = EDeepDriveManeuverType::TURN_BAN;
+	EDeepDriveManeuverType					ManeuverType = EDeepDriveManeuverType::UNDEFINED;
 	EDeepDriveRightOfWay					RightOfWay = EDeepDriveRightOfWay::RIGHT_OF_WAY;
 
 	EDeepDriveRoadPriority					FromRoadPriority = EDeepDriveRoadPriority::MINOR_ROAD;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
index 4d115a3a..63ef4be5 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
@@ -41,8 +41,7 @@ namespace deepdrive { namespace server {
 struct MessageHeader;
 } }
 
-
-UCLASS()
+UCLASS(Abstract)
 class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 {
 	friend class DeepDriveSimulationRunningState;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
index de195819..c34b6f72 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
@@ -61,7 +61,7 @@ enum class EDeepDriveRightOfWay : uint8
 UENUM(BlueprintType)
 enum class EDeepDriveManeuverType : uint8
 {
-	TURN_BAN	 			= 0 UMETA(DisplayName = "Turn Ban"),
+	UNDEFINED	 			= 0 UMETA(DisplayName = "Undefined"),
 	TURN_RIGHT				= 1 UMETA(DisplayName = "Turn Right"),
 	GO_ON_STRAIGHT			= 2 UMETA(DisplayName = "Go on straight"),
 	TURN_LEFT				= 3 UMETA(DisplayName = "Turn Left"),

From d3d4ff17c8ea1b7a1b4ed9af0c1869ecbdb02ff8 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Thu, 12 Mar 2020 23:07:25 +0100
Subject: [PATCH 13/43] - extended to support more than one material

---
 .../Agents/DeepDriveAgent_TurnLightCmp.uasset | Bin 160154 -> 174518 bytes
 .../DeepDriveAgent_VoyageAuto_MiniVan.uasset  | Bin 497801 -> 495028 bytes
 .../DeepDriveAgent_VoyageAuto_SUV.uasset      | Bin 496825 -> 494466 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset b/Content/DeepDrive/Simulation/Agents/DeepDriveAgent_TurnLightCmp.uasset
index a1696e65f215f3895fcd8846ca71c04c01fdcc2d..782d5b897757e6d933c826931c39fd48e9387c41 100644
GIT binary patch
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diff --git a/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset b/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset
index 0a0c387bdba4b6122969446465e6f287ba753a3b..707b222412247b62925b017c5302aaff8f56d75e 100644
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From f94521da68ace4709f98482694c0399fa30b3765 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Thu, 12 Mar 2020 23:09:49 +0100
Subject: [PATCH 14/43] - unregister camera on clean up

---
 Config/DefaultEngine.ini                      |   2 --
 .../DeepDrive/Simulation/DeepDriveSim.uasset  | Bin 142127 -> 140954 bytes
 .../DeepDrivePython/deepdrive_capture.py      |   1 +
 3 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/Config/DefaultEngine.ini b/Config/DefaultEngine.ini
index a8382600..2ad65075 100644
--- a/Config/DefaultEngine.ini
+++ b/Config/DefaultEngine.ini
@@ -142,5 +142,3 @@ AsyncSceneSmoothingFactor=0.990000
 InitialAverageFrameRate=0.016667
 PhysXTreeRebuildRate=10
 DefaultBroadphaseSettings=(bUseMBPOnClient=False,bUseMBPOnServer=False,MBPBounds=(Min=(X=0.000000,Y=0.000000,Z=0.000000),Max=(X=0.000000,Y=0.000000,Z=0.000000),IsValid=0),MBPNumSubdivs=2)
-
-
diff --git a/Content/DeepDrive/Simulation/DeepDriveSim.uasset b/Content/DeepDrive/Simulation/DeepDriveSim.uasset
index 19369b40eaeeeae8d974efa69c437c924e0fc390..50b6f908a878a241436d5d57e8c523e39dafce3d 100644
GIT binary patch
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py
index e015c424..6a137ab9 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_capture.py
@@ -12,6 +12,7 @@
 
 def cleanUp(clientId):
     deepdrive_client.release_agent_control(clientId)
+    deepdrive_capture.unregister_camera(clientId, camIds[0])
     deepdrive_capture.close()
     deepdrive_client.close(clientId)
     deepdrive_simulation.disconnect()

From 30e243159994874c969b59eda446d9277537d70f Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Fri, 13 Mar 2020 23:20:00 +0100
Subject: [PATCH 15/43] - corrected search for ai controller after controller
 simplification

---
 Content/Scripts/dummy_py_actor.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Content/Scripts/dummy_py_actor.py b/Content/Scripts/dummy_py_actor.py
index 6b9d96a2..639ce7a8 100644
--- a/Content/Scripts/dummy_py_actor.py
+++ b/Content/Scripts/dummy_py_actor.py
@@ -135,7 +135,7 @@ def valid_world(world):
 
 def valid_ai_controller_name(actor):
     full_name = actor.get_full_name().lower()
-    substrings = ['.LocalAIControllerCreator_'.lower()]
+    substrings = ['.TrafficAIControllerCreator_'.lower()]
     for s in substrings:
         if s in full_name:
             return True

From 63e1cab532161ad5305471166563f09ae29ee214 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Fri, 13 Mar 2020 23:29:47 +0100
Subject: [PATCH 16/43] - continued working on tutorial map

---
 .../Tutorials/Tutorial_RoadNetwork_Map.umap   | Bin 41847 -> 76196 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/Content/DeepDrive/Maps/Tutorials/Tutorial_RoadNetwork_Map.umap b/Content/DeepDrive/Maps/Tutorials/Tutorial_RoadNetwork_Map.umap
index e220e77fe7b7e364c7e7b1fce382dc064ada6d24..86075fa5b2ec2851a1a30d5cc4539a3c688f7aec 100644
GIT binary patch
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From 0e6f97cd1e6f971545d0c3eeab1be7f6a3120c6e Mon Sep 17 00:00:00 2001
From: Craig Quiter <cquiter@gmail.com>
Date: Wed, 13 Nov 2019 10:18:10 -0800
Subject: [PATCH 17/43] Link to main docs

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 226ce70c..ca4680b9 100644
--- a/README.md
+++ b/README.md
@@ -10,6 +10,6 @@ Checkout our [main repo](https://github.com/deepdrive/deepdrive)
 ## Simulator docs
 
 [Simulator docs](
-https://simdocs.deepdrive.io/v/v3/docs) for making changes to the sim.
+https://simdocs.deepdrive.io/docs) for making changes to the sim.
 
 

From 6a56e495adf5d69f3aca2e1d0fe4601bf2ae4ebb Mon Sep 17 00:00:00 2001
From: Craig Quiter <craig@deepdrive.io>
Date: Wed, 13 Nov 2019 21:55:50 -0800
Subject: [PATCH 18/43] Update LICENSE.md

---
 LICENSE.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/LICENSE.md b/LICENSE.md
index 2a262317..cf3944d9 100644
--- a/LICENSE.md
+++ b/LICENSE.md
@@ -2,7 +2,7 @@
 
 The MIT License
 
-Copyright (c) 2016 Deepdrive (https://deepdrive.io)
+Copyright (c) 2019 Voyage (https://deepdrive.voyage.auto)
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

From d44102202849de8d53a5efc4462e11043e34f377 Mon Sep 17 00:00:00 2001
From: Craig Quiter <cquiter@gmail.com>
Date: Thu, 30 Jan 2020 12:25:32 -0800
Subject: [PATCH 19/43] Fix install bindings filename in docs

---
 docs/python_bindings.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/python_bindings.md b/docs/python_bindings.md
index f9daf5e7..0b956db7 100644
--- a/docs/python_bindings.md
+++ b/docs/python_bindings.md
@@ -1,7 +1,7 @@
 # Building the python bindings 
 
 ```
-install-local-bindings.sh
+install-dev-bindings.sh
 ```
 
 # Pushing bindings to PyPi

From 4b2321f2b50e4b38790deb33dc2074ed8aff96ae Mon Sep 17 00:00:00 2001
From: Oliver Cameron <olivercameron@icloud.com>
Date: Fri, 31 Jan 2020 17:52:50 -0800
Subject: [PATCH 20/43] Update README.md

---
 README.md | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/README.md b/README.md
index ca4680b9..083b3028 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# Deepdrive sim [![CircleCI](https://circleci.com/gh/deepdrive/deepdrive-sim.svg?style=svg)](https://circleci.com/gh/deepdrive/deepdrive-sim)
+# Deepdrive Sim [![CircleCI](https://circleci.com/gh/deepdrive/deepdrive-sim.svg?style=svg)](https://circleci.com/gh/deepdrive/deepdrive-sim)
 
 Unreal based simulator and Python interface to Deepdrive
 
@@ -6,10 +6,7 @@ Unreal based simulator and Python interface to Deepdrive
 
 Checkout our [main repo](https://github.com/deepdrive/deepdrive)
 
-
 ## Simulator docs
 
 [Simulator docs](
 https://simdocs.deepdrive.io/docs) for making changes to the sim.
-
-

From cf399f8804228e6104af7ca97dfe35e96592df44 Mon Sep 17 00:00:00 2001
From: Craig Quiter <cquiter@gmail.com>
Date: Mon, 10 Feb 2020 15:16:48 -0800
Subject: [PATCH 21/43] Re-add geojson tools

---
 Content/Scripts/show_map_annotations.py    |   50 +
 Tools/convert_landscape_info_to_geojson.py |  597 +++++
 Tools/deepdrive-canyons-map.json           |    1 +
 Tools/landscape_segments.json              |    1 +
 Tools/landscape_segments_mesa.json         |    1 +
 Tools/landscape_segments_mesa_hill.json    |    1 +
 Tools/tangent_test.json                    | 2326 ++++++++++++++++++++
 7 files changed, 2977 insertions(+)
 create mode 100644 Content/Scripts/show_map_annotations.py
 create mode 100644 Tools/convert_landscape_info_to_geojson.py
 create mode 100644 Tools/deepdrive-canyons-map.json
 create mode 100644 Tools/landscape_segments.json
 create mode 100644 Tools/landscape_segments_mesa.json
 create mode 100644 Tools/landscape_segments_mesa_hill.json
 create mode 100644 Tools/tangent_test.json

diff --git a/Content/Scripts/show_map_annotations.py b/Content/Scripts/show_map_annotations.py
new file mode 100644
index 00000000..6cc75048
--- /dev/null
+++ b/Content/Scripts/show_map_annotations.py
@@ -0,0 +1,50 @@
+import json
+try:
+    import unreal_engine as ue
+    from unreal_engine.classes import Blueprint
+    from unreal_engine import FVector, FRotator
+    DRY_RUN = False
+    WORLD = ue.get_editor_world()
+except ImportError:
+    DRY_RUN = True
+
+
+with open(r'C:\Users\a\src\deepdrive-sim\Tools\deepdrive-canyons-map.json') as f:
+    geojson = json.load(f)
+
+def spawn_point_marker(point, map_point_class):
+    if not DRY_RUN:
+        actor = WORLD.actor_spawn(map_point_class,
+                                  FVector(*point), FRotator(0, 0, 0))
+
+def to_unreal(point, lift_cm):
+    return point[0] * 100, point[1] * 100, point[2] * 100 + lift_cm
+
+
+def main():
+    """
+    Output https://youtu.be/kqfTDl2p9ts
+    """
+    if DRY_RUN:
+        right_orb = None
+        left_orb = None
+        center_orb = None
+    else:
+        right_orb = ue.load_object(Blueprint, '/Game/DeepDrive/Blueprints/MapPointRight').GeneratedClass
+        left_orb = ue.load_object(Blueprint, '/Game/DeepDrive/Blueprints/MapPointLeft').GeneratedClass
+        center_orb = ue.load_object(Blueprint, '/Game/DeepDrive/Blueprints/MapPoint').GeneratedClass
+    for i, lane_seg in enumerate(geojson['lanes']['features']):
+        center = lane_seg['geometry']['coordinates']
+        left = lane_seg['properties']['left_line']['geometry']['coordinates']
+        right = lane_seg['properties']['right_line']['geometry']['coordinates']
+
+        spawn_point_marker(to_unreal(left[0], 0), left_orb)
+        spawn_point_marker(to_unreal(left[1], 0), left_orb)
+        spawn_point_marker(to_unreal(right[0], 60), right_orb)
+        spawn_point_marker(to_unreal(right[1], 60), right_orb)
+        spawn_point_marker(to_unreal(center[0], 30), center_orb)
+        spawn_point_marker(to_unreal(center[1], 30), center_orb)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/Tools/convert_landscape_info_to_geojson.py b/Tools/convert_landscape_info_to_geojson.py
new file mode 100644
index 00000000..eca3a384
--- /dev/null
+++ b/Tools/convert_landscape_info_to_geojson.py
@@ -0,0 +1,597 @@
+import copy
+import json
+import collections
+import os
+import uuid
+import numpy as np
+from scipy import spatial
+from scipy.interpolate import interp1d, BPoly
+
+
+
+
+GAP_CM = 100
+USE_TANGENTS = False
+CANYONS_FILENAME = 'landscape_segments.json'
+MESA_FILENAME = 'landscape_segments_mesa.json'
+# LANDSCAPE_OFFSET = np.array([-11200.000000, -11200.000000, 100.000000])  # Mesa offset
+LANDSCAPE_OFFSET = np.array([-21214.687500, -21041.564453, 18179.121094])  # Canyons TODO: Get this from Unreal
+LANDSCAPE_Z_SCALE = np.array([1, 1, 159.939941 / 100])
+INTERSECTIONS = False
+
+class HashableSegment(collections.MutableMapping):
+    def __init__(self, segment):
+        self.store = segment
+        self.update(segment)
+
+    def __getitem__(self, key):
+        return self.store[key]
+
+    def __setitem__(self, key, value):
+        self.store[key] = value
+
+    def __delitem__(self, key):
+        del self.store[key]
+
+    def __iter__(self):
+        return iter(self.store)
+
+    def __len__(self):
+        return len(self.store)
+
+    def __hash__(self):
+        return hash(self.store['full_name'])
+
+
+def get_graphs_by_side_world(graphs_by_side, landscape_offset, landscape_z_scale):
+    ret = {}
+    for side in graphs_by_side:
+        graph = graphs_by_side[side]
+        new_graph = {}
+        for p in graph:
+            p_world = landscape_to_world(landscape_offset, landscape_z_scale, p)
+            new_connections = []
+            for conn in graph[p]:
+                conn_world = landscape_to_world(landscape_offset, landscape_z_scale, conn)
+                new_connections.append(tuple(conn_world))
+            new_graph[tuple(p_world)] = new_connections
+        ret[side] = new_graph
+    return ret
+
+
+def add_point_relations(lane):
+    n = len(lane)
+    if n < 3:
+        return
+    for idx, segment in enumerate(lane):
+
+        A = np.array(lane[idx-1]['drive'])
+        B = np.array(segment['drive'])
+        C = np.array(lane[(idx+1) % n]['drive'])
+        a = np.linalg.norm(C - B)
+        b = np.linalg.norm(C - A)
+        c = np.linalg.norm(B - A)
+        s = (a + b + c) / 2
+        R = a * b * c / 4 / np.sqrt(s * (s - a) * (s - b) * (s - c))
+        print('radius %r' % R)
+        segment['radius'] = R
+        v = B - A
+        segment['direction'] = np.arctan(v[1] / v[0])
+        segment['distance'] = c
+        print('distance %r' % c)
+        if c > 500:
+            raise ValueError('Distance too large %r, A: %r B: %r' % (c, A, B))
+
+
+def add_ids(inner_lane, outer_lane):
+    if INTERSECTIONS:
+        raise NotImplementedError('Intersections not supported')
+    if len(inner_lane) != len(outer_lane):
+        raise ValueError('Expected inner and outer lane lengths too match')
+
+    for i, inner_seg in enumerate(inner_lane):
+        outer_seg = outer_lane[i]
+        inner_seg_id = new_seg_id()
+        outer_seg_id = new_seg_id()
+        add_seg_ids(inner_seg, inner_seg_id, outer_seg_id)
+        add_seg_ids(outer_seg, outer_seg_id, inner_seg_id)
+
+    ret = inner_lane + outer_lane
+    for i, seg in enumerate(ret):
+        seg['id'] = i
+    return ret
+
+
+def add_seg_ids(seg, my_id, adj_id):
+    seg['adjacent_segments'] = [adj_id]
+    seg['segment_id'] = my_id
+
+
+def new_seg_id():
+    # 33 billion meters of road - with 1 / billion collision chance =
+    # 36**x = 33e18 = 12.54
+    ret = str(uuid.uuid4()).replace('-', '')[:13]
+    ret = '%s-%s' % (ret[:5], ret[5:])
+    return ret
+
+
+def main():
+    with open('landscape_segments.json') as f:
+        segments = json.load(f)
+    segments = set(HashableSegment(s) for s in segments)
+    segment_point_map = get_segment_point_map(segments)
+    points = list(segment_point_map.keys())
+    graphs = get_map_graphs(points, segment_point_map)
+    graphs_by_side = match_graphs_to_side(graphs)
+
+    # The following depends on three separate landscape splines for the road and two guard rails
+    side_point_mapping = match_points_to_sides(graphs_by_side, points)
+    sides = interpolate_points_by_segment(points, segment_point_map, side_point_mapping,
+                                          LANDSCAPE_OFFSET, LANDSCAPE_Z_SCALE)
+
+    graphs_by_side_world = get_graphs_by_side_world(graphs_by_side, LANDSCAPE_OFFSET, LANDSCAPE_Z_SCALE)
+
+    inner_lane, outer_lane = get_lanes(sides, graphs_by_side_world)
+    # TODO: Go along drive paths and compute curvature with three consecutive points with 1 / radius, where r is given by https://stackoverflow.com/a/20315063/134077
+
+    add_point_relations(inner_lane)
+    add_point_relations(outer_lane)
+
+    all_lane_segments = add_ids(inner_lane, outer_lane)
+
+    with open('deepdrive-canyons-map.json', 'w') as outfile:
+        json.dump(serialize_as_geojson(all_lane_segments), outfile)
+        print('Saved map to %s' % os.path.realpath(outfile.name))
+
+
+def get_closest_point(point, kd_tree):
+    distance, index = kd_tree.query(point)
+    point = kd_tree.data[index]
+    return point, distance
+
+
+def get_lanes(sides, graphs_by_side):
+    inner_lane = []
+    outer_lane = []
+    start_point = (-27059.478515625, 22658.291015750001, 20553.831906106912)  #  (-5844.791015625, 43699.85546875, 1484.7515869140625)
+    end_point = None  # (-8673.3046875, 42718.24609375, 1666.61572265625)
+    center = start_point
+    prev = (-27128.758053206424, 22593.083229395124, 20568.862235249715)
+    prev_drive_inner = None
+    prev_drive_outer = None
+    inner_kd_tree = spatial.KDTree(sides['inner'])
+    outer_kd_tree = spatial.KDTree(sides['outer'])
+    center_kd_tree = spatial.KDTree(sides['center'])
+    centers = sides['center']
+    center_idxs = get_center_idxs(centers)
+    while True:
+        inner, inner_dist = get_closest_point(center, inner_kd_tree)
+        outer, outer_dist = get_closest_point(center, outer_kd_tree)
+        check_lane_width(max(inner_dist, outer_dist))
+        inner_lane_segment = get_lane(center, inner, prev_drive_inner, is_opposite=False)
+        outer_lane_segment = get_lane(center, outer, prev_drive_outer, is_opposite=True)
+        center, prev = get_next_center(center, graphs_by_side, prev, center_kd_tree), center
+        if end_point is not None and np.array_equal(center, end_point):
+            break
+        if prev_drive_inner is None or prev_drive_outer is None:
+            print('Bootstrapping prev inner and outer')
+            end_point = center
+        else:
+            inner_lane.append(inner_lane_segment)
+            outer_lane.append(outer_lane_segment)
+        prev_drive_inner = inner_lane_segment['drive']
+        prev_drive_outer = outer_lane_segment['drive']
+    return inner_lane, outer_lane
+
+
+def get_center_idxs(centers):
+    center_idxs = collections.defaultdict(list)
+    for i, p in enumerate(centers):
+        center_idxs[tuple(p)].append(i)
+    return center_idxs
+
+
+def get_next_center(center, graphs_by_side, prev, kd_tree):
+    seg_end_points = graphs_by_side['center'].get(tuple(center), None)
+    if INTERSECTIONS and seg_end_points is not None:
+        # TODO: BFS on the interpolated graph segments.
+
+        # Get the next segment. Same as getting next interpolated point when there are no intersections,
+        # but I don't want to fail silently if there are intersections.
+        if len(seg_end_points) > 2:
+            raise ValueError('Intersections and forks not yet supported')
+        else:
+            return [p for p in graphs_by_side['center'][center] if p != center][0]
+    else:
+        # Grab the nearest interpolated point not equal to prev
+        results = kd_tree.query(np.array(center), 256)
+        for i, d in enumerate(results[0]):
+            if d == 0:
+                continue
+            p = kd_tree.data[results[1][i]]
+            if not np.array_equal(prev, p):
+                return tuple(p)
+        else:
+            raise ValueError('Could not find next center')
+
+
+def check_lane_width(dist):
+    if dist > 20 * 100:
+        raise ValueError('Got lane width way wider than expected')
+
+
+def get_lane(left, right, prev, is_opposite):
+    left = np.array(left)
+    drive = left + (right - left) * 0.5
+    if prev is None:
+        direction = None
+    else:
+        if is_opposite:
+            vector = prev - right
+        else:
+            vector = right - prev
+        direction = np.arctan(vector[1] / vector[0])
+    lane = {'left': left, 'drive': drive, 'right': right, 'direction': direction}
+    return lane
+
+
+def interpolate_points_by_segment(points, segment_point_map, side_point_mapping, landscape_offset, landscape_z_scale):
+    visited_segments = set()
+    sides = collections.defaultdict(list)
+    for point in points:
+        if point not in side_point_mapping:
+            print('Ignoring point %r - not on track and should be deleted' % (point,))
+            continue
+        for segment in segment_point_map[point]:
+            if segment in visited_segments:
+                continue
+            else:
+                visited_segments.add(segment)
+            center_points = get_interpolated_points(landscape_offset, landscape_z_scale, point, segment, 'Center')
+            segment['interp_center_points'] = center_points
+            sides[side_point_mapping[point]].extend(center_points)  # Guard rails define inner and outer road edges
+
+            # TODO: Eventually we need to start with the map and build the level
+            #       OR if we want to extract the map from landscape splines, we can use the mesh name
+            #       to know the lanes and directions, then do a raycast search for the edges of the road
+            #       starting from the center (either straight down or along the normal to the plane formed
+            #       by the segment), so we are not reliant on matching Unreal's interpolation and
+            #       we don't have to correct for Unreal's width segment connection tangents and control point tangents.
+            #       For the canyons map, the cubic interpolation looks perfect. For the mesa test map, it doesn't.
+            #       So, their could be some design params that can help avoid raycasting everything.
+
+    return sides
+
+
+def match_points_to_sides(graphs_by_side, points):
+    side_point_mapping = {}
+    for p1 in points:
+        for s in graphs_by_side:
+            if p1 in graphs_by_side[s]:
+                side_point_mapping[p1] = s
+    return side_point_mapping
+
+
+def match_graphs_to_side(graphs):
+    sides = {}
+    for g in graphs:
+        if (16453.779296875, 16242.0615234375, 1334.0733642578125) in g:
+            sides['inner'] = g
+        elif (25330.23046875, 56882.2890625, 2772.235595703125) in g:
+            sides['center'] = g
+        elif (25125.541015625, 55631.3828125, 2850.599365234375) in g:
+            sides['outer'] = g
+
+    return sides
+
+
+def get_landscape_spline_name(segment):
+    seg_name = segment['full_name']
+    comps = [c for c in segment['full_name'].split('.') if 'component' in c.lower()]
+    if len(comps) != 1:
+        raise ValueError('Could not get landscape spline name from %s' % seg_name)
+    return comps[0]
+
+def landscape_to_world(landscape_offset, landscape_z_scale, point):
+    point_with_z_scale = point * landscape_z_scale
+    actual = np.array(point_with_z_scale) + landscape_offset
+    return actual
+
+def serialize_as_geojson(in_segments):
+    out = {
+        'crosswalks': {},
+        'driveways': {},
+        'lanes': {},
+        'lines': {},
+        'origin': {'latitude': 0, 'altitude': 0, 'longitude': 0},
+        'roadblocks': {},
+        'stoplines': {},
+    }
+    out_segments = []
+    for i in range(len(in_segments) - 1):
+        start = in_segments[i]
+        end = in_segments[i + 1]
+        out_segments.append(
+            get_geojson_lane_segment(end, start))
+    out['lanes'] = {'features': out_segments, 'type': 'FeatureCollection'}
+    return out
+
+
+def get_geojson_lane_segment(segment, next_segment):
+    # TODO: Convert all cm values to meters (right, left)
+    properties = {
+        'vehicle_type': "VEHICLE",
+        'intersections': [],
+        'lane_count': 1,
+        'lane_num': 1,
+        'lane_type': "STRAIGHT",
+        'next_lanes': [],
+        'other_attributes': [],
+        'prev_lanes': [],
+        'speed_limit': 60,
+        'radius': segment['radius'] / 100,
+        'distance': segment['distance'] / 100,
+        'id': segment['id'],
+        'segment_id': segment['segment_id'],
+        'adjacent_segments': segment['adjacent_segments'],
+    }
+    coords = get_geojson_coords(segment, next_segment, 'drive')
+    right_coords = get_geojson_coords(segment, next_segment, 'right')
+    left_coords = get_geojson_coords(segment, next_segment, 'left')
+    properties['right_line'] = get_geojson_line(right_coords)
+    properties['left_line'] = get_geojson_line(left_coords)
+    polygon = np.array([segment['left'], next_segment['left'], segment['right'], next_segment['right']]) / 100
+    properties['polygon'] = {'coordinates': polygon.tolist(), 'type': 'Polygon'}
+    ret = {
+        'geometry': {'type': 'LineString', 'coordinates': coords},
+        'properties': properties,
+        'type': 'Feature'}
+    return ret
+
+
+def get_geojson_line(left_coords):
+    return {'geometry': {'type': 'LineString', 'coordinates': left_coords}, 'line_color': 'WHITE',
+            'line_type': 'DOUBLE_SOLID_LINE'}
+
+
+def get_geojson_coords(segment, next_segment, side):
+    return (np.array([segment[side], next_segment[side]]) / 100).tolist()
+
+
+"""
+geometry: {type: "LineString", coordinates: [[-91.23195947978866, 115.201464914047, 125.591217041],…]}
+coordinates: [[-91.23195947978866, 115.201464914047, 125.591217041],…]
+0: [-91.23195947978866, 115.201464914047, 125.591217041]
+1: [-91.17320342247241, 114.30339182956251, 125.601303101]
+type: "LineString"
+line_color: "NONE"
+line_type: "IMPLIED"
+"""
+
+
+def get_interpolated_points(landscape_offset, landscape_z_scale, point, segment, side_name):
+    if not USE_TANGENTS:
+        return interpolate(landscape_offset, landscape_z_scale, segment, side_name)
+    else:
+        side_points, tangents = get_side_points_and_tangents(landscape_offset, landscape_z_scale,
+            segment, side_name)
+
+        if tangents is None:
+            return side_points
+        else:
+            new_points = sample_cubic_splines_with_derivative(side_points, tangents, GAP_CM)
+
+            if np.isclose(point[0], 9730.796875) or np.isclose(point[0], 10259.5302734375):
+                for point in new_points:
+                    print('check it!', format_point_as_unreal(point))
+            return new_points
+
+
+def interpolate(landscape_offset, landscape_z_scale, segment, side):
+    """
+    :param landscape_offset: Center of landscape which Unreal uses as origin for segment point coordinates
+    :param landscape_z_scale: Z-scale of landscape in Unreal transform
+    :param segment: Unreal segment
+    :param side: Left, Center, or Right
+    :return:
+    """
+
+    orig = get_side_points(landscape_offset, landscape_z_scale, segment, side)
+    if len(orig) <= 2:
+        return np.array(orig)
+    else:
+        # Do cubic interpolation to smooth out inner points
+        if len(orig) < 4:
+            points = add_midpoints(orig)
+        else:
+            points = orig
+        distances = np.cumsum(np.linalg.norm(np.diff(points, axis=0), axis=1))
+        distances = np.hstack([[0], distances])
+        points = np.array(points)
+        total_points = distances[-1] // GAP_CM + 1
+        chords = list(np.arange(0, total_points) * GAP_CM)
+        if distances[-1] % GAP_CM > (GAP_CM / 3):
+            # Add an extra interp point so there won't be big gap
+            chords.append(distances[-1])
+        cubic_interpolator = interp1d(distances, points, 'cubic', axis=0)
+        ret = cubic_interpolator(chords)
+        return ret
+
+
+def sample_cubic_splines_with_derivative(points, tangents, resolution):
+    """
+    Compute and sample the cubic splines for a set of input points with
+    optional information about the tangent (direction AND magnitude). The
+    splines are parametrized along the traverse line (piecewise linear), with
+    the resolution being the step size of the parametrization parameter.
+    The resulting samples have NOT an equidistant spacing.
+
+    Arguments:      points: a list of n-dimensional points
+                    tangents: a list of tangents
+                    resolution: parametrization step size
+    Returns:        samples
+
+    Notes: Lists points and tangents must have equal length. In case a tangent
+           is not specified for a point, just pass None. For example:
+                    points = [[0,0], [1,1], [2,0]]
+                    tangents = [[1,1], None, [1,-1]]
+
+    """
+    resolution = float(resolution)
+    points = np.asarray(points)
+    n_points, dim = points.shape
+
+    # Parametrization parameter s.
+    dp = np.diff(points, axis=0)  # difference between points
+    dp = np.linalg.norm(dp, axis=1)  # distance between points
+    d = np.cumsum(dp)  # cumsum along the segments
+    d = np.hstack([[0], d])  # add distance from first point
+    length = d[-1]  # length of point sequence
+    n_samples = int(length / resolution)  # number of samples
+
+    # TODO: s should be GAP_CM apart plus left over distance to end if over GAP_CM / 2
+
+    s, r = np.linspace(0, length, n_samples, retstep=True)  # sample parameter and step
+
+    # Bring points and (optional) tangent information into correct format.
+    assert (len(points) == len(tangents))
+    data = np.empty([n_points, dim], dtype=object)
+    for i, p in enumerate(points):
+        t = tangents[i]
+        # Either tangent is None or has the same
+        # number of dimensions as the point p.
+        assert (t is None or len(t) == dim)
+        fuse = list(zip(p, t) if t is not None else zip(p, ))
+        data[i, :] = fuse
+
+    # Compute splines per dimension separately.
+    samples = np.zeros([n_samples, dim])
+    for i in range(dim):
+        poly = BPoly.from_derivatives(d, data[:, i])
+        samples[:, i] = poly(s)
+    return samples
+
+
+def get_side_points(landscape_offset, landscape_z_scale, segment, side):
+    orig = []
+    for p in segment['Points']:
+        p = landscape_to_world(landscape_offset, landscape_z_scale, p[side])
+        orig.append(p)
+    return orig
+
+
+def get_segment_tangent_at_point(segment, point):
+    point = tuple(point)
+    for i, p in enumerate(segment['SplineInfo_Points']):
+        if get_segment_point(segment, i) == point:
+            arrive = p['ArriveTangent']
+            leave = p['LeaveTangent']
+            if arrive != leave:
+                raise NotImplementedError('Unequal tangents not supported')
+            return np.array(arrive)
+
+def get_side_points_and_tangents(landscape_offset, landscape_z_scale, segment, side_name):
+    points = []
+    orig = segment['Points']
+    if len(orig) == 2:
+        return orig, None
+    elif len(orig) == 3:
+        begin_tangent = get_segment_tangent_at_point(segment, orig[0]['Center'])
+        end_tangent = get_segment_tangent_at_point(segment, orig[2]['Center'])
+        mid_tangent = (begin_tangent + end_tangent) / 2
+        for i, p in enumerate(orig):
+            p = landscape_to_world(landscape_offset, landscape_z_scale, np.array(p))
+            points.append(p)
+        points = add_midpoints(points)
+        tangents = np.array([begin_tangent, begin_tangent, mid_tangent, end_tangent, end_tangent])
+        tangents *= 0
+    else:
+        raise ValueError('Expected either 2 or 3 points in segment, got %d' % len(orig))
+    return np.array(points), np.array(tangents)
+
+
+def add_midpoints(orig):
+    ret = []
+    for i in range(len(orig) - 1):
+        start = orig[i]
+        end = orig[i + 1]
+        mid = start + (end - start) * 0.5
+        ret += [start, mid]
+    ret.append(orig[-1])
+    return ret
+
+
+def format_point_as_unreal(point):
+    return '(X=%.6f,Y=%.6f,Z=%.6f)' % (point[0], point[1], point[2])
+
+
+def get_map_graphs(points, segment_point_map):
+    graphs = []
+    points = copy.deepcopy(points)
+    while points:
+        # Find overlapping segments using OutVal of control point
+        # String mid points together    unique_segments = dict()
+        graph = get_map_graph(segment_point_map, points)
+        graphs.append(graph)
+    return graphs
+
+
+def get_segment_point_map(segments):
+    segment_point_map = dict()
+    for s in segments:
+        for point in get_segment_points(s):
+            if point in segment_point_map:
+                segment_point_map[point].add(s)
+            else:
+                segment_point_map[point] = {s}
+    return segment_point_map
+
+
+def get_segment_points(s):
+    return [get_segment_point(s, i) for i in range(len(s['SplineInfo_Points']))]
+
+
+def get_unique_segments(segments):
+    unique_segments = dict()
+    for segment in segments:
+        unique_segments[segment['full_name']] = segment
+    segments = list(unique_segments.values())
+    return segments
+
+
+def get_neighboring_points(p, segment_point_map):
+    segments = segment_point_map[p]
+    ret = []
+    for s in segments:
+        for pt in get_segment_points(s):
+            if pt != p:
+                ret.append(pt)
+    return ret
+
+
+def get_map_graph(segment_point_map, points):
+    # Use BFS to find connected points
+    visited = {points[0]}
+    q = collections.deque([points[0]])
+    graph = {}
+    while q:
+        vertex = q.popleft()
+        points.remove(vertex)  # Don't start a search from here
+        neighbors = list(get_neighboring_points(vertex, segment_point_map))
+        graph[vertex] = neighbors
+        if len(neighbors) > 2:
+            print('Found a fork / intersection')
+        for neighbor in neighbors:
+            if neighbor not in visited:
+                visited.add(neighbor)
+                q.append(neighbor)
+
+    return graph
+
+
+def get_segment_point(segment, index):
+    return tuple(segment['SplineInfo_Points'][index]['OutVal'])
+
+
+if __name__ == '__main__':
+    main()
diff --git a/Tools/deepdrive-canyons-map.json b/Tools/deepdrive-canyons-map.json
new file mode 100644
index 00000000..7e14bdc3
--- /dev/null
+++ b/Tools/deepdrive-canyons-map.json
@@ -0,0 +1 @@
+{"crosswalks": {}, "driveways": {}, "lanes": {"features": [{"geometry": {"type": "LineString", "coordinates": [[-274.04444707391826, 232.45672768449188, 204.93896606052414], [-274.71704988444327, 231.739533334357, 205.12157144137373]]}, "properties": {"vehicle_type": "VEHICLE", "intersections": [], "lane_count": 1, "lane_num": 1, "lane_type": "STRAIGHT", "next_lanes": [], "other_attributes": [], "prev_lanes": [], "speed_limit": 60, "radius": 32.08591257319129, "distance": 1.0000534994222763, "id": 1, "segment_id": "4038b-de4f3fe4", "adjacent_segments": ["940a3-657b1724"], "right_line": {"geometry": {"type": "LineString", "coordinates": [[-278.88106696734724, 236.9237405933284, 204.65895665993986], [-279.54199801678214, 236.20122442237295, 204.8633921077862]]}, "line_color": "WHITE", "line_type": "DOUBLE_SOLID_LINE"}, "left_line": {"geometry": {"type": "LineString", "coordinates": [[-269.20782718048935, 227.9897147756554, 205.2189754611084], [-269.89210175210434, 227.27784224634107, 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diff --git a/Tools/landscape_segments.json b/Tools/landscape_segments.json
new file mode 100644
index 00000000..6bbb1fce
--- /dev/null
+++ b/Tools/landscape_segments.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/Tools/landscape_segments_mesa.json b/Tools/landscape_segments_mesa.json
new file mode 100644
index 00000000..49fc1a0d
--- /dev/null
+++ b/Tools/landscape_segments_mesa.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/Tools/landscape_segments_mesa_hill.json b/Tools/landscape_segments_mesa_hill.json
new file mode 100644
index 00000000..dfd06747
--- /dev/null
+++ b/Tools/landscape_segments_mesa_hill.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/Tools/tangent_test.json b/Tools/tangent_test.json
new file mode 100644
index 00000000..59d97a76
--- /dev/null
+++ b/Tools/tangent_test.json
@@ -0,0 +1,2326 @@
+[
+  {
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+          "pitch": 0.0,
+          "yaw": 0.0
+        },
+        "full_name": "LandscapeSplineControlPoint /Game/DeepDrive/Maps/Mesa.Mesa:PersistentLevel.Landscape_0.LandscapeSplinesComponent_0.LandscapeSplineControlPoint_15",
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+        "as_string": "<unreal_engine.UObject 'LandscapeSplineControlPoint_15' (0x000001C619F7AD40) UClass 'LandscapeSplineControlPoint' (refcnt: 24)>",
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+      "as_string": "<unreal_engine.UScriptStruct {'struct': 'LandscapeSplineSegmentConnection', 'size': 24, 'ptr': 0x000001C639BE02F8}>"
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+    "display_name": "LandscapeSplineSegment_9"
+  },
+  {
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+          "yaw": -90.0
+        },
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+        "as_string": "<unreal_engine.UObject 'LandscapeSplineControlPoint_5' (0x000001C619F7B240) UClass 'LandscapeSplineControlPoint' (refcnt: 24)>",
+        "Width": 150.0,
+        "SideFalloff": 750.0
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+      "as_string": "<unreal_engine.UScriptStruct {'struct': 'LandscapeSplineSegmentConnection', 'size': 24, 'ptr': 0x000001C639BE01B8}>"
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+    "Points": [
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+          10152.0,
+          0.0
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+    ],
+    "SplineInfo_Points": [
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+        "InterpMode": 3,
+        "ArriveTangent": [
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+        "OutVal": [
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+          9601.4931640625,
+          -0.00048828125
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+      {
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+        "InterpMode": 3,
+        "ArriveTangent": [
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+          998.60107421875,
+          -0.0
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+        "LeaveTangent": [
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+          -0.0
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+    ],
+    "as_string": "<unreal_engine.UObject 'LandscapeSplineSegment_2' (0x000001C639BE0180) UClass 'LandscapeSplineSegment' (refcnt: 6)>",
+    "layer_name": "None",
+    "full_name": "LandscapeSplineSegment /Game/DeepDrive/Maps/Mesa.Mesa:PersistentLevel.Landscape_0.LandscapeSplinesComponent_0.LandscapeSplineSegment_2",
+    "display_name": "LandscapeSplineSegment_2"
+  },
+  {
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+      "ControlPoint": {
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+          8999.12890625,
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+          "roll": 1.0869863342755082e-10,
+          "pitch": 0.0,
+          "yaw": -90.0
+        },
+        "full_name": "LandscapeSplineControlPoint /Game/DeepDrive/Maps/Mesa.Mesa:PersistentLevel.Landscape_0.LandscapeSplinesComponent_0.LandscapeSplineControlPoint_2",
+        "SegmentMeshOffset": 0.0,
+        "as_string": "<unreal_engine.UObject 'LandscapeSplineControlPoint_2' (0x000001C619F7AC00) UClass 'LandscapeSplineControlPoint' (refcnt: 24)>",
+        "Width": 150.0,
+        "SideFalloff": 750.0
+      },
+      "as_string": "<unreal_engine.UScriptStruct {'struct': 'LandscapeSplineSegmentConnection', 'size': 24, 'ptr': 0x000001C619F79BF8}>"
+    },
+    "Points": [
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+        "FalloffRight": [
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+        "Left": [
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+      {
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+        "Right": [
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+          1.4921395716238628e-11
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+        "Center": [
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+        "FalloffLeft": [
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+        "Left": [
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+          -1.4921395716238628e-11
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+    ],
+    "SplineInfo_Points": [
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+        "InterpMode": 3,
+        "ArriveTangent": [
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+      {
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+        "InterpMode": 3,
+        "ArriveTangent": [
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+        "OutVal": [
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+    "as_string": "<unreal_engine.UObject 'LandscapeSplineSegment_16' (0x000001C619F79BC0) UClass 'LandscapeSplineSegment' (refcnt: 6)>",
+    "layer_name": "None",
+    "full_name": "LandscapeSplineSegment /Game/DeepDrive/Maps/Mesa.Mesa:PersistentLevel.Landscape_0.LandscapeSplinesComponent_0.LandscapeSplineSegment_16",
+    "display_name": "LandscapeSplineSegment_16"
+  },
+  {
+    "first_Connection": {
+      "TangentLen": 315.26678466796875,
+      "ControlPoint": {
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+          "roll": 8.34577545960613e-12,
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+        "full_name": "LandscapeSplineControlPoint /Game/DeepDrive/Maps/Mesa.Mesa:PersistentLevel.Landscape_0.LandscapeSplinesComponent_0.LandscapeSplineControlPoint_5",
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+        "as_string": "<unreal_engine.UObject 'LandscapeSplineControlPoint_5' (0x000001C619F7B240) UClass 'LandscapeSplineControlPoint' (refcnt: 26)>",
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+        "SideFalloff": 750.0
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+      "as_string": "<unreal_engine.UScriptStruct {'struct': 'LandscapeSplineSegmentConnection', 'size': 24, 'ptr': 0x000001C619F7B138}>"
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+    "Points": [
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From 0efe69d78e2351a0f493de679b7dd2eb13c299ad Mon Sep 17 00:00:00 2001
From: Craig Quiter <cquiter@gmail.com>
Date: Fri, 28 Feb 2020 17:03:00 -0800
Subject: [PATCH 22/43] Only promote binaries when on master branch

---
 .ci/cloud_ci.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.ci/cloud_ci.py b/.ci/cloud_ci.py
index 968bda4b..32dbabc1 100644
--- a/.ci/cloud_ci.py
+++ b/.ci/cloud_ci.py
@@ -78,7 +78,7 @@ def set_version(problem_def, version):
         sim_url=build_results.gcs_url,
         supported_problems=problem_constants.constants.SUPPORTED_PROBLEMS)
 
-    if passed_ci:
+    if passed_ci and branch in ['master']:  # TODO: Use botleague helpers release branches
         # Copy sim/release_candidates/ to sim/
         copy_release_candidate_to_release()
         promote_python_bindings(sim_version, commit, job)

From f0e5b7a10f351f5d81956e3c61c4ace1cb4f08a3 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 15 Mar 2020 10:52:59 +0100
Subject: [PATCH 23/43] - enable manual driving on traffic ai controller when
 no road network is present

---
 .../Maps/Tutorials/Tutorial_EmptyMap.umap     | Bin 41560 -> 44390 bytes
 .../DeepDriveAgentTrafficAIController.cpp     |  12 ++++++------
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap b/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap
index cdd3efc1eefcfaa002f5cda8d357a6b8852df398..a8ebd814fe5266ebb9e15e8fc1b732e6e925840f 100644
GIT binary patch
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index ff39f066..6bca32ea 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -174,9 +174,6 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 	bool firstActivate = false;
 	if (route.Links.Num() > 0)
 	{
-		//route->convert(start);
-		//route->placeAgentAtStart(agent);
-
 		if(m_SpeedController == 0)
 		{
 			m_SpeedController = new DeepDriveAgentSpeedController(m_Configuration.PIDThrottle, m_Configuration.PIDBrake);
@@ -198,16 +195,19 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 		m_PathPlanner->setRoute(route);
 
 		res = true;
+		if (firstActivate)
+			activateController(agent);
 		m_State = ActiveRouteGuidance;
 		m_Route = 0;
 	}
 	else
 	{
-		roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
-	}
+		if (roadNetwork->getRoadNetwork().Junctions.Num() > 0)
+			roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
 
-	if (res && firstActivate)
+		res = true;
 		activateController(agent);
+	}
 
 	return res;
 }

From bfa66e158a0d8cd80d0cb6fee339454f94b02130 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Thu, 26 Mar 2020 09:42:59 +0100
Subject: [PATCH 24/43] - tutorials improved - more road network setup

---
 .../Maps/Tutorials/Tutorial_EmptyMap.umap     | Bin 44390 -> 45396 bytes
 .../Tutorials/Tutorial_RoadNetwork_Map.umap   | Bin 76196 -> 78308 bytes
 .../TrafficAIControllerCreator.uasset         | Bin 101159 -> 101853 bytes
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 23913 -> 25375 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 471145 -> 492134 bytes
 5 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap b/Content/DeepDrive/Maps/Tutorials/Tutorial_EmptyMap.umap
index a8ebd814fe5266ebb9e15e8fc1b732e6e925840f..8ccef9ed008191fd5c3e11e9521160a6ac0a518b 100644
GIT binary patch
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
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From 6f4600067c46d148606e2d00938d61248be4a655 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Tue, 7 Apr 2020 09:20:32 +0200
Subject: [PATCH 25/43] - multi-agent API pt. I

---
 Content/Data/VERSION                          |   2 +-
 .../Server/DeepDriveSimulationServer.cpp      |   6 +-
 .../DeepDriveAgentTrafficAIController.cpp     |   6 +-
 .../Simulation/DeepDriveSimulation.cpp        |  22 +-
 .../DeepDriveSimulationMessageHandler.cpp     | 125 --------
 .../DeepDriveSimulationMessageHandler.h       |  50 ----
 .../DeepDriveSimulationRequestHandler.cpp     |  48 ++++
 .../DeepDriveSimulationRequestHandler.h       |  46 +++
 .../Requests/DeepDriveMultiAgentRequests.cpp  | 131 +++++++++
 .../Requests/DeepDriveMultiAgentRequests.h    |  34 +++
 .../Requests/DeepDriveSimulationRequests.cpp  | 101 +++++++
 .../Requests/DeepDriveSimulationRequests.h    |  31 ++
 .../DeepDriveRoadNetworkComponent.cpp         |   6 +-
 .../Server/Messages/DeepDriveMessageIds.h     |  23 +-
 .../DeepDriveServerSimulationMessages.h       | 210 +++++++++++++-
 .../Agent/DeepDriveAgentControllerBase.h      |   7 +
 .../Public/Simulation/DeepDriveSimulation.h   |   9 +-
 .../DeepDriveRoadNetworkComponent.h           |   2 +-
 .../DeepDrivePython/deepdrive_multi_agents.py |  33 +++
 .../Source/DeepDrivePython/setup.py           |   3 +
 .../DeepDriveSimulation.cpp                   | 171 ++++++++++-
 .../DeepDriveSimulation.hpp                   |  29 +-
 .../PyMultiAgentSnapshotObject.cpp            |  57 ++++
 .../PyMultiAgentSnapshotObject.h              | 144 ++++++++++
 .../deepdrive_simulation.cpp                  |  91 ++----
 .../deepdrive_simulation_error.cpp            |  59 ++++
 .../deepdrive_simulation_error.h              |   8 +
 .../deepdrive_simulation_multi_agent.cpp      | 269 ++++++++++++++++++
 .../src/socket/IP4ClientSocket.cpp            |  12 +
 .../src/socket/IP4ClientSocket.hpp            |   2 +
 30 files changed, 1463 insertions(+), 274 deletions(-)
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp
 delete mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.h
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.cpp
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.h
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.cpp
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.h
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.cpp
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.h
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_multi_agents.py
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.h
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.cpp
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.h
 create mode 100644 Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp

diff --git a/Content/Data/VERSION b/Content/Data/VERSION
index 7358de81..b17f81ca 100644
--- a/Content/Data/VERSION
+++ b/Content/Data/VERSION
@@ -1 +1 @@
-3.1.20191218154954
\ No newline at end of file
+3.1.20200326084259
\ No newline at end of file
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp
index cc808a14..fc87a184 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Server/DeepDriveSimulationServer.cpp
@@ -153,7 +153,11 @@ bool DeepDriveSimulationServer::checkForMessages()
 	bool connected = m_ClientSocket->Recv(m_ReceiveBuffer, m_curReceiveBufferSize, bytesRead, ESocketReceiveFlags::None);
 	if (connected && bytesRead > 0)
 	{
-		// UE_LOG(LogDeepDriveSimulationServer, Log, TEXT("[%d] Received %d bytes: %d"), m_ClientId, bytesRead, bytesRead > 4 ? *(reinterpret_cast<uint32*>(m_ReceiveBuffer)) : 0);
+		if (bytesRead >= 8)
+		{
+			// uint32 *buffer = reinterpret_cast<uint32*>(m_ReceiveBuffer);
+			// UE_LOG(LogDeepDriveSimulationServer, Log, TEXT("Received %d bytes: %d %d"), bytesRead, buffer[0], buffer[1]);
+		}
 		m_MessageAssembler.add(m_ReceiveBuffer, bytesRead);
 	}
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 6bca32ea..022fc726 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -159,7 +159,11 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 			}
 			else if(m_StartIndex < m_Configuration.StartPositions.Num())
 			{
-				roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true);
+				if(roadNetwork->PlaceAgentOnRoad(&agent, m_Configuration.StartPositions[m_StartIndex], true) == false)
+				{
+					FTransform transform(FRotator(0.0f, 0.0f, 0.0f), m_Configuration.StartPositions[m_StartIndex], FVector(1.0f, 1.0f, 1.0f));
+					agent.SetActorTransform(transform, false, 0, ETeleportType::TeleportPhysics);
+				}
 			}
 			break;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
index 5479e815..da2428b0 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
@@ -3,7 +3,7 @@
 #include "DeepDrivePluginPrivatePCH.h"
 #include "DeepDriveSimulation.h"
 #include "Private/Server/DeepDriveSimulationServer.h"
-#include "Private/Simulation/DeepDriveSimulationMessageHandler.h"
+#include "Private/Simulation/DeepDriveSimulationRequestHandler.h"
 #include "Private/Simulation/DeepDriveSimulationStateMachine.h"
 #include "Private/Simulation/States/DeepDriveSimulationInitializeState.h"
 #include "Private/Simulation/States/DeepDriveSimulationRunningState.h"
@@ -11,6 +11,9 @@
 #include "Private/Simulation/States/DeepDriveSimulationResetState.h"
 #include "Public/Simulation/Agent/Controllers/DeepDriveAgentOneOffController.h"
 
+#include "Private/Simulation/Requests/DeepDriveSimulationRequests.h"
+#include "Private/Simulation/Requests/DeepDriveMultiAgentRequests.h"
+
 #include "Private/Server/DeepDriveServer.h"
 #include "Public/Simulation/DeepDriveSimulationServerProxy.h"
 #include "Public/Simulation/DeepDriveSimulationCaptureProxy.h"
@@ -26,7 +29,7 @@
 
 #include "Public/CaptureSink/CaptureSinkComponentBase.h"
 
-DEFINE_LOG_CATEGORY(LogDeepDriveSimulation);
+	DEFINE_LOG_CATEGORY(LogDeepDriveSimulation);
 
 FDateTime ADeepDriveSimulation::m_SimulationStartTime;
 
@@ -119,7 +122,12 @@ void ADeepDriveSimulation::PreInitializeComponents()
 			if (m_SimulationServer)
 			{
 				m_SimulationServer->start();
-				m_MessageHandler = new DeepDriveSimulationMessageHandler(*this, *m_SimulationServer);
+				m_RequestHandler = new DeepDriveSimulationRequestHandler(*this, *m_SimulationServer);
+				if(m_RequestHandler)
+				{
+					DeepDriveSimulationRequests::registerHandlers(*m_RequestHandler);
+					DeepDriveMultiAgentRequests::registerHandlers(*m_RequestHandler);
+				}
 			}
 		}
 
@@ -214,8 +222,8 @@ void ADeepDriveSimulation::Tick( float DeltaTime )
 {
 	Super::Tick( DeltaTime );
 
-	if(m_MessageHandler)
-		m_MessageHandler->handleMessages();
+	if(m_RequestHandler)
+		m_RequestHandler->handleRequests();
 
 	if (m_StateMachine)
 		m_StateMachine->update(*this, DeltaTime);
@@ -411,8 +419,8 @@ void ADeepDriveSimulation::enqueueMessage(deepdrive::server::MessageHeader *mess
 {
 	if (message)
 	{
-	 	if(m_MessageHandler)
-	 		m_MessageHandler->enqueueMessage(*message);
+	 	if(m_RequestHandler)
+	 		m_RequestHandler->enqueueRequest(*message);
 	 	else
 			FMemory::Free(message);
 	}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp
deleted file mode 100644
index f8e80fde..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.cpp
+++ /dev/null
@@ -1,125 +0,0 @@
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "Private/Simulation/DeepDriveSimulationMessageHandler.h"
-#include "Private/Server/DeepDriveSimulationServer.h"
-#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h"
-#include "Public/Simulation/Agent/DeepDriveAgent.h"
-#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h"
-#include "Public/Simulation/Misc/DeepDriveRandomStream.h"
-
-#include "Public/Simulation/DeepDriveSimulation.h"
-
-DEFINE_LOG_CATEGORY(LogDeepDriveSimulationMessageHandler);
-
-DeepDriveSimulationMessageHandler::DeepDriveSimulationMessageHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer)
-	:	m_Simulation(sim)
-	,	m_SimulationServer(simServer)
-{
-
-	m_MessageHandlers[deepdrive::server::MessageId::ConfigureSimulationRequest] = std::bind(&DeepDriveSimulationMessageHandler::configure, this, std::placeholders::_1);
-	m_MessageHandlers[deepdrive::server::MessageId::ResetSimulationRequest] = std::bind(&DeepDriveSimulationMessageHandler::reset, this, std::placeholders::_1);
-	m_MessageHandlers[deepdrive::server::MessageId::SetGraphicsSettingsRequest] = std::bind(&DeepDriveSimulationMessageHandler::setGfxSettings, this, std::placeholders::_1);
-	m_MessageHandlers[deepdrive::server::MessageId::SetDateAndTimeRequest] = std::bind(&DeepDriveSimulationMessageHandler::setDateAndTime, this, std::placeholders::_1);
-	m_MessageHandlers[deepdrive::server::MessageId::SetSunSimulationSpeedRequest] = std::bind(&DeepDriveSimulationMessageHandler::setSunSimulationSpeed, this, std::placeholders::_1);
-
-}
-
-DeepDriveSimulationMessageHandler::~DeepDriveSimulationMessageHandler()
-{
-}
-
-void DeepDriveSimulationMessageHandler::handleMessages()
-{
-	deepdrive::server::MessageHeader *message = 0;
-	if (m_MessageQueue.Dequeue(message)
-		&& message
-		)
-	{
-		MessageHandlers::iterator fIt = m_MessageHandlers.find(message->message_id);
-		if (fIt != m_MessageHandlers.end())
-			fIt->second(*message);
-
-		FMemory::Free(message);
-	}
-}
-
-void DeepDriveSimulationMessageHandler::enqueueMessage(deepdrive::server::MessageHeader &message)
-{
-	m_MessageQueue.Enqueue(&message);
-}
-
-
-void DeepDriveSimulationMessageHandler::configure(const deepdrive::server::MessageHeader& message)
-{
-	UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation configure") );
-
-	const deepdrive::server::ConfigureSimulationRequest &req = static_cast<const deepdrive::server::ConfigureSimulationRequest&> (message);
-	const SimulationConfiguration &configuration = req.configuration;
-	const SimulationGraphicsSettings &graphicsSettings = req.graphics_settings;
-
-	m_Simulation.Seed = configuration.seed;
-	for (auto &rsd : m_Simulation.RandomStreams)
-		rsd.Value.getRandomStream()->initialize(configuration.seed);
-
-	for (auto &agent : m_Simulation.m_Agents)
-	{
-		agent->getAgentController()->OnConfigureSimulation(configuration, true);
-	}
-
-	m_Simulation.applyGraphicsSettings(graphicsSettings);
-
-	m_SimulationServer.enqueueResponse( new deepdrive::server::ConfigureSimulationResponse(true) );
-}
-
-void DeepDriveSimulationMessageHandler::reset(const deepdrive::server::MessageHeader& message)
-{
-	const deepdrive::server::ResetSimulationRequest &req = static_cast<const deepdrive::server::ResetSimulationRequest&> (message);
-	const SimulationConfiguration &configuration = req.configuration;
-
-	UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation reset with seed %d time dilation %f agent start location %f"), configuration.seed, configuration.time_dilation, configuration.agent_start_location );
-
-	for (auto &rsd : m_Simulation.RandomStreams)
-		if(rsd.Value.ReSeedOnReset)
-			rsd.Value.getRandomStream()->initialize(m_Simulation.Seed);
-
-	for (auto &agent : m_Simulation.m_Agents)
-	{
-		ADeepDriveAgentControllerBase *controller = agent->getAgentController();
-		if (controller)
-		{
-			controller->OnConfigureSimulation(configuration, false);
-			controller->Reset();
-		}
-	}
-
-	m_SimulationServer.enqueueResponse( new deepdrive::server::ResetSimulationResponse(true) );
-}
-
-void DeepDriveSimulationMessageHandler::setGfxSettings(const deepdrive::server::MessageHeader& message)
-{
-	UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation set graphics settings") );
-
-	const deepdrive::server::SetGraphicsSettingsRequest &req = static_cast<const deepdrive::server::SetGraphicsSettingsRequest&> (message);
-	m_Simulation.applyGraphicsSettings(req.graphics_settings);
-	m_SimulationServer.enqueueResponse( new deepdrive::server::SetGraphicsSettingsResponse(true) );
-}
-
-void DeepDriveSimulationMessageHandler::setDateAndTime(const deepdrive::server::MessageHeader& message)
-{
-	const deepdrive::server::SetDateAndTimeRequest &req = static_cast<const deepdrive::server::SetDateAndTimeRequest&> (message);
-
-	UE_LOG(LogDeepDriveSimulationMessageHandler, Log, TEXT("DeepDriveSimulation Set Date/Time to %d/%d/%d - %d/%d"), req.year, req.month, req.day, req.hour, req.minute );
-
-	m_Simulation.SetDateAndTime(req.year, req.month, req.day, req.hour, req.minute);
-
-	m_SimulationServer.enqueueResponse( new deepdrive::server::SetDateAndTimeResponse(true) );
-}
-
-void DeepDriveSimulationMessageHandler::setSunSimulationSpeed(const deepdrive::server::MessageHeader& message)
-{
-	const deepdrive::server::SetSunSimulationSpeedRequest &req = static_cast<const deepdrive::server::SetSunSimulationSpeedRequest&> (message);
-
-	m_Simulation.SetSunSimulationSpeed(req.speed);
-
-	m_SimulationServer.enqueueResponse( new deepdrive::server::SetSunSimulationSpeedResponse(true) );
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.h
deleted file mode 100644
index ca73061a..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationMessageHandler.h
+++ /dev/null
@@ -1,50 +0,0 @@
-
-#pragma once
-
-#include "Engine.h"
-
-#include "Public/Server/Messages/DeepDriveMessageIds.h"
-
-#include <functional>
-#include <map>
-
-DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveSimulationMessageHandler, Log, All);
-
-namespace deepdrive { namespace server {
-struct MessageHeader;
-} }
-
-
-class ADeepDriveSimulation;
-class DeepDriveSimulationServer;
-
-class DeepDriveSimulationMessageHandler
-{
-	typedef TQueue<deepdrive::server::MessageHeader*> MessageQueue;
-
-	typedef std::function< void(const deepdrive::server::MessageHeader&) > HandleMessageFuncPtr;
-	typedef std::map<deepdrive::server::MessageId, HandleMessageFuncPtr>	MessageHandlers;
-
-public:
-
-	DeepDriveSimulationMessageHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer);
-	~DeepDriveSimulationMessageHandler();
-
-	void handleMessages();
-	void enqueueMessage(deepdrive::server::MessageHeader &message);
-
-private:
-
-	void configure(const deepdrive::server::MessageHeader& message);
-	void reset(const deepdrive::server::MessageHeader& message);
-	void setGfxSettings(const deepdrive::server::MessageHeader& message);
-	void setDateAndTime(const deepdrive::server::MessageHeader& message);
-	void setSunSimulationSpeed(const deepdrive::server::MessageHeader& message);
-
-	ADeepDriveSimulation 			&m_Simulation;
-	DeepDriveSimulationServer		&m_SimulationServer;
-
-	MessageQueue					m_MessageQueue;
-	MessageHandlers					m_MessageHandlers;
-
-};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.cpp
new file mode 100644
index 00000000..66d759c2
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.cpp
@@ -0,0 +1,48 @@
+
+#include "DeepDrivePluginPrivatePCH.h"
+#include "Private/Simulation/DeepDriveSimulationRequestHandler.h"
+#include "Private/Server/DeepDriveSimulationServer.h"
+#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h"
+#include "Public/Simulation/Agent/DeepDriveAgent.h"
+#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h"
+#include "Public/Simulation/Misc/DeepDriveRandomStream.h"
+
+#include "Public/Simulation/DeepDriveSimulation.h"
+
+DEFINE_LOG_CATEGORY(LogDeepDriveSimulationRequestHandler);
+
+DeepDriveSimulationRequestHandler::DeepDriveSimulationRequestHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer)
+	:	m_Simulation(sim)
+	,	m_SimulationServer(simServer)
+{
+
+}
+
+DeepDriveSimulationRequestHandler::~DeepDriveSimulationRequestHandler()
+{
+}
+
+void DeepDriveSimulationRequestHandler::registerHandler(deepdrive::server::MessageId id, HandleMessageFuncPtr handler)
+{
+	m_MessageHandlers[id] = handler;
+}
+
+void DeepDriveSimulationRequestHandler::handleRequests()
+{
+	deepdrive::server::MessageHeader *message = 0;
+	if (	m_MessageQueue.Dequeue(message)
+		&&	message
+		)
+	{
+		MessageHandlers::iterator fIt = m_MessageHandlers.find(message->message_id);
+		if (fIt != m_MessageHandlers.end())
+			fIt->second(m_Simulation, m_SimulationServer, * message);
+
+		FMemory::Free(message);
+	}
+}
+
+void DeepDriveSimulationRequestHandler::enqueueRequest(deepdrive::server::MessageHeader &message)
+{
+	m_MessageQueue.Enqueue(&message);
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.h
new file mode 100644
index 00000000..3659147f
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulationRequestHandler.h
@@ -0,0 +1,46 @@
+
+#pragma once
+
+#include "Engine.h"
+
+#include "Public/Server/Messages/DeepDriveMessageIds.h"
+
+#include <functional>
+#include <map>
+
+DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveSimulationRequestHandler, Log, All);
+
+namespace deepdrive { namespace server {
+struct MessageHeader;
+} }
+
+
+class ADeepDriveSimulation;
+class DeepDriveSimulationServer;
+
+class DeepDriveSimulationRequestHandler
+{
+	typedef TQueue<deepdrive::server::MessageHeader*> MessageQueue;
+
+	typedef std::function<void(ADeepDriveSimulation &, DeepDriveSimulationServer&, const deepdrive::server::MessageHeader &)> HandleMessageFuncPtr;
+	typedef std::map<deepdrive::server::MessageId, HandleMessageFuncPtr>	MessageHandlers;
+
+public:
+
+	DeepDriveSimulationRequestHandler(ADeepDriveSimulation &sim, DeepDriveSimulationServer &simServer);
+	~DeepDriveSimulationRequestHandler();
+
+	void registerHandler(deepdrive::server::MessageId id, HandleMessageFuncPtr handler);
+
+	void handleRequests();
+	void enqueueRequest(deepdrive::server::MessageHeader &message);
+
+private:
+
+	ADeepDriveSimulation 			&m_Simulation;
+	DeepDriveSimulationServer		&m_SimulationServer;
+
+	MessageQueue					m_MessageQueue;
+	MessageHandlers					m_MessageHandlers;
+
+};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.cpp
new file mode 100644
index 00000000..1d9a8e13
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.cpp
@@ -0,0 +1,131 @@
+
+#include "DeepDrivePluginPrivatePCH.h"
+#include "Private/Simulation/Requests/DeepDriveMultiAgentRequests.h"
+#include "Private/Simulation/DeepDriveSimulationRequestHandler.h"
+#include "Private/Server/DeepDriveSimulationServer.h"
+#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h"
+#include "Public/Simulation/Agent/DeepDriveAgent.h"
+#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h"
+
+#include "Public/Simulation/DeepDriveSimulation.h"
+
+#include "Public/Server/Messages/DeepDriveMessageIds.h"
+
+DEFINE_LOG_CATEGORY(LogDeepDriveMultiAgentRequests);
+
+void DeepDriveMultiAgentRequests::registerHandlers(DeepDriveSimulationRequestHandler &requestHandler)
+{
+	requestHandler.registerHandler(deepdrive::server::MessageId::GetAgentsListRequest, std::bind(&DeepDriveMultiAgentRequests::getAgentsList, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+	requestHandler.registerHandler(deepdrive::server::MessageId::RequestControlRequest, std::bind(&DeepDriveMultiAgentRequests::requestControl, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+	requestHandler.registerHandler(deepdrive::server::MessageId::ReleaseControlRequest, std::bind(&DeepDriveMultiAgentRequests::releaseControl, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+	requestHandler.registerHandler(deepdrive::server::MessageId::SetControlValuesRequest, std::bind(&DeepDriveMultiAgentRequests::setControlValues, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+}
+
+void DeepDriveMultiAgentRequests::getAgentsList(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message)
+{
+	UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("DeepDriveSimulation getAgentsList") );
+
+	TArray<uint32> ids;
+
+	for(auto agent : simulation.m_Agents)
+	{
+		auto id = agent->GetAgentId();
+		ids.Add(agent->GetAgentId());
+	}
+
+	const size_t msgSize = deepdrive::server::GetAgentsListResponse::getMessageSize(ids.Num());
+	deepdrive::server::GetAgentsListResponse *response = new (FMemory::Malloc(msgSize, 4)) deepdrive::server::GetAgentsListResponse(ids.Num(), ids.GetData());
+
+	simulationServer.enqueueResponse(response);
+}
+
+void DeepDriveMultiAgentRequests::requestControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+	const deepdrive::server::RequestControlRequest &req = static_cast<const deepdrive::server::RequestControlRequest&> (message);
+
+	UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("request control for Agent Count  %d"), req.agent_count);
+
+	if(req.agent_count == 0)
+	{
+		UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Granting control for all agents"));
+		for (auto agent : simulation.m_Agents)
+		{
+			agent->getAgentController()->RequestControl();
+		}
+	}
+	else
+	{
+		for (uint32 i = 0; i < req.agent_count; ++i)
+		{
+			const uint32 id = req.agent_ids[i];
+			const int32 index = id - 1;
+			if(index >= 0 && index < simulation.m_Agents.Num())
+				simulation.m_Agents[index]->getAgentController()->RequestControl();
+		}
+	}
+
+	simulationServer.enqueueResponse(new deepdrive::server::RequestControlResponse(true));
+}
+
+void DeepDriveMultiAgentRequests::releaseControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+	const deepdrive::server::ReleaseControlRequest &req = static_cast<const deepdrive::server::ReleaseControlRequest &>(message);
+
+	UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("release control for Agent Count  %d"), req.agent_count);
+
+	if (req.agent_count == 0)
+	{
+		UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Releasing control for all agents"));
+		for (auto agent : simulation.m_Agents)
+		{
+			agent->getAgentController()->ReleaseControl();
+		}
+	}
+	else
+	{
+		for (uint32 i = 0; i < req.agent_count; ++i)
+		{
+			const uint32 id = req.agent_ids[i];
+			const int32 index = id - 1;
+			if (index >= 0 && index < simulation.m_Agents.Num())
+				simulation.m_Agents[index]->getAgentController()->ReleaseControl();
+		}
+	}
+
+	simulationServer.enqueueResponse(new deepdrive::server::ReleaseControlResponse(true));
+}
+
+void DeepDriveMultiAgentRequests::setControlValues(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+	const deepdrive::server::SetControlValuesRequest &req = static_cast<const deepdrive::server::SetControlValuesRequest &>(message);
+
+	UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Set control values for Agent Count  %d"), req.agent_count);
+
+	for (uint32 i = 0; i < req.agent_count; ++i)
+	{
+		for (uint32 i = 0; i < req.agent_count; ++i)
+		{
+			const uint32 id = req.control_values[i].agent_id;
+			const int32 index = id - 1;
+			if	(	index >= 0
+				&&	index < simulation.m_Agents.Num()
+				)
+			{
+				ADeepDriveAgentControllerBase *controller = simulation.m_Agents[index]->getAgentController();
+				if(controller && controller->isRemotelyControlled())
+					controller->SetControlValues(req.control_values[i].steering, req.control_values[i].throttle, req.control_values[i].brake, req.control_values[i].handbrake);
+				else
+					UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Agent %d has no controller (%p) or isn't remotely controlled"), id, controller);
+			}
+			else
+				UE_LOG(LogDeepDriveMultiAgentRequests, Log, TEXT("Unknown agent %d"), id);
+		}
+	}
+
+	simulationServer.enqueueResponse(new deepdrive::server::GenericBooleanResponse(true));
+}
+
+void DeepDriveMultiAgentRequests::step(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.h
new file mode 100644
index 00000000..969579be
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveMultiAgentRequests.h
@@ -0,0 +1,34 @@
+
+#pragma once
+
+#include "Engine.h"
+
+DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveMultiAgentRequests, Log, All);
+
+namespace deepdrive { namespace server {
+struct MessageHeader;
+} }
+
+
+class ADeepDriveSimulation;
+class DeepDriveSimulationServer;
+class DeepDriveSimulationRequestHandler;
+
+class DeepDriveMultiAgentRequests
+{
+public:
+
+	static void registerHandlers(DeepDriveSimulationRequestHandler &requestHandler);
+
+private:
+
+	static void getAgentsList(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+
+	static void requestControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+
+	static void releaseControl(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+
+	static void setControlValues(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+
+	static void step(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.cpp
new file mode 100644
index 00000000..a7803450
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.cpp
@@ -0,0 +1,101 @@
+
+#include "DeepDrivePluginPrivatePCH.h"
+#include "Private/Simulation/Requests/DeepDriveSimulationRequests.h"
+#include "Private/Simulation/DeepDriveSimulationRequestHandler.h"
+#include "Private/Server/DeepDriveSimulationServer.h"
+#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h"
+#include "Public/Simulation/Agent/DeepDriveAgent.h"
+#include "Public/Simulation/Agent/DeepDriveAgentControllerBase.h"
+#include "Public/Simulation/Misc/DeepDriveRandomStream.h"
+
+#include "Public/Simulation/DeepDriveSimulation.h"
+
+#include "Public/Server/Messages/DeepDriveMessageIds.h"
+
+DEFINE_LOG_CATEGORY(LogDeepDriveSimulationRequests);
+
+void DeepDriveSimulationRequests::registerHandlers(DeepDriveSimulationRequestHandler &requestHandler)
+{
+	requestHandler.registerHandler(deepdrive::server::MessageId::ConfigureSimulationRequest, std::bind(&DeepDriveSimulationRequests::configure, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+	requestHandler.registerHandler(deepdrive::server::MessageId::ResetSimulationRequest, std::bind(&DeepDriveSimulationRequests::reset, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+	requestHandler.registerHandler(deepdrive::server::MessageId::SetGraphicsSettingsRequest, std::bind(&DeepDriveSimulationRequests::setGfxSettings, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+	requestHandler.registerHandler(deepdrive::server::MessageId::SetDateAndTimeRequest, std::bind(&DeepDriveSimulationRequests::setDateAndTime, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+	requestHandler.registerHandler(deepdrive::server::MessageId::SetSunSimulationSpeedRequest, std::bind(&DeepDriveSimulationRequests::setSunSimulationSpeed, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+}
+
+
+void DeepDriveSimulationRequests::configure(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message)
+{
+	UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation configure") );
+
+	const deepdrive::server::ConfigureSimulationRequest &req = static_cast<const deepdrive::server::ConfigureSimulationRequest&> (message);
+	const SimulationConfiguration &configuration = req.configuration;
+	const SimulationGraphicsSettings &graphicsSettings = req.graphics_settings;
+
+	simulation.Seed = configuration.seed;
+	for (auto &rsd : simulation.RandomStreams)
+		rsd.Value.getRandomStream()->initialize(configuration.seed);
+
+	for (auto &agent : simulation.m_Agents)
+	{
+		agent->getAgentController()->OnConfigureSimulation(configuration, true);
+	}
+
+	simulation.applyGraphicsSettings(graphicsSettings);
+
+	simulationServer.enqueueResponse(new deepdrive::server::ConfigureSimulationResponse(true));
+}
+
+void DeepDriveSimulationRequests::reset(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+	const deepdrive::server::ResetSimulationRequest &req = static_cast<const deepdrive::server::ResetSimulationRequest&> (message);
+	const SimulationConfiguration &configuration = req.configuration;
+
+	UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation reset with seed %d time dilation %f agent start location %f"), configuration.seed, configuration.time_dilation, configuration.agent_start_location );
+
+	for (auto &rsd : simulation.RandomStreams)
+		if(rsd.Value.ReSeedOnReset)
+			rsd.Value.getRandomStream()->initialize(simulation.Seed);
+
+	for (auto &agent : simulation.m_Agents)
+	{
+		ADeepDriveAgentControllerBase *controller = agent->getAgentController();
+		if (controller)
+		{
+			controller->OnConfigureSimulation(configuration, false);
+			controller->Reset();
+		}
+	}
+
+	simulationServer.enqueueResponse( new deepdrive::server::ResetSimulationResponse(true) );
+}
+
+void DeepDriveSimulationRequests::setGfxSettings(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+	UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation set graphics settings") );
+
+	const deepdrive::server::SetGraphicsSettingsRequest &req = static_cast<const deepdrive::server::SetGraphicsSettingsRequest&> (message);
+	simulation.applyGraphicsSettings(req.graphics_settings);
+	simulationServer.enqueueResponse( new deepdrive::server::SetGraphicsSettingsResponse(true) );
+}
+
+void DeepDriveSimulationRequests::setDateAndTime(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+	const deepdrive::server::SetDateAndTimeRequest &req = static_cast<const deepdrive::server::SetDateAndTimeRequest&> (message);
+
+	UE_LOG(LogDeepDriveSimulationRequests, Log, TEXT("DeepDriveSimulation Set Date/Time to %d/%d/%d - %d/%d"), req.year, req.month, req.day, req.hour, req.minute );
+
+	simulation.SetDateAndTime(req.year, req.month, req.day, req.hour, req.minute);
+
+	simulationServer.enqueueResponse( new deepdrive::server::SetDateAndTimeResponse(true) );
+}
+
+void DeepDriveSimulationRequests::setSunSimulationSpeed(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message)
+{
+	const deepdrive::server::SetSunSimulationSpeedRequest &req = static_cast<const deepdrive::server::SetSunSimulationSpeedRequest&> (message);
+
+	simulation.SetSunSimulationSpeed(req.speed);
+
+	simulationServer.enqueueResponse( new deepdrive::server::SetSunSimulationSpeedResponse(true) );
+}
+
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.h
new file mode 100644
index 00000000..b1923857
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Requests/DeepDriveSimulationRequests.h
@@ -0,0 +1,31 @@
+
+#pragma once
+
+#include "Engine.h"
+
+DECLARE_LOG_CATEGORY_EXTERN(LogDeepDriveSimulationRequests, Log, All);
+
+namespace deepdrive { namespace server {
+struct MessageHeader;
+} }
+
+
+class ADeepDriveSimulation;
+class DeepDriveSimulationServer;
+class DeepDriveSimulationRequestHandler;
+
+class DeepDriveSimulationRequests
+{
+public:
+
+	static void registerHandlers(DeepDriveSimulationRequestHandler &requestHandler);
+
+private:
+
+	static void configure(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+	static void reset(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message);
+	static void setGfxSettings(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+	static void setDateAndTime(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader &message);
+	static void setSunSimulationSpeed(ADeepDriveSimulation &simulation, DeepDriveSimulationServer &simulationServer, const deepdrive::server::MessageHeader& message);
+
+};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp
index 67087e8a..a6ccec72 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.cpp
@@ -87,8 +87,9 @@ FVector UDeepDriveRoadNetworkComponent::GetRandomLocation(EDeepDriveLaneType Pre
 	return location;
 }
 
-void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment)
+bool UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment)
 {
+	bool res = false;
 	if(OnClosestSegment)
 	{
 		const uint32 segmentId = m_RoadNetwork.findClosestSegment(Location, EDeepDriveLaneType::MAJOR_LANE);
@@ -98,6 +99,7 @@ void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, co
 			FVector posOnSegment = segment->findClosestPoint(Location);
 			FTransform transform(FRotator(0.0f, segment->getHeading(posOnSegment), 0.0f), posOnSegment, FVector(1.0f, 1.0f, 1.0f));
 			Agent->SetActorTransform(transform, false, 0, ETeleportType::TeleportPhysics);
+			res = true;
 		}
 	}
 	else
@@ -108,8 +110,10 @@ void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoad(ADeepDriveAgent *Agent, co
 			const SDeepDriveRoadLink *link = &m_RoadNetwork.Links[linkId];
 			FTransform transform(FRotator(0.0f, link->Heading, 0.0f), link->StartPoint, FVector(1.0f, 1.0f, 1.0f));
 			Agent->SetActorTransform(transform, false, 0, ETeleportType::TeleportPhysics);
+			res = true;
 		}
 	}
+	return res;
 }
 
 void UDeepDriveRoadNetworkComponent::PlaceAgentOnRoadRandomly(ADeepDriveAgent *Agent)
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h
index 4ee604cf..ec37371d 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveMessageIds.h
@@ -5,12 +5,14 @@
 
 namespace deepdrive { namespace server {
 
-enum class MessageId	:	uint32
+enum class MessageId : uint32
 {
 	/*
 		Connection handling
 	*/
 	Undefined,
+	GenericBooleanResponse,
+	
 	RegisterClientRequest,
 	RegisterClientResponse,
 	UnregisterClientRequest,
@@ -18,7 +20,6 @@ enum class MessageId	:	uint32
 	KeepAliveRequest,
 	KeepAliveResponse,
 
-
 	/*
 		Configuration
 	*/
@@ -31,7 +32,6 @@ enum class MessageId	:	uint32
 	SetCaptureConfigurationRequest,
 	SetCaptureConfigurationResponse,
 
-
 	/*
 		Control
 	*/
@@ -51,7 +51,6 @@ enum class MessageId	:	uint32
 	SetViewModeRequest,
 	SetViewModeResponse,
 
-
 	/*
 		Simulation
 	*/
@@ -65,8 +64,20 @@ enum class MessageId	:	uint32
 	SetDateAndTimeRequest,
 	SetDateAndTimeResponse,
 	SetSunSimulationSpeedRequest,
-	SetSunSimulationSpeedResponse
+	SetSunSimulationSpeedResponse,
 
+	/*
+		Multi Agent
+	*/
+	GetAgentsListRequest,
+	GetAgentsListResponse,
+	RequestControlRequest,
+	RequestControlResponse,
+	ReleaseControlRequest,
+	ReleaseControlResponse,
+	SetControlValuesRequest,
+	SetControlValuesResponse,
+	StepRequest,
+	StepResponse
 };
-	
 } }		//	namespaces
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h
index 29e786b1..90669107 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h
@@ -6,6 +6,17 @@
 
 namespace deepdrive { namespace server {
 
+struct GenericBooleanResponse : public MessageHeader
+{
+	GenericBooleanResponse(bool _result = false)
+		: MessageHeader(MessageId::GenericBooleanResponse, sizeof(GenericBooleanResponse))
+		, result(_result ? 1 : 0)
+	{	}
+
+	uint32		result;
+};
+
+
 struct ConfigureSimulationRequest : public MessageHeader
 {
 	ConfigureSimulationRequest()
@@ -118,4 +129,201 @@ struct SetSunSimulationSpeedResponse : public MessageHeader
 	uint32		result;
 };
 
-} }	// namespaces
+struct GetAgentsListRequest : public server::MessageHeader
+{
+	GetAgentsListRequest()
+		: MessageHeader(MessageId::GetAgentsListRequest, sizeof(GetAgentsListRequest))
+	{
+	}
+};
+
+struct GetAgentsListResponse : public server::MessageHeader
+{
+	GetAgentsListResponse(uint32 agentCount = 0, const uint32 *agentIds = 0)
+		: MessageHeader(MessageId::GetAgentsListResponse, sizeof(GetAgentsListResponse) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0) )
+		, agent_count(agentCount)
+	{
+		if (agentIds)
+		{
+			for (uint32 i = 0; i < agentCount; ++i)
+				agent_ids[i] = agentIds[i];
+		}
+	}
+
+	uint32		agent_count;
+
+	uint32		agent_ids[1];
+};
+
+struct RequestControlRequest : public MessageHeader
+{
+	RequestControlRequest(uint32 agentCount = 0, const uint32 *agentIds = 0)
+		: MessageHeader(MessageId::RequestControlRequest, getMessageSize(agentCount))
+		, agent_count(agentCount)
+	{
+		if (agentIds)
+		{
+			for (uint32 i = 0; i < agentCount; ++i)
+				agent_ids[i] = agentIds[i];
+		}
+	}
+
+	uint32		agent_count;
+
+	uint32		agent_ids[1];
+
+	static size_t getMessageSize(uint32 agentCount)
+	{
+		return sizeof(RequestControlRequest) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0);
+	}
+};
+
+struct RequestControlResponse : public MessageHeader
+{
+	RequestControlResponse(bool _result = false)
+		: MessageHeader(MessageId::RequestControlResponse, sizeof(RequestControlResponse))
+		, result(_result ? 1 : 0)
+	{
+	}
+
+	uint32		result;
+};
+
+struct ReleaseControlRequest : public MessageHeader
+{
+	ReleaseControlRequest(uint32 agentCount = 0, const uint32 *agentIds = 0)
+		: MessageHeader(MessageId::ReleaseControlRequest, getMessageSize(agentCount))
+		, agent_count(agentCount)
+	{
+		if (agentIds)
+		{
+			for (uint32 i = 0; i < agentCount; ++i)
+				agent_ids[i] = agentIds[i];
+		}
+	}
+
+	uint32 agent_count;
+
+	uint32 agent_ids[1];
+
+	static size_t getMessageSize(uint32 agentCount)
+	{
+		return sizeof(ReleaseControlRequest) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0);
+	}
+};
+
+struct ReleaseControlResponse : public MessageHeader
+{
+	ReleaseControlResponse(bool _result = false)
+		: MessageHeader(MessageId::ReleaseControlResponse, sizeof(ReleaseControlResponse)), result(_result ? 1 : 0)
+	{
+	}
+
+	uint32 result;
+};
+
+struct SetControlValuesRequest : public MessageHeader
+{
+	struct ControlValueSet
+	{
+		ControlValueSet(uint32 id = 0, float s = 0.0f, float t = 0.0f, float b = 0.0f, uint32 hb = 0)
+		:	agent_id(id)
+		,	steering(s)
+		,	throttle(t)
+		,	brake(b)
+		,	handbrake(hb)
+		{
+
+		}
+
+		uint32		agent_id;
+		float		steering;
+		float		throttle;
+		float		brake;
+		uint32		handbrake;
+	};
+
+	SetControlValuesRequest(uint32 agentCount = 0, const ControlValueSet *controlValues = 0)
+		: MessageHeader(MessageId::SetControlValuesRequest, getMessageSize(agentCount))
+		, agent_count(agentCount)
+	{
+		if (controlValues)
+		{
+			for (uint32 i = 0; i < agentCount; ++i)
+				control_values[i] = controlValues[i];
+		}
+	}
+
+	uint32 				agent_count;
+
+	ControlValueSet		control_values[1];
+
+	static size_t getMessageSize(uint32 agentCount)
+	{
+		return sizeof(SetControlValuesRequest) + (agentCount > 0 ? (sizeof(ControlValueSet) * (agentCount - 1)) : 0);
+	}
+};
+
+struct StepRequest : public MessageHeader
+{
+	StepRequest()
+		: MessageHeader(MessageId::StepRequest, sizeof(StepRequest))
+	{
+	}
+
+};
+
+struct StepResponse : public MessageHeader
+{
+	struct SnapshotData
+	{
+		SnapshotData(uint32 id = 0)
+		:	agent_id(id)
+		{
+		}
+
+		uint32	agent_id;
+		double	snapshot_timestamp;
+		float	speed;
+
+		float	steering;
+		float	throttle;
+		float	brake;
+		uint32	handbrake;
+		float	position[3];
+		float	rotation[3];
+		float	velocity[3];
+		float	acceleration[3];
+		float	angular_velocity[3];
+		float	angular_acceleration[3];
+		float	forward_vector[3];
+		float	up_vector[3];
+		float	right_vector[3];
+		float	dimension[3];
+		float	distance_along_route;
+		float	route_length;
+		float	distance_to_center_of_lane;
+	};
+
+	StepResponse(uint32 agentCount = 0, const SnapshotData *_snapshots = 0)
+		: MessageHeader(MessageId::StepResponse, getMessageSize(agentCount))
+		, agent_count(agentCount)
+	{
+		if (_snapshots)
+		{
+			for (uint32 i = 0; i < agentCount; ++i)
+				snapshots[i] = _snapshots[i];
+		}
+	}
+
+	uint32 				agent_count;
+	SnapshotData 		snapshots[1];
+
+	static size_t getMessageSize(uint32 agentCount)
+	{
+		return sizeof(StepResponse) + (agentCount > 0 ? (sizeof(SnapshotData) * (agentCount - 1)) : 0);
+	}
+};
+
+
+} }	// deepdrive
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
index 5adf1f5c..22c5e939 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgentControllerBase.h
@@ -83,6 +83,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgentControllerBase : public AController
 
 	FDeepDrivePath getPath();
 
+	bool isRemotelyControlled() const;
+
 protected:
 
 	enum OperationMode
@@ -155,3 +157,8 @@ inline void ADeepDriveAgentControllerBase::restoreStartPositionSlot(int32 startP
 {
 	m_StartPositionSlot = startPositionSlot;
 }
+
+inline bool ADeepDriveAgentControllerBase::isRemotelyControlled() const
+{
+	return m_isRemotelyControlled;
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
index 63ef4be5..23e4d1ad 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/DeepDriveSimulation.h
@@ -17,7 +17,7 @@ class DeepDriveSimulationCaptureProxy;
 class DeepDriveSimulationServerProxy;
 class DeepDriveSimulationStateMachine;
 class DeepDriveSimulationServer;
-class DeepDriveSimulationMessageHandler;
+class DeepDriveSimulationRequestHandler;
 class DeepDriveSimulationConfigureState;
 class DeepDriveSimulationResetState;
 class DeepDriveManeuverCalculator;
@@ -47,11 +47,12 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	friend class DeepDriveSimulationRunningState;
 	friend class DeepDriveSimulationConfigureState;
 	friend class DeepDriveSimulationResetState;
-	friend class DeepDriveSimulationMessageHandler;
+	friend class DeepDriveSimulationRequests;
+	friend class DeepDriveMultiAgentRequests;
 
 	GENERATED_BODY()
 
-public:	
+public:
 	// Sets default values for this actor's properties
 	ADeepDriveSimulation();
 
@@ -245,7 +246,7 @@ class DEEPDRIVEPLUGIN_API ADeepDriveSimulation	:	public AActor
 	DeepDriveSimulationConfigureState		*m_ConfigureState = 0;
 	DeepDriveSimulationResetState			*m_ResetState = 0;
 	DeepDriveSimulationServer				*m_SimulationServer = 0;
-	DeepDriveSimulationMessageHandler		*m_MessageHandler = 0;
+	DeepDriveSimulationRequestHandler		*m_RequestHandler = 0;
 	DeepDriveSimulationServerProxy			*m_ServerProxy = 0;
 	DeepDriveSimulationCaptureProxy			*m_CaptureProxy = 0;
 	TArray<UCaptureSinkComponentBase*>		m_CaptureSinks;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h
index 51641ce6..870db256 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetworkComponent.h
@@ -37,7 +37,7 @@ class DEEPDRIVEPLUGIN_API UDeepDriveRoadNetworkComponent : public UActorComponen
 	FVector GetRandomLocation(EDeepDriveLaneType PreferredLaneType, int32 relPos);
 
 	UFUNCTION(BlueprintCallable, Category = "Route")
-	void PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment);
+	bool PlaceAgentOnRoad(ADeepDriveAgent *Agent, const FVector &Location, bool OnClosestSegment);
 
 	UFUNCTION(BlueprintCallable, Category = "Route")
 	void PlaceAgentOnRoadRandomly(ADeepDriveAgent *Agent);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_multi_agents.py b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_multi_agents.py
new file mode 100644
index 00000000..8c1c30d5
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/deepdrive_multi_agents.py
@@ -0,0 +1,33 @@
+import socket
+import sys
+import time
+
+import deepdrive_simulation
+
+def cleanUp():
+	print('Releasing control .....')
+	deepdrive_simulation.multi_agent.release_control([1, 2, 3])
+
+	deepdrive_simulation.disconnect()
+
+connected = deepdrive_simulation.connect('127.0.0.1', 9009)
+
+if connected:
+	print('Connected to DeepDriveSimulation ...')
+
+	agentsList = deepdrive_simulation.multi_agent.get_agents_list()
+	print(agentsList)
+
+	print('Taking over control .....')
+	deepdrive_simulation.multi_agent.request_control([1, 2, 3])
+
+	try:
+		while True:
+			deepdrive_simulation.multi_agent.set_control_values( [{'id':1, 'throttle':0.3, 'steering': 0.5}, {'id':2, 'throttle':0.5, 'steering':-0.2}, {'id':3, 'throttle':0.5, 'steering':0.2}] )
+			time.sleep(0.05)
+
+	except KeyboardInterrupt:
+		cleanUp()
+
+	except deepdrive_simulation.connection_lost:
+		print('>>>> Connection lost')
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py
index 3b538460..5269d6ef 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/setup.py
@@ -31,7 +31,10 @@
                   ]
 
 sources_simulation = ['src/deepdrive_simulation/deepdrive_simulation.cpp'
+    , 'src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp'
+    , 'src/deepdrive_simulation/deepdrive_simulation_error.cpp'
     , 'src/deepdrive_simulation/DeepDriveSimulation.cpp'
+    , 'src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp'
     , 'src/socket/IP4Address.cpp'
     , 'src/socket/IP4ClientSocket.cpp'
     , 'src/common/NumPyUtils.cpp'
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp
index 9a580ec3..96a13dcc 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.cpp
@@ -1,16 +1,28 @@
 
 #include "deepdrive_simulation/DeepDriveSimulation.hpp"
 #include "deepdrive_simulation/PySimulationGraphicsSettingsObject.h"
-
-#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h"
+#include "deepdrive_simulation/PyMultiAgentSnapshotObject.h"
 
 #include "socket/IP4ClientSocket.hpp"
 #include "common/ClientErrorCode.hpp"
 
 #include <iostream>
 
+DeepDriveSimulation *DeepDriveSimulation::theInstance = 0;
+
+void DeepDriveSimulation::create(const IP4Address &ip4Address)
+{
+	theInstance = new DeepDriveSimulation(ip4Address);
+}
+
+void DeepDriveSimulation::destroy()
+{
+	delete theInstance;
+	theInstance = 0;
+}
+
 DeepDriveSimulation::DeepDriveSimulation(const IP4Address &ip4Address)
-	:	m_Socket()
+	: m_Socket()
 {
 	m_Socket.connect(ip4Address);
 }
@@ -194,3 +206,156 @@ int32 DeepDriveSimulation::setSpeed(uint32 speed)
 	return res;
 }
 
+int32 DeepDriveSimulation::getAgentsList(std::vector<uint32> &list)
+{
+	deepdrive::server::GetAgentsListRequest req;
+	int32 res = m_Socket.send(&req, sizeof(req));
+	if(res >= 0)
+	{
+		deepdrive::server::GetAgentsListResponse response;
+		res = m_Socket.read(&response, sizeof(response), 1000);
+		if (res == sizeof(response))
+		{
+			if (response.agent_count)
+			{
+				list.push_back(response.agent_ids[0]);
+				for (uint32 i = 1; i < response.agent_count; ++i)
+				{
+					uint32 curId;
+					if(m_Socket.read(&curId, sizeof(curId), 0) == sizeof(uint32))
+						list.push_back(curId);
+					else
+						break;
+				}
+			}
+
+			std::cout << "GetAgentsListResponse received containing" << list.size() << " agents\n";
+			res = NO_ERROR;
+		}
+	}
+
+	return res;
+}
+
+int32 DeepDriveSimulation::requestControl(const std::vector<uint32> &ids)
+{
+	const size_t msgSize = sizeof(deepdrive::server::RequestControlRequest) + (ids.size() > 0 ? sizeof(uint32) * (ids.size() - 1) : 0);
+	int8 *msgBuf = new int8[msgSize];
+	deepdrive::server::RequestControlRequest *req = new (msgBuf) deepdrive::server::RequestControlRequest(ids.size(), ids.data());
+
+	int32 res = m_Socket.send(req, msgSize);
+	if (res >= 0)
+	{
+		std::cout << "RequestControlRequest sent with " << req->agent_count << " agents, msgSize " << msgSize << "\n";
+
+		deepdrive::server::RequestControlResponse response;
+		if (m_Socket.receive(&response, sizeof(response), 1000))
+		{
+			res = static_cast<int32>(response.result);
+			std::cout << "RequestControlResponse received\n";
+		}
+		else
+		{
+			std::cout << "Waiting for RequestControlResponse, time out\n";
+			res = TIME_OUT;
+		}
+	}
+
+	delete [] msgBuf;
+
+	return res;
+}
+
+int32 DeepDriveSimulation::releaseControl(const std::vector<uint32> &ids)
+{
+	const size_t msgSize = sizeof(deepdrive::server::ReleaseControlRequest) + (ids.size() > 0 ? sizeof(uint32) * (ids.size() - 1) : 0);
+	int8 *msgBuf = new int8[msgSize];
+	deepdrive::server::ReleaseControlRequest *req = new (msgBuf) deepdrive::server::ReleaseControlRequest(ids.size(), ids.data());
+
+	int32 res = m_Socket.send(req, msgSize);
+	if (res >= 0)
+	{
+		std::cout << "ReleaseControlRequest sent with " << req->agent_count << " agents, msgSize " << msgSize << "\n";
+
+		deepdrive::server::RequestControlResponse response;
+		if (m_Socket.receive(&response, sizeof(response), 1000))
+		{
+			res = static_cast<int32>(response.result);
+			std::cout << "ReleaseControlResponse received\n";
+		}
+		else
+		{
+			std::cout << "Waiting for ReleaseControlResponse, time out\n";
+			res = TIME_OUT;
+		}
+	}
+
+	delete[] msgBuf;
+
+	return res;
+}
+
+int32 DeepDriveSimulation::setControlValues(const std::vector<deepdrive::server::SetControlValuesRequest::ControlValueSet> &controlValues)
+{
+	const size_t msgSize = deepdrive::server::SetControlValuesRequest::getMessageSize(controlValues.size());
+	int8 *msgBuf = new int8[msgSize];
+	deepdrive::server::SetControlValuesRequest *req = new (msgBuf) deepdrive::server::SetControlValuesRequest(controlValues.size(), controlValues.data());
+
+	int32 res = m_Socket.send(req, msgSize);
+	if (res >= 0)
+	{
+		std::cout << "SetControlValuesRequest sent with " << req->agent_count << " agents, msgSize " << msgSize << "\n";
+
+		deepdrive::server::GenericBooleanResponse response;
+		if (m_Socket.receive(&response, sizeof(response), 1000))
+		{
+			res = static_cast<int32>(response.result);
+			std::cout << "SetControlValues response received\n";
+		}
+		else
+		{
+			std::cout << "Waiting for SetControlValues response, time out\n";
+			res = TIME_OUT;
+		}
+	}
+
+	delete[] msgBuf;
+
+	return res;
+}
+
+int32 DeepDriveSimulation::step(std::vector<PyMultiAgentSnapshotObject*> &snapshots)
+{
+	deepdrive::server::StepRequest req;
+	int32 res = m_Socket.send(&req, sizeof(req));
+	if (res >= 0)
+	{
+		deepdrive::server::StepResponse response;
+		res = m_Socket.read(&response, sizeof(response), 1000);
+		if (res == sizeof(response))
+		{
+			if (response.agent_count)
+			{
+				PyMultiAgentSnapshotObject *snapshot;
+				snapshot = reinterpret_cast<PyMultiAgentSnapshotObject *>(PyMultiAgentSnapshotType.tp_new(&PyMultiAgentSnapshotType, 0, 0));
+				snapshots.push_back(snapshot);
+				for (uint32 i = 1; i < response.agent_count; ++i)
+				{
+					deepdrive::server::StepResponse::SnapshotData curSnapshot;
+					if (m_Socket.read(&curSnapshot, sizeof(curSnapshot), 0) == sizeof(curSnapshot))
+					{
+						snapshot = reinterpret_cast<PyMultiAgentSnapshotObject *>(PyMultiAgentSnapshotType.tp_new(&PyMultiAgentSnapshotType, 0, 0));
+						snapshots.push_back(snapshot);
+					}
+					else
+						break;
+				}
+			}
+
+			std::cout << "Steo received containing" << snapshots.size() << " snapshots\n";
+			res = NO_ERROR;
+		}
+	}
+
+	return res;
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp
index 0c493a84..70b2ee83 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/DeepDriveSimulation.hpp
@@ -7,17 +7,26 @@
 #include "socket/IP4ClientSocket.hpp"
 
 #include "Public/Server/Messages/DeepDriveServerConfigurationMessages.h"
+#include "Public/Server/Messages/DeepDriveServerSimulationMessages.h"
+
+#include <vector>
 
 struct PySimulationGraphicsSettingsObject;
+struct PyMultiAgentSnapshotObject;
 
 class DeepDriveSimulation
 {
 
 public:
 
-	DeepDriveSimulation(const IP4Address &ip4Address);
+	static DeepDriveSimulation* getInstance()
+	{
+		return theInstance;
+	}
 
-	~DeepDriveSimulation();
+	static void create(const IP4Address &ip4Address);
+
+	static void destroy();
 
 	int32 configureSimulation(uint32 seed, float timeDilation, float startLocation, PySimulationGraphicsSettingsObject *graphicsSettings);
 
@@ -29,10 +38,26 @@ class DeepDriveSimulation
 	
 	int32 setSpeed(uint32 speed);
 
+	int32 getAgentsList(std::vector<uint32> &list);
+
+	int32 requestControl(const std::vector<uint32> &ids);
+
+	int32 releaseControl(const std::vector<uint32> &ids);
+
+	int32 setControlValues(const std::vector<deepdrive::server::SetControlValuesRequest::ControlValueSet> &controlValues);
+
+	int32 step(std::vector<PyMultiAgentSnapshotObject*> &snapshots);
+
 	bool isConnected() const;
 
 private:
 
+	DeepDriveSimulation(const IP4Address &ip4Address);
+
+	~DeepDriveSimulation();
+
+	static DeepDriveSimulation		*theInstance;
+
 	IP4ClientSocket					m_Socket;
 
 };
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp
new file mode 100644
index 00000000..ffb94057
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.cpp
@@ -0,0 +1,57 @@
+
+#include "PyMultiAgentSnapshotObject.h"
+// #include "PyCaptureLastCollisionObject.h"
+
+#include <iostream>
+
+int PyMultiAgentSnapshotObject::initNumPy()
+{
+    std::cout << "Init numPy for PyMultiAgentSnapshotObject\n";
+    import_array();
+
+	return 0;
+}
+
+
+PyArrayObject* PyMultiAgentSnapshotObject::createVec3()
+{
+	npy_intp dims[1] = {3};
+	PyArrayObject *vec3 = reinterpret_cast<PyArrayObject*> (PyArray_SimpleNew(1, dims, NPY_DOUBLE));
+
+	return vec3;
+}
+
+void PyMultiAgentSnapshotObject::init(PyMultiAgentSnapshotObject *self)
+{
+	// std::cout << "PyMultiAgentSnapshotObject_init_impl\n";
+	self->position = createVec3();
+	self->rotation = createVec3();
+	self->velocity = createVec3();
+	self->acceleration = createVec3();
+	self->angular_velocity = createVec3();
+	self->angular_acceleration = createVec3();
+	self->forward_vector = createVec3();
+	self->up_vector = createVec3();
+	self->right_vector = createVec3();
+	self->dimension = createVec3();
+
+	// self->last_collision = reinterpret_cast<PyCaptureLastCollisionObject*> (PyCaptureLastCollisionType.tp_new(&PyCaptureLastCollisionType, 0, 0));
+}
+
+
+PyObject* PyMultiAgentSnapshotObject::allocate()
+{
+	PyMultiAgentSnapshotObject *self;
+
+	if (PyType_Ready(&PyMultiAgentSnapshotType) < 0)
+		return NULL;
+
+	self = PyObject_New(PyMultiAgentSnapshotObject, &PyMultiAgentSnapshotType);
+
+	if(self)
+	{
+		PyMultiAgentSnapshotObject::init(self);
+	}
+
+	return (PyObject *)self;
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.h
new file mode 100644
index 00000000..8335f78d
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/PyMultiAgentSnapshotObject.h
@@ -0,0 +1,144 @@
+
+#pragma once
+
+#include "Python.h"
+#include "structmember.h"
+
+#include "common/NumPyUtils.h"
+
+#include <stdint.h>
+
+// struct PyCaptureLastCollisionObject;
+
+struct PyMultiAgentSnapshotObject
+{
+	static int initNumPy();
+	static void init(PyMultiAgentSnapshotObject *self);
+	static PyObject* allocate();
+	static PyArrayObject* createVec3();
+
+
+	PyObject_HEAD
+
+	uint32_t			agent_id;
+
+	double				snapshot_timestamp;
+
+	double				speed;
+
+	double				steering;
+
+	double				throttle;
+
+	double				brake;
+
+	uint32_t			handbrake;
+
+	PyArrayObject*		position;
+
+	PyArrayObject*		rotation;
+
+	PyArrayObject*		velocity;
+
+	PyArrayObject*		acceleration;
+
+	PyArrayObject*		angular_velocity;
+
+	PyArrayObject*		angular_acceleration;
+
+	PyArrayObject*		forward_vector;
+
+	PyArrayObject*		up_vector;
+
+	PyArrayObject*		right_vector;
+
+	PyArrayObject*		dimension;
+
+	double				distance_along_route;
+
+	double				route_length;
+
+	double				distance_to_center_of_lane;
+
+	// PyCaptureLastCollisionObject	*last_collision;
+
+};
+
+static PyMemberDef PyMultiAgentSnapshotMembers[] =
+{
+	{"agent_id", T_UINT, offsetof(PyMultiAgentSnapshotObject, agent_id), 0, "Id of agent"},
+	{"snapshot_timestamp", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, snapshot_timestamp), 0, "Timestamp the capture was taken"},
+	{"speed", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, speed), 0, "speed"},
+	{"steering", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, steering), 0, "0 is straight ahead, -1 is left, 1 is right"},
+	{"throttle", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, throttle), 0, "0 is coast / idle, -1 is reverse, 1 is full throttle ahead"},
+	{"brake", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, brake), 0, "0 to 1, 0 is no brake, 1 is full brake"},
+	{"handbrake", T_UINT, offsetof(PyMultiAgentSnapshotObject, handbrake), 0, "Handbrake on or off"},
+	{"position", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, position), 0, "x,y,z of wheel base center??? from origin coordinates of ego vehicle, cm"},
+	{"rotation", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, rotation), 0, "roll, pitch, yaw of vehicle, in degrees, UE4 style"},
+	{"velocity", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, velocity), 0, "x,y,z velocity of vehicle in frame of ego origin orientation, cm/s"},
+	{"acceleration", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, acceleration), 0, "Current acceleration"},
+	{"angular_velocity", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, angular_velocity), 0, "Current angular velocity"},
+	{"angular_acceleration", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, angular_acceleration), 0, "Current angular acceleration"},
+	{"forward_vector", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, forward_vector), 0, "Current forward vector"},
+	{"up_vector", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, up_vector), 0, "Current up vector"},
+	{"right_vector", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, right_vector), 0, "Current right vector"},
+	{"dimension", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, dimension), 0, "Current dimension"},
+	{"distance_along_route", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, distance_along_route), 0, "Distance achieved to destination on designated route in cm"},
+	{"route_length", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, route_length), 0, "Total length of current route."},
+	{"distance_to_center_of_lane", T_DOUBLE, offsetof(PyMultiAgentSnapshotObject, distance_to_center_of_lane), 0, "Last distance to previously achieved waypoint - where waypoints are 4m apart"},
+	// {"last_collision", T_OBJECT_EX, offsetof(PyMultiAgentSnapshotObject, last_collision), 0, "Last collision data"},
+	{NULL}
+};
+
+static PyObject* PyMultiAgentSnapshotObject_new(PyTypeObject *type, PyObject *args, PyObject *kwds)
+{
+	return PyMultiAgentSnapshotObject::allocate();
+}
+
+static int PyMultiAgentSnapshotObject_init(PyObject *self, PyObject *args, PyObject *kwds)
+{
+	PyMultiAgentSnapshotObject::init(reinterpret_cast<PyMultiAgentSnapshotObject*> (self));
+	return 0;
+}
+
+static PyTypeObject PyMultiAgentSnapshotType =
+{
+	PyVarObject_HEAD_INIT(NULL, 0)
+	"AgentSnapshot",		//	tp name
+	sizeof(PyMultiAgentSnapshotObject), 		//	tp_basicsize
+	0,		//	tp_itemsize
+	0,		//	tp_dealloc
+	0,		//	tp_print
+	0,		//	tp_getattr
+	0,		//	tp_setattr
+	0,		//	tp_reserved
+	0,		//	tp_repr
+	0,		//	tp_as_number
+	0,		//	tp_as_sequence
+	0,		//	tp_as_mapping
+	0,		//	tp_hash
+	0,		//	tp_call
+	0,		//	tp_str
+	0,		//	tp_getattro
+	0,		//	tp_setattro
+	0,		//	tp_as_buffer
+	Py_TPFLAGS_DEFAULT,		//	tp_flags
+	"Capture snapshot",		//tp_doc
+	0,		//	tp_traverse
+	0,		//	tp_clear
+	0,		//	tp_richcompare
+	0,		//	tp_weaklistoffset
+	0,		//	tp_iter
+	0,		//	tp_iternext
+	0,		//	tp_methods
+	PyMultiAgentSnapshotMembers,		//	tp_members
+	0,		//	tp_getset
+	0,		//	tp_base
+	0,		//	tp_dict
+	0,		//	tp_descr_get
+	0,		//	tp_descr_set
+	0,		//	tp_dictoffset
+	PyMultiAgentSnapshotObject_init,		//	tp_init
+	0,		//	tp_alloc
+	PyMultiAgentSnapshotObject_new,		//	tp_new
+};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp
index 3200a7b5..c8f89026 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation.cpp
@@ -3,41 +3,12 @@
 #include "Engine.h"
 
 #include "deepdrive_simulation/DeepDriveSimulation.hpp"
-#include "common/ClientErrorCode.hpp"
+#include "deepdrive_simulation/deepdrive_simulation_error.h"
 
 #include "deepdrive_simulation/PySimulationGraphicsSettingsObject.h"
 
 #include <iostream>
 
-static DeepDriveSimulation *g_DeepDriveSimulation = 0;
-
-static PyObject *DeepDriveClientError;
-static PyObject *ConnectionLostError;
-static PyObject *NotConnectedError;
-static PyObject *TimeOutError;
-static PyObject *ClientDoesntExistError;
-static PyObject *UnknownError;
-
-static PyObject* handleError(int32 errorCode)
-{
-	if(errorCode == ClientErrorCode::NOT_CONNECTED)
-	{
-		PyErr_SetString(ClientDoesntExistError, "Client doesn't exist");
-	}
-	else if(errorCode == ClientErrorCode::CONNECTION_LOST)
-	{
-		PyErr_SetString(ConnectionLostError, "Connection to server lost");
-	}
-	else if(errorCode == ClientErrorCode::TIME_OUT)
-	{
-		PyErr_SetString(TimeOutError, "Network time out");
-	}
-	else if(errorCode == ClientErrorCode::UNKNOWN_ERROR)
-	{
-		PyErr_SetString(UnknownError, "Unknown network error");
-	}
-	return 0;
-}
 
 /*	Create a new client, tries to connect to specified DeepDriveServer
  *
@@ -68,14 +39,14 @@ static PyObject* deepdrive_simulation_connect(PyObject *self, PyObject *args, Py
 
 		if(ip4Address.set(ipStr, port))
 		{
-			if(g_DeepDriveSimulation == 0)
+			if(DeepDriveSimulation::getInstance() == 0)
 			{
-				g_DeepDriveSimulation = new DeepDriveSimulation(ip4Address);
+				DeepDriveSimulation::create(ip4Address);
 				std::cout << "Created DeepDriveSimulation\n";
 
-				if(g_DeepDriveSimulation && g_DeepDriveSimulation->isConnected())
+				if(DeepDriveSimulation::getInstance() && DeepDriveSimulation::getInstance()->isConnected())
 				{
-					const int32 configureRes = g_DeepDriveSimulation->configureSimulation(seed, timeDilation, startLocation, reinterpret_cast<PySimulationGraphicsSettingsObject*> (graphicsSettings));
+					const int32 configureRes = DeepDriveSimulation::getInstance()->configureSimulation(seed, timeDilation, startLocation, reinterpret_cast<PySimulationGraphicsSettingsObject*> (graphicsSettings));
 					if(configureRes < 0)
 						handleError(configureRes);
 					else
@@ -101,12 +72,7 @@ static PyObject* deepdrive_simulation_connect(PyObject *self, PyObject *args, Py
 static PyObject* deepdriuve_simulation_disconnect(PyObject *self, PyObject *args)
 {
 	uint32 res = 0;
-	if(g_DeepDriveSimulation)
-	{
-		delete g_DeepDriveSimulation;
-		g_DeepDriveSimulation = 0;
-	}
-
+	DeepDriveSimulation::destroy();
 
 	return Py_BuildValue("i", res);
 }
@@ -121,7 +87,7 @@ static PyObject* reset_simulation(PyObject *self, PyObject *args, PyObject *keyW
 {
 	uint32 res = 0;
 
-	if(g_DeepDriveSimulation)
+	if(DeepDriveSimulation::getInstance())
 	{
 		float timeDilation = 1.0f;
 		float startLocation = -1.0f; 
@@ -130,7 +96,7 @@ static PyObject* reset_simulation(PyObject *self, PyObject *args, PyObject *keyW
 		int32 ok = PyArg_ParseTupleAndKeywords(args, keyWords, "|ff", keyWordList, &timeDilation, &startLocation);
 		if(ok)
 		{
-			const int32 requestRes = g_DeepDriveSimulation->resetSimulation(timeDilation, startLocation);
+			const int32 requestRes = DeepDriveSimulation::getInstance()->resetSimulation(timeDilation, startLocation);
 			if(requestRes >= 0)
 				res = static_cast<uint32> (requestRes);
 			else
@@ -156,14 +122,14 @@ static PyObject* set_graphics_settings(PyObject *self, PyObject *args)
 {
 	uint32 res = 0;
 
-	if(g_DeepDriveSimulation)
+	if(DeepDriveSimulation::getInstance())
 	{
 		PyObject *graphicsSettings = 0;
 
 		int32 ok = PyArg_ParseTuple(args, "O!", &PySimulationGraphicsSettingsType, &graphicsSettings);
 		if(ok)
 		{
-			const int32 requestRes = g_DeepDriveSimulation->setGraphicsSettings(reinterpret_cast<PySimulationGraphicsSettingsObject*> (graphicsSettings));
+			const int32 requestRes = DeepDriveSimulation::getInstance()->setGraphicsSettings(reinterpret_cast<PySimulationGraphicsSettingsObject*> (graphicsSettings));
 			if(requestRes >= 0)
 				res = static_cast<uint32> (requestRes);
 			else
@@ -194,7 +160,7 @@ static PyObject* set_date_and_time(PyObject *self, PyObject *args, PyObject *key
 {
 	uint32 res = 0;
 
-	if(g_DeepDriveSimulation)
+	if(DeepDriveSimulation::getInstance())
 	{
 		uint32 year = 2011;
 		uint32 month = 8;
@@ -206,7 +172,7 @@ static PyObject* set_date_and_time(PyObject *self, PyObject *args, PyObject *key
 		int32 ok = PyArg_ParseTupleAndKeywords(args, keyWords, "|IIIII", keyWordList, &year, &month, &day, &hour, &minute);
 		if(ok)
 		{
-			const int32 requestRes = g_DeepDriveSimulation->setDateAndTime(year, month, day, minute, hour);
+			const int32 requestRes = DeepDriveSimulation::getInstance()->setDateAndTime(year, month, day, minute, hour);
 			if(requestRes >= 0)
 				res = static_cast<uint32> (requestRes);
 			else
@@ -230,7 +196,7 @@ static PyObject* set_sun_simulation_speed(PyObject *self, PyObject *args, PyObje
 {
 	uint32 res = 0;
 
-	if(g_DeepDriveSimulation)
+	if(DeepDriveSimulation::getInstance())
 	{
 		uint32 speed = 0;
 
@@ -238,7 +204,7 @@ static PyObject* set_sun_simulation_speed(PyObject *self, PyObject *args, PyObje
 		int32 ok = PyArg_ParseTupleAndKeywords(args, keyWords, "|I", keyWordList, &speed);
 		if(ok)
 		{
-			const int32 initRes = g_DeepDriveSimulation->setSpeed(speed);
+			const int32 initRes = DeepDriveSimulation::getInstance()->setSpeed(speed);
 			if(initRes >= 0)
 				res = static_cast<uint32> (initRes);
 			else
@@ -271,6 +237,8 @@ static struct PyModuleDef deepdrive_simulation_module = {
 		DeepDriveClientMethods
 };
 
+extern PyObject* create_multi_agent_module();
+
 PyMODINIT_FUNC PyInit_deepdrive_simulation(void)
 {
 	// if (PyType_Ready(&PyDeepDriveClientRegisterClientRequestType) < 0)
@@ -281,33 +249,14 @@ PyMODINIT_FUNC PyInit_deepdrive_simulation(void)
 	if (PyType_Ready(&PySimulationGraphicsSettingsType) < 0)
 		return 0;
 
-
 	PyObject *m  = PyModule_Create(&deepdrive_simulation_module);
 	if (m)
 	{
-		DeepDriveClientError = PyErr_NewException("deepdrive_simulation.error", NULL, NULL);
-		Py_INCREF(DeepDriveClientError);
-		PyModule_AddObject(m, "error", DeepDriveClientError);
-
-		ConnectionLostError = PyErr_NewException("deepdrive_simulation.connection_lost", NULL, NULL);
-		Py_INCREF(ConnectionLostError);
-		PyModule_AddObject(m, "connection_lost", ConnectionLostError);
-
-		NotConnectedError = PyErr_NewException("deepdrive_simulation.not_connected", NULL, NULL);
-		Py_INCREF(NotConnectedError);
-		PyModule_AddObject(m, "not_connected", NotConnectedError);
-
-		TimeOutError = PyErr_NewException("deepdrive_simulation.time_out", NULL, NULL);
-		Py_INCREF(TimeOutError);
-		PyModule_AddObject(m, "time_out", TimeOutError);
-
-		ClientDoesntExistError = PyErr_NewException("deepdrive_simulation.client_doesnt_exist", NULL, NULL);
-		Py_INCREF(ClientDoesntExistError);
-		PyModule_AddObject(m, "client_doesnt_exist", ClientDoesntExistError);
+		PyObject *mam = create_multi_agent_module();
+		Py_INCREF(mam);
+		PyModule_AddObject(m, "multi_agent", mam);
 
-		UnknownError = PyErr_NewException("deepdrive_simulation.unknown_error", NULL, NULL);
-		Py_INCREF(UnknownError);
-		PyModule_AddObject(m, "unknown_error", UnknownError);
+		setupErrorTypes(m);
 
 		Py_INCREF(&PySimulationGraphicsSettingsType);
 		PyModule_AddObject(m, "SimulationGraphicsSettings", (PyObject *)&PySimulationGraphicsSettingsType);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.cpp
new file mode 100644
index 00000000..f7f791ab
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.cpp
@@ -0,0 +1,59 @@
+
+#include "deepdrive_simulation/deepdrive_simulation_error.h"
+#include "common/ClientErrorCode.hpp"
+
+static PyObject *DeepDriveClientError = 0;
+static PyObject *ConnectionLostError = 0;
+static PyObject *NotConnectedError = 0;
+static PyObject *TimeOutError = 0;
+static PyObject *ClientDoesntExistError = 0;
+static PyObject *UnknownError = 0;
+
+void setupErrorTypes(PyObject *module)
+{
+	DeepDriveClientError = PyErr_NewException("deepdrive_simulation.error", NULL, NULL);
+	Py_INCREF(DeepDriveClientError);
+	PyModule_AddObject(module, "error", DeepDriveClientError);
+
+	ConnectionLostError = PyErr_NewException("deepdrive_simulation.connection_lost", NULL, NULL);
+	Py_INCREF(ConnectionLostError);
+	PyModule_AddObject(module, "connection_lost", ConnectionLostError);
+
+	NotConnectedError = PyErr_NewException("deepdrive_simulation.not_connected", NULL, NULL);
+	Py_INCREF(NotConnectedError);
+	PyModule_AddObject(module, "not_connected", NotConnectedError);
+
+	TimeOutError = PyErr_NewException("deepdrive_simulation.time_out", NULL, NULL);
+	Py_INCREF(TimeOutError);
+	PyModule_AddObject(module, "time_out", TimeOutError);
+
+	ClientDoesntExistError = PyErr_NewException("deepdrive_simulation.client_doesnt_exist", NULL, NULL);
+	Py_INCREF(ClientDoesntExistError);
+	PyModule_AddObject(module, "client_doesnt_exist", ClientDoesntExistError);
+
+	UnknownError = PyErr_NewException("deepdrive_simulation.unknown_error", NULL, NULL);
+	Py_INCREF(UnknownError);
+	PyModule_AddObject(module, "unknown_error", UnknownError);
+}
+
+PyObject *handleError(int32 errorCode)
+{
+	if (errorCode == ClientErrorCode::NOT_CONNECTED)
+	{
+		PyErr_SetString(ClientDoesntExistError, "Client doesn't exist");
+	}
+	else if (errorCode == ClientErrorCode::CONNECTION_LOST)
+	{
+		PyErr_SetString(ConnectionLostError, "Connection to server lost");
+	}
+	else if (errorCode == ClientErrorCode::TIME_OUT)
+	{
+		PyErr_SetString(TimeOutError, "Network time out");
+	}
+	else if (errorCode == ClientErrorCode::UNKNOWN_ERROR)
+	{
+		PyErr_SetString(UnknownError, "Unknown network error");
+	}
+	return 0;
+}
+
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.h
new file mode 100644
index 00000000..25a1a919
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_error.h
@@ -0,0 +1,8 @@
+
+#include "Python.h"
+#include "Engine.h"
+
+void setupErrorTypes(PyObject *module);
+
+PyObject *handleError(int32 errorCode);
+
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp
new file mode 100644
index 00000000..18044b5f
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/deepdrive_simulation/deepdrive_simulation_multi_agent.cpp
@@ -0,0 +1,269 @@
+
+#include "Python.h"
+#include "Engine.h"
+
+#include "deepdrive_simulation/DeepDriveSimulation.hpp"
+#include "deepdrive_simulation/deepdrive_simulation_error.h"
+
+#include "deepdrive_simulation/PyMultiAgentSnapshotObject.h"
+
+#include <iostream>
+
+/*	Retrieve lists of available agents
+ *
+ *
+ *	@return	List of available list
+*/
+static PyObject *multi_agent_get_agents_list(PyObject *self, PyObject *args)
+{
+	PyObject *ret = PyList_New(0);
+	if (DeepDriveSimulation::getInstance())
+	{
+		std::vector<uint32> list;
+		const int32 requestRes = DeepDriveSimulation::getInstance()->getAgentsList(list);
+		if (requestRes >= 0)
+		{
+			for(auto id : list)
+				PyList_Append(ret, PyLong_FromUnsignedLong(id));
+		}
+		else
+			return handleError(requestRes);
+	}
+	else
+		std::cout << "Not connect to Simulation server\n";
+
+	return ret;
+}
+
+/*	Request remote control for a set of specified agent
+ *
+ *	@param	[uint32]	List of agent id's to be remotely controlled. If list is empty or None, all agents will be remotely controlled.
+ *	@return	True, if successfully, otherwise false
+*/
+static PyObject *multi_agent_request_control(PyObject *self, PyObject *args)
+{
+	uint32 res = 0;
+
+	if(DeepDriveSimulation::getInstance())
+	{
+		PyObject *srcList = 0;
+		int32 ok = PyArg_ParseTuple(args, "O!", &PyList_Type, &srcList);
+		if (ok)
+		{
+			std::vector<uint32> agentIds;
+			int32 n = PyList_Size(srcList);
+			for(int32 i = 0; i < n; ++i)
+			{
+				PyObject *pItem = PyList_GetItem(srcList, i);
+				if (!PyLong_Check(pItem))
+				{
+					PyErr_SetString(PyExc_TypeError, "List items must be integers");
+					return NULL;
+				}
+				const uint32 id = PyLong_AsLong(pItem);
+				agentIds.push_back(id);
+			}
+			const int32 initRes = DeepDriveSimulation::getInstance()->requestControl(agentIds);
+			if(initRes >= 0)
+				res = static_cast<uint32> (initRes);
+			else
+				return handleError(initRes);
+		}
+		else
+			std::cout << "Wrong arguments\n";
+	}
+	else
+		std::cout << "Not connect to Simulation server\n";
+
+	return Py_BuildValue("i", res);
+}
+
+/*	Release remote control for a set of specified agent
+ *
+ *	@param	[uint32]	List of agent id's to be remotely controlled. If list is empty or None, all agents will be remotely controlled.
+ *	@return	True, if successfully, otherwise false
+*/
+static PyObject *multi_agent_release_control(PyObject *self, PyObject *args)
+{
+	uint32 res = 0;
+
+	if (DeepDriveSimulation::getInstance())
+	{
+		PyObject *srcList = 0;
+		int32 ok = PyArg_ParseTuple(args, "O!", &PyList_Type, &srcList);
+		if (ok)
+		{
+			std::vector<uint32> agentIds;
+			int32 n = PyList_Size(srcList);
+			for (int32 i = 0; i < n; ++i)
+			{
+				PyObject *pItem = PyList_GetItem(srcList, i);
+				if (!PyLong_Check(pItem))
+				{
+					PyErr_SetString(PyExc_TypeError, "List items must be integers");
+					return NULL;
+				}
+				const uint32 id = PyLong_AsLong(pItem);
+				agentIds.push_back(id);
+			}
+			const int32 initRes = DeepDriveSimulation::getInstance()->releaseControl(agentIds);
+			if (initRes >= 0)
+				res = static_cast<uint32>(initRes);
+			else
+				return handleError(initRes);
+		}
+		else
+			std::cout << "Wrong arguments\n";
+	}
+	else
+		std::cout << "Not connect to Simulation server\n";
+
+	return Py_BuildValue("i", res);
+}
+
+/*	Set control values for a set of specified agent
+ *
+ *	@param	[{'id', 'steering', 'throttle', 'brake', 'handbrake'}]	List of control values for particular agents
+ *
+ *	@return	True, if successfully, otherwise false
+*/
+static PyObject *multi_agent_set_control_values(PyObject *self, PyObject *args)
+{
+	uint32 res = 0;
+
+	if (DeepDriveSimulation::getInstance())
+	{
+		PyObject *srcList = 0;
+		int32 ok = PyArg_ParseTuple(args, "O!", &PyList_Type, &srcList);
+		if (ok)
+		{
+			std::vector<deepdrive::server::SetControlValuesRequest::ControlValueSet> controlValues;
+			int32 n = PyList_Size(srcList);
+			std::cout << "set_control_values " << n << "\n";
+			for (int32 i = 0; i < n; ++i)
+			{
+				PyObject *pItem = PyList_GetItem(srcList, i);
+				if (pItem && PyDict_Check(pItem))
+				{
+					std::cout << "got item\n";
+					PyObject *pId = PyDict_GetItemString(pItem, "id");
+					std::cout << "pId " << pId << "\n";
+					if (pId && PyLong_Check(pId))
+					{
+						std::cout << "got id\n";
+						float steering = 0.0f;
+						float throttle = 0.0f;
+						float brake = 0.0f;
+						uint32 handbrake = 0;
+
+						PyObject *pFloat = PyDict_GetItemString(pItem, "steering");
+						if (pFloat && PyFloat_Check(pFloat))
+							steering = static_cast<float> (PyFloat_AsDouble(pFloat));
+
+						pFloat = PyDict_GetItemString(pItem, "throttle");
+						if (pFloat && PyFloat_Check(pFloat))
+							throttle = static_cast<float>(PyFloat_AsDouble(pFloat));
+
+						pFloat = PyDict_GetItemString(pItem, "brake");
+						if (pFloat && PyFloat_Check(pFloat))
+							brake = static_cast<float>(PyFloat_AsDouble(pFloat));
+
+						PyObject *pInt = PyDict_GetItemString(pItem, "handbrake");
+						if (pInt && PyLong_Check(pInt))
+							handbrake = PyLong_AsLong(pInt) == 0 ? 0 : 1;
+
+						std::cout << PyLong_AsLong(pId) << " s " << steering << " t " << throttle << " b " << brake << " hb " << handbrake << "\n";
+
+						controlValues.push_back(deepdrive::server::SetControlValuesRequest::ControlValueSet(PyLong_AsLong(pId), steering, throttle, brake, handbrake));
+					}
+					else
+					{
+						PyErr_SetString(PyExc_TypeError, "Id must be integer");
+						return NULL;
+					}
+				}
+				else
+				{
+					PyErr_SetString(PyExc_TypeError, "List items must be dictionary");
+					return NULL;
+				}
+			}
+			const int32 initRes = DeepDriveSimulation::getInstance()->setControlValues(controlValues);
+			if (initRes >= 0)
+				res = static_cast<uint32>(initRes);
+			else
+				return handleError(initRes);
+		}
+		else
+			std::cout << "Wrong arguments\n";
+	}
+	else
+		std::cout << "Not connect to Simulation server\n";
+
+	return Py_BuildValue("i", res);
+}
+
+
+
+/*	Set control values for a set of specified agent
+ *
+ *	@return	A list of snapshots for all remotely controlled agents.
+*/
+static PyObject *multi_agent_step(PyObject *self, PyObject *args)
+{
+	uint32 res = 0;
+	if (DeepDriveSimulation::getInstance())
+	{
+		std::vector<PyMultiAgentSnapshotObject*> snapshots;
+		const int32 sentRes = DeepDriveSimulation::getInstance()->step(snapshots);
+		if (sentRes >= 0)
+			res = static_cast<uint32>(sentRes);
+		else
+			return handleError(sentRes);
+	}
+	else
+		std::cout << "Not connect to Simulation server\n";
+
+	return Py_BuildValue("i", res);
+}
+
+static PyMethodDef MultiAgentMethods[] =	{	{"get_agents_list", (PyCFunction) multi_agent_get_agents_list, METH_VARARGS, "Retrieve a list of available agents"}
+											,	{"request_control", (PyCFunction) multi_agent_request_control, METH_VARARGS, "Request remote control for a list of agents"}
+											,	{"release_control", (PyCFunction) multi_agent_release_control, METH_VARARGS, "Release remote control for a list of agents"}
+											,	{"set_control_values", (PyCFunction) multi_agent_set_control_values, METH_VARARGS, "Set control values for a list of agents"}
+											,	{"step", (PyCFunction) multi_agent_step, METH_VARARGS, "Set control values for a set of specified agent"}
+											// ,	{"reset_multi_agent", (PyCFunction) reset_multi_agent, METH_VARARGS | METH_KEYWORDS, "Reset multi_agent"}
+											// ,	{"set_graphics_settings", set_graphics_settings, METH_VARARGS, "Set graphics settings"}
+											// ,	{"set_date_and_time", (PyCFunction) set_date_and_time, METH_VARARGS | METH_KEYWORDS, "Set date and time for multi_agent"}
+											// ,	{"set_sun_multi_agent_speed", (PyCFunction) set_sun_multi_agent_speed, METH_VARARGS | METH_KEYWORDS, "Set speed for sun multi_agent"}
+											,	{NULL,     NULL,             0,            NULL}        /* Sentinel */
+											};
+
+static struct PyModuleDef multi_agent_module = {
+		PyModuleDef_HEAD_INIT,
+		"multi_agent",   /* name of module */
+		NULL,          /* module documentation, may be NULL */
+		-1,            /* size of per-interpreter state of the module,
+				          or -1 if the module keeps state in global variables. */
+		MultiAgentMethods
+};
+
+PyMODINIT_FUNC PyInit_multi_agent(void)
+{
+	if (PyType_Ready(&PyMultiAgentSnapshotType) < 0)
+		return 0;
+
+	PyObject *m = PyModule_Create(&multi_agent_module);
+	if (m)
+	{
+	}
+
+	std::cout << "## ><>|><> PyInit_multi_agent <><|<>< ##\n";
+
+	return m;
+}
+
+PyObject* create_multi_agent_module()
+{
+	return PyInit_multi_agent();
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp
index 6711c48a..b9bf91cf 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.cpp
@@ -48,6 +48,18 @@ int32 IP4ClientSocket::send(const void *data, uint32 bytesToSend)
 	return m_ClientSocketImpl ? m_ClientSocketImpl->send(data, bytesToSend) : ClientErrorCode::NOT_CONNECTED;
 }
 
+int32 IP4ClientSocket::read(void *buffer, uint32 bytesToRead, uint32 timeOutMS)
+{
+	if(m_ClientSocketImpl)
+	{
+		if(timeOutMS)
+			return m_ClientSocketImpl->receive(buffer, bytesToRead, timeOutMS);
+		else
+			return m_ClientSocketImpl->receive(buffer, bytesToRead);
+	}
+	return ClientErrorCode::NOT_CONNECTED;
+}
+
 uint32 IP4ClientSocket::receive(void *buffer, uint32 size)
 {
 	return m_ClientSocketImpl ? m_ClientSocketImpl->receive(buffer, size) : 0;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp
index d5c74d75..ec7ca6df 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePython/src/socket/IP4ClientSocket.hpp
@@ -19,6 +19,8 @@ class IP4ClientSocket
 
 	int32 send(const void *data, uint32 bytesToSend);
 
+	int32 read(void *buffer, uint32 bytesToRead, uint32 timeOutMS);
+
 	uint32 receive(void *buffer, uint32 size);
 
 	bool receive(void *buffer, uint32 size, uint32 timeOutMS);

From f75b1cee120d6d8619257abd41e0432674dd177e Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Tue, 7 Apr 2020 09:22:55 +0200
Subject: [PATCH 26/43] - added simple multi agent test map

---
 .../Maps/Tests/MultiAgentTest_Map.umap          | Bin 0 -> 46691 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 Content/DeepDrive/Maps/Tests/MultiAgentTest_Map.umap

diff --git a/Content/DeepDrive/Maps/Tests/MultiAgentTest_Map.umap b/Content/DeepDrive/Maps/Tests/MultiAgentTest_Map.umap
new file mode 100644
index 0000000000000000000000000000000000000000..7df4d104e15161c00db285ece3c86664ea699840
GIT binary patch
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From e5aefc6987824e5f97b218123dd77ed309d591e9 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Tue, 7 Apr 2020 09:29:35 +0200
Subject: [PATCH 27/43] - tests added

---
 Test/reset_test.py                | 66 +++++++++++++++++++++++++++++++
 Test/sun_simulation_speed_test.py | 29 ++++++++++++++
 Test/sun_simulation_time_test.py  | 39 ++++++++++++++++++
 3 files changed, 134 insertions(+)
 create mode 100644 Test/reset_test.py
 create mode 100644 Test/sun_simulation_speed_test.py
 create mode 100644 Test/sun_simulation_time_test.py

diff --git a/Test/reset_test.py b/Test/reset_test.py
new file mode 100644
index 00000000..ebbd2bed
--- /dev/null
+++ b/Test/reset_test.py
@@ -0,0 +1,66 @@
+
+import socket
+import sys
+import time
+
+import numpy
+import random
+
+import deepdrive_capture
+import deepdrive_client
+import deepdrive_simulation
+
+def cleanUp(clientId):
+    deepdrive_client.release_agent_control(clientId)
+    for camId in camIds:
+        deepdrive_client.unregister_camera(clientId, camId)
+    deepdrive_capture.close()
+    deepdrive_client.close(clientId)
+    deepdrive_simulation.disconnect()
+
+connected = deepdrive_simulation.connect('127.0.0.1', 9009)
+
+client = deepdrive_client.create('127.0.0.1', 9876)
+print(client)
+
+if client != None and 'client_id' in client:
+    clientId = client['client_id']
+    print('Connected ...', clientId)
+
+    sharedMem = deepdrive_client.get_shared_memory(clientId)
+    print('SharedMemName:', sharedMem[0], "Size", sharedMem[1])
+
+    camIds = []
+    camIds.append(deepdrive_client.register_camera(clientId, 60, 1024, 1024, [0.0, 0.0, 200.0], [0, 0, 0], 'MainCamera'))
+    camIds.append(deepdrive_client.register_camera(clientId, 60, 512, 256, [0.0, 0.0, 200.0], [0, 0, -60], 'FrontRight'))
+    #camIds.append(deepdrive_client.register_camera(clientId, 60, 512, 256, [0.0, 0.0, 200.0], [0, 0, 60], 'FrontLeft'))
+
+    connected = deepdrive_capture.reset(sharedMem[0], sharedMem[1])
+    if connected:
+
+        deepdrive_client.set_view_mode(clientId, camIds[0], 'WorldNormal')
+        try:
+            
+            while True:
+                counter = 100
+                while counter > 0:
+                    snapshot = deepdrive_capture.step()
+                    time.sleep(0.05)
+                    counter = counter - 1
+                
+                # deepdrive_client.unregister_camera(clientId, 0)
+                # time.sleep(0.1)
+                deepdrive_simulation.reset_simulation()
+
+            cleanUp(clientId)
+
+        except KeyboardInterrupt:
+            cleanUp(clientId)
+
+        except deepdrive_client.connection_lost:
+            print('>>>> Connection lost')
+            deepdrive_capture.close()
+            deepdrive_simulation.disconnect()
+
+else:
+    print('Ohh shit ...')
diff --git a/Test/sun_simulation_speed_test.py b/Test/sun_simulation_speed_test.py
new file mode 100644
index 00000000..412b9680
--- /dev/null
+++ b/Test/sun_simulation_speed_test.py
@@ -0,0 +1,29 @@
+import socket
+import sys
+import time
+
+import deepdrive_simulation
+
+def cleanUp():
+	deepdrive_simulation.disconnect()
+
+connected = deepdrive_simulation.connect('127.0.0.1', 9009)
+
+if connected:
+	print('Connected ...')
+
+	deepdrive_simulation.set_sun_simulation_speed(1000)
+
+	try:
+		while True:
+			time.sleep(0.1)
+
+	except KeyboardInterrupt:
+		cleanUp()
+
+	except deepdrive_simulation.connection_lost:
+		print('>>>> Connection lost')
+
+else:
+	print('Connecting failed')
+
diff --git a/Test/sun_simulation_time_test.py b/Test/sun_simulation_time_test.py
new file mode 100644
index 00000000..e57d1846
--- /dev/null
+++ b/Test/sun_simulation_time_test.py
@@ -0,0 +1,39 @@
+import socket
+import sys
+import time
+
+import deepdrive_simulation
+
+def cleanUp():
+	deepdrive_simulation.disconnect()
+
+connected = deepdrive_simulation.connect('127.0.0.1', 9009)
+
+if connected:
+	print('Connected ...')
+
+	time.sleep(1)
+	hour = 5
+	minute = 0
+
+	try:
+		mainCounter = 100000
+		while mainCounter > 0:
+			deepdrive_simulation.set_date_and_time(hour=hour, minute=minute)
+			minute = minute + 1
+			if minute > 59:
+				minute = 0
+				hour = hour + 1
+				if hour > 23:
+					hour = 0
+			time.sleep(0.1)
+
+	except KeyboardInterrupt:
+		cleanUp()
+
+	except deepdrive_simulation.connection_lost:
+		print('>>>> Connection lost')
+
+else:
+	print('Connecting failed')
+

From b5ff5daea05c012d6e837bb39899d59cc68ab799 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 8 Apr 2020 09:46:59 +0200
Subject: [PATCH 28/43] - added missing file from previous commit

---
 .../Server/Messages/DeepDriveServerSimulationMessages.h     | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h
index 90669107..bc39f21d 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Server/Messages/DeepDriveServerSimulationMessages.h
@@ -153,6 +153,12 @@ struct GetAgentsListResponse : public server::MessageHeader
 	uint32		agent_count;
 
 	uint32		agent_ids[1];
+
+	static size_t getMessageSize(uint32 agentCount)
+	{
+		return sizeof(GetAgentsListResponse) + (agentCount > 0 ? (sizeof(uint32) * (agentCount - 1)) : 0);
+	}
+
 };
 
 struct RequestControlRequest : public MessageHeader

From 10d5c799fd8ba65818d910d8bf6018f9b373e8c4 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 8 Apr 2020 17:43:52 +0200
Subject: [PATCH 29/43] - road links added

---
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25375 -> 25375 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 492134 -> 580135 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index 8220f92fee47c35151104a95f0ce6b0faf5eb379..b339b4e0267b99b4a16cf843c70ea3aa9b0ec6dc 100644
GIT binary patch
delta 211
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
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GIT binary patch
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From 089b77d7553b4bfe6e5189041a56ef7ea470b5d7 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Thu, 9 Apr 2020 19:34:37 +0200
Subject: [PATCH 30/43] - more road setup in Kevindale - added debug output for
 link names

---
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25375 -> 25375 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 580135 -> 668696 bytes
 .../RoadNetwork/DeepDriveRoadNetwork.cpp      |   6 ++++++
 .../DeepDriveRoadNetworkExtractor.cpp         |   1 +
 .../RoadNetwork/DeepDriveRouteCalculator.cpp  |  12 +++++++++---
 .../RoadNetwork/DeepDriveRoadNetwork.h        |   4 ++++
 6 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index b339b4e0267b99b4a16cf843c70ea3aa9b0ec6dc..25213c804ee8dfa63caf5cfba12b4abb2b4a0085 100644
GIT binary patch
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp
index 8564224f..db6dc636 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetwork.cpp
@@ -165,6 +165,12 @@ FVector SDeepDriveRoadNetwork::getLocationOnLink(uint32 linkId, EDeepDriveLaneTy
 	return location;
 }
 
+FString SDeepDriveRoadNetwork::getDebugLinkName(uint32 linkId) const
+{
+	FString name = LinkNameMap.Contains(linkId) ? LinkNameMap[linkId] : "Unknown Link";
+
+	return "(" + FString::FromInt(linkId) + ") " + name;
+}
 
 FVector SDeepDriveRoadSegment::findClosestPoint(const FVector &pos) const
 {
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp
index 1346254e..5352174e 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp
@@ -302,6 +302,7 @@ uint32 DeepDriveRoadNetworkExtractor::addLink(ADeepDriveRoadLinkProxy &linkProxy
 
 		m_LinkCache.Add(proxyObjName, linkId);
 		m_RoadNetwork.Links.Add(linkId, link);
+		m_RoadNetwork.LinkNameMap.Add(linkId, proxyObjName);
 
 		m_LinkProxies.Add(&linkProxy);
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp
index d9534eed..e0b83315 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRouteCalculator.cpp
@@ -90,12 +90,17 @@ bool DeepDriveRouteCalculator::calculate(const FVector &start, const FVector &de
 				success = true;
 				UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Route successfully calculated %d links total cost %f"), linksOut.Num(), totalCost );
 				for(auto &linkId : linksOut)
-					UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("  %d"), linkId );
+					UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("  %s"), *(m_RoadNetwork.getDebugLinkName(linkId)) );
 
 			}
 			else
 			{
 				UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Route calculation failed") );
+				while(currentLink)
+				{
+					UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("  %s"), *(m_RoadNetwork.getDebugLinkName(currentLink->LinkId)) );
+					currentLink = currentLink->Predecessor;
+				}
 			}
 		}
 	}
@@ -112,7 +117,7 @@ bool DeepDriveRouteCalculator::expandLink(const Link &currentLink)
 {
 	bool found = false;
 	const SDeepDriveJunction &junction = m_RoadNetwork.Junctions[ m_RoadNetwork.Links[ currentLink.LinkId ].ToJunctionId ];
-	UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Expanding link %d with junction Link %d"), currentLink.LinkId, junction.JunctionId);
+	UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Expanding link %s with junction Link %d"), *(m_RoadNetwork.getDebugLinkName(currentLink.LinkId)), junction.JunctionId);
 	for (auto &outLinkId : junction.LinksOut)
 	{
 		// UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Checking link %d"), outLinkId );
@@ -139,7 +144,7 @@ bool DeepDriveRouteCalculator::expandLink(const Link &currentLink)
 			float tentativeG = currentLink.CostG + curC;
 
 			Link *successorLink = m_OpenList.get(outLinkId);
-			UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("Successor Link %d %p with cost %f"), outLinkId, successorLink, tentativeG);
+			UE_LOG(LogDeepDriveRouteCalc, Log, TEXT("   Successor Link %s %p with cost %f"), *(m_RoadNetwork.getDebugLinkName(outLinkId)), successorLink, tentativeG);
 			if (successorLink && tentativeG >= successorLink->CostG)
 				continue;
 
@@ -168,6 +173,7 @@ DeepDriveRouteCalculator::Link* DeepDriveRouteCalculator::acquireLink(uint32 lin
 		link->Position = m_RoadNetwork.Junctions[ m_RoadNetwork.Links[linkId].ToJunctionId ].Center;
 		link->CostG = costG;
 		link->CostF = costG + (m_Destination - link->Position).Size();
+
 	}
 
 	return link;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
index c34b6f72..e6c60b8c 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/RoadNetwork/DeepDriveRoadNetwork.h
@@ -251,10 +251,14 @@ struct SDeepDriveRoadNetwork
 	TMap<uint32, SDeepDriveRoadLink>		Links;
 	TMap<uint32, SDeepDriveRoadSegment> 	Segments;
 
+	TMap<uint32, FString>					LinkNameMap;
+
 	uint32 findClosestLink(const FVector &pos) const;
 	uint32 findClosestSegment(const FVector &pos, EDeepDriveLaneType laneType) const;
 	FVector getLocationOnLink(uint32 linkId, EDeepDriveLaneType laneType, float t) const;
 
+	FString getDebugLinkName(uint32 linkId) const;
+
 };
 
 namespace DeepDriveRoadNetwork

From b3c1dc572490bedaabcd73d0aac5e028604eb74b Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Tue, 14 Apr 2020 09:04:24 +0200
Subject: [PATCH 31/43] - debug output improved

---
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25375 -> 25253 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 668696 -> 670704 bytes
 .../DeepDriveAgentTrafficAIController.cpp     |   6 ++++--
 .../Agent/DeepDriveAgentControllerBase.cpp    |   7 ++++---
 .../Maneuver/DeepDriveManeuverCalculator.cpp  |   7 +++----
 5 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index 25213c804ee8dfa63caf5cfba12b4abb2b4a0085..37f69b6af7bda038a8355f3624806201bff3b008 100644
GIT binary patch
delta 688
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
index 1230c779eeb1584064bf498de30f03f466d46c9f..7e9537184a938c71d4f520b92ba73f6cc60b3be1 100644
GIT binary patch
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 022fc726..cd68f47a 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -87,7 +87,7 @@ void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds )
 				{
 					FVector start = m_Agent->GetActorLocation();
 					FVector destination;
-					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate Random start pos %s"), *(start.ToString()) );
+					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Tick %d) Calculate new random route starting from %s"), m_Agent->GetAgentId(), *(start.ToString()) );
 
 					SDeepDriveRoute route;
 
@@ -96,6 +96,7 @@ void ADeepDriveAgentTrafficAIController::Tick( float DeltaSeconds )
 					{
 						route.Start = start;
 						route.Destination = destination;
+						UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Tick %d) to destination %s"), m_Agent->GetAgentId(), *(destination.ToString()));
 						DeepDriveManeuverCalculator *manCalc = m_DeepDriveSimulation->getManeuverCalculator();
 						if(manCalc)
 							manCalc->calculate(route, *m_Agent);
@@ -144,10 +145,11 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 	
 					} while(fromLinkId == 0 ||	m_DeepDriveSimulation->isLocationOccupied(route.Start, 300.0f));
 					
-					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate Random start pos %s"), *(route.Start.ToString()) );
+					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate %d) Random start pos %s"), agent.GetAgentId(), *(route.Start.ToString()) );
 
 					roadNetwork->PlaceAgentOnRoad(&agent, route.Start, true);
 					route.Links = roadNetwork->calculateRandomRoute(route.Start, route.Destination);
+					UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentTrafficAIController::Activate %d) Random Destination %s"), agent.GetAgentId(), *(route.Destination.ToString()));
 				}
 				else
 				{
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
index 08e068bb..f4a25231 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
@@ -142,10 +142,11 @@ void ADeepDriveAgentControllerBase::OnAgentCollision(AActor *OtherActor, const F
 		m_CollisionData.CollisionNormal = HitResult.ImpactNormal;
 		m_hasCollisionOccured = true;
 
-		UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentControllerBase::OnAgentCollision %ld"), now.ToUnixTimestamp() );
-
+		ADeepDriveAgent *otherAgent = Cast<ADeepDriveAgent>(OtherActor);
+		UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentControllerBase::OnAgentCollision %d) with other agent %d at %ld"), m_Agent->GetAgentId(), otherAgent ? otherAgent->GetAgentId() : -1, now.ToUnixTimestamp());
 	}
-	else {
+	else
+	{
 	    UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentControllerBase::OnAgentCollision ignored due to m_isCollisionEnabled == false"));
 	}
 }
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp
index 59d87511..e56ada63 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveManeuverCalculator.cpp
@@ -43,7 +43,7 @@ void DeepDriveManeuverCalculator::calculate(SDeepDriveRoute &route, ADeepDriveAg
 		const SDeepDriveJunctionEntry *junctionEntry = 0;
 		if(junction.findJunctionEntry(fromLinkId, junctionEntry))
 		{
-			UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("Calc maneuver from %d to %d"), fromLinkId, toLinkId );
+			UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("Calc maneuver from %s to %s"), *(m_RoadNetwork.getDebugLinkName(fromLinkId)), *(m_RoadNetwork.getDebugLinkName(toLinkId)) );
 
 			SDeepDriveManeuver maneuver;
 			maneuver.JunctionType = junction.JunctionType;
@@ -85,8 +85,7 @@ void DeepDriveManeuverCalculator::calculate(SDeepDriveRoute &route, ADeepDriveAg
 					}
 
 					for(auto crt : maneuver.CrossTrafficRoads)
-						UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("CrossTraffic from %d to %d as %d"), crt.FromLinkId, crt.ToLinkId, static_cast<int32> (crt.ManeuverType));
-
+						UE_LOG(LogDeepDriveManeuverCalculator, Log, TEXT("CrossTraffic from %s to %s as %d"), *(m_RoadNetwork.getDebugLinkName(crt.FromLinkId)), *(m_RoadNetwork.getDebugLinkName(crt.ToLinkId)), static_cast<int32> (crt.ManeuverType));
 				}
 			}
 
@@ -108,7 +107,7 @@ void DeepDriveManeuverCalculator::addFinalManeuver(SDeepDriveRoute &route, ADeep
 	maneuver.JunctionType = EDeepDriveJunctionType::DESTINATION_REACHED;
 
 	maneuver.EntryPoint = finalLink.StartPoint;
-	maneuver.ExitPoint = finalLink.EndPoint;
+	maneuver.ExitPoint = route.Destination;
 
 	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("StopAtEnd");
 	if (behaviorTree)

From fe2923a10341d6a5b6186483a017ccd18d67f5bb Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Tue, 21 Apr 2020 12:01:38 +0200
Subject: [PATCH 32/43] - actor event logging and replay introduced

---
 .../Blueprints/DeepDriveReplayGameMode.uasset | Bin 0 -> 17976 bytes
 .../Blueprints/DeepDriveReplayPawn.uasset     | Bin 0 -> 268967 bytes
 .../DeepDriveAgent_VoyageAuto_MiniVan.uasset  | Bin 495028 -> 498920 bytes
 .../DeepDriveAgent_VoyageAuto_SUV.uasset      | Bin 494466 -> 498002 bytes
 .../DeepDriveSimulationLightingManager.uasset | Bin 497159 -> 499299 bytes
 .../AEL_ActorListItem_Widget.uasset           | Bin 0 -> 75585 bytes
 .../AEL_ActorsListTitle_Widget.uasset         | Bin 0 -> 22195 bytes
 .../AEL_ActorsList_Widget.uasset              | Bin 0 -> 174510 bytes
 .../AEL_LogFileSelector_Widget.uasset         | Bin 0 -> 150308 bytes
 .../ActorEventLogging/AEL_MainWidget.uasset   | Bin 0 -> 57825 bytes
 .../AEL_MessageBoxItem_Widget.uasset          | Bin 0 -> 31734 bytes
 .../AEL_MessageBox_Widget.uasset              | Bin 0 -> 152245 bytes
 .../AEL_ReplayCtrlWidget.uasset               | Bin 0 -> 89109 bytes
 .../AEL_ReplayCtrl_Widget.uasset              | Bin 0 -> 172641 bytes
 .../AEL_TextItem_Widget.uasset                | Bin 0 -> 61967 bytes
 .../Kevindale/DeepDrive_Kevindale_Replay.umap | Bin 0 -> 174931 bytes
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25253 -> 25920 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 670704 -> 672031 bytes
 .../DeepDrivePlugin/DeepDrivePlugin.Build.cs  |   3 +-
 .../Private/ActorEventLogging/ActorEvent.h    |  13 +
 .../ActorEventLogEndFrameComponent.cpp        |  33 +++
 .../ActorEventLogManager.cpp                  |  72 +++++
 .../ActorEventLogReplayManager.cpp            | 268 ++++++++++++++++++
 .../ActorEventLoggerComponent.cpp             | 196 +++++++++++++
 .../ActorEventLogging/ReplayActorEventLog.cpp | 176 ++++++++++++
 .../ActorEventLogging/ReplayActorEventLog.h   |  86 ++++++
 .../DeepDriveAgentTrafficAIController.cpp     |   4 +
 .../Simulation/Agent/DeepDriveAgent.cpp       |  17 ++
 .../DeepDriveJunctionRightOfWayBTCreator.cpp  |   2 +-
 ...tionTrafficLightRightStraightBTCreator.cpp |   2 +-
 ...riveJunctionTurnGiveWayStrictBTCreator.cpp |   2 +-
 .../DeepDriveJunctionTurnYieldBTCreator.cpp   |   2 +-
 .../DeepDriveTrafficBehaviorTree.cpp          |   7 +-
 .../DeepDriveTrafficBehaviorTree.h            |   9 +-
 .../DeepDriveTBTCheckIsJunctionClearTask.cpp  |   3 +
 .../Tasks/DeepDriveTBTStopAtLocationTask.cpp  |   3 +
 .../Traffic/Path/DeepDrivePartialPath.cpp     |   5 +-
 .../ActorEventLogEndFrameComponent.h          |  38 +++
 .../ActorEventLogging/ActorEventLogManager.h  |  53 ++++
 .../ActorEventLogReplayManager.h              | 127 +++++++++
 .../ActorEventLoggerComponent.h               |  81 ++++++
 .../ActorEventLogging/ActorEventLogging.h     |  27 ++
 .../Public/Simulation/Agent/DeepDriveAgent.h  |   5 +
 43 files changed, 1226 insertions(+), 8 deletions(-)
 create mode 100644 Content/DeepDrive/Blueprints/DeepDriveReplayGameMode.uasset
 create mode 100644 Content/DeepDrive/Blueprints/DeepDriveReplayPawn.uasset
 create mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorListItem_Widget.uasset
 create mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsListTitle_Widget.uasset
 create mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsList_Widget.uasset
 create mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_LogFileSelector_Widget.uasset
 create mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_MainWidget.uasset
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diff --git a/Content/DeepDrive/Simulation/Environment/DeepDriveSimulationLightingManager.uasset b/Content/DeepDrive/Simulation/Environment/DeepDriveSimulationLightingManager.uasset
index 13c0033620830302ab097af6df91f2d209d4dabb..1cd16c781afd6fec32609b42e0314d86a42006a8 100644
GIT binary patch
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diff --git a/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsListTitle_Widget.uasset b/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsListTitle_Widget.uasset
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diff --git a/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/Sublevels/Kevindale/DeepDrive_Kevindale_Replay.umap b/Plugins/DeepDriveCityPlugin/Content/DeepDrive/Maps/Sublevels/Kevindale/DeepDrive_Kevindale_Replay.umap
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index 37f69b6af7bda038a8355f3624806201bff3b008..03a406f1252d973601167d0fb4d4519d7ceb204b 100644
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs
index bcaaaaf9..4fff95a5 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs
@@ -52,7 +52,8 @@ public DeepDrivePlugin(ReadOnlyTargetRules Target) : base(Target)
                 "RenderCore",
                 "RHI",
 	            "PhysXVehicles",
-				"Landscape"
+				"Landscape",
+				"Json"
             }
             );
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEvent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEvent.h
new file mode 100644
index 00000000..c99eb87a
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEvent.h
@@ -0,0 +1,13 @@
+
+#pragma once
+
+#include "EngineMinimal.h"
+
+
+struct ActorEvent
+{
+	uint32						EventType;
+	double						Timestamp;
+
+	TSharedPtr<FJsonObject>		EventData;
+};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogEndFrameComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogEndFrameComponent.cpp
new file mode 100644
index 00000000..3a6b56a4
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogEndFrameComponent.cpp
@@ -0,0 +1,33 @@
+
+
+#include "DeepDrivePluginPrivatePCH.h"
+#include "ActorEventLogEndFrameComponent.h"
+#include "ActorEventLogManager.h"
+
+// Sets default values for this component's properties
+UActorEventLogEndFrameComponent::UActorEventLogEndFrameComponent()
+{
+	// Set this component to be initialized when the game starts, and to be ticked every frame.  You can turn these features
+	// off to improve performance if you don't need them.
+	PrimaryComponentTick.bCanEverTick = true;
+
+	SetTickGroup(TG_PostUpdateWork);
+}
+
+
+// Called when the game starts
+void UActorEventLogEndFrameComponent::BeginPlay()
+{
+	Super::BeginPlay();
+	SetTickGroup(TG_PostUpdateWork);
+}
+
+
+// Called every frame
+void UActorEventLogEndFrameComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
+{
+	Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
+	if (m_ActorEventLogMgr)
+		m_ActorEventLogMgr->OnEndFrame();
+}
+
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogManager.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogManager.cpp
new file mode 100644
index 00000000..4ea7bc82
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogManager.cpp
@@ -0,0 +1,72 @@
+
+
+#include "DeepDrivePluginPrivatePCH.h"
+#include "ActorEventLogManager.h"
+
+#include "ActorEventLoggerComponent.h"
+#include "ActorEventLogEndFrameComponent.h"
+
+
+// Sets default values
+AActorEventLogManager::AActorEventLogManager()
+{
+ 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
+	PrimaryActorTick.bCanEverTick = true;
+
+	SetTickGroup(TG_PrePhysics);
+	m_StartTimestamp = FPlatformTime::Seconds();
+
+	m_EndFrameCmp = CreateDefaultSubobject<UActorEventLogEndFrameComponent>(TEXT("EndFrameCmp"));
+	AddInstanceComponent(m_EndFrameCmp);
+	m_EndFrameCmp->setActorEventLogManager(*this);
+}
+
+// Called when the game starts or when spawned
+void AActorEventLogManager::BeginPlay()
+{
+	Super::BeginPlay();
+	SetTickGroup(TG_PrePhysics);
+	
+}
+
+// Called every frame
+void AActorEventLogManager::Tick(float DeltaTime)
+{
+	Super::Tick(DeltaTime);
+	for(auto &l : m_ActorEventLoggers)
+	{
+		l->BeginFrame(m_FrameCounter, getTimestamp());
+	}
+
+	++m_FrameCounter;
+}
+
+void AActorEventLogManager::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+	Super::EndPlay(EndPlayReason);
+
+	for(auto &l : m_ActorEventLoggers)
+	{
+		l->StopLogging();
+	}
+}
+
+void AActorEventLogManager::RegisterActorEventLogger(UActorEventLoggerComponent& ActorEventLogger)
+{
+	if(m_ActorEventLoggers.Contains(&ActorEventLogger) == false)
+	{
+		m_ActorEventLoggers.Add(&ActorEventLogger);
+
+		ActorEventLogger.StartLogging(FPaths::ProjectLogDir());
+
+		ActorEventLogger.GetOwner()->AddTickPrerequisiteActor(this);
+	}
+}
+
+void AActorEventLogManager::OnEndFrame()
+{
+	for(auto &l : m_ActorEventLoggers)
+	{
+		l->EndFrame(getTimestamp());
+	}
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
new file mode 100644
index 00000000..b7d12c6e
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
@@ -0,0 +1,268 @@
+
+
+#include "DeepDrivePluginPrivatePCH.h"
+#include "ActorEventLogReplayManager.h"
+#include "ReplayActorEventLog.h"
+
+DEFINE_LOG_CATEGORY(LogActorEventReplayManager);
+
+// Sets default values
+AActorEventLogReplayManager::AActorEventLogReplayManager()
+{
+ 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
+	PrimaryActorTick.bCanEverTick = true;
+
+}
+
+// Called when the game starts or when spawned
+void AActorEventLogReplayManager::BeginPlay()
+{
+	Super::BeginPlay();
+	
+}
+
+// Called every frame
+void AActorEventLogReplayManager::Tick(float DeltaTime)
+{
+	Super::Tick(DeltaTime);
+
+	switch(m_curState)
+	{
+		case Idle:
+			for (auto &ael : m_ActorEventLogs)
+				ael.Value->updateOnIdle(DeltaTime);
+			break;
+
+		case Loading:
+			break;
+
+		case Replaying:
+			++m_curFrameIndex;
+			if(m_curFrameIndex < m_FrameCount)
+			{
+				replayCurrentFrame();
+				propagateFrameIndex();
+			}
+			else
+				m_curFrameIndex = m_FrameCount - 1;
+			break;
+	}
+
+}
+
+FActorEventLogData AActorEventLogReplayManager::LoadActorEventLog(FString FileName)
+{
+	FActorEventLogData aelData;
+	
+	bool alreadyLoaded = false;
+	for(auto &a : m_ActorEventLogs)
+	{
+		if(a.Value->getFileName() == FileName)
+		{
+			alreadyLoaded = true;
+			break;
+		}
+	}
+
+	if(alreadyLoaded == false)
+	{
+		const int32 id = m_ActorEventLogs.Num() + 1;
+
+		ReplayActorEventLog *rael = new ReplayActorEventLog(*this, id);
+		if	(	rael
+			&&	rael->load(FileName)
+			)
+		{
+			const FTransform &transform = rael->getInitialTransform();
+			const FString &className = rael->getActorClassName();
+			AActor* actor = className.IsEmpty() ? spawnActor(transform.GetLocation(), transform.GetRotation().Rotator()) : spawnActor(className, transform.GetLocation(), transform.GetRotation().Rotator());
+			if(actor)
+			{
+				rael->setActor(actor);
+				if (DisablePhysics)
+					rael->setPhysicsEnabled(false, false);
+
+				m_ActorEventLogs.Add(id, rael);
+
+				aelData.Id = id;
+				aelData.ActorName = rael->getActorName();
+				aelData.ActorDescription = rael->getActorDescription();
+
+				updateFrameCount();
+				rael->replayFrame(m_curFrameIndex);
+			}
+			else
+				UE_LOG(LogActorEventReplayManager, Log, TEXT("Spawning actor failed") );
+		}
+	}
+	else
+		UE_LOG(LogActorEventReplayManager, Log, TEXT("Actor event logfile %s already loaded"), *(FileName));
+
+	return aelData;
+}
+
+TArray<FString> AActorEventLogReplayManager::GetAvailableActorEventLogs(FString BasePath)
+{
+	TArray<FString> logs;
+
+	IFileManager& fileMgr = IFileManager::Get();
+	FString finalPath = BasePath + "/*.ael";
+	fileMgr.FindFiles(logs, *finalPath, true, false);
+
+	return logs;
+}
+
+void AActorEventLogReplayManager::GoToFrame(int32 FrameIndex)
+{
+	if(m_curState == Idle)
+	{
+		m_curFrameIndex = FrameIndex;
+		if	(	m_curFrameIndex < 0
+			||	m_curFrameIndex >= m_FrameCount
+			)
+			m_curFrameIndex = m_FrameCount - 1;
+		
+		replayCurrentFrame();
+		propagateFrameIndex();
+	}
+}
+
+void AActorEventLogReplayManager::GoToFirstFrame()
+{
+	if (m_curState == Idle)
+	{
+		m_curFrameIndex = 0;
+		replayCurrentFrame();
+		propagateFrameIndex();
+	}
+}
+
+void AActorEventLogReplayManager::GoToLastFrame()
+{
+	if (m_curState == Idle)
+	{
+		m_curFrameIndex = m_FrameCount - 1;
+		replayCurrentFrame();
+		propagateFrameIndex();
+	}
+}
+
+void AActorEventLogReplayManager::NextFrame()
+{
+	if(m_curState == Idle)
+	{
+		++m_curFrameIndex;
+		if(m_curFrameIndex >= m_FrameCount)
+			m_curFrameIndex = m_FrameCount - 1;
+		
+		replayCurrentFrame();
+		propagateFrameIndex();
+	}
+}
+
+void AActorEventLogReplayManager::PreviousFrame()
+{
+	if(m_curState == Idle)
+	{
+		--m_curFrameIndex;
+		if(m_curFrameIndex < 0)
+			m_curFrameIndex = 0;
+		
+		replayCurrentFrame();
+		propagateFrameIndex();
+	}
+}
+
+void AActorEventLogReplayManager::Replay()
+{
+	if(m_ActorEventLogs.Num() > 0)
+		m_curState = Replaying;
+}
+
+void AActorEventLogReplayManager::StopReplay()
+{
+	m_curState = Idle;
+}
+
+void AActorEventLogReplayManager::TogglePause()
+{
+	m_curState = Idle;
+}
+
+void AActorEventLogReplayManager::replayCurrentFrame()
+{
+	if (OnBeginReplayFrame.IsBound())
+	{
+		OnBeginReplayFrame.Broadcast();
+	}
+
+	for (auto &ael : m_ActorEventLogs)
+		ael.Value->replayFrame(m_curFrameIndex);
+}
+
+AActor* AActorEventLogReplayManager::spawnActor(const FString &className, const FVector &location, const FRotator &rotation)
+{
+	AActor *actor = 0;
+	UObject* actorObj = Cast<UObject>(StaticLoadObject(UObject::StaticClass(), NULL, *className));
+
+	if (actorObj)
+	{
+		UBlueprint* bpObj = Cast<UBlueprint>(actorObj);
+		UClass* classToSpawn = actorObj->StaticClass();
+		if (classToSpawn)
+		{
+			UWorld* World = GetWorld();
+			FActorSpawnParameters SpawnParams;
+			SpawnParams.Owner = this;
+			SpawnParams.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
+			actor = World->SpawnActor<AActor>(bpObj->GeneratedClass, location, rotation, SpawnParams);
+		}
+		else
+		{
+			GEngine->AddOnScreenDebugMessage(-1, 1.f, FColor::Red, FString::Printf(TEXT("CLASS == NULL")));
+		}
+	}
+	else
+	{
+		GEngine->AddOnScreenDebugMessage(-1, 1.f, FColor::Red, FString::Printf(TEXT("CANT FIND OBJECT TO SPAWN")));
+	}
+
+	return actor;
+}
+
+AActor* AActorEventLogReplayManager::spawnActor( const FVector &location, const FRotator &rotation)
+{
+	FActorSpawnParameters SpawnParams;
+	SpawnParams.Owner = this;
+	SpawnParams.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
+	return GetWorld()->SpawnActor<AActor>(DummyActor, location, rotation, SpawnParams);
+}
+
+void AActorEventLogReplayManager::updateFrameCount()
+{
+	int32 frameCount = 0;
+	for(auto &ael : m_ActorEventLogs)
+	{
+		const int32 curCount = ael.Value->getFrameCount();
+		if (curCount > frameCount)
+			frameCount = curCount;
+	}
+
+	if(frameCount != m_FrameCount)
+	{
+		m_FrameCount = frameCount;
+		if (OnFrameCountChanged.IsBound())
+		{
+			OnFrameCountChanged.Broadcast(frameCount);
+		}
+
+	}
+}
+
+void AActorEventLogReplayManager::propagateFrameIndex()
+{
+	if (OnFrameIndexChanged.IsBound())
+	{
+		OnFrameIndexChanged.Broadcast(m_curFrameIndex);
+	}
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLoggerComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLoggerComponent.cpp
new file mode 100644
index 00000000..c7f7c0f8
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLoggerComponent.cpp
@@ -0,0 +1,196 @@
+
+
+#include "DeepDrivePluginPrivatePCH.h"
+#include "ActorEventLoggerComponent.h"
+
+#include "ActorEventLogManager.h"
+
+DEFINE_LOG_CATEGORY(LogActorEventLogger);
+
+// Sets default values for this component's properties
+UActorEventLoggerComponent::UActorEventLoggerComponent()
+{
+	// Set this component to be initialized when the game starts, and to be ticked every frame.  You can turn these features
+	// off to improve performance if you don't need them.
+	PrimaryComponentTick.bCanEverTick = true;
+
+	// ...
+}
+
+
+// Called when the game starts
+void UActorEventLoggerComponent::BeginPlay()
+{
+	Super::BeginPlay();
+
+	TArray<AActor*> actors;
+	UGameplayStatics::GetAllActorsOfClass(GetWorld(), AActorEventLogManager::StaticClass(), actors);
+
+	for (auto &actor : actors)
+	{
+		m_ActorEventLogMgr = Cast<AActorEventLogManager>(actor);
+		if (m_ActorEventLogMgr)
+		{
+			m_ActorEventLogMgr->RegisterActorEventLogger(*this);
+			break;
+		}
+	}
+
+}
+
+
+// Called every frame
+void UActorEventLoggerComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
+{
+	Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
+
+	// ...
+}
+
+void UActorEventLoggerComponent::StartLogging(const FString &BasePath)
+{
+	FString relPath("ActorEventLogs");
+	FString path = FPaths::Combine(BasePath, relPath);
+	m_EventLogFileName = FPaths::Combine(path, m_UniqueActorName);
+	m_EventLogFileName += ".ael";
+
+	IPlatformFile& platformFile = FPlatformFileManager::Get().GetPlatformFile();
+	if (platformFile.DirectoryExists(*path) == false)
+	{
+		platformFile.CreateDirectory(*path);
+	}
+
+	m_LogStream.open(*m_EventLogFileName, std::ios::out | std::ios::trunc );
+	if(m_LogStream.is_open())
+	{
+		UE_LOG(LogActorEventLogger, Log, TEXT("Start Event logging to %s for %s"), *(m_EventLogFileName), *(AActor::GetDebugName(GetOwner())));
+
+		FVector pos = GetOwner()->GetActorLocation();
+		FRotator rot = GetOwner()->GetActorRotation();
+		FVector scale = GetOwner()->GetActorScale3D();
+
+		m_LogStream << "{" << std::endl;
+		m_LogStream << "\"Name\": \"" << TCHAR_TO_ANSI(*ActorName) << "\"," << std::endl;
+		m_LogStream << "\"Description\": \"" << TCHAR_TO_ANSI(*ActorDescription) << "\"," << std::endl;
+		if(ActorClassName.IsEmpty() == false)
+			m_LogStream << "\"Class\": \"" << TCHAR_TO_ANSI(*ActorClassName) << "\"," << std::endl;
+		m_LogStream << "\"KeepTransformFixed\": \"" << (KeepTransformFixed ? "true" : "false") << "\"," << std::endl;
+		m_LogStream << "\"InitialTransform\": [" << pos.X << "," << pos.Y << "," << pos.Z << "," << rot.Pitch << "," << rot.Yaw << "," << rot.Roll << "," << scale.X << "," << scale.Y << "," << scale.Z << "],";
+		m_LogStream << "\"Frames\": [" << std::endl;
+
+		m_isFirstFrame = true;
+	}
+	else
+	{
+		UE_LOG(LogActorEventLogger, Log, TEXT("Event logging failed to %s for %s"), *(m_EventLogFileName), *(AActor::GetDebugName(GetOwner())));
+	}
+}
+
+void UActorEventLoggerComponent::StopLogging()
+{
+	if(m_LogStream.is_open())
+	{
+		m_LogStream << std::endl << "]" << std::endl << "}" << std::endl;
+		m_LogStream.close();
+	}
+}
+
+
+void UActorEventLoggerComponent::BeginFrame(uint32 FrameCounter, double Timestamp)
+{
+	/*
+	{
+	"FrameBegin":	123,
+	"Events":	[
+					{
+						"Type":		"Message",
+						"Timestamp": 123,
+						"Data":		"Route calculated"
+					}
+				],
+	"FrameEnd":		125
+	},
+	*/
+
+	if(m_LogStream.is_open())
+	{
+		if(m_isFirstFrame)
+		{
+			m_LogStream << "{";
+			m_isFirstFrame = false;
+		}
+		else
+			m_LogStream << "," << std::endl << "{";
+
+		m_hasSeenBeginFrame = true;
+		m_isFirstEvent = true;
+
+		m_LogStream << "\"FrameBegin\": " << Timestamp << ",";
+		m_LogStream << "\"Events\": [" << std::endl;
+
+	}
+}
+
+
+void UActorEventLoggerComponent::EndFrame(double Timestamp)
+{
+	if	(	m_hasSeenBeginFrame
+		&&	m_LogStream.is_open()
+		)
+	{
+		m_LogStream << "], \"FrameEnd\": " << Timestamp << "}";
+	}
+
+	m_hasSeenBeginFrame = false;
+}
+
+void UActorEventLoggerComponent::LogMessage(const FString &Message)
+{
+	/*
+	{
+	"Type":		"Message",
+	"Timestamp": 124,
+	"Data":	"My nice log message"
+	}
+	*/
+	if	(	m_hasSeenBeginFrame
+		&&	m_LogStream.is_open()
+		)
+	{
+		if (m_isFirstEvent == false)
+			m_LogStream << ",";
+		m_LogStream << "{\"Type\":\"Message\",\"Timestamp\":" << m_ActorEventLogMgr->getTimestamp() <<",";
+		m_LogStream << "\"Data\":\"" << TCHAR_TO_ANSI(*Message) << "\"}";
+
+		m_isFirstEvent = false;
+	}
+}
+
+void UActorEventLoggerComponent::LogActorTransform(const FTransform &Transform)
+{
+	/*
+	{
+	"Type":		"ActorTransform",
+	"Timestamp": 124,
+	"Data":		[0,0,0,0,0,0,1,1,1]
+	}
+	*/
+	if	(	m_hasSeenBeginFrame
+		&&	m_LogStream.is_open()
+		)
+	{
+		FVector pos = Transform.GetLocation();
+		FRotator rot = Transform.GetRotation().Rotator();
+		FVector scale = Transform.GetScale3D();
+		if (m_isFirstEvent == false)
+			m_LogStream << ",";
+		m_LogStream << "{\"Type\":\"ActorTransform\",\"Timestamp\":" << m_ActorEventLogMgr->getTimestamp() <<",";
+		m_LogStream << "\"Data\":[" << pos.X << "," << pos.Y << "," << pos.Z << "," << rot.Pitch << "," << rot.Yaw << "," << rot.Roll << "," << scale.X << "," << scale.Y << "," << scale.Z << "]}";
+
+		m_isFirstEvent = false;
+	}
+}
+
+void UActorEventLoggerComponent::LogEvent(const ActorEvent &Event)
+{
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp
new file mode 100644
index 00000000..04f032d5
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp
@@ -0,0 +1,176 @@
+
+#include "ReplayActorEventLog.h"
+#include "ActorEventLogReplayManager.h"
+
+DEFINE_LOG_CATEGORY(LogReplayActorEventLog);
+
+ReplayActorEventLog::ReplayActorEventLog(AActorEventLogReplayManager &replayMgr, int32 id)
+	:	m_ReplayManager(replayMgr)
+	,	m_Id(id)
+{
+
+}
+
+bool ReplayActorEventLog::load(const FString &fileName)
+{
+	bool res = false;
+
+	FString jsonStr;
+	if(FFileHelper::LoadFileToString(jsonStr, *fileName))
+	{
+		UE_LOG(LogReplayActorEventLog, Log, TEXT("Successfully loaded actor event logfile %s"), *(fileName));
+
+		TSharedRef< TJsonReader<> > reader = TJsonReaderFactory<>::Create( jsonStr );
+		if ( FJsonSerializer::Deserialize(reader, m_JsonObject ) )
+		{
+			UE_LOG(LogReplayActorEventLog, Log, TEXT("Successfully deserialized log file"));
+
+			FString nameStr;
+			
+			if	(	m_JsonObject->TryGetStringField("Name", m_ActorName)
+				&&	m_JsonObject->HasTypedField<EJson::Array>("Frames")
+				)
+			{
+				m_JsonObject->TryGetStringField("Description", m_ActorDescription);
+				m_JsonObject->TryGetStringField("Class", m_ActorClassName);
+				m_JsonObject->TryGetBoolField("KeepTransformFixed", m_KeepTransformFixed);
+				m_curTransform = extractTransform(m_JsonObject, "InitialTransform");
+
+				m_FileName = fileName;
+
+				res = true;
+			}
+
+		}
+		else
+			UE_LOG(LogReplayActorEventLog, Log, TEXT("Failed to deserialized log file"));
+	}
+
+	return res;
+}
+
+void ReplayActorEventLog::updateOnIdle(float deltaSeconds)
+{
+	if(m_KeepTransformFixed)
+	{
+		m_Actor->SetActorTransform(m_curTransform, false, 0, ETeleportType::TeleportPhysics);
+	}
+}
+
+void ReplayActorEventLog::replayFrame(int32 frameIndex)
+{
+	const TArray< TSharedPtr< FJsonValue > > &frames = m_JsonObject->GetArrayField("Frames");
+	if(frameIndex >= frames.Num())
+		frameIndex = frames.Num() - 1;
+
+	if(frameIndex >= 0)
+	{
+		TSharedPtr<FJsonValue> curFrame = frames[frameIndex];
+		const TSharedPtr<FJsonObject> *frameObj = 0;
+		if	(	curFrame->TryGetObject(frameObj)
+			&&	frameObj
+			&&	(*frameObj).IsValid()
+			)
+		{
+			const TArray< TSharedPtr< FJsonValue > > *events = 0;
+			if	(	(*frameObj)->TryGetArrayField("Events", events)
+				&&	events
+				&&	events->Num() > 0
+				)
+			{
+				for(auto &event : (*events))
+				{
+					const TSharedPtr<FJsonObject> *eventObj = 0;
+					if	(	event->TryGetObject(eventObj)
+						&&	eventObj
+						&&	(*eventObj).IsValid()
+						)
+					{
+						handleEvent(*eventObj);
+					}
+				}
+			}
+		}
+	}
+
+}
+
+
+void ReplayActorEventLog::handleEvent(const TSharedPtr<FJsonObject> &event)
+{
+	FString eventType;
+	if(event->TryGetStringField("Type", eventType))
+	{
+		if(eventType == "ActorTransform")
+		{
+			handleActorTransform(event);
+		}
+		else if(eventType == "Message")
+		{
+			handleMessage(event);
+		}
+	}
+}
+
+void ReplayActorEventLog::handleMessage(const TSharedPtr<FJsonObject> &event)
+{
+	FString message;
+	if(event->TryGetStringField("Data", message))
+	{
+		if (m_ReplayManager.OnMessageEvent.IsBound())
+		{
+			m_ReplayManager.OnMessageEvent.Broadcast(m_Id, message);
+		}
+		
+	}
+}
+
+
+void ReplayActorEventLog::handleActorTransform(const TSharedPtr<FJsonObject> &event)
+{
+	m_curTransform = extractTransform(event, "Data");
+	m_Actor->SetActorTransform(m_curTransform, false, 0, ETeleportType::TeleportPhysics);
+}
+
+const FTransform& ReplayActorEventLog::getInitialTransform() const
+{
+	return m_curTransform;
+}
+
+int32 ReplayActorEventLog::getFrameCount() const
+{
+	const TArray< TSharedPtr< FJsonValue > > &frames = m_JsonObject->GetArrayField("Frames");
+	return frames.Num();
+}
+
+void ReplayActorEventLog::setPhysicsEnabled(bool enablePhysics, bool enableGravity)
+{
+	TArray<UActorComponent*> components;
+	m_Actor->GetComponents(components, false);
+	for (auto &c : components)
+	{
+		UPrimitiveComponent *comp = Cast<UPrimitiveComponent>(c);
+		if (comp)
+		{
+			comp->SetSimulatePhysics(enablePhysics);
+			comp->SetEnableGravity(enableGravity);
+		}
+	}
+}
+
+FTransform ReplayActorEventLog::extractTransform(const TSharedPtr<FJsonObject> &jsonObj, const FString &fieldName) const
+{
+	FVector location(0.0f, 0.0f, 0.0f);
+	FRotator rotation(0.0f, 0.0f, 0.0f);
+	FVector scale(1.0f, 1.0f, 1.0f);
+
+	const TArray< TSharedPtr< FJsonValue > > *initialTransform;
+	if (jsonObj->TryGetArrayField(fieldName, initialTransform))
+	{
+		location = FVector((*initialTransform)[0]->AsNumber(), (*initialTransform)[1]->AsNumber(), (*initialTransform)[2]->AsNumber());
+		rotation = FRotator((*initialTransform)[3]->AsNumber(), (*initialTransform)[4]->AsNumber(), (*initialTransform)[5]->AsNumber());
+	}
+
+	return FTransform(rotation, location, scale);
+
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h
new file mode 100644
index 00000000..bd61b318
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h
@@ -0,0 +1,86 @@
+
+#pragma once
+
+#include "EngineMinimal.h"
+
+
+DECLARE_LOG_CATEGORY_EXTERN(LogReplayActorEventLog, Log, All);
+
+class AActorEventLogReplayManager;
+
+class ReplayActorEventLog
+{
+public:
+
+	ReplayActorEventLog(AActorEventLogReplayManager &replayMgr, int32 id);
+
+	void updateOnIdle(float deltaSeconds);
+
+	bool load(const FString &fileName);
+
+	void setActor(AActor *actor);
+	
+	void setPhysicsEnabled(bool enablePhysics, bool enableGravity);
+
+	void replayFrame(int32 frameIndex);
+
+	const FString& getFileName() const;
+	const FString& getActorName() const;
+	const FString& getActorDescription() const;
+	const FString& getActorClassName() const;
+
+	const FTransform& getInitialTransform() const;
+
+	int32 getFrameCount() const;
+
+private:
+
+	void handleEvent(const TSharedPtr<FJsonObject> &event);
+
+	void handleActorTransform(const TSharedPtr<FJsonObject> &event);
+	void handleMessage(const TSharedPtr<FJsonObject> &event);
+
+	FTransform extractTransform(const TSharedPtr<FJsonObject> &jsonObj, const FString &fieldName) const;
+
+	AActorEventLogReplayManager		&m_ReplayManager;
+	int32							m_Id;
+
+	TSharedPtr<FJsonObject>			m_JsonObject;
+
+	FString							m_FileName;
+	FString							m_ActorName;
+	FString							m_ActorDescription;
+	FString							m_ActorClassName;
+
+	AActor							*m_Actor = 0;
+
+	FTransform						m_curTransform;
+	bool 							m_KeepTransformFixed = true;
+
+};
+
+inline void ReplayActorEventLog::setActor(AActor *actor)
+{
+	m_Actor = actor;
+}
+
+inline const FString& ReplayActorEventLog::getFileName() const
+{
+	return m_FileName;
+}
+
+inline const FString& ReplayActorEventLog::getActorName() const
+{
+	return m_ActorName;
+}
+
+inline const FString& ReplayActorEventLog::getActorDescription() const
+{
+	return m_ActorDescription;
+}
+
+inline const FString& ReplayActorEventLog::getActorClassName() const
+{
+	return m_ActorClassName;
+}
+
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index cd68f47a..43ba31b6 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -16,6 +16,8 @@
 
 #include "WheeledVehicleMovementComponent.h"
 
+#include "ActorEventLogging/ActorEventLogging.h"
+
 ADeepDriveAgentTrafficAIController::ADeepDriveAgentTrafficAIController()
 {
 	m_ControllerName = "Traffic AI Controller";
@@ -123,6 +125,8 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 {
 	bool res = false;
 
+	AEL_ENSURE_TICK_ORDER(*this);
+
 	UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork;
 
 	m_showPath = roadNetwork->ShowRoutes;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
index 4058c058..f5103d1d 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
@@ -8,6 +8,8 @@
 #include "Simulation/Agent/DeepDriveAgentControllerBase.h"
 #include "Private/Capture/DeepDriveCapture.h"
 
+#include "ActorEventLoggerComponent.h"
+
 #include "WheeledVehicleMovementComponent.h"
 #include "Runtime/Engine/Classes/Kismet/KismetRenderingLibrary.h"
 
@@ -69,6 +71,18 @@ ADeepDriveAgent::ADeepDriveAgent()
 
 }
 
+void ADeepDriveAgent::PostInitializeComponents()
+{
+	Super::PostInitializeComponents();
+	
+	m_EventLogger = Cast<UActorEventLoggerComponent>(GetComponentByClass(UActorEventLoggerComponent::StaticClass()));
+	if(m_EventLogger)
+	{
+		m_EventLogger->setUniqueActorName(FString::Printf(TEXT("DeepDriveAgent_%d"), m_AgentId));
+	}
+}
+
+
 void ADeepDriveAgent::BeginPlay()
 {
 	Super::BeginPlay();
@@ -117,6 +131,9 @@ void ADeepDriveAgent::Tick( float DeltaSeconds )
 		++m_NumberOfLaps;
 		UE_LOG(LogDeepDriveAgent, Log, TEXT("Laps finished %d"), m_NumberOfLaps );
 	}
+
+	if(m_EventLogger)
+		m_EventLogger->LogActorTransform(GetActorTransform());
 }
 
 int32 ADeepDriveAgent::RegisterCaptureCamera(float fieldOfView, int32 captureWidth, int32 captureHeight, FVector relativePosition, FVector relativeRotation, const FString &label)
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp
index 3bd4c4ca..ba7b0550 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionRightOfWayBTCreator.cpp
@@ -26,7 +26,7 @@ bool DeepDriveJunctionRightOfWayBTCreator::registerCreator()
 
 DeepDriveTrafficBehaviorTree* DeepDriveJunctionRightOfWayBTCreator::createBehaviorTree()
 {
-	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree();
+	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("RightOfWay");
 	if (behaviorTree)
 	{
 		DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp
index 2d869cd2..49789ec2 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTrafficLightRightStraightBTCreator.cpp
@@ -27,7 +27,7 @@ bool DeepDriveJunctionTrafficLightRightStraightBTCreator::registerCreator()
 
 DeepDriveTrafficBehaviorTree* DeepDriveJunctionTrafficLightRightStraightBTCreator::createBehaviorTree()
 {
-	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree();
+	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("TL_StraightOrRight");
 	if (behaviorTree)
 	{
 		DeepDriveTrafficBehaviorTreeNode *greenNode = behaviorTree->createNode(0);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp
index 37fb9715..46af4fc3 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnGiveWayStrictBTCreator.cpp
@@ -27,7 +27,7 @@ bool DeepDriveJunctionTurnGiveWayStrictBTCreator::registerCreator()
 
 DeepDriveTrafficBehaviorTree* DeepDriveJunctionTurnGiveWayStrictBTCreator::createBehaviorTree()
 {
-	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree();
+	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("GiveWayStrict");
 	if (behaviorTree)
 	{
 		DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
index 9759cf5e..eebd3a10 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
@@ -26,7 +26,7 @@ bool DeepDriveJunctionTurnYieldBTCreator::registerCreator()
 
 DeepDriveTrafficBehaviorTree* DeepDriveJunctionTurnYieldBTCreator::createBehaviorTree()
 {
-	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree();
+	DeepDriveTrafficBehaviorTree *behaviorTree = new DeepDriveTrafficBehaviorTree("Yield");
 	if (behaviorTree)
 	{
 		DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
index cc2dc76a..835fe844 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
@@ -3,6 +3,9 @@
 #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTreeNode.h"
 #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h"
 
+#include "Agent/DeepDriveAgent.h"
+#include "ActorEventLogging/ActorEventLogging.h"
+
 DEFINE_LOG_CATEGORY(LogDeepDriveTrafficBehaviorTree);
 
 DeepDriveTrafficBehaviorTree::DeepDriveTrafficBehaviorTree(const FString &name)
@@ -40,7 +43,9 @@ void DeepDriveTrafficBehaviorTree::execute(float deltaSeconds, float &speed, int
 	if(m_isDebuggingActive)
 		UE_LOG(LogDeepDriveTrafficBehaviorTree, Log, TEXT("DeepDriveTrafficBehaviorTree::execute %s started at index %d"), *m_Name, pathPointIndex);
 
-	if(m_RootNode)
+	AEL_MESSAGE((*m_Blackboard->getAgent()), TEXT("DeepDriveTrafficBehaviorTree::execute %s at index %d"), *m_Name, pathPointIndex);
+
+	if (m_RootNode)
 	{
 		m_RootNode->execute(deltaSeconds, speed, pathPointIndex);
 	}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h
index 88fb9aa9..e16d1f79 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.h
@@ -33,7 +33,9 @@ class DeepDriveTrafficBehaviorTree
 
 	void activateDebugging();
 
-private :
+	const FString& getName() const;
+
+private:
 
 	FString										m_Name;
 
@@ -57,3 +59,8 @@ inline DeepDriveTrafficBlackboard &DeepDriveTrafficBehaviorTree::getBlackboard()
 {
 	return *m_Blackboard;
 }
+
+inline const FString& DeepDriveTrafficBehaviorTree::getName() const
+{
+	return m_Name;
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
index 103a867b..8213ecc5 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
@@ -7,6 +7,8 @@
 #include "Simulation/Agent/DeepDriveAgent.h"
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
+#include "ActorEventLogging/ActorEventLogging.h"
+
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTCheckIsJunctionClearTask);
 
 DeepDriveTBTCheckIsJunctionClearTask::DeepDriveTBTCheckIsJunctionClearTask(const FString &refLocationName, float distance, bool ignoreTrafficLights)
@@ -53,6 +55,7 @@ bool DeepDriveTBTCheckIsJunctionClearTask::execute(DeepDriveTrafficBlackboard &b
 			blackboard.setBooleanValue(m_FlagName, isJunctionClear);
 
 		// UE_LOG(LogDeepDriveTBTCheckIsJunctionClearTask, Log, TEXT("LogDeepDriveTBTCheckIsJunctionClearTask::execute [%d] %d %c"), blackboard.getAgent()->GetAgentId(), pathPointIndex, isJunctionClear ? 'T' : 'F');
+		AEL_MESSAGE((*(blackboard.getAgent())), TEXT("CheckIsJunctionClearTask::execute %d %c"), pathPointIndex, isJunctionClear ? 'T' : 'F');
 	}
 
 	return true;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
index c65a8613..a01a5e63 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
@@ -5,6 +5,8 @@
 
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
+#include "ActorEventLogging/ActorEventLogging.h"
+
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTStopAtLocationTask);
 
 DeepDriveTBTStopAtLocationTask::DeepDriveTBTStopAtLocationTask(const FString &stopLocationName, float exponent, float stopBeginDistance, float slowDownBeginDistance)
@@ -50,6 +52,7 @@ bool DeepDriveTBTStopAtLocationTask::execute(DeepDriveTrafficBlackboard &blackbo
 			hasStopped = pathPointIndex >= m_StopBeginIndex && agent->getSpeedKmh() < 1.0f;
 
 			// UE_LOG(LogDeepDriveTBTStopAtLocationTask, Log, TEXT("DeepDriveTBTStopAtLocationTask[%p] %d spd %f spdFac %f curT %f agntSpd %f -> %c"), this, pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), m_hasStopped ? 'T' : 'F');
+			AEL_MESSAGE((*agent), TEXT("StopAtLocationTask %d spd %f spdFac %f curT %f agntSpd %f -> %c"), pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), hasStopped ? 'T' : 'F');
 		}
 	}
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
index 7623298e..6d0703a4 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
@@ -12,6 +12,8 @@
 
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 
+#include "ActorEventLogging/ActorEventLogging.h"
+
 DEFINE_LOG_CATEGORY(LogDeepDrivePartialPath);
 
 DeepDrivePartialPath::DeepDrivePartialPath(ADeepDriveAgent &agent, const SDeepDriveRoadNetwork &roadNetwork, UBezierCurveComponent &bezierCmp, const SDeepDrivePathConfiguration &pathCfg)
@@ -142,6 +144,7 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 		{
 			curManeuver = &m;
 			// UE_LOG(LogDeepDrivePartialPath, Log, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
+			AEL_MESSAGE(m_Agent, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
 			break;
 		}
 	}
@@ -184,8 +187,8 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 			)
 		{
 			m_hasReachedDestination = curManeuver->BehaviorTree->getBlackboard().getBooleanValue("DestinationReached", false);
+			AEL_MESSAGE(m_Agent, TEXT("Destination reached at %d"), m_curPathPointIndex);
 		}
-
 	}
 
 	// UE_LOG(LogDeepDrivePartialPath, Log, TEXT("%5d) dist2ctr %f steering %f corr %f totE %f"), m_curPathPointIndex, dist2Ctr, steering, steeringCorrection, m_totalTrackError);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogEndFrameComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogEndFrameComponent.h
new file mode 100644
index 00000000..c0824970
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogEndFrameComponent.h
@@ -0,0 +1,38 @@
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Components/ActorComponent.h"
+#include "ActorEventLogEndFrameComponent.generated.h"
+
+class AActorEventLogManager;
+
+UCLASS( ClassGroup=(Custom) )
+class DEEPDRIVEPLUGIN_API UActorEventLogEndFrameComponent : public UActorComponent
+{
+	GENERATED_BODY()
+
+public:	
+	// Sets default values for this component's properties
+	UActorEventLogEndFrameComponent();
+
+protected:
+	// Called when the game starts
+	virtual void BeginPlay() override;
+
+public:	
+	// Called every frame
+	virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
+
+	void setActorEventLogManager(AActorEventLogManager &mgr);
+
+private:
+
+	AActorEventLogManager			*m_ActorEventLogMgr = 0;
+};
+
+
+inline void UActorEventLogEndFrameComponent::setActorEventLogManager(AActorEventLogManager &mgr)
+{
+	m_ActorEventLogMgr = &mgr;
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogManager.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogManager.h
new file mode 100644
index 00000000..d034b903
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogManager.h
@@ -0,0 +1,53 @@
+
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "GameFramework/Actor.h"
+#include "ActorEventLogManager.generated.h"
+
+class UActorEventLoggerComponent;
+class UActorEventLogEndFrameComponent;
+
+UCLASS()
+class DEEPDRIVEPLUGIN_API AActorEventLogManager : public AActor
+{
+	GENERATED_BODY()
+	
+public:	
+	// Sets default values for this actor's properties
+	AActorEventLogManager();
+
+protected:
+	// Called when the game starts or when spawned
+	virtual void BeginPlay() override;
+
+	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+
+public:	
+	// Called every frame
+	virtual void Tick(float DeltaTime) override;
+
+	void RegisterActorEventLogger(UActorEventLoggerComponent& ActorEventLogger);
+
+	void OnEndFrame();
+
+	double getTimestamp() const;
+
+private:
+
+	UPROPERTY()
+	UActorEventLogEndFrameComponent				*m_EndFrameCmp = 0;
+
+	TArray<UActorEventLoggerComponent*>			m_ActorEventLoggers;
+
+	uint32										m_FrameCounter = 0;
+	double										m_StartTimestamp = 0.0;
+
+};
+
+
+inline double AActorEventLogManager::getTimestamp() const
+{
+	return FPlatformTime::Seconds() - m_StartTimestamp;
+}
\ No newline at end of file
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
new file mode 100644
index 00000000..621c3be5
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
@@ -0,0 +1,127 @@
+
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "GameFramework/Actor.h"
+#include "ActorEventLogReplayManager.generated.h"
+
+DECLARE_LOG_CATEGORY_EXTERN(LogActorEventReplayManager, Log, All);
+
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameCountChanged, int32, FrameCount);
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameIndexChanged, int32, FrameIndex);
+
+DECLARE_DYNAMIC_MULTICAST_DELEGATE(FBeginReplayFrame);
+
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FMessageEvent, int32, Id, FString, Message);
+
+USTRUCT(BlueprintType)
+struct FActorEventLogData
+{
+	GENERATED_USTRUCT_BODY()
+
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	int32		Id = -1;
+
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	FString		ActorName;
+
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	FString		ActorDescription;
+
+};
+
+class ReplayActorEventLog;
+
+UCLASS()
+class DEEPDRIVEPLUGIN_API AActorEventLogReplayManager : public AActor
+{
+	GENERATED_BODY()
+
+public:	
+	// Sets default values for this actor's properties
+	AActorEventLogReplayManager();
+
+protected:
+	// Called when the game starts or when spawned
+	virtual void BeginPlay() override;
+
+public:	
+	// Called every frame
+	virtual void Tick(float DeltaTime) override;
+
+	UFUNCTION(BlueprintCallable, Category = "FileHandling")
+	FActorEventLogData LoadActorEventLog(FString FileName);
+
+	UFUNCTION(BlueprintCallable, Category = "FileHandling")
+	TArray<FString> GetAvailableActorEventLogs(FString BasePath);
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void GoToFrame(int32 FrameIndex);
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void GoToFirstFrame();
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void GoToLastFrame();
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void NextFrame();
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void PreviousFrame();
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void Replay();
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void StopReplay();
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void TogglePause();
+
+	UPROPERTY(BlueprintReadOnly, Category = Configuration)
+	TSubclassOf<AActor>	DummyActor = 0;
+
+	UPROPERTY(BlueprintReadOnly, Category = Configuration)
+	bool DisablePhysics = true;
+
+	UPROPERTY(BlueprintAssignable)
+	FFrameCountChanged OnFrameCountChanged;
+
+	UPROPERTY(BlueprintAssignable)
+	FFrameIndexChanged OnFrameIndexChanged;
+
+	UPROPERTY(BlueprintAssignable)
+	FBeginReplayFrame OnBeginReplayFrame;
+
+	UPROPERTY(BlueprintAssignable)
+	FMessageEvent OnMessageEvent;
+
+private:
+	enum State
+	{
+		Idle,
+		Loading,
+		Replaying
+	};
+
+	void replayCurrentFrame();
+
+	void updateFrameCount();
+
+	void propagateFrameIndex();
+
+	AActor* spawnActor(const FString &className, const FVector &location, const FRotator &rotation);
+	AActor* spawnActor( const FVector &location, const FRotator &rotation);
+
+	TMap<int32, ReplayActorEventLog*>			m_ActorEventLogs;
+
+	State										m_curState = Idle;
+
+	int32										m_FrameCount;
+	int32										m_curFrameIndex;
+
+};
+
+
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLoggerComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLoggerComponent.h
new file mode 100644
index 00000000..1531f6a7
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLoggerComponent.h
@@ -0,0 +1,81 @@
+
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Components/ActorComponent.h"
+
+#include <fstream>
+
+#include "ActorEventLoggerComponent.generated.h"
+
+
+DECLARE_LOG_CATEGORY_EXTERN(LogActorEventLogger, Log, All);
+
+struct ActorEvent;
+class AActorEventLogManager;
+
+UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
+class DEEPDRIVEPLUGIN_API UActorEventLoggerComponent : public UActorComponent
+{
+	GENERATED_BODY()
+
+public:	
+	// Sets default values for this component's properties
+	UActorEventLoggerComponent();
+
+protected:
+	// Called when the game starts
+	virtual void BeginPlay() override;
+
+public:	
+	// Called every frame
+	virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
+
+	void StartLogging(const FString &BasePath);
+
+	void StopLogging();
+
+	void BeginFrame(uint32 FrameCounter, double Timestamp);
+
+	void EndFrame(double Timestamp);
+
+	void LogMessage(const FString &Message);
+
+	void LogActorTransform(const FTransform &Transform);
+
+	void LogEvent(const ActorEvent &Event);
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	FString		ActorName = "";
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	FString		ActorDescription = "";
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	FString		ActorClassName = "";
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	bool 	KeepTransformFixed = false;
+
+	void setUniqueActorName(const FString &name);
+
+private:
+
+	AActorEventLogManager			*m_ActorEventLogMgr = 0;
+
+	FString							m_EventLogFileName;
+	FString							m_UniqueActorName;
+
+	std::ofstream					m_LogStream;
+
+	bool							m_isFirstFrame = true;
+	bool							m_isFirstEvent = true;
+	bool							m_hasSeenBeginFrame = false;
+};
+
+
+inline void UActorEventLoggerComponent::setUniqueActorName(const FString &name)
+{
+	m_UniqueActorName = name;
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h
new file mode 100644
index 00000000..b3209caa
--- /dev/null
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h
@@ -0,0 +1,27 @@
+
+#pragma once
+
+#include "ActorEventLogging/ActorEventLoggerComponent.h"
+#include "ActorEventLogging/ActorEventLogManager.h"
+
+#define AEL_MESSAGE(ActorRef, Format, ...) \
+{ \
+	UActorEventLoggerComponent *eventLogCmp = Cast<UActorEventLoggerComponent>(ActorRef.GetComponentByClass(UActorEventLoggerComponent::StaticClass())); \
+	if(eventLogCmp) \
+		eventLogCmp->LogMessage(FString::Printf(Format, ##__VA_ARGS__)); \
+}
+
+#define AEL_ENSURE_TICK_ORDER(ActorRef) \
+{ \
+   	TArray<AActor*> actors; \
+	UGameplayStatics::GetAllActorsOfClass(GetWorld(), AActorEventLogManager::StaticClass(), actors); \
+	for (auto &actor : actors) \
+	{ \
+		AActorEventLogManager *mgr = Cast<AActorEventLogManager>(actor); \
+		if (mgr) \
+		{ \
+			(ActorRef).AddTickPrerequisiteActor(mgr); \
+            break; \
+		} \
+	} \
+}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
index 2081856d..92f1cdc5 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
@@ -14,6 +14,7 @@ struct DeepDriveDataOut;
 class UCaptureCameraComponent;
 class ADeepDriveAgentControllerBase;
 class ADeepDriveSimulation;
+class UActorEventLoggerComponent;
 
 DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FTurnSignalStateChanged, EDeepDriveAgentTurnSignalState, NewState);
 
@@ -31,6 +32,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle
 
 	void initialize(ADeepDriveSimulation &sim);
 
+	virtual void PostInitializeComponents() override;
+
 	virtual void BeginPlay() override;
 
 	virtual void Tick( float DeltaSeconds ) override;
@@ -265,6 +268,8 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle
 	int32								m_NumberOfLaps = 0;
 
 	static int32						s_nextAgentId;
+
+	UActorEventLoggerComponent			*m_EventLogger = 0;
 };
 
 inline void ADeepDriveAgent::initialize(ADeepDriveSimulation &sim)

From ada1d58883af6c2211d9b7096d02406c312e4222 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 22 Apr 2020 20:00:26 +0200
Subject: [PATCH 33/43] - replay rate added - selection of loaded actors added
 - focus on actor added - Kevindale: setup improved, added Waiting locations

---
 .../AEL_ActorListItem_Widget.uasset           | Bin 75585 -> 89720 bytes
 .../AEL_ActorsList_Widget.uasset              | Bin 174510 -> 298937 bytes
 .../ActorEventLogging/AEL_MainWidget.uasset   | Bin 57825 -> 55961 bytes
 .../AEL_ReplayCtrlWidget.uasset               | Bin 89109 -> 0 bytes
 .../AEL_ReplayCtrl_Widget.uasset              | Bin 172641 -> 376645 bytes
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25920 -> 25920 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 672031 -> 671977 bytes
 .../ActorEventLogReplayManager.cpp            |  65 +++++++++++++++---
 .../DeepDriveRoadNetworkExtractor.cpp         |   8 ++-
 .../ActorEventLogReplayManager.h              |  27 +++++++-
 10 files changed, 87 insertions(+), 13 deletions(-)
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ReplayCtrlWidget.uasset

diff --git a/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorListItem_Widget.uasset b/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorListItem_Widget.uasset
index 9da89a3ef635bd4232abf3a30cd6f0cd1362c764..fc8b9587f3c85cdd42e03e29a1592f328236d6a5 100644
GIT binary patch
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index 03a406f1252d973601167d0fb4d4519d7ceb204b..c3da93a403be57a308e158824364c109d4461315 100644
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
index b7d12c6e..e7729d27 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
@@ -36,15 +36,25 @@ void AActorEventLogReplayManager::Tick(float DeltaTime)
 		case Loading:
 			break;
 
-		case Replaying:
-			++m_curFrameIndex;
-			if(m_curFrameIndex < m_FrameCount)
+		case ForwardReplay:
 			{
-				replayCurrentFrame();
-				propagateFrameIndex();
+				m_curFrame += m_ReplayRate;
+				const int32 frameIdx = FMath::FloorToInt(m_curFrame);
+				if(frameIdx >= m_FrameCount)
+				{
+					m_curFrameIndex = m_FrameCount - 1;
+					m_curFrame = m_curFrameIndex;
+					m_curState = Idle;
+					if(OnReplayStateChanged.IsBound())
+						OnReplayStateChanged.Broadcast(false);
+				}
+				if(frameIdx != m_curFrameIndex)
+				{
+					m_curFrameIndex = frameIdx;
+					replayCurrentFrame();
+					propagateFrameIndex();
+				}
 			}
-			else
-				m_curFrameIndex = m_FrameCount - 1;
 			break;
 	}
 
@@ -87,6 +97,7 @@ FActorEventLogData AActorEventLogReplayManager::LoadActorEventLog(FString FileNa
 				aelData.Id = id;
 				aelData.ActorName = rael->getActorName();
 				aelData.ActorDescription = rael->getActorDescription();
+				aelData.Actor = actor;
 
 				updateFrameCount();
 				rael->replayFrame(m_curFrameIndex);
@@ -122,6 +133,8 @@ void AActorEventLogReplayManager::GoToFrame(int32 FrameIndex)
 			)
 			m_curFrameIndex = m_FrameCount - 1;
 		
+		m_curFrame = m_curFrameIndex;
+		
 		replayCurrentFrame();
 		propagateFrameIndex();
 	}
@@ -132,6 +145,7 @@ void AActorEventLogReplayManager::GoToFirstFrame()
 	if (m_curState == Idle)
 	{
 		m_curFrameIndex = 0;
+		m_curFrame = 0.0f;
 		replayCurrentFrame();
 		propagateFrameIndex();
 	}
@@ -142,6 +156,7 @@ void AActorEventLogReplayManager::GoToLastFrame()
 	if (m_curState == Idle)
 	{
 		m_curFrameIndex = m_FrameCount - 1;
+		m_curFrame = m_curFrameIndex;
 		replayCurrentFrame();
 		propagateFrameIndex();
 	}
@@ -154,6 +169,7 @@ void AActorEventLogReplayManager::NextFrame()
 		++m_curFrameIndex;
 		if(m_curFrameIndex >= m_FrameCount)
 			m_curFrameIndex = m_FrameCount - 1;
+		m_curFrame = m_curFrameIndex;
 		
 		replayCurrentFrame();
 		propagateFrameIndex();
@@ -167,6 +183,7 @@ void AActorEventLogReplayManager::PreviousFrame()
 		--m_curFrameIndex;
 		if(m_curFrameIndex < 0)
 			m_curFrameIndex = 0;
+		m_curFrame = m_curFrameIndex;
 		
 		replayCurrentFrame();
 		propagateFrameIndex();
@@ -174,14 +191,44 @@ void AActorEventLogReplayManager::PreviousFrame()
 }
 
 void AActorEventLogReplayManager::Replay()
+{
+}
+
+void AActorEventLogReplayManager::SetReplayRate(float Rate)
+{
+	m_ReplayRate = Rate;
+}
+
+void AActorEventLogReplayManager::ReplayForward()
+{
+	if(m_ActorEventLogs.Num() > 0)
+	{
+		if(m_curState != ForwardReplay)
+		{
+			m_curState = ForwardReplay;
+
+			if(OnReplayStateChanged.IsBound())
+				OnReplayStateChanged.Broadcast(true);
+		}
+	}
+}
+
+void AActorEventLogReplayManager::ReplayBackward()
 {
 	if(m_ActorEventLogs.Num() > 0)
-		m_curState = Replaying;
+		m_curState = BackwardReplay;
 }
 
 void AActorEventLogReplayManager::StopReplay()
 {
-	m_curState = Idle;
+	if	(	m_curState == ForwardReplay
+		||	m_curState == BackwardReplay
+		)
+	{
+		if(OnReplayStateChanged.IsBound())
+			OnReplayStateChanged.Broadcast(false);
+		m_curState = Idle;
+	}
 }
 
 void AActorEventLogReplayManager::TogglePause()
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp
index 5352174e..27f75dd2 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/RoadNetwork/DeepDriveRoadNetworkExtractor.cpp
@@ -151,7 +151,13 @@ void DeepDriveRoadNetworkExtractor::extract()
 							SDeepDriveTurnDefinition turnDefinition;
 							turnDefinition.ToLinkId = m_LinkCache[toName];
 							turnDefinition.ManeuverType = turnDefinitionProxy.ManeuverType;
-							turnDefinition.WaitingLocation = turnDefinitionProxy.WaitingLocation;
+							if(turnDefinitionProxy.WaitingLocation.IsZero())
+							{
+								UE_LOG(LogDeepDriveRoadNetworkExtractor, Log, TEXT("Link %s turning to %s has no WaitingLocation, using end of link instead"), *(m_RoadNetwork.getDebugLinkName(linkId)), *toName );
+								turnDefinition.WaitingLocation = m_RoadNetwork.Links[linkId].EndPoint;
+							}
+							else
+								turnDefinition.WaitingLocation = turnDefinitionProxy.WaitingLocation;
 							turnDefinition.TrafficLight = turnDefinitionProxy.TrafficLight ? turnDefinitionProxy.TrafficLight : entryProxy.TrafficLight;
 
 							entry.TurnDefinitions.Add(turnDefinition);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
index 621c3be5..cb0ab0bf 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
@@ -10,6 +10,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogActorEventReplayManager, Log, All);
 
 DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameCountChanged, int32, FrameCount);
 DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameIndexChanged, int32, FrameIndex);
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FReplayStateChanged, bool, IsPlaying);
 
 DECLARE_DYNAMIC_MULTICAST_DELEGATE(FBeginReplayFrame);
 
@@ -29,6 +30,9 @@ struct FActorEventLogData
 	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
 	FString		ActorDescription;
 
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	AActor		*Actor = 0;;
+
 };
 
 class ReplayActorEventLog;
@@ -74,6 +78,15 @@ class DEEPDRIVEPLUGIN_API AActorEventLogReplayManager : public AActor
 	UFUNCTION(BlueprintCallable, Category = "Control")
 	void Replay();
 
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void SetReplayRate(float Rate);
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void ReplayForward();
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void ReplayBackward();
+
 	UFUNCTION(BlueprintCallable, Category = "Control")
 	void StopReplay();
 
@@ -95,15 +108,20 @@ class DEEPDRIVEPLUGIN_API AActorEventLogReplayManager : public AActor
 	UPROPERTY(BlueprintAssignable)
 	FBeginReplayFrame OnBeginReplayFrame;
 
+	UPROPERTY(BlueprintAssignable)
+	FReplayStateChanged	OnReplayStateChanged;
+
 	UPROPERTY(BlueprintAssignable)
 	FMessageEvent OnMessageEvent;
 
 private:
+
 	enum State
 	{
 		Idle,
 		Loading,
-		Replaying
+		ForwardReplay,
+		BackwardReplay
 	};
 
 	void replayCurrentFrame();
@@ -119,8 +137,11 @@ class DEEPDRIVEPLUGIN_API AActorEventLogReplayManager : public AActor
 
 	State										m_curState = Idle;
 
-	int32										m_FrameCount;
-	int32										m_curFrameIndex;
+	int32										m_FrameCount = 0;
+	float										m_curFrame = 0.0f;
+	int32										m_curFrameIndex = 0;
+
+	float										m_ReplayRate = 1.0f;
 
 };
 

From 04b2d1ef77787460448fa15a2699a98282b98c0b Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 22 Apr 2020 23:15:45 +0200
Subject: [PATCH 34/43] - place player pawn behind actor on focus

---
 .../AEL_ActorsList_Widget.uasset              | Bin 298937 -> 322725 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsList_Widget.uasset b/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsList_Widget.uasset
index 44a18dccb6e9325b6006254569996f7ff9180f85..6c78fd44d9d1afa90e1ca7b1a0971020cfaf472f 100644
GIT binary patch
literal 322725
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zhY~sj0--}fO=tlENk~FT1=1l9Ac6mV`}S$}?)Gj^(j6u7*`wQ?_GaF^KC^odow&<4
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From a4a1db9e600a71d28cf78e38ae1a28ac100bd26c Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Thu, 23 Apr 2020 20:00:58 +0200
Subject: [PATCH 35/43] - decreased ToLength for cross road extraction -
 decrease start location distance for junction clearance check from 1500 to 0
 on Yield-BT

---
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25920 -> 25920 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 671977 -> 669467 bytes
 .../DeepDriveJunctionTurnYieldBTCreator.cpp   |   2 +-
 .../DeepDriveFourWayJunctionCalculator.cpp    |   3 ++-
 .../Traffic/Path/DeepDriveBasePath.cpp        |   2 +-
 5 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index c3da93a403be57a308e158824364c109d4461315..fbb08d3f369d7fcd59d87e4697a6716181c6924a 100644
GIT binary patch
delta 165
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
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GIT binary patch
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
index eebd3a10..29480256 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
@@ -34,7 +34,7 @@ DeepDriveTrafficBehaviorTree* DeepDriveJunctionTurnYieldBTCreator::createBehavio
 
 		behaviorTree->getRootNode()->addDecorator( new DeepDriveTBTCheckFlagDecorator("IsJunctionClear", false, false) );
 
-		TSharedPtr<DeepDriveTBTTaskBase> checkJunctionTask(new DeepDriveTBTCheckIsJunctionClearTask("StopLineLocation", 1500.0f, true, "IsJunctionClear"));
+		TSharedPtr<DeepDriveTBTTaskBase> checkJunctionTask(new DeepDriveTBTCheckIsJunctionClearTask("StopLineLocation", 0.0f, true, "IsJunctionClear"));
 
 		stopAtNode->addTask(checkJunctionTask);
 		stopAtNode->addTask(new DeepDriveTBTStopAtLocationTask("StopLineLocation", 0.6f));
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp
index f88311c8..f0458a9b 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Maneuver/DeepDriveFourWayJunctionCalculator.cpp
@@ -103,7 +103,8 @@ void DeepDriveFourWayJunctionCalculator::extractCrossRoadTraffic(uint32 curEntry
 				{
 					if ((mask & (1 << static_cast<uint32>(turnDef.ManeuverType))) != 0)
 					{
-						maneuver.CrossTrafficRoads.Add(SDeepDriveCrossTrafficRoad(turnDef.ManeuverType, entry.getTrafficLight(turnDef.ToLinkId), curEntryLinkId, turnDef.ToLinkId, 2500.0f, 1000.0f));
+						// ToDo: have some heuristic for from and to length based on road type, that is speed
+						maneuver.CrossTrafficRoads.Add(SDeepDriveCrossTrafficRoad(turnDef.ManeuverType, entry.getTrafficLight(turnDef.ToLinkId), curEntryLinkId, turnDef.ToLinkId, 2500.0f, 10.0f));
 					}
 				}
 			}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp
index fc6658e5..c0a5a203 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDriveBasePath.cpp
@@ -126,7 +126,7 @@ void DeepDriveBasePath::extractCrossTrafficRoads(SDeepDriveManeuver &maneuver, c
 
 	for(auto &crossTrafficRoad : maneuver.CrossTrafficRoads)
 	{
-		UE_LOG(LogDeepDriveBasePath, Log, TEXT("Extracting cross traffic roads for junction %d from link %d to link %d"), junction.JunctionId, crossTrafficRoad.FromLinkId, crossTrafficRoad.ToLinkId);
+		UE_LOG(LogDeepDriveBasePath, Log, TEXT("Extracting cross traffic roads for junction %d from link %s to link %s"), junction.JunctionId, *(m_RoadNetwork.getDebugLinkName(crossTrafficRoad.FromLinkId)), *(m_RoadNetwork.getDebugLinkName(crossTrafficRoad.ToLinkId)) );
 	
 		crossTrafficRoad.Paths.Add(TDeepDrivePathPoints());
 

From 63db2acdf827d74a9b750043ea818761b84754d9 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Fri, 24 Apr 2020 21:03:39 +0200
Subject: [PATCH 36/43] - more actor event logging - another critical scenario
 (possible deadlock) added - Yield BT simplified

---
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25920 -> 25920 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 669467 -> 670370 bytes
 .../DeepDriveAgentTrafficAIController.cpp     |   4 ++++
 .../Simulation/Agent/DeepDriveAgent.cpp       |   6 +++++-
 .../Agent/DeepDriveAgentControllerBase.cpp    |   1 +
 .../DeepDriveJunctionTurnYieldBTCreator.cpp   |   6 +++---
 .../ActorEventLogging/ActorEventLogging.h     |   2 +-
 7 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index fbb08d3f369d7fcd59d87e4697a6716181c6924a..b8b323f89733280b9ec289a537ff05231c6c60fc 100644
GIT binary patch
delta 185
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
index 18789bbbf7656096b45dfe0cd9165bf190b7248d..bb5591410af3334ecd929b469064eedc97cb5d33 100644
GIT binary patch
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 43ba31b6..0fc6a0d3 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -38,7 +38,11 @@ bool ADeepDriveAgentTrafficAIController::updateAgentOnPath( float DeltaSeconds )
 	const float safetyDistance = calculateSafetyDistance();
 	float dist2Obstacle = checkForObstacle(safetyDistance);
 	if(dist2Obstacle >= 0.0f)
+	{
+		const float speedBefore = speed;
 		speed *= FMath::SmoothStep(300.0f, FMath::Max(500.0f, safetyDistance * 0.8f), dist2Obstacle);
+		AEL_MESSAGE(*m_Agent, TEXT("Distance to obstacle %f speed of %f reduced to %f"), dist2Obstacle, speedBefore, speed );
+	}
 
 	brake = speed > 0.0f ? 0.0f : 1.0f;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
index f5103d1d..717dbf12 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
@@ -8,7 +8,7 @@
 #include "Simulation/Agent/DeepDriveAgentControllerBase.h"
 #include "Private/Capture/DeepDriveCapture.h"
 
-#include "ActorEventLoggerComponent.h"
+#include "ActorEventLogging/ActorEventLogging.h"
 
 #include "WheeledVehicleMovementComponent.h"
 #include "Runtime/Engine/Classes/Kismet/KismetRenderingLibrary.h"
@@ -489,6 +489,10 @@ void ADeepDriveAgent::OnBeginOverlap(UPrimitiveComponent *OverlappedComponent, A
 		{
 			// UE_LOG(LogDeepDriveAgent, Log, TEXT("OnBeginOverlap %s with %s"), *(OverlappedComponent->GetName()), *(OtherActor->GetName()) );
 
+			ADeepDriveAgent *otherAgent = Cast<ADeepDriveAgent>(OtherActor);
+
+			AEL_MESSAGE(*this, TEXT("Collision of %s with %s other agent %d"), *(OverlappedComponent->GetReadableName()), *(OtherComp->GetReadableName()), otherAgent ? otherAgent->GetAgentId() : -1 );
+
 			ADeepDriveAgentControllerBase *ctrl = getAgentController();
 			if (ctrl)
 			{
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
index f4a25231..e95e31de 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgentControllerBase.cpp
@@ -144,6 +144,7 @@ void ADeepDriveAgentControllerBase::OnAgentCollision(AActor *OtherActor, const F
 
 		ADeepDriveAgent *otherAgent = Cast<ADeepDriveAgent>(OtherActor);
 		UE_LOG(LogDeepDriveAgentControllerBase, Log, TEXT("ADeepDriveAgentControllerBase::OnAgentCollision %d) with other agent %d at %ld"), m_Agent->GetAgentId(), otherAgent ? otherAgent->GetAgentId() : -1, now.ToUnixTimestamp());
+
 	}
 	else
 	{
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
index 29480256..30775619 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Creators/DeepDriveJunctionTurnYieldBTCreator.cpp
@@ -30,7 +30,7 @@ DeepDriveTrafficBehaviorTree* DeepDriveJunctionTurnYieldBTCreator::createBehavio
 	if (behaviorTree)
 	{
 		DeepDriveTrafficBehaviorTreeNode *stopAtNode = behaviorTree->createNode(0);
-		DeepDriveTrafficBehaviorTreeNode *waitUntilClearNode = behaviorTree->createNode(0);
+		// DeepDriveTrafficBehaviorTreeNode *waitUntilClearNode = behaviorTree->createNode(0);
 
 		behaviorTree->getRootNode()->addDecorator( new DeepDriveTBTCheckFlagDecorator("IsJunctionClear", false, false) );
 
@@ -39,8 +39,8 @@ DeepDriveTrafficBehaviorTree* DeepDriveJunctionTurnYieldBTCreator::createBehavio
 		stopAtNode->addTask(checkJunctionTask);
 		stopAtNode->addTask(new DeepDriveTBTStopAtLocationTask("StopLineLocation", 0.6f));
 		
-		waitUntilClearNode->addTask(new DeepDriveTBTStopTask);
-		waitUntilClearNode->addTask(checkJunctionTask);
+		// waitUntilClearNode->addTask(new DeepDriveTBTStopTask);
+		// waitUntilClearNode->addTask(checkJunctionTask);
 	}
 
 	return behaviorTree;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h
index b3209caa..9f03d660 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h
@@ -6,7 +6,7 @@
 
 #define AEL_MESSAGE(ActorRef, Format, ...) \
 { \
-	UActorEventLoggerComponent *eventLogCmp = Cast<UActorEventLoggerComponent>(ActorRef.GetComponentByClass(UActorEventLoggerComponent::StaticClass())); \
+	UActorEventLoggerComponent *eventLogCmp = Cast<UActorEventLoggerComponent>((ActorRef).GetComponentByClass(UActorEventLoggerComponent::StaticClass())); \
 	if(eventLogCmp) \
 		eventLogCmp->LogMessage(FString::Printf(Format, ##__VA_ARGS__)); \
 }

From cb488d28482623510368b04f2fcb0778252f8f45 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Wed, 13 May 2020 09:09:21 +0200
Subject: [PATCH 37/43] - filtering of events added

---
 .../AEL_ActorListItem_Widget.uasset           | Bin 89720 -> 115717 bytes
 .../ActorEventLogReplayManager.cpp            |  27 ++++++++++++++++++
 .../ActorEventLogging/ReplayActorEventLog.cpp |  21 ++++++++++++--
 .../ActorEventLogging/ReplayActorEventLog.h   |   7 +++++
 .../ActorEventLogReplayManager.h              |   9 ++++++
 5 files changed, 62 insertions(+), 2 deletions(-)

diff --git a/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorListItem_Widget.uasset b/Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorListItem_Widget.uasset
index fc8b9587f3c85cdd42e03e29a1592f328236d6a5..4dd4f9b4e2e407674a70aeda32206700f52024a2 100644
GIT binary patch
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
index e7729d27..0e8e1dd1 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
@@ -123,6 +123,33 @@ TArray<FString> AActorEventLogReplayManager::GetAvailableActorEventLogs(FString
 	return logs;
 }
 
+void AActorEventLogReplayManager::AddFilter(int32 ActorId, FName EventType)
+{
+	if(m_ActorEventLogs.Contains(ActorId))
+	{
+		m_ActorEventLogs[ActorId]->addFilter(EventType);
+		replayCurrentFrame();
+	}
+}
+
+void AActorEventLogReplayManager::RemoveFilter(int32 ActorId, FName EventType)
+{
+	if (m_ActorEventLogs.Contains(ActorId))
+	{
+		m_ActorEventLogs[ActorId]->removeFilter(EventType);
+		replayCurrentFrame();
+	}
+}
+
+void AActorEventLogReplayManager::ClearFilters(int32 ActorId)
+{
+	if (m_ActorEventLogs.Contains(ActorId))
+	{
+		m_ActorEventLogs[ActorId]->clearFilters();
+		replayCurrentFrame();
+	}
+}
+
 void AActorEventLogReplayManager::GoToFrame(int32 FrameIndex)
 {
 	if(m_curState == Idle)
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp
index 04f032d5..981830cf 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp
@@ -57,6 +57,22 @@ void ReplayActorEventLog::updateOnIdle(float deltaSeconds)
 	}
 }
 
+void ReplayActorEventLog::addFilter(FName EventType)
+{
+	m_Filters.Add(EventType);
+}
+
+void ReplayActorEventLog::removeFilter(FName EventType)
+{
+	m_Filters.Remove(EventType);
+}
+
+
+void ReplayActorEventLog::clearFilters()
+{
+	m_Filters.Empty();
+}
+
 void ReplayActorEventLog::replayFrame(int32 frameIndex)
 {
 	const TArray< TSharedPtr< FJsonValue > > &frames = m_JsonObject->GetArrayField("Frames");
@@ -95,11 +111,12 @@ void ReplayActorEventLog::replayFrame(int32 frameIndex)
 
 }
 
-
 void ReplayActorEventLog::handleEvent(const TSharedPtr<FJsonObject> &event)
 {
 	FString eventType;
-	if(event->TryGetStringField("Type", eventType))
+	if	(	event->TryGetStringField("Type", eventType)
+		&&	m_Filters.Contains(*eventType) == false
+		)
 	{
 		if(eventType == "ActorTransform")
 		{
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h
index bd61b318..32372699 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h
@@ -22,6 +22,12 @@ class ReplayActorEventLog
 	
 	void setPhysicsEnabled(bool enablePhysics, bool enableGravity);
 
+	void addFilter(FName EventType);
+
+	void removeFilter(FName EventType);
+
+	void clearFilters();
+
 	void replayFrame(int32 frameIndex);
 
 	const FString& getFileName() const;
@@ -53,6 +59,7 @@ class ReplayActorEventLog
 	FString							m_ActorClassName;
 
 	AActor							*m_Actor = 0;
+	TSet<FName>						m_Filters;
 
 	FTransform						m_curTransform;
 	bool 							m_KeepTransformFixed = true;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
index cb0ab0bf..50223c1f 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
@@ -60,6 +60,15 @@ class DEEPDRIVEPLUGIN_API AActorEventLogReplayManager : public AActor
 	UFUNCTION(BlueprintCallable, Category = "FileHandling")
 	TArray<FString> GetAvailableActorEventLogs(FString BasePath);
 
+	UFUNCTION(BlueprintCallable, Category = "Filter")
+	void AddFilter(int32 ActorId, FName EventType);
+
+	UFUNCTION(BlueprintCallable, Category = "Filter")
+	void RemoveFilter(int32 ActorId, FName EventType);
+
+	UFUNCTION(BlueprintCallable, Category = "Filter")
+	void ClearFilters(int32 ActorId);
+
 	UFUNCTION(BlueprintCallable, Category = "Control")
 	void GoToFrame(int32 FrameIndex);
 

From b84384cdefe300eaffba0717e830608e1fe3cbf3 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Thu, 4 Jun 2020 10:35:20 +0200
Subject: [PATCH 38/43] - map update

---
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25920 -> 25920 bytes
 .../DeepDrive_Kevindale_Simulation.umap       | Bin 670370 -> 671078 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
index b8b323f89733280b9ec289a537ff05231c6c60fc..8133b88005d283dbe6451883b6e538b20d64a657 100644
GIT binary patch
delta 208
zcmX?bit)fH#tll00_#sWd=2CH>9M=*d;FYL_xEl#Vw@(+$hi5WT!$jNrJgYmS!|AQ
zI3_%~EhK-kP)Nq+uOY`71+E1~y!iUx!Fz%0w*dA_eIF(-@ROZfAR)N<SC}0K3j;%y
z^JIl2iOKc;T$3*(7*6hwPa;l`=jPv|$Joz5a7%QNaGU%w*^pz6()2@n&G#LeT$pSL
XH?Kf~XLEhhJI2YslXgzdO}PvJxbs*X

delta 192
zcmX?bit)fH#tll00>ASUn-21}`mJEJ+s>GC*k`j5<1|@D=FKPNIuzM0^h_=EjEpu%
zI2;q6yf-vrvQcRL=C2{g83n$Xm%lRTTHv$bcE_xvoEjG=FYuF{Tp%I1`B#`72g~xh
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Xn%tj!Z}ab@BF4$TlXgzdO}PvJsR&YK

diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/Sublevels/DeepDrive_Kevindale_Simulation.umap
index bb5591410af3334ecd929b469064eedc97cb5d33..db707b7990edfd656d80370c1a513f2b3e86a018 100644
GIT binary patch
delta 8807
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From a9ab31f0cb9c2c6eb850ca6ccf3ef78c91ae3714 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Fri, 5 Jun 2020 22:16:34 +0200
Subject: [PATCH 39/43] - removed actor event logging implementation from
 DeepDrive plugin

---
 .../Blueprints/DeepDriveReplayGameMode.uasset | Bin 17976 -> 0 bytes
 .../Blueprints/DeepDriveReplayPawn.uasset     | Bin 268967 -> 0 bytes
 .../DeepDriveAgent_VoyageAuto_MiniVan.uasset  | Bin 498920 -> 499612 bytes
 .../DeepDriveAgent_VoyageAuto_SUV.uasset      | Bin 498002 -> 498551 bytes
 .../AEL_ActorListItem_Widget.uasset           | Bin 115717 -> 0 bytes
 .../AEL_ActorsListTitle_Widget.uasset         | Bin 22195 -> 0 bytes
 .../AEL_ActorsList_Widget.uasset              | Bin 322725 -> 0 bytes
 .../AEL_LogFileSelector_Widget.uasset         | Bin 150308 -> 0 bytes
 .../ActorEventLogging/AEL_MainWidget.uasset   | Bin 55961 -> 0 bytes
 .../AEL_MessageBoxItem_Widget.uasset          | Bin 31734 -> 0 bytes
 .../AEL_MessageBox_Widget.uasset              | Bin 152245 -> 0 bytes
 .../AEL_ReplayCtrl_Widget.uasset              | Bin 376645 -> 0 bytes
 .../AEL_TextItem_Widget.uasset                | Bin 61967 -> 0 bytes
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25920 -> 25253 bytes
 .../Private/ActorEventLogging/ActorEvent.h    |  13 -
 .../ActorEventLogEndFrameComponent.cpp        |  33 --
 .../ActorEventLogManager.cpp                  |  72 ----
 .../ActorEventLogReplayManager.cpp            | 342 ------------------
 .../ActorEventLoggerComponent.cpp             | 196 ----------
 .../ActorEventLogging/ReplayActorEventLog.cpp | 193 ----------
 .../ActorEventLogging/ReplayActorEventLog.h   |  93 -----
 .../DeepDriveAgentTrafficAIController.cpp     |   6 +-
 .../Simulation/Agent/DeepDriveAgent.cpp       |  18 +-
 .../DeepDriveTrafficBehaviorTree.cpp          |   4 +-
 .../DeepDriveTBTCheckIsJunctionClearTask.cpp  |   4 +-
 .../Tasks/DeepDriveTBTStopAtLocationTask.cpp  |   4 +-
 .../Traffic/Path/DeepDrivePartialPath.cpp     |   6 +-
 .../ActorEventLogEndFrameComponent.h          |  38 --
 .../ActorEventLogging/ActorEventLogManager.h  |  53 ---
 .../ActorEventLogReplayManager.h              | 157 --------
 .../ActorEventLoggerComponent.h               |  81 -----
 .../ActorEventLogging/ActorEventLogging.h     |  27 --
 .../Public/Simulation/Agent/DeepDriveAgent.h  |   2 +-
 33 files changed, 22 insertions(+), 1320 deletions(-)
 delete mode 100644 Content/DeepDrive/Blueprints/DeepDriveReplayGameMode.uasset
 delete mode 100644 Content/DeepDrive/Blueprints/DeepDriveReplayPawn.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorListItem_Widget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsListTitle_Widget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ActorsList_Widget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_LogFileSelector_Widget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_MainWidget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_MessageBoxItem_Widget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_MessageBox_Widget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_ReplayCtrl_Widget.uasset
 delete mode 100644 Content/DeepDrive/Simulation/UI/ActorEventLogging/AEL_TextItem_Widget.uasset
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diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
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diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEvent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEvent.h
deleted file mode 100644
index c99eb87a..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEvent.h
+++ /dev/null
@@ -1,13 +0,0 @@
-
-#pragma once
-
-#include "EngineMinimal.h"
-
-
-struct ActorEvent
-{
-	uint32						EventType;
-	double						Timestamp;
-
-	TSharedPtr<FJsonObject>		EventData;
-};
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogEndFrameComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogEndFrameComponent.cpp
deleted file mode 100644
index 3a6b56a4..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogEndFrameComponent.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "ActorEventLogEndFrameComponent.h"
-#include "ActorEventLogManager.h"
-
-// Sets default values for this component's properties
-UActorEventLogEndFrameComponent::UActorEventLogEndFrameComponent()
-{
-	// Set this component to be initialized when the game starts, and to be ticked every frame.  You can turn these features
-	// off to improve performance if you don't need them.
-	PrimaryComponentTick.bCanEverTick = true;
-
-	SetTickGroup(TG_PostUpdateWork);
-}
-
-
-// Called when the game starts
-void UActorEventLogEndFrameComponent::BeginPlay()
-{
-	Super::BeginPlay();
-	SetTickGroup(TG_PostUpdateWork);
-}
-
-
-// Called every frame
-void UActorEventLogEndFrameComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
-{
-	Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
-	if (m_ActorEventLogMgr)
-		m_ActorEventLogMgr->OnEndFrame();
-}
-
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogManager.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogManager.cpp
deleted file mode 100644
index 4ea7bc82..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogManager.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "ActorEventLogManager.h"
-
-#include "ActorEventLoggerComponent.h"
-#include "ActorEventLogEndFrameComponent.h"
-
-
-// Sets default values
-AActorEventLogManager::AActorEventLogManager()
-{
- 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
-	PrimaryActorTick.bCanEverTick = true;
-
-	SetTickGroup(TG_PrePhysics);
-	m_StartTimestamp = FPlatformTime::Seconds();
-
-	m_EndFrameCmp = CreateDefaultSubobject<UActorEventLogEndFrameComponent>(TEXT("EndFrameCmp"));
-	AddInstanceComponent(m_EndFrameCmp);
-	m_EndFrameCmp->setActorEventLogManager(*this);
-}
-
-// Called when the game starts or when spawned
-void AActorEventLogManager::BeginPlay()
-{
-	Super::BeginPlay();
-	SetTickGroup(TG_PrePhysics);
-	
-}
-
-// Called every frame
-void AActorEventLogManager::Tick(float DeltaTime)
-{
-	Super::Tick(DeltaTime);
-	for(auto &l : m_ActorEventLoggers)
-	{
-		l->BeginFrame(m_FrameCounter, getTimestamp());
-	}
-
-	++m_FrameCounter;
-}
-
-void AActorEventLogManager::EndPlay(const EEndPlayReason::Type EndPlayReason)
-{
-	Super::EndPlay(EndPlayReason);
-
-	for(auto &l : m_ActorEventLoggers)
-	{
-		l->StopLogging();
-	}
-}
-
-void AActorEventLogManager::RegisterActorEventLogger(UActorEventLoggerComponent& ActorEventLogger)
-{
-	if(m_ActorEventLoggers.Contains(&ActorEventLogger) == false)
-	{
-		m_ActorEventLoggers.Add(&ActorEventLogger);
-
-		ActorEventLogger.StartLogging(FPaths::ProjectLogDir());
-
-		ActorEventLogger.GetOwner()->AddTickPrerequisiteActor(this);
-	}
-}
-
-void AActorEventLogManager::OnEndFrame()
-{
-	for(auto &l : m_ActorEventLoggers)
-	{
-		l->EndFrame(getTimestamp());
-	}
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
deleted file mode 100644
index 0e8e1dd1..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLogReplayManager.cpp
+++ /dev/null
@@ -1,342 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "ActorEventLogReplayManager.h"
-#include "ReplayActorEventLog.h"
-
-DEFINE_LOG_CATEGORY(LogActorEventReplayManager);
-
-// Sets default values
-AActorEventLogReplayManager::AActorEventLogReplayManager()
-{
- 	// Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
-	PrimaryActorTick.bCanEverTick = true;
-
-}
-
-// Called when the game starts or when spawned
-void AActorEventLogReplayManager::BeginPlay()
-{
-	Super::BeginPlay();
-	
-}
-
-// Called every frame
-void AActorEventLogReplayManager::Tick(float DeltaTime)
-{
-	Super::Tick(DeltaTime);
-
-	switch(m_curState)
-	{
-		case Idle:
-			for (auto &ael : m_ActorEventLogs)
-				ael.Value->updateOnIdle(DeltaTime);
-			break;
-
-		case Loading:
-			break;
-
-		case ForwardReplay:
-			{
-				m_curFrame += m_ReplayRate;
-				const int32 frameIdx = FMath::FloorToInt(m_curFrame);
-				if(frameIdx >= m_FrameCount)
-				{
-					m_curFrameIndex = m_FrameCount - 1;
-					m_curFrame = m_curFrameIndex;
-					m_curState = Idle;
-					if(OnReplayStateChanged.IsBound())
-						OnReplayStateChanged.Broadcast(false);
-				}
-				if(frameIdx != m_curFrameIndex)
-				{
-					m_curFrameIndex = frameIdx;
-					replayCurrentFrame();
-					propagateFrameIndex();
-				}
-			}
-			break;
-	}
-
-}
-
-FActorEventLogData AActorEventLogReplayManager::LoadActorEventLog(FString FileName)
-{
-	FActorEventLogData aelData;
-	
-	bool alreadyLoaded = false;
-	for(auto &a : m_ActorEventLogs)
-	{
-		if(a.Value->getFileName() == FileName)
-		{
-			alreadyLoaded = true;
-			break;
-		}
-	}
-
-	if(alreadyLoaded == false)
-	{
-		const int32 id = m_ActorEventLogs.Num() + 1;
-
-		ReplayActorEventLog *rael = new ReplayActorEventLog(*this, id);
-		if	(	rael
-			&&	rael->load(FileName)
-			)
-		{
-			const FTransform &transform = rael->getInitialTransform();
-			const FString &className = rael->getActorClassName();
-			AActor* actor = className.IsEmpty() ? spawnActor(transform.GetLocation(), transform.GetRotation().Rotator()) : spawnActor(className, transform.GetLocation(), transform.GetRotation().Rotator());
-			if(actor)
-			{
-				rael->setActor(actor);
-				if (DisablePhysics)
-					rael->setPhysicsEnabled(false, false);
-
-				m_ActorEventLogs.Add(id, rael);
-
-				aelData.Id = id;
-				aelData.ActorName = rael->getActorName();
-				aelData.ActorDescription = rael->getActorDescription();
-				aelData.Actor = actor;
-
-				updateFrameCount();
-				rael->replayFrame(m_curFrameIndex);
-			}
-			else
-				UE_LOG(LogActorEventReplayManager, Log, TEXT("Spawning actor failed") );
-		}
-	}
-	else
-		UE_LOG(LogActorEventReplayManager, Log, TEXT("Actor event logfile %s already loaded"), *(FileName));
-
-	return aelData;
-}
-
-TArray<FString> AActorEventLogReplayManager::GetAvailableActorEventLogs(FString BasePath)
-{
-	TArray<FString> logs;
-
-	IFileManager& fileMgr = IFileManager::Get();
-	FString finalPath = BasePath + "/*.ael";
-	fileMgr.FindFiles(logs, *finalPath, true, false);
-
-	return logs;
-}
-
-void AActorEventLogReplayManager::AddFilter(int32 ActorId, FName EventType)
-{
-	if(m_ActorEventLogs.Contains(ActorId))
-	{
-		m_ActorEventLogs[ActorId]->addFilter(EventType);
-		replayCurrentFrame();
-	}
-}
-
-void AActorEventLogReplayManager::RemoveFilter(int32 ActorId, FName EventType)
-{
-	if (m_ActorEventLogs.Contains(ActorId))
-	{
-		m_ActorEventLogs[ActorId]->removeFilter(EventType);
-		replayCurrentFrame();
-	}
-}
-
-void AActorEventLogReplayManager::ClearFilters(int32 ActorId)
-{
-	if (m_ActorEventLogs.Contains(ActorId))
-	{
-		m_ActorEventLogs[ActorId]->clearFilters();
-		replayCurrentFrame();
-	}
-}
-
-void AActorEventLogReplayManager::GoToFrame(int32 FrameIndex)
-{
-	if(m_curState == Idle)
-	{
-		m_curFrameIndex = FrameIndex;
-		if	(	m_curFrameIndex < 0
-			||	m_curFrameIndex >= m_FrameCount
-			)
-			m_curFrameIndex = m_FrameCount - 1;
-		
-		m_curFrame = m_curFrameIndex;
-		
-		replayCurrentFrame();
-		propagateFrameIndex();
-	}
-}
-
-void AActorEventLogReplayManager::GoToFirstFrame()
-{
-	if (m_curState == Idle)
-	{
-		m_curFrameIndex = 0;
-		m_curFrame = 0.0f;
-		replayCurrentFrame();
-		propagateFrameIndex();
-	}
-}
-
-void AActorEventLogReplayManager::GoToLastFrame()
-{
-	if (m_curState == Idle)
-	{
-		m_curFrameIndex = m_FrameCount - 1;
-		m_curFrame = m_curFrameIndex;
-		replayCurrentFrame();
-		propagateFrameIndex();
-	}
-}
-
-void AActorEventLogReplayManager::NextFrame()
-{
-	if(m_curState == Idle)
-	{
-		++m_curFrameIndex;
-		if(m_curFrameIndex >= m_FrameCount)
-			m_curFrameIndex = m_FrameCount - 1;
-		m_curFrame = m_curFrameIndex;
-		
-		replayCurrentFrame();
-		propagateFrameIndex();
-	}
-}
-
-void AActorEventLogReplayManager::PreviousFrame()
-{
-	if(m_curState == Idle)
-	{
-		--m_curFrameIndex;
-		if(m_curFrameIndex < 0)
-			m_curFrameIndex = 0;
-		m_curFrame = m_curFrameIndex;
-		
-		replayCurrentFrame();
-		propagateFrameIndex();
-	}
-}
-
-void AActorEventLogReplayManager::Replay()
-{
-}
-
-void AActorEventLogReplayManager::SetReplayRate(float Rate)
-{
-	m_ReplayRate = Rate;
-}
-
-void AActorEventLogReplayManager::ReplayForward()
-{
-	if(m_ActorEventLogs.Num() > 0)
-	{
-		if(m_curState != ForwardReplay)
-		{
-			m_curState = ForwardReplay;
-
-			if(OnReplayStateChanged.IsBound())
-				OnReplayStateChanged.Broadcast(true);
-		}
-	}
-}
-
-void AActorEventLogReplayManager::ReplayBackward()
-{
-	if(m_ActorEventLogs.Num() > 0)
-		m_curState = BackwardReplay;
-}
-
-void AActorEventLogReplayManager::StopReplay()
-{
-	if	(	m_curState == ForwardReplay
-		||	m_curState == BackwardReplay
-		)
-	{
-		if(OnReplayStateChanged.IsBound())
-			OnReplayStateChanged.Broadcast(false);
-		m_curState = Idle;
-	}
-}
-
-void AActorEventLogReplayManager::TogglePause()
-{
-	m_curState = Idle;
-}
-
-void AActorEventLogReplayManager::replayCurrentFrame()
-{
-	if (OnBeginReplayFrame.IsBound())
-	{
-		OnBeginReplayFrame.Broadcast();
-	}
-
-	for (auto &ael : m_ActorEventLogs)
-		ael.Value->replayFrame(m_curFrameIndex);
-}
-
-AActor* AActorEventLogReplayManager::spawnActor(const FString &className, const FVector &location, const FRotator &rotation)
-{
-	AActor *actor = 0;
-	UObject* actorObj = Cast<UObject>(StaticLoadObject(UObject::StaticClass(), NULL, *className));
-
-	if (actorObj)
-	{
-		UBlueprint* bpObj = Cast<UBlueprint>(actorObj);
-		UClass* classToSpawn = actorObj->StaticClass();
-		if (classToSpawn)
-		{
-			UWorld* World = GetWorld();
-			FActorSpawnParameters SpawnParams;
-			SpawnParams.Owner = this;
-			SpawnParams.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
-			actor = World->SpawnActor<AActor>(bpObj->GeneratedClass, location, rotation, SpawnParams);
-		}
-		else
-		{
-			GEngine->AddOnScreenDebugMessage(-1, 1.f, FColor::Red, FString::Printf(TEXT("CLASS == NULL")));
-		}
-	}
-	else
-	{
-		GEngine->AddOnScreenDebugMessage(-1, 1.f, FColor::Red, FString::Printf(TEXT("CANT FIND OBJECT TO SPAWN")));
-	}
-
-	return actor;
-}
-
-AActor* AActorEventLogReplayManager::spawnActor( const FVector &location, const FRotator &rotation)
-{
-	FActorSpawnParameters SpawnParams;
-	SpawnParams.Owner = this;
-	SpawnParams.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
-	return GetWorld()->SpawnActor<AActor>(DummyActor, location, rotation, SpawnParams);
-}
-
-void AActorEventLogReplayManager::updateFrameCount()
-{
-	int32 frameCount = 0;
-	for(auto &ael : m_ActorEventLogs)
-	{
-		const int32 curCount = ael.Value->getFrameCount();
-		if (curCount > frameCount)
-			frameCount = curCount;
-	}
-
-	if(frameCount != m_FrameCount)
-	{
-		m_FrameCount = frameCount;
-		if (OnFrameCountChanged.IsBound())
-		{
-			OnFrameCountChanged.Broadcast(frameCount);
-		}
-
-	}
-}
-
-void AActorEventLogReplayManager::propagateFrameIndex()
-{
-	if (OnFrameIndexChanged.IsBound())
-	{
-		OnFrameIndexChanged.Broadcast(m_curFrameIndex);
-	}
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLoggerComponent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLoggerComponent.cpp
deleted file mode 100644
index c7f7c0f8..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ActorEventLoggerComponent.cpp
+++ /dev/null
@@ -1,196 +0,0 @@
-
-
-#include "DeepDrivePluginPrivatePCH.h"
-#include "ActorEventLoggerComponent.h"
-
-#include "ActorEventLogManager.h"
-
-DEFINE_LOG_CATEGORY(LogActorEventLogger);
-
-// Sets default values for this component's properties
-UActorEventLoggerComponent::UActorEventLoggerComponent()
-{
-	// Set this component to be initialized when the game starts, and to be ticked every frame.  You can turn these features
-	// off to improve performance if you don't need them.
-	PrimaryComponentTick.bCanEverTick = true;
-
-	// ...
-}
-
-
-// Called when the game starts
-void UActorEventLoggerComponent::BeginPlay()
-{
-	Super::BeginPlay();
-
-	TArray<AActor*> actors;
-	UGameplayStatics::GetAllActorsOfClass(GetWorld(), AActorEventLogManager::StaticClass(), actors);
-
-	for (auto &actor : actors)
-	{
-		m_ActorEventLogMgr = Cast<AActorEventLogManager>(actor);
-		if (m_ActorEventLogMgr)
-		{
-			m_ActorEventLogMgr->RegisterActorEventLogger(*this);
-			break;
-		}
-	}
-
-}
-
-
-// Called every frame
-void UActorEventLoggerComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
-{
-	Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
-
-	// ...
-}
-
-void UActorEventLoggerComponent::StartLogging(const FString &BasePath)
-{
-	FString relPath("ActorEventLogs");
-	FString path = FPaths::Combine(BasePath, relPath);
-	m_EventLogFileName = FPaths::Combine(path, m_UniqueActorName);
-	m_EventLogFileName += ".ael";
-
-	IPlatformFile& platformFile = FPlatformFileManager::Get().GetPlatformFile();
-	if (platformFile.DirectoryExists(*path) == false)
-	{
-		platformFile.CreateDirectory(*path);
-	}
-
-	m_LogStream.open(*m_EventLogFileName, std::ios::out | std::ios::trunc );
-	if(m_LogStream.is_open())
-	{
-		UE_LOG(LogActorEventLogger, Log, TEXT("Start Event logging to %s for %s"), *(m_EventLogFileName), *(AActor::GetDebugName(GetOwner())));
-
-		FVector pos = GetOwner()->GetActorLocation();
-		FRotator rot = GetOwner()->GetActorRotation();
-		FVector scale = GetOwner()->GetActorScale3D();
-
-		m_LogStream << "{" << std::endl;
-		m_LogStream << "\"Name\": \"" << TCHAR_TO_ANSI(*ActorName) << "\"," << std::endl;
-		m_LogStream << "\"Description\": \"" << TCHAR_TO_ANSI(*ActorDescription) << "\"," << std::endl;
-		if(ActorClassName.IsEmpty() == false)
-			m_LogStream << "\"Class\": \"" << TCHAR_TO_ANSI(*ActorClassName) << "\"," << std::endl;
-		m_LogStream << "\"KeepTransformFixed\": \"" << (KeepTransformFixed ? "true" : "false") << "\"," << std::endl;
-		m_LogStream << "\"InitialTransform\": [" << pos.X << "," << pos.Y << "," << pos.Z << "," << rot.Pitch << "," << rot.Yaw << "," << rot.Roll << "," << scale.X << "," << scale.Y << "," << scale.Z << "],";
-		m_LogStream << "\"Frames\": [" << std::endl;
-
-		m_isFirstFrame = true;
-	}
-	else
-	{
-		UE_LOG(LogActorEventLogger, Log, TEXT("Event logging failed to %s for %s"), *(m_EventLogFileName), *(AActor::GetDebugName(GetOwner())));
-	}
-}
-
-void UActorEventLoggerComponent::StopLogging()
-{
-	if(m_LogStream.is_open())
-	{
-		m_LogStream << std::endl << "]" << std::endl << "}" << std::endl;
-		m_LogStream.close();
-	}
-}
-
-
-void UActorEventLoggerComponent::BeginFrame(uint32 FrameCounter, double Timestamp)
-{
-	/*
-	{
-	"FrameBegin":	123,
-	"Events":	[
-					{
-						"Type":		"Message",
-						"Timestamp": 123,
-						"Data":		"Route calculated"
-					}
-				],
-	"FrameEnd":		125
-	},
-	*/
-
-	if(m_LogStream.is_open())
-	{
-		if(m_isFirstFrame)
-		{
-			m_LogStream << "{";
-			m_isFirstFrame = false;
-		}
-		else
-			m_LogStream << "," << std::endl << "{";
-
-		m_hasSeenBeginFrame = true;
-		m_isFirstEvent = true;
-
-		m_LogStream << "\"FrameBegin\": " << Timestamp << ",";
-		m_LogStream << "\"Events\": [" << std::endl;
-
-	}
-}
-
-
-void UActorEventLoggerComponent::EndFrame(double Timestamp)
-{
-	if	(	m_hasSeenBeginFrame
-		&&	m_LogStream.is_open()
-		)
-	{
-		m_LogStream << "], \"FrameEnd\": " << Timestamp << "}";
-	}
-
-	m_hasSeenBeginFrame = false;
-}
-
-void UActorEventLoggerComponent::LogMessage(const FString &Message)
-{
-	/*
-	{
-	"Type":		"Message",
-	"Timestamp": 124,
-	"Data":	"My nice log message"
-	}
-	*/
-	if	(	m_hasSeenBeginFrame
-		&&	m_LogStream.is_open()
-		)
-	{
-		if (m_isFirstEvent == false)
-			m_LogStream << ",";
-		m_LogStream << "{\"Type\":\"Message\",\"Timestamp\":" << m_ActorEventLogMgr->getTimestamp() <<",";
-		m_LogStream << "\"Data\":\"" << TCHAR_TO_ANSI(*Message) << "\"}";
-
-		m_isFirstEvent = false;
-	}
-}
-
-void UActorEventLoggerComponent::LogActorTransform(const FTransform &Transform)
-{
-	/*
-	{
-	"Type":		"ActorTransform",
-	"Timestamp": 124,
-	"Data":		[0,0,0,0,0,0,1,1,1]
-	}
-	*/
-	if	(	m_hasSeenBeginFrame
-		&&	m_LogStream.is_open()
-		)
-	{
-		FVector pos = Transform.GetLocation();
-		FRotator rot = Transform.GetRotation().Rotator();
-		FVector scale = Transform.GetScale3D();
-		if (m_isFirstEvent == false)
-			m_LogStream << ",";
-		m_LogStream << "{\"Type\":\"ActorTransform\",\"Timestamp\":" << m_ActorEventLogMgr->getTimestamp() <<",";
-		m_LogStream << "\"Data\":[" << pos.X << "," << pos.Y << "," << pos.Z << "," << rot.Pitch << "," << rot.Yaw << "," << rot.Roll << "," << scale.X << "," << scale.Y << "," << scale.Z << "]}";
-
-		m_isFirstEvent = false;
-	}
-}
-
-void UActorEventLoggerComponent::LogEvent(const ActorEvent &Event)
-{
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp
deleted file mode 100644
index 981830cf..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.cpp
+++ /dev/null
@@ -1,193 +0,0 @@
-
-#include "ReplayActorEventLog.h"
-#include "ActorEventLogReplayManager.h"
-
-DEFINE_LOG_CATEGORY(LogReplayActorEventLog);
-
-ReplayActorEventLog::ReplayActorEventLog(AActorEventLogReplayManager &replayMgr, int32 id)
-	:	m_ReplayManager(replayMgr)
-	,	m_Id(id)
-{
-
-}
-
-bool ReplayActorEventLog::load(const FString &fileName)
-{
-	bool res = false;
-
-	FString jsonStr;
-	if(FFileHelper::LoadFileToString(jsonStr, *fileName))
-	{
-		UE_LOG(LogReplayActorEventLog, Log, TEXT("Successfully loaded actor event logfile %s"), *(fileName));
-
-		TSharedRef< TJsonReader<> > reader = TJsonReaderFactory<>::Create( jsonStr );
-		if ( FJsonSerializer::Deserialize(reader, m_JsonObject ) )
-		{
-			UE_LOG(LogReplayActorEventLog, Log, TEXT("Successfully deserialized log file"));
-
-			FString nameStr;
-			
-			if	(	m_JsonObject->TryGetStringField("Name", m_ActorName)
-				&&	m_JsonObject->HasTypedField<EJson::Array>("Frames")
-				)
-			{
-				m_JsonObject->TryGetStringField("Description", m_ActorDescription);
-				m_JsonObject->TryGetStringField("Class", m_ActorClassName);
-				m_JsonObject->TryGetBoolField("KeepTransformFixed", m_KeepTransformFixed);
-				m_curTransform = extractTransform(m_JsonObject, "InitialTransform");
-
-				m_FileName = fileName;
-
-				res = true;
-			}
-
-		}
-		else
-			UE_LOG(LogReplayActorEventLog, Log, TEXT("Failed to deserialized log file"));
-	}
-
-	return res;
-}
-
-void ReplayActorEventLog::updateOnIdle(float deltaSeconds)
-{
-	if(m_KeepTransformFixed)
-	{
-		m_Actor->SetActorTransform(m_curTransform, false, 0, ETeleportType::TeleportPhysics);
-	}
-}
-
-void ReplayActorEventLog::addFilter(FName EventType)
-{
-	m_Filters.Add(EventType);
-}
-
-void ReplayActorEventLog::removeFilter(FName EventType)
-{
-	m_Filters.Remove(EventType);
-}
-
-
-void ReplayActorEventLog::clearFilters()
-{
-	m_Filters.Empty();
-}
-
-void ReplayActorEventLog::replayFrame(int32 frameIndex)
-{
-	const TArray< TSharedPtr< FJsonValue > > &frames = m_JsonObject->GetArrayField("Frames");
-	if(frameIndex >= frames.Num())
-		frameIndex = frames.Num() - 1;
-
-	if(frameIndex >= 0)
-	{
-		TSharedPtr<FJsonValue> curFrame = frames[frameIndex];
-		const TSharedPtr<FJsonObject> *frameObj = 0;
-		if	(	curFrame->TryGetObject(frameObj)
-			&&	frameObj
-			&&	(*frameObj).IsValid()
-			)
-		{
-			const TArray< TSharedPtr< FJsonValue > > *events = 0;
-			if	(	(*frameObj)->TryGetArrayField("Events", events)
-				&&	events
-				&&	events->Num() > 0
-				)
-			{
-				for(auto &event : (*events))
-				{
-					const TSharedPtr<FJsonObject> *eventObj = 0;
-					if	(	event->TryGetObject(eventObj)
-						&&	eventObj
-						&&	(*eventObj).IsValid()
-						)
-					{
-						handleEvent(*eventObj);
-					}
-				}
-			}
-		}
-	}
-
-}
-
-void ReplayActorEventLog::handleEvent(const TSharedPtr<FJsonObject> &event)
-{
-	FString eventType;
-	if	(	event->TryGetStringField("Type", eventType)
-		&&	m_Filters.Contains(*eventType) == false
-		)
-	{
-		if(eventType == "ActorTransform")
-		{
-			handleActorTransform(event);
-		}
-		else if(eventType == "Message")
-		{
-			handleMessage(event);
-		}
-	}
-}
-
-void ReplayActorEventLog::handleMessage(const TSharedPtr<FJsonObject> &event)
-{
-	FString message;
-	if(event->TryGetStringField("Data", message))
-	{
-		if (m_ReplayManager.OnMessageEvent.IsBound())
-		{
-			m_ReplayManager.OnMessageEvent.Broadcast(m_Id, message);
-		}
-		
-	}
-}
-
-
-void ReplayActorEventLog::handleActorTransform(const TSharedPtr<FJsonObject> &event)
-{
-	m_curTransform = extractTransform(event, "Data");
-	m_Actor->SetActorTransform(m_curTransform, false, 0, ETeleportType::TeleportPhysics);
-}
-
-const FTransform& ReplayActorEventLog::getInitialTransform() const
-{
-	return m_curTransform;
-}
-
-int32 ReplayActorEventLog::getFrameCount() const
-{
-	const TArray< TSharedPtr< FJsonValue > > &frames = m_JsonObject->GetArrayField("Frames");
-	return frames.Num();
-}
-
-void ReplayActorEventLog::setPhysicsEnabled(bool enablePhysics, bool enableGravity)
-{
-	TArray<UActorComponent*> components;
-	m_Actor->GetComponents(components, false);
-	for (auto &c : components)
-	{
-		UPrimitiveComponent *comp = Cast<UPrimitiveComponent>(c);
-		if (comp)
-		{
-			comp->SetSimulatePhysics(enablePhysics);
-			comp->SetEnableGravity(enableGravity);
-		}
-	}
-}
-
-FTransform ReplayActorEventLog::extractTransform(const TSharedPtr<FJsonObject> &jsonObj, const FString &fieldName) const
-{
-	FVector location(0.0f, 0.0f, 0.0f);
-	FRotator rotation(0.0f, 0.0f, 0.0f);
-	FVector scale(1.0f, 1.0f, 1.0f);
-
-	const TArray< TSharedPtr< FJsonValue > > *initialTransform;
-	if (jsonObj->TryGetArrayField(fieldName, initialTransform))
-	{
-		location = FVector((*initialTransform)[0]->AsNumber(), (*initialTransform)[1]->AsNumber(), (*initialTransform)[2]->AsNumber());
-		rotation = FRotator((*initialTransform)[3]->AsNumber(), (*initialTransform)[4]->AsNumber(), (*initialTransform)[5]->AsNumber());
-	}
-
-	return FTransform(rotation, location, scale);
-
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h
deleted file mode 100644
index 32372699..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/ActorEventLogging/ReplayActorEventLog.h
+++ /dev/null
@@ -1,93 +0,0 @@
-
-#pragma once
-
-#include "EngineMinimal.h"
-
-
-DECLARE_LOG_CATEGORY_EXTERN(LogReplayActorEventLog, Log, All);
-
-class AActorEventLogReplayManager;
-
-class ReplayActorEventLog
-{
-public:
-
-	ReplayActorEventLog(AActorEventLogReplayManager &replayMgr, int32 id);
-
-	void updateOnIdle(float deltaSeconds);
-
-	bool load(const FString &fileName);
-
-	void setActor(AActor *actor);
-	
-	void setPhysicsEnabled(bool enablePhysics, bool enableGravity);
-
-	void addFilter(FName EventType);
-
-	void removeFilter(FName EventType);
-
-	void clearFilters();
-
-	void replayFrame(int32 frameIndex);
-
-	const FString& getFileName() const;
-	const FString& getActorName() const;
-	const FString& getActorDescription() const;
-	const FString& getActorClassName() const;
-
-	const FTransform& getInitialTransform() const;
-
-	int32 getFrameCount() const;
-
-private:
-
-	void handleEvent(const TSharedPtr<FJsonObject> &event);
-
-	void handleActorTransform(const TSharedPtr<FJsonObject> &event);
-	void handleMessage(const TSharedPtr<FJsonObject> &event);
-
-	FTransform extractTransform(const TSharedPtr<FJsonObject> &jsonObj, const FString &fieldName) const;
-
-	AActorEventLogReplayManager		&m_ReplayManager;
-	int32							m_Id;
-
-	TSharedPtr<FJsonObject>			m_JsonObject;
-
-	FString							m_FileName;
-	FString							m_ActorName;
-	FString							m_ActorDescription;
-	FString							m_ActorClassName;
-
-	AActor							*m_Actor = 0;
-	TSet<FName>						m_Filters;
-
-	FTransform						m_curTransform;
-	bool 							m_KeepTransformFixed = true;
-
-};
-
-inline void ReplayActorEventLog::setActor(AActor *actor)
-{
-	m_Actor = actor;
-}
-
-inline const FString& ReplayActorEventLog::getFileName() const
-{
-	return m_FileName;
-}
-
-inline const FString& ReplayActorEventLog::getActorName() const
-{
-	return m_ActorName;
-}
-
-inline const FString& ReplayActorEventLog::getActorDescription() const
-{
-	return m_ActorDescription;
-}
-
-inline const FString& ReplayActorEventLog::getActorClassName() const
-{
-	return m_ActorClassName;
-}
-
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 0fc6a0d3..95695c56 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -16,7 +16,7 @@
 
 #include "WheeledVehicleMovementComponent.h"
 
-#include "ActorEventLogging/ActorEventLogging.h"
+// #include "ActorEventLogging/ActorEventLogging.h"
 
 ADeepDriveAgentTrafficAIController::ADeepDriveAgentTrafficAIController()
 {
@@ -41,7 +41,7 @@ bool ADeepDriveAgentTrafficAIController::updateAgentOnPath( float DeltaSeconds )
 	{
 		const float speedBefore = speed;
 		speed *= FMath::SmoothStep(300.0f, FMath::Max(500.0f, safetyDistance * 0.8f), dist2Obstacle);
-		AEL_MESSAGE(*m_Agent, TEXT("Distance to obstacle %f speed of %f reduced to %f"), dist2Obstacle, speedBefore, speed );
+		// AEL_MESSAGE(*m_Agent, TEXT("Distance to obstacle %f speed of %f reduced to %f"), dist2Obstacle, speedBefore, speed );
 	}
 
 	brake = speed > 0.0f ? 0.0f : 1.0f;
@@ -129,7 +129,7 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 {
 	bool res = false;
 
-	AEL_ENSURE_TICK_ORDER(*this);
+	// AEL_ENSURE_TICK_ORDER(*this);
 
 	UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
index 717dbf12..48cc28eb 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
@@ -8,7 +8,7 @@
 #include "Simulation/Agent/DeepDriveAgentControllerBase.h"
 #include "Private/Capture/DeepDriveCapture.h"
 
-#include "ActorEventLogging/ActorEventLogging.h"
+// #include "ActorEventLogging/ActorEventLogging.h"
 
 #include "WheeledVehicleMovementComponent.h"
 #include "Runtime/Engine/Classes/Kismet/KismetRenderingLibrary.h"
@@ -75,11 +75,11 @@ void ADeepDriveAgent::PostInitializeComponents()
 {
 	Super::PostInitializeComponents();
 	
-	m_EventLogger = Cast<UActorEventLoggerComponent>(GetComponentByClass(UActorEventLoggerComponent::StaticClass()));
-	if(m_EventLogger)
-	{
-		m_EventLogger->setUniqueActorName(FString::Printf(TEXT("DeepDriveAgent_%d"), m_AgentId));
-	}
+	// m_EventLogger = Cast<UActorEventLoggerComponent>(GetComponentByClass(UActorEventLoggerComponent::StaticClass()));
+	// if(m_EventLogger)
+	// {
+	// 	m_EventLogger->setUniqueActorName(FString::Printf(TEXT("DeepDriveAgent_%d"), m_AgentId));
+	// }
 }
 
 
@@ -132,8 +132,8 @@ void ADeepDriveAgent::Tick( float DeltaSeconds )
 		UE_LOG(LogDeepDriveAgent, Log, TEXT("Laps finished %d"), m_NumberOfLaps );
 	}
 
-	if(m_EventLogger)
-		m_EventLogger->LogActorTransform(GetActorTransform());
+	// if(m_EventLogger)
+	// 	m_EventLogger->LogActorTransform(GetActorTransform());
 }
 
 int32 ADeepDriveAgent::RegisterCaptureCamera(float fieldOfView, int32 captureWidth, int32 captureHeight, FVector relativePosition, FVector relativeRotation, const FString &label)
@@ -491,7 +491,7 @@ void ADeepDriveAgent::OnBeginOverlap(UPrimitiveComponent *OverlappedComponent, A
 
 			ADeepDriveAgent *otherAgent = Cast<ADeepDriveAgent>(OtherActor);
 
-			AEL_MESSAGE(*this, TEXT("Collision of %s with %s other agent %d"), *(OverlappedComponent->GetReadableName()), *(OtherComp->GetReadableName()), otherAgent ? otherAgent->GetAgentId() : -1 );
+			// AEL_MESSAGE(*this, TEXT("Collision of %s with %s other agent %d"), *(OverlappedComponent->GetReadableName()), *(OtherComp->GetReadableName()), otherAgent ? otherAgent->GetAgentId() : -1 );
 
 			ADeepDriveAgentControllerBase *ctrl = getAgentController();
 			if (ctrl)
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
index 835fe844..930738e6 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
@@ -4,7 +4,7 @@
 #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h"
 
 #include "Agent/DeepDriveAgent.h"
-#include "ActorEventLogging/ActorEventLogging.h"
+// #include "ActorEventLogging/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTrafficBehaviorTree);
 
@@ -43,7 +43,7 @@ void DeepDriveTrafficBehaviorTree::execute(float deltaSeconds, float &speed, int
 	if(m_isDebuggingActive)
 		UE_LOG(LogDeepDriveTrafficBehaviorTree, Log, TEXT("DeepDriveTrafficBehaviorTree::execute %s started at index %d"), *m_Name, pathPointIndex);
 
-	AEL_MESSAGE((*m_Blackboard->getAgent()), TEXT("DeepDriveTrafficBehaviorTree::execute %s at index %d"), *m_Name, pathPointIndex);
+	// AEL_MESSAGE((*m_Blackboard->getAgent()), TEXT("DeepDriveTrafficBehaviorTree::execute %s at index %d"), *m_Name, pathPointIndex);
 
 	if (m_RootNode)
 	{
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
index 8213ecc5..bd0766e0 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
@@ -7,7 +7,7 @@
 #include "Simulation/Agent/DeepDriveAgent.h"
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
-#include "ActorEventLogging/ActorEventLogging.h"
+// #include "ActorEventLogging/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTCheckIsJunctionClearTask);
 
@@ -55,7 +55,7 @@ bool DeepDriveTBTCheckIsJunctionClearTask::execute(DeepDriveTrafficBlackboard &b
 			blackboard.setBooleanValue(m_FlagName, isJunctionClear);
 
 		// UE_LOG(LogDeepDriveTBTCheckIsJunctionClearTask, Log, TEXT("LogDeepDriveTBTCheckIsJunctionClearTask::execute [%d] %d %c"), blackboard.getAgent()->GetAgentId(), pathPointIndex, isJunctionClear ? 'T' : 'F');
-		AEL_MESSAGE((*(blackboard.getAgent())), TEXT("CheckIsJunctionClearTask::execute %d %c"), pathPointIndex, isJunctionClear ? 'T' : 'F');
+		// AEL_MESSAGE((*(blackboard.getAgent())), TEXT("CheckIsJunctionClearTask::execute %d %c"), pathPointIndex, isJunctionClear ? 'T' : 'F');
 	}
 
 	return true;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
index a01a5e63..3df8dfe8 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
@@ -5,7 +5,7 @@
 
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
-#include "ActorEventLogging/ActorEventLogging.h"
+// #include "ActorEventLogging/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTStopAtLocationTask);
 
@@ -52,7 +52,7 @@ bool DeepDriveTBTStopAtLocationTask::execute(DeepDriveTrafficBlackboard &blackbo
 			hasStopped = pathPointIndex >= m_StopBeginIndex && agent->getSpeedKmh() < 1.0f;
 
 			// UE_LOG(LogDeepDriveTBTStopAtLocationTask, Log, TEXT("DeepDriveTBTStopAtLocationTask[%p] %d spd %f spdFac %f curT %f agntSpd %f -> %c"), this, pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), m_hasStopped ? 'T' : 'F');
-			AEL_MESSAGE((*agent), TEXT("StopAtLocationTask %d spd %f spdFac %f curT %f agntSpd %f -> %c"), pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), hasStopped ? 'T' : 'F');
+			// AEL_MESSAGE((*agent), TEXT("StopAtLocationTask %d spd %f spdFac %f curT %f agntSpd %f -> %c"), pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), hasStopped ? 'T' : 'F');
 		}
 	}
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
index 6d0703a4..8268feb2 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
@@ -12,7 +12,7 @@
 
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 
-#include "ActorEventLogging/ActorEventLogging.h"
+// #include "ActorEventLogging/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDrivePartialPath);
 
@@ -144,7 +144,7 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 		{
 			curManeuver = &m;
 			// UE_LOG(LogDeepDrivePartialPath, Log, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
-			AEL_MESSAGE(m_Agent, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
+			// AEL_MESSAGE(m_Agent, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
 			break;
 		}
 	}
@@ -187,7 +187,7 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 			)
 		{
 			m_hasReachedDestination = curManeuver->BehaviorTree->getBlackboard().getBooleanValue("DestinationReached", false);
-			AEL_MESSAGE(m_Agent, TEXT("Destination reached at %d"), m_curPathPointIndex);
+			// AEL_MESSAGE(m_Agent, TEXT("Destination reached at %d"), m_curPathPointIndex);
 		}
 	}
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogEndFrameComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogEndFrameComponent.h
deleted file mode 100644
index c0824970..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogEndFrameComponent.h
+++ /dev/null
@@ -1,38 +0,0 @@
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "Components/ActorComponent.h"
-#include "ActorEventLogEndFrameComponent.generated.h"
-
-class AActorEventLogManager;
-
-UCLASS( ClassGroup=(Custom) )
-class DEEPDRIVEPLUGIN_API UActorEventLogEndFrameComponent : public UActorComponent
-{
-	GENERATED_BODY()
-
-public:	
-	// Sets default values for this component's properties
-	UActorEventLogEndFrameComponent();
-
-protected:
-	// Called when the game starts
-	virtual void BeginPlay() override;
-
-public:	
-	// Called every frame
-	virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
-
-	void setActorEventLogManager(AActorEventLogManager &mgr);
-
-private:
-
-	AActorEventLogManager			*m_ActorEventLogMgr = 0;
-};
-
-
-inline void UActorEventLogEndFrameComponent::setActorEventLogManager(AActorEventLogManager &mgr)
-{
-	m_ActorEventLogMgr = &mgr;
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogManager.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogManager.h
deleted file mode 100644
index d034b903..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogManager.h
+++ /dev/null
@@ -1,53 +0,0 @@
-
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "GameFramework/Actor.h"
-#include "ActorEventLogManager.generated.h"
-
-class UActorEventLoggerComponent;
-class UActorEventLogEndFrameComponent;
-
-UCLASS()
-class DEEPDRIVEPLUGIN_API AActorEventLogManager : public AActor
-{
-	GENERATED_BODY()
-	
-public:	
-	// Sets default values for this actor's properties
-	AActorEventLogManager();
-
-protected:
-	// Called when the game starts or when spawned
-	virtual void BeginPlay() override;
-
-	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
-
-public:	
-	// Called every frame
-	virtual void Tick(float DeltaTime) override;
-
-	void RegisterActorEventLogger(UActorEventLoggerComponent& ActorEventLogger);
-
-	void OnEndFrame();
-
-	double getTimestamp() const;
-
-private:
-
-	UPROPERTY()
-	UActorEventLogEndFrameComponent				*m_EndFrameCmp = 0;
-
-	TArray<UActorEventLoggerComponent*>			m_ActorEventLoggers;
-
-	uint32										m_FrameCounter = 0;
-	double										m_StartTimestamp = 0.0;
-
-};
-
-
-inline double AActorEventLogManager::getTimestamp() const
-{
-	return FPlatformTime::Seconds() - m_StartTimestamp;
-}
\ No newline at end of file
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
deleted file mode 100644
index 50223c1f..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogReplayManager.h
+++ /dev/null
@@ -1,157 +0,0 @@
-
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "GameFramework/Actor.h"
-#include "ActorEventLogReplayManager.generated.h"
-
-DECLARE_LOG_CATEGORY_EXTERN(LogActorEventReplayManager, Log, All);
-
-DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameCountChanged, int32, FrameCount);
-DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameIndexChanged, int32, FrameIndex);
-DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FReplayStateChanged, bool, IsPlaying);
-
-DECLARE_DYNAMIC_MULTICAST_DELEGATE(FBeginReplayFrame);
-
-DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FMessageEvent, int32, Id, FString, Message);
-
-USTRUCT(BlueprintType)
-struct FActorEventLogData
-{
-	GENERATED_USTRUCT_BODY()
-
-	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
-	int32		Id = -1;
-
-	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
-	FString		ActorName;
-
-	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
-	FString		ActorDescription;
-
-	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
-	AActor		*Actor = 0;;
-
-};
-
-class ReplayActorEventLog;
-
-UCLASS()
-class DEEPDRIVEPLUGIN_API AActorEventLogReplayManager : public AActor
-{
-	GENERATED_BODY()
-
-public:	
-	// Sets default values for this actor's properties
-	AActorEventLogReplayManager();
-
-protected:
-	// Called when the game starts or when spawned
-	virtual void BeginPlay() override;
-
-public:	
-	// Called every frame
-	virtual void Tick(float DeltaTime) override;
-
-	UFUNCTION(BlueprintCallable, Category = "FileHandling")
-	FActorEventLogData LoadActorEventLog(FString FileName);
-
-	UFUNCTION(BlueprintCallable, Category = "FileHandling")
-	TArray<FString> GetAvailableActorEventLogs(FString BasePath);
-
-	UFUNCTION(BlueprintCallable, Category = "Filter")
-	void AddFilter(int32 ActorId, FName EventType);
-
-	UFUNCTION(BlueprintCallable, Category = "Filter")
-	void RemoveFilter(int32 ActorId, FName EventType);
-
-	UFUNCTION(BlueprintCallable, Category = "Filter")
-	void ClearFilters(int32 ActorId);
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void GoToFrame(int32 FrameIndex);
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void GoToFirstFrame();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void GoToLastFrame();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void NextFrame();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void PreviousFrame();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void Replay();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void SetReplayRate(float Rate);
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void ReplayForward();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void ReplayBackward();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void StopReplay();
-
-	UFUNCTION(BlueprintCallable, Category = "Control")
-	void TogglePause();
-
-	UPROPERTY(BlueprintReadOnly, Category = Configuration)
-	TSubclassOf<AActor>	DummyActor = 0;
-
-	UPROPERTY(BlueprintReadOnly, Category = Configuration)
-	bool DisablePhysics = true;
-
-	UPROPERTY(BlueprintAssignable)
-	FFrameCountChanged OnFrameCountChanged;
-
-	UPROPERTY(BlueprintAssignable)
-	FFrameIndexChanged OnFrameIndexChanged;
-
-	UPROPERTY(BlueprintAssignable)
-	FBeginReplayFrame OnBeginReplayFrame;
-
-	UPROPERTY(BlueprintAssignable)
-	FReplayStateChanged	OnReplayStateChanged;
-
-	UPROPERTY(BlueprintAssignable)
-	FMessageEvent OnMessageEvent;
-
-private:
-
-	enum State
-	{
-		Idle,
-		Loading,
-		ForwardReplay,
-		BackwardReplay
-	};
-
-	void replayCurrentFrame();
-
-	void updateFrameCount();
-
-	void propagateFrameIndex();
-
-	AActor* spawnActor(const FString &className, const FVector &location, const FRotator &rotation);
-	AActor* spawnActor( const FVector &location, const FRotator &rotation);
-
-	TMap<int32, ReplayActorEventLog*>			m_ActorEventLogs;
-
-	State										m_curState = Idle;
-
-	int32										m_FrameCount = 0;
-	float										m_curFrame = 0.0f;
-	int32										m_curFrameIndex = 0;
-
-	float										m_ReplayRate = 1.0f;
-
-};
-
-
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLoggerComponent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLoggerComponent.h
deleted file mode 100644
index 1531f6a7..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLoggerComponent.h
+++ /dev/null
@@ -1,81 +0,0 @@
-
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "Components/ActorComponent.h"
-
-#include <fstream>
-
-#include "ActorEventLoggerComponent.generated.h"
-
-
-DECLARE_LOG_CATEGORY_EXTERN(LogActorEventLogger, Log, All);
-
-struct ActorEvent;
-class AActorEventLogManager;
-
-UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
-class DEEPDRIVEPLUGIN_API UActorEventLoggerComponent : public UActorComponent
-{
-	GENERATED_BODY()
-
-public:	
-	// Sets default values for this component's properties
-	UActorEventLoggerComponent();
-
-protected:
-	// Called when the game starts
-	virtual void BeginPlay() override;
-
-public:	
-	// Called every frame
-	virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
-
-	void StartLogging(const FString &BasePath);
-
-	void StopLogging();
-
-	void BeginFrame(uint32 FrameCounter, double Timestamp);
-
-	void EndFrame(double Timestamp);
-
-	void LogMessage(const FString &Message);
-
-	void LogActorTransform(const FTransform &Transform);
-
-	void LogEvent(const ActorEvent &Event);
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
-	FString		ActorName = "";
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
-	FString		ActorDescription = "";
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
-	FString		ActorClassName = "";
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
-	bool 	KeepTransformFixed = false;
-
-	void setUniqueActorName(const FString &name);
-
-private:
-
-	AActorEventLogManager			*m_ActorEventLogMgr = 0;
-
-	FString							m_EventLogFileName;
-	FString							m_UniqueActorName;
-
-	std::ofstream					m_LogStream;
-
-	bool							m_isFirstFrame = true;
-	bool							m_isFirstEvent = true;
-	bool							m_hasSeenBeginFrame = false;
-};
-
-
-inline void UActorEventLoggerComponent::setUniqueActorName(const FString &name)
-{
-	m_UniqueActorName = name;
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h
deleted file mode 100644
index 9f03d660..00000000
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/ActorEventLogging/ActorEventLogging.h
+++ /dev/null
@@ -1,27 +0,0 @@
-
-#pragma once
-
-#include "ActorEventLogging/ActorEventLoggerComponent.h"
-#include "ActorEventLogging/ActorEventLogManager.h"
-
-#define AEL_MESSAGE(ActorRef, Format, ...) \
-{ \
-	UActorEventLoggerComponent *eventLogCmp = Cast<UActorEventLoggerComponent>((ActorRef).GetComponentByClass(UActorEventLoggerComponent::StaticClass())); \
-	if(eventLogCmp) \
-		eventLogCmp->LogMessage(FString::Printf(Format, ##__VA_ARGS__)); \
-}
-
-#define AEL_ENSURE_TICK_ORDER(ActorRef) \
-{ \
-   	TArray<AActor*> actors; \
-	UGameplayStatics::GetAllActorsOfClass(GetWorld(), AActorEventLogManager::StaticClass(), actors); \
-	for (auto &actor : actors) \
-	{ \
-		AActorEventLogManager *mgr = Cast<AActorEventLogManager>(actor); \
-		if (mgr) \
-		{ \
-			(ActorRef).AddTickPrerequisiteActor(mgr); \
-            break; \
-		} \
-	} \
-}
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
index 92f1cdc5..c1137d84 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
@@ -269,7 +269,7 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle
 
 	static int32						s_nextAgentId;
 
-	UActorEventLoggerComponent			*m_EventLogger = 0;
+	// UActorEventLoggerComponent			*m_EventLogger = 0;
 };
 
 inline void ADeepDriveAgent::initialize(ADeepDriveSimulation &sim)

From 1f82e6c9e84684bc7c3936e9d986085bade230c4 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Sun, 7 Jun 2020 09:38:22 +0200
Subject: [PATCH 40/43] - switching to AEL plugin

---
 .gitignore                                    |  1 +
 Config/DefaultEngine.ini                      | 33 +++++++++----------
 .../DeepDrivePlugin/DeepDrivePlugin.Build.cs  |  3 +-
 .../Simulation/Agent/DeepDriveAgent.cpp       |  5 ++-
 .../Public/Simulation/Agent/DeepDriveAgent.h  |  3 --
 5 files changed, 20 insertions(+), 25 deletions(-)

diff --git a/.gitignore b/.gitignore
index cf3544bd..ff1c92a5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -79,6 +79,7 @@ Plugins/*/Binaries/*
 # Plugin  builds
 #Plugins/DeepDriveCityPlugin/*
 Plugins/DeepDriveKevindalePlugin/*
+Plugins/ActorEventLogging/*
 
 # Configuration files generated by the Editor
 Saved/*
diff --git a/Config/DefaultEngine.ini b/Config/DefaultEngine.ini
index 2ad65075..474aa862 100644
--- a/Config/DefaultEngine.ini
+++ b/Config/DefaultEngine.ini
@@ -66,24 +66,6 @@ UIScaleRule=ShortestSide
 CustomScalingRuleClass=None
 UIScaleCurve=(EditorCurveData=(PreInfinityExtrap=RCCE_Constant,PostInfinityExtrap=RCCE_Constant,Keys=((Time=480.000000,Value=0.444000),(Time=720.000000,Value=0.666000),(Time=1080.000000,Value=1.000000),(Time=8640.000000,Value=8.000000)),DefaultValue=340282346638528859811704183484516925440.000000),ExternalCurve=None)
 
-[/Script/EngineSettings.GameMapsSettings]
-EditorStartupMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo
-LocalMapOptions=
-TransitionMap=/Game/DeepDrive/Maps/ServerTransition.ServerTransition
-bUseSplitscreen=True
-TwoPlayerSplitscreenLayout=Horizontal
-ThreePlayerSplitscreenLayout=FavorTop
-bOffsetPlayerGamepadIds=False
-GameInstanceClass=/Game/DeepDrive/Blueprints/DeepDriveSimGameInstance.DeepDriveSimGameInstance_C
-GameDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo
-ServerDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo
-GlobalDefaultGameMode=/Game/DeepDrive/Blueprints/DeepDriveSimGameMode.DeepDriveSimGameMode_C
-GlobalDefaultServerGameMode=None
-
-;[Python]
-;RelativeHome = python_libs
-;RelativeZipPath = deepdrive-site-packages.zip
-
 [/Script/IOSRuntimeSettings.IOSRuntimeSettings]
 bSupportsPortraitOrientation=False
 bSupportsUpsideDownOrientation=False
@@ -98,6 +80,21 @@ OcclusionPlugin=
 -TargetedRHIs=GLSL_430
 +TargetedRHIs=GLSL_430
 
+[/Script/EngineSettings.GameMapsSettings]
+EditorStartupMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo
+LocalMapOptions=
+TransitionMap=/Game/DeepDrive/Maps/ServerTransition.ServerTransition
+bUseSplitscreen=True
+TwoPlayerSplitscreenLayout=Horizontal
+ThreePlayerSplitscreenLayout=FavorTop
+FourPlayerSplitscreenLayout=Grid
+bOffsetPlayerGamepadIds=False
+GameInstanceClass=/Game/DeepDrive/Blueprints/DeepDriveSimGameInstance.DeepDriveSimGameInstance_C
+GameDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo
+ServerDefaultMap=/Game/DeepDrive/Maps/DeepDriveSim_Demo.DeepDriveSim_Demo
+GlobalDefaultGameMode=/Game/DeepDrive/Blueprints/DeepDriveSimGameMode.DeepDriveSimGameMode_C
+GlobalDefaultServerGameMode=None
+
 [/Script/Engine.PhysicsSettings]
 DefaultGravityZ=-980.000000
 DefaultTerminalVelocity=4000.000000
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs
index 4fff95a5..6df796fe 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/DeepDrivePlugin.Build.cs
@@ -36,7 +36,8 @@ public DeepDrivePlugin(ReadOnlyTargetRules Target) : base(Target)
 			new string[]
 			{
 				"Core",
-				"Sockets","Networking"
+				"Sockets","Networking",
+                "ActorEventLogging"
 				// ... add other public dependencies that you statically link with here ...
 			}
 			);
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
index 48cc28eb..961a1c21 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
@@ -8,7 +8,7 @@
 #include "Simulation/Agent/DeepDriveAgentControllerBase.h"
 #include "Private/Capture/DeepDriveCapture.h"
 
-// #include "ActorEventLogging/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLogging.h"
 
 #include "WheeledVehicleMovementComponent.h"
 #include "Runtime/Engine/Classes/Kismet/KismetRenderingLibrary.h"
@@ -132,8 +132,7 @@ void ADeepDriveAgent::Tick( float DeltaSeconds )
 		UE_LOG(LogDeepDriveAgent, Log, TEXT("Laps finished %d"), m_NumberOfLaps );
 	}
 
-	// if(m_EventLogger)
-	// 	m_EventLogger->LogActorTransform(GetActorTransform());
+	AEL_LOG_TRANSFORM(*this, GetActorTransform());
 }
 
 int32 ADeepDriveAgent::RegisterCaptureCamera(float fieldOfView, int32 captureWidth, int32 captureHeight, FVector relativePosition, FVector relativeRotation, const FString &label)
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
index c1137d84..0c101d71 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Public/Simulation/Agent/DeepDriveAgent.h
@@ -14,7 +14,6 @@ struct DeepDriveDataOut;
 class UCaptureCameraComponent;
 class ADeepDriveAgentControllerBase;
 class ADeepDriveSimulation;
-class UActorEventLoggerComponent;
 
 DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FTurnSignalStateChanged, EDeepDriveAgentTurnSignalState, NewState);
 
@@ -268,8 +267,6 @@ class DEEPDRIVEPLUGIN_API ADeepDriveAgent : public AWheeledVehicle
 	int32								m_NumberOfLaps = 0;
 
 	static int32						s_nextAgentId;
-
-	// UActorEventLoggerComponent			*m_EventLogger = 0;
 };
 
 inline void ADeepDriveAgent::initialize(ADeepDriveSimulation &sim)

From 1dcf8805eef320eaa4e3efa5721ca4c004741844 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Mon, 8 Jun 2020 08:37:10 +0200
Subject: [PATCH 41/43] - switching to AEL plugin cont.

---
 .../Controllers/DeepDriveAgentTrafficAIController.cpp     | 6 +++---
 .../Private/Simulation/Agent/DeepDriveAgent.cpp           | 8 +-------
 .../Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp | 5 +++--
 .../Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp        | 4 ++--
 .../BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp | 4 ++--
 .../Simulation/Traffic/Path/DeepDrivePartialPath.cpp      | 6 +++---
 6 files changed, 14 insertions(+), 19 deletions(-)

diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 95695c56..512616f1 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -16,7 +16,7 @@
 
 #include "WheeledVehicleMovementComponent.h"
 
-// #include "ActorEventLogging/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLogging.h"
 
 ADeepDriveAgentTrafficAIController::ADeepDriveAgentTrafficAIController()
 {
@@ -41,7 +41,7 @@ bool ADeepDriveAgentTrafficAIController::updateAgentOnPath( float DeltaSeconds )
 	{
 		const float speedBefore = speed;
 		speed *= FMath::SmoothStep(300.0f, FMath::Max(500.0f, safetyDistance * 0.8f), dist2Obstacle);
-		// AEL_MESSAGE(*m_Agent, TEXT("Distance to obstacle %f speed of %f reduced to %f"), dist2Obstacle, speedBefore, speed );
+		AEL_MESSAGE(*m_Agent, TEXT("Distance to obstacle %f speed of %f reduced to %f"), dist2Obstacle, speedBefore, speed );
 	}
 
 	brake = speed > 0.0f ? 0.0f : 1.0f;
@@ -129,7 +129,7 @@ bool ADeepDriveAgentTrafficAIController::Activate(ADeepDriveAgent &agent, bool k
 {
 	bool res = false;
 
-	// AEL_ENSURE_TICK_ORDER(*this);
+	AEL_ENSURE_TICK_ORDER(*this);
 
 	UDeepDriveRoadNetworkComponent *roadNetwork = m_DeepDriveSimulation->RoadNetwork;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
index 961a1c21..9c5ce693 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
@@ -74,12 +74,6 @@ ADeepDriveAgent::ADeepDriveAgent()
 void ADeepDriveAgent::PostInitializeComponents()
 {
 	Super::PostInitializeComponents();
-	
-	// m_EventLogger = Cast<UActorEventLoggerComponent>(GetComponentByClass(UActorEventLoggerComponent::StaticClass()));
-	// if(m_EventLogger)
-	// {
-	// 	m_EventLogger->setUniqueActorName(FString::Printf(TEXT("DeepDriveAgent_%d"), m_AgentId));
-	// }
 }
 
 
@@ -490,7 +484,7 @@ void ADeepDriveAgent::OnBeginOverlap(UPrimitiveComponent *OverlappedComponent, A
 
 			ADeepDriveAgent *otherAgent = Cast<ADeepDriveAgent>(OtherActor);
 
-			// AEL_MESSAGE(*this, TEXT("Collision of %s with %s other agent %d"), *(OverlappedComponent->GetReadableName()), *(OtherComp->GetReadableName()), otherAgent ? otherAgent->GetAgentId() : -1 );
+			AEL_MESSAGE(*this, TEXT("Collision of %s with %s other agent %d"), *(OverlappedComponent->GetReadableName()), *(OtherComp->GetReadableName()), otherAgent ? otherAgent->GetAgentId() : -1 );
 
 			ADeepDriveAgentControllerBase *ctrl = getAgentController();
 			if (ctrl)
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
index 930738e6..32d7b81b 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
@@ -4,7 +4,8 @@
 #include "Simulation/Traffic/BehaviorTree/DeepDriveTrafficBlackboard.h"
 
 #include "Agent/DeepDriveAgent.h"
-// #include "ActorEventLogging/ActorEventLogging.h"
+
+#include "ActorEventLogging/Public/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTrafficBehaviorTree);
 
@@ -43,7 +44,7 @@ void DeepDriveTrafficBehaviorTree::execute(float deltaSeconds, float &speed, int
 	if(m_isDebuggingActive)
 		UE_LOG(LogDeepDriveTrafficBehaviorTree, Log, TEXT("DeepDriveTrafficBehaviorTree::execute %s started at index %d"), *m_Name, pathPointIndex);
 
-	// AEL_MESSAGE((*m_Blackboard->getAgent()), TEXT("DeepDriveTrafficBehaviorTree::execute %s at index %d"), *m_Name, pathPointIndex);
+	AEL_MESSAGE((*m_Blackboard->getAgent()), TEXT("DeepDriveTrafficBehaviorTree::execute %s at index %d"), *m_Name, pathPointIndex);
 
 	if (m_RootNode)
 	{
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
index bd0766e0..c152b26e 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
@@ -7,7 +7,7 @@
 #include "Simulation/Agent/DeepDriveAgent.h"
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
-// #include "ActorEventLogging/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTCheckIsJunctionClearTask);
 
@@ -55,7 +55,7 @@ bool DeepDriveTBTCheckIsJunctionClearTask::execute(DeepDriveTrafficBlackboard &b
 			blackboard.setBooleanValue(m_FlagName, isJunctionClear);
 
 		// UE_LOG(LogDeepDriveTBTCheckIsJunctionClearTask, Log, TEXT("LogDeepDriveTBTCheckIsJunctionClearTask::execute [%d] %d %c"), blackboard.getAgent()->GetAgentId(), pathPointIndex, isJunctionClear ? 'T' : 'F');
-		// AEL_MESSAGE((*(blackboard.getAgent())), TEXT("CheckIsJunctionClearTask::execute %d %c"), pathPointIndex, isJunctionClear ? 'T' : 'F');
+		AEL_MESSAGE((*(blackboard.getAgent())), TEXT("CheckIsJunctionClearTask::execute %d %c"), pathPointIndex, isJunctionClear ? 'T' : 'F');
 	}
 
 	return true;
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
index 3df8dfe8..5bc6b655 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
@@ -5,7 +5,7 @@
 
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
-// #include "ActorEventLogging/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTStopAtLocationTask);
 
@@ -52,7 +52,7 @@ bool DeepDriveTBTStopAtLocationTask::execute(DeepDriveTrafficBlackboard &blackbo
 			hasStopped = pathPointIndex >= m_StopBeginIndex && agent->getSpeedKmh() < 1.0f;
 
 			// UE_LOG(LogDeepDriveTBTStopAtLocationTask, Log, TEXT("DeepDriveTBTStopAtLocationTask[%p] %d spd %f spdFac %f curT %f agntSpd %f -> %c"), this, pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), m_hasStopped ? 'T' : 'F');
-			// AEL_MESSAGE((*agent), TEXT("StopAtLocationTask %d spd %f spdFac %f curT %f agntSpd %f -> %c"), pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), hasStopped ? 'T' : 'F');
+			AEL_MESSAGE((*agent), TEXT("StopAtLocationTask %d spd %f spdFac %f curT %f agntSpd %f -> %c"), pathPointIndex, speed, speedFac, curT, agent->getSpeedKmh(), hasStopped ? 'T' : 'F');
 		}
 	}
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
index 8268feb2..9d934124 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
@@ -12,7 +12,7 @@
 
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 
-// #include "ActorEventLogging/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLogging.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDrivePartialPath);
 
@@ -144,7 +144,7 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 		{
 			curManeuver = &m;
 			// UE_LOG(LogDeepDrivePartialPath, Log, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
-			// AEL_MESSAGE(m_Agent, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
+			AEL_MESSAGE(m_Agent, TEXT("Found maneuver at %d from %d to %d"), m_curPathPointIndex, m.EntryPointIndex, m.ExitPointIndex);
 			break;
 		}
 	}
@@ -187,7 +187,7 @@ void DeepDrivePartialPath::advance(float deltaSeconds, float &speed, float &stee
 			)
 		{
 			m_hasReachedDestination = curManeuver->BehaviorTree->getBlackboard().getBooleanValue("DestinationReached", false);
-			// AEL_MESSAGE(m_Agent, TEXT("Destination reached at %d"), m_curPathPointIndex);
+			AEL_MESSAGE(m_Agent, TEXT("Destination reached at %d"), m_curPathPointIndex);
 		}
 	}
 

From 81570a7d6d59ea32d182d86cdb34d37e980cf95b Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Mon, 8 Jun 2020 12:25:42 +0200
Subject: [PATCH 42/43] - switching to AEL plugin cont.

---
 ...eepDriveAgent_VoyageAuto_MiniVan_AEL.uasset | Bin 0 -> 146303 bytes
 .../DeepDriveAgent_VoyageAuto_SUV_AEL.uasset   | Bin 0 -> 146258 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan_AEL.uasset
 create mode 100644 Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_SUV_AEL.uasset

diff --git a/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan_AEL.uasset b/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan_AEL.uasset
new file mode 100644
index 0000000000000000000000000000000000000000..1c3c88467d84667d3ae20f6bdd353a2b8532d8bc
GIT binary patch
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From 5d9ad3f8795d00123cdf265b5823eea6743ffe24 Mon Sep 17 00:00:00 2001
From: Maik Ernst <m.ernst@darknet-solutions.de>
Date: Mon, 3 Aug 2020 18:10:19 +0200
Subject: [PATCH 43/43] - actor event logging stub added

---
 .../DeepDriveAgent_VoyageAuto_MiniVan.uasset  | Bin 499612 -> 503753 bytes
 ...epDriveAgent_VoyageAuto_MiniVan_AEL.uasset | Bin 146303 -> 0 bytes
 .../DeepDriveAgent_VoyageAuto_SUV.uasset      | Bin 498551 -> 501671 bytes
 .../DeepDriveAgent_VoyageAuto_SUV_AEL.uasset  | Bin 146258 -> 0 bytes
 DeepDrive.uproject                            |   4 +
 Plugins/ActorEventLoggingStub/.gitignore      |   3 +
 .../ActorEventLogging.uplugin                 |  23 +++
 .../Resources/Icon128.png                     | Bin 0 -> 12699 bytes
 .../ActorEventLogging.Build.cs                |  53 +++++++
 .../Private/ActorEventLogging.cpp             |  20 +++
 .../Public/ActorEventLogging.h                |  15 ++
 .../Public/ActorEventLoggingMacros.h          |  15 ++
 .../Logging/ActorEventLoggingComponent.h      |  73 +++++++++
 .../Public/Logging/ActorEventLoggingManager.h |  37 +++++
 .../Replay/ActorEventLoggingReplayComponent.h |  24 +++
 .../Replay/ActorEventLoggingReplayManager.h   | 149 ++++++++++++++++++
 .../Maps/DeepDriveSim_Kevindale_Bare.umap     | Bin 25253 -> 25558 bytes
 .../DeepDrivePlugin/DeepDrivePlugin.uplugin   |  10 ++
 .../DeepDriveAgentTrafficAIController.cpp     |   2 +-
 .../Simulation/Agent/DeepDriveAgent.cpp       |   2 +-
 .../Simulation/DeepDriveSimulation.cpp        |   2 +-
 .../DeepDriveTrafficBehaviorTree.cpp          |   2 +-
 .../DeepDriveTBTCheckIsJunctionClearTask.cpp  |   2 +-
 .../Tasks/DeepDriveTBTStopAtLocationTask.cpp  |   2 +-
 .../Traffic/Path/DeepDrivePartialPath.cpp     |   2 +-
 clean.bat                                     |   4 +
 26 files changed, 437 insertions(+), 7 deletions(-)
 delete mode 100644 Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan_AEL.uasset
 delete mode 100644 Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_SUV_AEL.uasset
 create mode 100644 Plugins/ActorEventLoggingStub/.gitignore
 create mode 100644 Plugins/ActorEventLoggingStub/ActorEventLogging.uplugin
 create mode 100644 Plugins/ActorEventLoggingStub/Resources/Icon128.png
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/ActorEventLogging.Build.cs
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Private/ActorEventLogging.cpp
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLogging.h
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLoggingMacros.h
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingComponent.h
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingManager.h
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayComponent.h
 create mode 100644 Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayManager.h

diff --git a/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset b/Content/DeepDrive/Simulation/Agents/VoyageAuto/DeepDriveAgent_VoyageAuto_MiniVan.uasset
index ae26285165d326465d1eb49a576ad853134f9980..c8c1120a15fff0a95b92352353a7b1871b178893 100644
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diff --git a/DeepDrive.uproject b/DeepDrive.uproject
index d6559c6c..f29dee78 100644
--- a/DeepDrive.uproject
+++ b/DeepDrive.uproject
@@ -18,6 +18,10 @@
 			"Name": "DeepDrivePlugin",
 			"Enabled": true
 		},
+		{
+			"Name": "ActorEventLogging",
+			"Enabled": true
+		},
 		{
 			"Name": "Substance",
 			"Enabled": true,
diff --git a/Plugins/ActorEventLoggingStub/.gitignore b/Plugins/ActorEventLoggingStub/.gitignore
new file mode 100644
index 00000000..8248311f
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/.gitignore
@@ -0,0 +1,3 @@
+
+Binaries/*
+Intermediate/*
diff --git a/Plugins/ActorEventLoggingStub/ActorEventLogging.uplugin b/Plugins/ActorEventLoggingStub/ActorEventLogging.uplugin
new file mode 100644
index 00000000..cd153486
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/ActorEventLogging.uplugin
@@ -0,0 +1,23 @@
+{
+	"FileVersion": 3,
+	"Version": 1,
+	"VersionName": "1.0",
+	"FriendlyName": "ActorEventLogging",
+	"Description": "",
+	"Category": "Other",
+	"CreatedBy": "Maik Ernst",
+	"CreatedByURL": "",
+	"DocsURL": "",
+	"MarketplaceURL": "",
+	"SupportURL": "",
+	"CanContainContent": true,
+	"IsBetaVersion": false,
+	"Installed": false,
+	"Modules": [
+		{
+			"Name": "ActorEventLogging",
+			"Type": "Runtime",
+			"LoadingPhase": "Default"
+		}
+	]
+}
\ No newline at end of file
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diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/ActorEventLogging.Build.cs b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/ActorEventLogging.Build.cs
new file mode 100644
index 00000000..77405162
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/ActorEventLogging.Build.cs
@@ -0,0 +1,53 @@
+// Copyright 1998-2018 Epic Games, Inc. All Rights Reserved.
+
+using UnrealBuildTool;
+
+public class ActorEventLogging : ModuleRules
+{
+	public ActorEventLogging(ReadOnlyTargetRules Target) : base(Target)
+	{
+		PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs;
+		
+		PublicIncludePaths.AddRange(
+			new string[] {
+				// ... add public include paths required here ...
+			}
+			);
+				
+		
+		PrivateIncludePaths.AddRange(
+			new string[] {
+				// ... add other private include paths required here ...
+			}
+			);
+			
+		
+		PublicDependencyModuleNames.AddRange(
+			new string[]
+			{
+				"Core",
+				// ... add other public dependencies that you statically link with here ...
+			}
+			);
+			
+		
+		PrivateDependencyModuleNames.AddRange(
+			new string[]
+			{
+				"CoreUObject",
+				"Engine",
+				"Slate",
+				"SlateCore",
+                "Json"
+            }
+            );
+		
+		
+		DynamicallyLoadedModuleNames.AddRange(
+			new string[]
+			{
+				// ... add any modules that your module loads dynamically here ...
+			}
+			);
+	}
+}
diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Private/ActorEventLogging.cpp b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Private/ActorEventLogging.cpp
new file mode 100644
index 00000000..9046fe97
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Private/ActorEventLogging.cpp
@@ -0,0 +1,20 @@
+// Copyright 1998-2018 Epic Games, Inc. All Rights Reserved.
+
+#include "ActorEventLogging.h"
+
+#define LOCTEXT_NAMESPACE "FActorEventLoggingModule"
+
+void FActorEventLoggingModule::StartupModule()
+{
+	// This code will execute after your module is loaded into memory; the exact timing is specified in the .uplugin file per-module
+}
+
+void FActorEventLoggingModule::ShutdownModule()
+{
+	// This function may be called during shutdown to clean up your module.  For modules that support dynamic reloading,
+	// we call this function before unloading the module.
+}
+
+#undef LOCTEXT_NAMESPACE
+	
+IMPLEMENT_MODULE(FActorEventLoggingModule, ActorEventLogging)
\ No newline at end of file
diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLogging.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLogging.h
new file mode 100644
index 00000000..06448913
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLogging.h
@@ -0,0 +1,15 @@
+// Copyright 1998-2018 Epic Games, Inc. All Rights Reserved.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Modules/ModuleManager.h"
+
+class FActorEventLoggingModule : public IModuleInterface
+{
+public:
+
+	/** IModuleInterface implementation */
+	virtual void StartupModule() override;
+	virtual void ShutdownModule() override;
+};
diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLoggingMacros.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLoggingMacros.h
new file mode 100644
index 00000000..3036b69b
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/ActorEventLoggingMacros.h
@@ -0,0 +1,15 @@
+
+#pragma once
+
+/*
+ *
+ *  Empty actor event looging macros to compile against
+ * 
+ */
+
+#define AEL_LOG_TRANSFORM(ActorRef, Transform)
+
+#define AEL_MESSAGE(ActorRef, Format, ...)
+
+#define AEL_ENSURE_TICK_ORDER(ActorRef)
+
diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingComponent.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingComponent.h
new file mode 100644
index 00000000..2e48ac7f
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingComponent.h
@@ -0,0 +1,73 @@
+
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Components/ActorComponent.h"
+
+#include <fstream>
+
+#include "ActorEventLoggingComponent.generated.h"
+
+
+DECLARE_LOG_CATEGORY_EXTERN(LogActorEventLogger, Log, All);
+
+struct ActorEvent;
+class AActorEventLoggingManager;
+
+UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
+class ACTOREVENTLOGGING_API UActorEventLoggingComponent : public UActorComponent
+{
+	GENERATED_BODY()
+
+public:	
+	// Sets default values for this component's properties
+	UActorEventLoggingComponent()
+	{	}
+
+protected:
+
+public:	
+
+	void StartLogging(const FString &BasePath)
+	{	}
+
+	void StopLogging()
+	{	}
+
+	void BeginFrame(uint32 FrameCounter, double Timestamp)
+	{	}
+
+	void EndFrame(double Timestamp)
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Event Logging")
+	void LogMessage(const FString &Message)
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Event Logging")
+	void LogActorTransform(const FTransform &Transform)
+	{	}
+
+	void LogEvent(const ActorEvent &Event)
+	{	}
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	FString		ActorName = "";
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	FString		ActorDescription = "";
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	FString		ActorClassName = "";
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	FString		LogFileName = "";
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Configuration)
+	bool 	KeepTransformFixed = false;
+
+
+private:
+};
+
diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingManager.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingManager.h
new file mode 100644
index 00000000..86723ae9
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Logging/ActorEventLoggingManager.h
@@ -0,0 +1,37 @@
+
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "GameFramework/Actor.h"
+#include "ActorEventLoggingManager.generated.h"
+
+class UActorEventLoggerComponent;
+
+UCLASS()
+class ACTOREVENTLOGGING_API AActorEventLoggingManager : public AActor
+{
+	GENERATED_BODY()
+	
+public:	
+	// Sets default values for this actor's properties
+	AActorEventLoggingManager()
+    {   }
+
+protected:
+	// Called when the game starts or when spawned
+	virtual void BeginPlay() override
+    {   }
+
+	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override
+    {   }
+
+public:	
+	// Called every frame
+	virtual void Tick(float DeltaTime) override
+    {   }
+
+	void RegisterActorEventLogger(UActorEventLoggerComponent& ActorEventLogger)
+    {   }
+
+};
diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayComponent.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayComponent.h
new file mode 100644
index 00000000..d8266fba
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayComponent.h
@@ -0,0 +1,24 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Components/ActorComponent.h"
+#include "ActorEventLoggingReplayComponent.generated.h"
+
+
+UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
+class ACTOREVENTLOGGING_API UActorEventLoggingReplayComponent : public UActorComponent
+{
+	GENERATED_BODY()
+
+public:	
+
+	UFUNCTION(BlueprintNativeEvent, Category = "Replay")
+	void SetActorTransform(const FTransform &Transform);
+
+};
+
+inline void UActorEventLoggingReplayComponent::SetActorTransform_Implementation(const FTransform &Transform)
+{
+}
diff --git a/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayManager.h b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayManager.h
new file mode 100644
index 00000000..fff62d31
--- /dev/null
+++ b/Plugins/ActorEventLoggingStub/Source/ActorEventLogging/Public/Replay/ActorEventLoggingReplayManager.h
@@ -0,0 +1,149 @@
+
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "GameFramework/Actor.h"
+#include "ActorEventLoggingReplayManager.generated.h"
+
+DECLARE_LOG_CATEGORY_EXTERN(LogActorEventReplayManager, Log, All);
+
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameCountChanged, int32, FrameCount);
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FFrameIndexChanged, int32, FrameIndex);
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FReplayStateChanged, bool, IsPlaying);
+
+DECLARE_DYNAMIC_MULTICAST_DELEGATE(FBeginReplayFrame);
+
+DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FMessageEvent, int32, Id, FString, Message);
+
+USTRUCT(BlueprintType)
+struct FActorEventLogData
+{
+	GENERATED_USTRUCT_BODY()
+
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	int32		Id = -1;
+
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	FString		ActorName;
+
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	FString		ActorDescription;
+
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Default)
+	AActor		*Actor = 0;;
+
+};
+
+UCLASS()
+class ACTOREVENTLOGGING_API ActorEventLoggingReplayManager : public AActor
+{
+	GENERATED_BODY()
+
+public:	
+	// Sets default values for this actor's properties
+	ActorEventLoggingReplayManager()
+	{	}
+
+protected:
+	// Called when the game starts or when spawned
+	virtual void BeginPlay() override
+	{	}
+
+public:	
+	// Called every frame
+	virtual void Tick(float DeltaTime) override
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "FileHandling")
+	FActorEventLogData LoadActorEventLog(FString FileName)
+	{
+		return FActorEventLogData();
+	}
+
+	UFUNCTION(BlueprintCallable, Category = "FileHandling")
+	TArray<FString> GetAvailableActorEventLogs(FString BasePath)
+	{
+		return TArray<FString>();
+	}
+
+	UFUNCTION(BlueprintCallable, Category = "Filter")
+	void AddFilter(int32 ActorId, FName EventType)
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Filter")
+	void RemoveFilter(int32 ActorId, FName EventType)
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Filter")
+	void ClearFilters(int32 ActorId)
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void GoToFrame(int32 FrameIndex)
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void GoToFirstFrame()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void GoToLastFrame()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void NextFrame()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void PreviousFrame()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void Replay()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void SetReplayRate(float Rate)
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void ReplayForward()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void ReplayBackward()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void StopReplay()
+	{	}
+
+	UFUNCTION(BlueprintCallable, Category = "Control")
+	void TogglePause()
+	{	}
+
+	UPROPERTY(BlueprintReadOnly, Category = Configuration)
+	TSubclassOf<AActor>	DummyActor = 0;
+
+	UPROPERTY(BlueprintReadOnly, Category = Configuration)
+	bool DisablePhysics = true;
+
+	UPROPERTY(BlueprintAssignable)
+	FFrameCountChanged OnFrameCountChanged;
+
+	UPROPERTY(BlueprintAssignable)
+	FFrameIndexChanged OnFrameIndexChanged;
+
+	UPROPERTY(BlueprintAssignable)
+	FBeginReplayFrame OnBeginReplayFrame;
+
+	UPROPERTY(BlueprintAssignable)
+	FReplayStateChanged	OnReplayStateChanged;
+
+	UPROPERTY(BlueprintAssignable)
+	FMessageEvent OnMessageEvent;
+
+};
+
+
diff --git a/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap b/Plugins/DeepDriveKevindalePlugin/Content/DeepDrive/Maps/DeepDriveSim_Kevindale_Bare.umap
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diff --git a/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin b/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin
index 9b9deaf7..39866100 100644
--- a/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin
+++ b/Plugins/DeepDrivePlugin/DeepDrivePlugin.uplugin
@@ -19,5 +19,15 @@
 			"Type": "Runtime",
 			"LoadingPhase": "PreDefault"
 		}
+	],
+	"Plugins": [
+		{
+			"Name": "ActorEventLogging",
+			"Enabled": true
+		},
+		{
+			"Name": "PhysXVehicles",
+			"Enabled": true
+		}
 	]
 }
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
index 512616f1..7cc4d875 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/Controllers/DeepDriveAgentTrafficAIController.cpp
@@ -16,7 +16,7 @@
 
 #include "WheeledVehicleMovementComponent.h"
 
-#include "ActorEventLogging/Public/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLoggingMacros.h"
 
 ADeepDriveAgentTrafficAIController::ADeepDriveAgentTrafficAIController()
 {
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
index 9c5ce693..1d6c20d0 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Agent/DeepDriveAgent.cpp
@@ -8,7 +8,7 @@
 #include "Simulation/Agent/DeepDriveAgentControllerBase.h"
 #include "Private/Capture/DeepDriveCapture.h"
 
-#include "ActorEventLogging/Public/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLoggingMacros.h"
 
 #include "WheeledVehicleMovementComponent.h"
 #include "Runtime/Engine/Classes/Kismet/KismetRenderingLibrary.h"
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
index da2428b0..adc1cb72 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/DeepDriveSimulation.cpp
@@ -29,7 +29,7 @@
 
 #include "Public/CaptureSink/CaptureSinkComponentBase.h"
 
-	DEFINE_LOG_CATEGORY(LogDeepDriveSimulation);
+DEFINE_LOG_CATEGORY(LogDeepDriveSimulation);
 
 FDateTime ADeepDriveSimulation::m_SimulationStartTime;
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
index 32d7b81b..bd2c89e1 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/DeepDriveTrafficBehaviorTree.cpp
@@ -5,7 +5,7 @@
 
 #include "Agent/DeepDriveAgent.h"
 
-#include "ActorEventLogging/Public/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLoggingMacros.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTrafficBehaviorTree);
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
index c152b26e..3d1cdf9b 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTCheckIsJunctionClearTask.cpp
@@ -7,7 +7,7 @@
 #include "Simulation/Agent/DeepDriveAgent.h"
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
-#include "ActorEventLogging/Public/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLoggingMacros.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTCheckIsJunctionClearTask);
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
index 5bc6b655..8a772af3 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/BehaviorTree/Tasks/DeepDriveTBTStopAtLocationTask.cpp
@@ -5,7 +5,7 @@
 
 #include "Private/Simulation/Traffic/Path/DeepDrivePartialPath.h"
 
-#include "ActorEventLogging/Public/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLoggingMacros.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDriveTBTStopAtLocationTask);
 
diff --git a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
index 9d934124..fcafb0fc 100644
--- a/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
+++ b/Plugins/DeepDrivePlugin/Source/DeepDrivePlugin/Private/Simulation/Traffic/Path/DeepDrivePartialPath.cpp
@@ -12,7 +12,7 @@
 
 #include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
 
-#include "ActorEventLogging/Public/ActorEventLogging.h"
+#include "ActorEventLogging/Public/ActorEventLoggingMacros.h"
 
 DEFINE_LOG_CATEGORY(LogDeepDrivePartialPath);
 
diff --git a/clean.bat b/clean.bat
index 9063d55f..fd1ed21f 100644
--- a/clean.bat
+++ b/clean.bat
@@ -5,3 +5,7 @@ RMDIR Intermediate /S /Q
 RMDIR Binaries /S /Q
 RMDIR Plugins\DeepDrivePlugin\Binaries /S /Q
 RMDIR Plugins\DeepDrivePlugin\Intermediate /S /Q
+RMDIR Plugins\ActorEventLogging\Binaries /S /Q
+RMDIR Plugins\ActorEventLogging\Intermediate /S /Q
+RMDIR Plugins\ActorEventLoggingStub\Binaries /S /Q
+RMDIR Plugins\ActorEventLoggingStub\Intermediate /S /Q