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Moved trigger box spawn logic from TrafficLightManager to TrafficLightCOmponent. Added spawn of traffic lights without controllers outside junctions.

This commit is contained in:
Axel1092 2020-04-08 12:07:31 +02:00 committed by Axel1092
parent b839cf3419
commit 07334ce6e4
4 changed files with 180 additions and 188 deletions
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53
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.cpp
View File

@ -17,6 +17,59 @@ UTrafficLightComponent::UTrafficLightComponent()
{
}
void UTrafficLightComponent::InitializeSign(const carla::road::Map &Map)
{
const double epsilon = 0.00001;
auto References = GetAllReferencesToThisSignal(Map);
for (auto& Reference : References)
{
auto RoadId = Reference.first;
const auto* SignalReference = Reference.second;
for(auto &validity : SignalReference->GetValidities())
{
for(auto lane : carla::geom::Math::GenerateRange(validity._from_lane, validity._to_lane))
{
if(lane == 0)
continue;
auto signal_waypoint = Map.GetWaypoint(
RoadId, lane, SignalReference->GetS()).get();
if(Map.GetLane(signal_waypoint).GetType() != cr::Lane::LaneType::Driving)
continue;
// Get 90% of the half size of the width of the lane
float BoxSize = static_cast<float>(
0.9f*Map.GetLaneWidth(signal_waypoint)*0.5);
// Get min and max
double LaneLength = Map.GetLane(signal_waypoint).GetLength();
double LaneDistance = Map.GetLane(signal_waypoint).GetDistance();
if(lane < 0)
{
signal_waypoint.s = FMath::Clamp(signal_waypoint.s - BoxSize,
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
else
{
signal_waypoint.s = FMath::Clamp(signal_waypoint.s + BoxSize,
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
float UnrealBoxSize = 100*BoxSize;
GenerateTrafficLightBox(Map.ComputeTransform(signal_waypoint), UnrealBoxSize);
}
}
}
}
void UTrafficLightComponent::GenerateTrafficLightBox(const FTransform BoxTransform,
float BoxSize)
{
UBoxComponent* BoxComponent = GenerateTriggerBox(BoxTransform, BoxSize);
BoxComponent->OnComponentBeginOverlap.AddDynamic(this, &UTrafficLightComponent::OnOverlapTriggerBox);
}
void UTrafficLightComponent::SetLightState(ETrafficLightState NewState)
{
LightState = NewState;

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.h
View File

@ -44,6 +44,8 @@ public:
UFUNCTION(Category = "Traffic Light", BlueprintPure)
UTrafficLightController* GetController();
virtual void InitializeSign(const carla::road::Map &Map) override;
protected:
UFUNCTION(BlueprintCallable)
@ -57,6 +59,11 @@ protected:
private:
friend ATrafficLightManager;
void GenerateTrafficLightBox(
const FTransform BoxTransform,
float BoxSize);
UPROPERTY(Category = "Traffic Light", EditAnywhere)
ETrafficLightState LightState;

299
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
View File

@ -47,6 +47,7 @@ ATrafficLightManager::ATrafficLightManager()
TrafficSignsModels.Add(carla::road::SignalType::YieldSign().c_str(), YieldSignModel);
SignComponentModels.Add(carla::road::SignalType::YieldSign().c_str(), UYieldSignComponent::StaticClass());
}
LoneTrafficLightsGroupControllerId = -1;
}
void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * TrafficLightComponent)
@ -54,50 +55,63 @@ void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * Traff
// Cast to std::string
carla::road::SignId SignId(TCHAR_TO_UTF8(*(TrafficLightComponent->GetSignId())));
// Get OpenDRIVE signal
if (GetMap()->GetSignals().count(SignId) == 0)
{
UE_LOG(LogCarla, Error, TEXT("Missing signal with id: %s"), *(SignId.c_str()) );
return;
}
ATrafficLightGroup* TrafficLightGroup;
UTrafficLightController* TrafficLightController;
const auto &Signal = GetMap()->GetSignals().at(SignId);
if(Signal->GetControllers().empty())
if(Signal->GetControllers().size())
{
UE_LOG(LogCarla, Error, TEXT("No controllers in signal %s"), *(SignId.c_str()) );
return;
}
// Only one controller per signal
auto ControllerId = *(Signal->GetControllers().begin());
// Only one controller per signal
auto ControllerId = *(Signal->GetControllers().begin());
// Get controller
const auto &Controller = GetMap()->GetControllers().at(ControllerId);
if(Controller->GetJunctions().empty())
{
UE_LOG(LogCarla, Error, TEXT("No junctions in controller %d"), *(ControllerId.c_str()) );
return;
}
// Get junction of the controller
auto JunctionId = *(Controller->GetJunctions().begin());
// Get controller
const auto &Controller = GetMap()->GetControllers().at(ControllerId);
if(Controller->GetJunctions().empty())
{
UE_LOG(LogCarla, Error, TEXT("No junctions in controller %d"), *(ControllerId.c_str()) );
return;
}
// Get junction of the controller
auto JunctionId = *(Controller->GetJunctions().begin());
// Search/create TrafficGroup (junction traffic light manager)
if(!TrafficGroups.Contains(JunctionId))
{
auto * TrafficLightGroup =
GetWorld()->SpawnActor<ATrafficLightGroup>();
TrafficLightGroup->JunctionId = JunctionId;
TrafficGroups.Add(JunctionId, TrafficLightGroup);
}
auto * TrafficLightGroup = TrafficGroups[JunctionId];
// Search/create TrafficGroup (junction traffic light manager)
if(!TrafficGroups.Contains(JunctionId))
{
auto * NewTrafficLightGroup =
GetWorld()->SpawnActor<ATrafficLightGroup>();
NewTrafficLightGroup->JunctionId = JunctionId;
TrafficGroups.Add(JunctionId, NewTrafficLightGroup);
}
TrafficLightGroup = TrafficGroups[JunctionId];
// Search/create controller in the junction
if(!TrafficControllers.Contains(ControllerId.c_str()))
{
auto *TrafficLightController = NewObject<UTrafficLightController>();
TrafficLightController->SetControllerId(ControllerId.c_str());
TrafficLightGroup->GetControllers().Add(TrafficLightController);
TrafficControllers.Add(ControllerId.c_str(), TrafficLightController);
// Search/create controller in the junction
if(!TrafficControllers.Contains(ControllerId.c_str()))
{
auto *NewTrafficLightController = NewObject<UTrafficLightController>();
NewTrafficLightController->SetControllerId(ControllerId.c_str());
TrafficLightGroup->GetControllers().Add(NewTrafficLightController);
TrafficControllers.Add(ControllerId.c_str(), NewTrafficLightController);
}
TrafficLightController = TrafficControllers[ControllerId.c_str()];
}
else
{
auto * NewTrafficLightGroup =
GetWorld()->SpawnActor<ATrafficLightGroup>();
NewTrafficLightGroup->JunctionId = LoneTrafficLightsGroupControllerId;
TrafficGroups.Add(NewTrafficLightGroup->JunctionId, NewTrafficLightGroup);
TrafficLightGroup = NewTrafficLightGroup;
auto *NewTrafficLightController = NewObject<UTrafficLightController>();
NewTrafficLightController->SetControllerId(FString::FromInt(LoneTrafficLightsGroupControllerId));
// Set red time longer than the default 2s
NewTrafficLightController->SetRedTime(10);
TrafficLightGroup->GetControllers().Add(NewTrafficLightController);
TrafficControllers.Add(NewTrafficLightController->GetControllerId(), NewTrafficLightController);
TrafficLightController = NewTrafficLightController;
--LoneTrafficLightsGroupControllerId;
}
auto *TrafficLightController = TrafficControllers[ControllerId.c_str()];
TrafficLightComponent->TrafficLightGroup = TrafficLightGroup;
TrafficLightComponent->TrafficLightController = TrafficLightController;
@ -110,6 +124,7 @@ void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * Traff
TrafficSignComponents.Add(TrafficLightComponent->GetSignId(), TrafficLightComponent);
TrafficLightGroup->ResetGroup();
}
const boost::optional<carla::road::Map>& ATrafficLightManager::GetMap()
@ -139,7 +154,6 @@ void ATrafficLightManager::GenerateSignalsAndTrafficLights()
RemoveRoadrunnerProps();
SpawnTrafficLights();
GenerateTriggerBoxesForTrafficLights();
SpawnSignals();
@ -184,23 +198,15 @@ void ATrafficLightManager::BeginPlay()
void ATrafficLightManager::ResetTrafficLightObjects()
{
LoneTrafficLightsGroupControllerId = -1;
// Update TrafficLightGroups
for(auto& It : TrafficGroups)
{
ATrafficLightGroup* Group = It.Value;
Group->GetControllers().Empty();
Group->Destroy();
}
TrafficGroups.Empty();
TArray<AActor*> TrafficGroupsArray;
UGameplayStatics::GetAllActorsOfClass(
GetWorld(),
ATrafficLightGroup::StaticClass(),
TrafficGroupsArray);
for(auto& Actor : TrafficGroupsArray) {
ATrafficLightGroup* TrafficLightGroup = Cast<ATrafficLightGroup>(Actor);
TrafficGroups.Add(TrafficLightGroup->JunctionId, TrafficLightGroup);
}
for(auto& It : TrafficControllers)
{
@ -224,68 +230,85 @@ void ATrafficLightManager::ResetTrafficLightObjects()
void ATrafficLightManager::SpawnTrafficLights()
{
const auto& Signals = GetMap()->GetSignals();
TArray<std::string> SignalsToSpawn;
for(const auto& ControllerPair : GetMap()->GetControllers())
{
const auto& Controller = ControllerPair.second;
for(const auto& SignalId : Controller->GetSignals())
{
const auto& Signal = Signals.at(SignalId);
auto CarlaTransform = Signal->GetTransform();
FTransform SpawnTransform(CarlaTransform);
SignalsToSpawn.Add(SignalId);
}
}
const auto& Signals = GetMap()->GetSignals();
for(const auto& SignalPair : Signals)
{
const auto& SignalId = SignalPair.first;
const auto& Signal = SignalPair.second;
if(!Signal->GetControllers().size() &&
!GetMap()->IsJunction(Signal->GetRoadId()) &&
carla::road::SignalType::IsTrafficLight(Signal->GetType()))
{
SignalsToSpawn.Add(SignalId);
}
}
for(auto &SignalId : SignalsToSpawn)
{
const auto& Signal = Signals.at(SignalId);
auto CarlaTransform = Signal->GetTransform();
FTransform SpawnTransform(CarlaTransform);
FVector SpawnLocation = SpawnTransform.GetLocation();
FRotator SpawnRotation(SpawnTransform.GetRotation());
SpawnRotation.Yaw += 90;
FVector SpawnLocation = SpawnTransform.GetLocation();
FRotator SpawnRotation(SpawnTransform.GetRotation());
SpawnRotation.Yaw += 90;
FActorSpawnParameters SpawnParams;
SpawnParams.Owner = this;
SpawnParams.SpawnCollisionHandlingOverride =
ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
ATrafficLightBase * TrafficLight = GetWorld()->SpawnActor<ATrafficLightBase>(
TrafficLightModel,
SpawnLocation,
SpawnRotation,
SpawnParams);
FActorSpawnParameters SpawnParams;
SpawnParams.Owner = this;
SpawnParams.SpawnCollisionHandlingOverride =
ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
ATrafficLightBase * TrafficLight = GetWorld()->SpawnActor<ATrafficLightBase>(
TrafficLightModel,
SpawnLocation,
SpawnRotation,
SpawnParams);
// Hack to prevent mixing ATrafficLightBase and UTrafficLightComponent logic
TrafficLight->SetTimeIsFrozen(true);
// Hack to prevent mixing ATrafficLightBase and UTrafficLightComponent logic
TrafficLight->SetTimeIsFrozen(true);
TrafficSigns.Add(TrafficLight);
TrafficSigns.Add(TrafficLight);
UTrafficLightComponent *TrafficLightComponent =
NewObject<UTrafficLightComponent>(TrafficLight);
TrafficLightComponent->SetSignId(SignalId.c_str());
TrafficLightComponent->RegisterComponent();
TrafficLightComponent->AttachToComponent(
TrafficLight->GetRootComponent(),
FAttachmentTransformRules::KeepRelativeTransform);
UTrafficLightComponent *TrafficLightComponent =
NewObject<UTrafficLightComponent>(TrafficLight);
TrafficLightComponent->SetSignId(SignalId.c_str());
TrafficLightComponent->RegisterComponent();
TrafficLightComponent->AttachToComponent(
TrafficLight->GetRootComponent(),
FAttachmentTransformRules::KeepRelativeTransform);
auto ClosestWaypointToSignal =
GetMap()->GetClosestWaypointOnRoad(CarlaTransform.location);
if (ClosestWaypointToSignal)
auto ClosestWaypointToSignal =
GetMap()->GetClosestWaypointOnRoad(CarlaTransform.location);
if (ClosestWaypointToSignal)
{
auto SignalDistanceToRoad =
(GetMap()->ComputeTransform(ClosestWaypointToSignal.get()).location - CarlaTransform.location).Length();
double LaneWidth = GetMap()->GetLaneWidth(ClosestWaypointToSignal.get());
if(SignalDistanceToRoad < LaneWidth * 0.5)
{
auto SignalDistanceToRoad =
(GetMap()->ComputeTransform(ClosestWaypointToSignal.get()).location - CarlaTransform.location).Length();
double LaneWidth = GetMap()->GetLaneWidth(ClosestWaypointToSignal.get());
carla::log_warning("Traffic light",
TCHAR_TO_UTF8(*TrafficLightComponent->GetSignId()),
"overlaps a driving lane. Disabling collision...");
if(SignalDistanceToRoad < LaneWidth * 0.5)
TArray<UPrimitiveComponent*> Primitives;
TrafficLight->GetComponents(Primitives);
for (auto* Primitive : Primitives)
{
carla::log_warning("Traffic light",
TCHAR_TO_UTF8(*TrafficLightComponent->GetSignId()),
"overlaps a driving lane. Disabling collision...");
TArray<UPrimitiveComponent*> Primitives;
TrafficLight->GetComponents(Primitives);
for (auto* Primitive : Primitives)
{
Primitive->SetCollisionProfileName(TEXT("NoCollision"));
}
Primitive->SetCollisionProfileName(TEXT("NoCollision"));
}
}
RegisterLightComponent(TrafficLightComponent);
}
RegisterLightComponent(TrafficLightComponent);
TrafficLightComponent->InitializeSign(GetMap().get());
}
}
@ -346,100 +369,12 @@ void ATrafficLightManager::SpawnSignals()
}
}
}
TrafficSignComponents.Add(SignComponent->GetSignId(), SignComponent);
TrafficSigns.Add(TrafficSign);
}
}
}
void ATrafficLightManager::GenerateTriggerBox(const carla::road::element::Waypoint &waypoint,
UTrafficLightComponent* TrafficLightComponent,
float BoxSize)
{
// convert from m to cm
float UEBoxSize = 100 * BoxSize;
AActor *ParentActor = TrafficLightComponent->GetOwner();
FTransform ReferenceTransform = GetMap()->ComputeTransform(waypoint);
UBoxComponent *BoxComponent = NewObject<UBoxComponent>(ParentActor);
BoxComponent->RegisterComponent();
BoxComponent->AttachToComponent(
ParentActor->GetRootComponent(),
FAttachmentTransformRules::KeepRelativeTransform);
BoxComponent->SetWorldTransform(ReferenceTransform);
BoxComponent->OnComponentBeginOverlap.AddDynamic(TrafficLightComponent,
&UTrafficLightComponent::OnOverlapTriggerBox);
BoxComponent->SetBoxExtent(FVector(UEBoxSize, UEBoxSize, UEBoxSize), true);
}
void ATrafficLightManager::GenerateTriggerBoxesForTrafficLights()
{
const double epsilon = 0.00001;
// Spawn trigger boxes
auto waypoints = GetMap()->GenerateWaypointsOnRoadEntries();
std::unordered_set<carla::road::RoadId> ExploredRoads;
for (auto & waypoint : waypoints)
{
// Check if we alredy explored this road
if (ExploredRoads.count(waypoint.road_id) > 0)
{
continue;
}
ExploredRoads.insert(waypoint.road_id);
// Multiple times for same road (performance impact, not in behavior)
auto SignalReferences = GetMap()->GetLane(waypoint).
GetRoad()->GetInfos<carla::road::element::RoadInfoSignal>();
for (auto *SignalReference : SignalReferences)
{
FString SignalId(SignalReference->GetSignalId().c_str());
if(TrafficSignComponents.Contains(SignalId))
{
UTrafficLightComponent *TrafficLightComponent =
Cast<UTrafficLightComponent>(TrafficSignComponents[SignalId]);
if (!TrafficLightComponent)
{
continue;
}
for(auto &validity : SignalReference->GetValidities())
{
for(auto lane : carla::geom::Math::GenerateRange(validity._from_lane, validity._to_lane))
{
if(lane == 0)
continue;
auto signal_waypoint = GetMap()->GetWaypoint(
waypoint.road_id, lane, SignalReference->GetS()).get();
if(GetMap()->GetLane(signal_waypoint).GetType() != cr::Lane::LaneType::Driving)
continue;
// Get 90% of the half size of the width of the lane
float BoxSize = static_cast<float>(
0.9f*GetMap()->GetLaneWidth(waypoint)*0.5);
// Get min and max
double LaneLength = GetMap()->GetLane(signal_waypoint).GetLength();
double LaneDistance = GetMap()->GetLane(signal_waypoint).GetDistance();
if(lane < 0)
{
signal_waypoint.s = FMath::Clamp(signal_waypoint.s - BoxSize,
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
else
{
signal_waypoint.s = FMath::Clamp(signal_waypoint.s + BoxSize,
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
GenerateTriggerBox(signal_waypoint, TrafficLightComponent, BoxSize);
}
}
}
}
}
}
ATrafficLightGroup* ATrafficLightManager::GetTrafficGroup(carla::road::JuncId JunctionId)
{
if (TrafficGroups.Contains(JunctionId))

9
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.h
View File

@ -56,12 +56,6 @@ private:
void SpawnSignals();
void GenerateTriggerBoxesForTrafficLights();
void GenerateTriggerBox(const carla::road::element::Waypoint &waypoint,
UTrafficLightComponent* TrafficLightComponent,
float BoxSize);
void RemoveRoadrunnerProps() const;
void RemoveAttachedProps(TArray<AActor*> Actors) const;
@ -103,4 +97,7 @@ private:
UPROPERTY()
bool TrafficLightsGenerated = false;
UPROPERTY()
int LoneTrafficLightsGroupControllerId = -1;
};