From 0f087e396ad1a9e5937ccb4d5f5728f297957a5d Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Wed, 21 Feb 2018 19:04:05 +0100
Subject: [PATCH] New struct FVehicleControl

---
 .../Carla/Source/Carla/AI/VehicleControl.h    | 27 +++++++++++++++++++
 .../Carla/AI/WheeledVehicleAIController.cpp   |  4 +--
 .../Carla/AI/WheeledVehicleAIController.h     | 12 +++------
 .../Source/Carla/CarlaWheeledVehicle.cpp      | 10 +++++++
 .../Carla/Source/Carla/CarlaWheeledVehicle.h  |  4 +++
 5 files changed, 45 insertions(+), 12 deletions(-)
 create mode 100644 Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h
new file mode 100644
index 000000000..f1b2b5000
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/VehicleControl.h
@@ -0,0 +1,27 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "VehicleControl.generated.h"
+
+USTRUCT(BlueprintType)
+struct CARLA_API FVehicleControl
+{
+  GENERATED_BODY()
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Throttle = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Steer = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  float Brake = 0.0f;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere)
+  bool bHandBrake = false;
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
index b2b887941..e14d32a6a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.cpp
@@ -107,9 +107,7 @@ void AWheeledVehicleAIController::Tick(const float DeltaTime)
   TickAutopilotController();
 
   if (bAutopilotEnabled) {
-    Vehicle->SetThrottleInput(AutopilotControl.Throttle);
-    Vehicle->SetSteeringInput(AutopilotControl.Steer);
-    Vehicle->SetBrakeInput(AutopilotControl.Brake);
+    Vehicle->ApplyVehicleControl(AutopilotControl);
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
index fa623f08e..a4ddaa81a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WheeledVehicleAIController.h
@@ -10,6 +10,7 @@
 
 #include "GameFramework/PlayerController.h"
 #include "TrafficLightState.h"
+#include "VehicleControl.h"
 #include "WheeledVehicleAIController.generated.h"
 
 class ACarlaWheeledVehicle;
@@ -182,14 +183,7 @@ public:
   /// @{
 protected:
 
-  struct FAutopilotControl {
-    float Throttle = 0.0f;
-    float Steer = 0.0f;
-    float Brake = 0.0f;
-    bool bHandBrake = false;
-  };
-
-  const FAutopilotControl &GetAutopilotControl() const
+  const FVehicleControl &GetAutopilotControl() const
   {
     return AutopilotControl;
   }
@@ -237,7 +231,7 @@ private:
   UPROPERTY(VisibleAnywhere)
   float MaximumSteerAngle = -1.0f;
 
-  FAutopilotControl AutopilotControl;
+  FVehicleControl AutopilotControl;
 
   std::queue<FVector> TargetLocations;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
index c74aa981c..fc5ca8bdc 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.cpp
@@ -7,6 +7,8 @@
 #include "Carla.h"
 #include "CarlaWheeledVehicle.h"
 
+#include "AI/VehicleControl.h"
+
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
 
@@ -64,6 +66,14 @@ float ACarlaWheeledVehicle::GetMaximumSteerAngle() const
 // -- Set functions ------------------------------------------------------------
 // =============================================================================
 
+void ACarlaWheeledVehicle::ApplyVehicleControl(const FVehicleControl &VehicleControl)
+{
+  SetThrottleInput(VehicleControl.Throttle);
+  SetSteeringInput(VehicleControl.Steer);
+  SetBrakeInput(VehicleControl.Brake);
+  SetHandbrakeInput(VehicleControl.bHandBrake);
+}
+
 void ACarlaWheeledVehicle::SetThrottleInput(const float Value)
 {
   GetVehicleMovementComponent()->SetThrottleInput(Value);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
index b2cdd2d36..f186e31a9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaWheeledVehicle.h
@@ -11,6 +11,7 @@
 #include "WheeledVehicle.h"
 #include "CarlaWheeledVehicle.generated.h"
 
+class FVehicleControl;
 class UBoxComponent;
 
 /// Base class for CARLA wheeled vehicles.
@@ -63,6 +64,9 @@ public:
   /// @{
 public:
 
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  void ApplyVehicleControl(const FVehicleControl &VehicleControl);
+
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
   void SetThrottleInput(float Value);