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Added default traffic light.

This commit is contained in:
Axel 2020-03-02 15:35:18 +01:00 committed by Axel1092
parent dff1f8643d
commit 1336640d2b
2 changed files with 28 additions and 22 deletions
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6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.cpp
View File

@ -36,10 +36,10 @@ void UTrafficLightComponent::BeginPlay()
}
// Register this component
ATrafficLightManager *TrafficLightManager = Cast<ATrafficLightManager>(TrafficLightManagerArray.Top());
TrafficLightManager->RegisterLightComponent(this);
ATrafficLightManager *TrafficLightManager =
Cast<ATrafficLightManager>(TrafficLightManagerArray.Top());
carla::log_warning("Registering light", TCHAR_TO_UTF8(*GetSignId()));
TrafficLightManager->RegisterLightComponent(this);
}
// Called every frame

44
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
View File

@ -14,8 +14,13 @@ ATrafficLightManager::ATrafficLightManager()
SceneComponent = CreateDefaultSubobject<USceneComponent>(TEXT("RootComponent"));
RootComponent = SceneComponent;
static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficLightFinder( TEXT( "Blueprint'/Game/Carla/Blueprints/Test.Test'" ) );
TrafficLightModel = TrafficLightFinder.Object->GeneratedClass;
// Hard codded default traffic light blueprint
static ConstructorHelpers::FObjectFinder<UBlueprint> TrafficLightFinder(
TEXT( "Blueprint'/Game/Carla/Blueprints/TrafficLight/BP_TLOpenDrive.BP_TLOpenDrive'" ) );
if (TrafficLightFinder.Succeeded())
{
TrafficLightModel = TrafficLightFinder.Object->GeneratedClass;
}
}
void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * TrafficLight)
@ -26,13 +31,11 @@ void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * Traff
// Get OpenDRIVE signal
if (GetMap()->GetSignals().count(SignId) == 0)
{
carla::log_warning("Error: missing signal with id:", SignId);
return;
}
const auto &Signal = GetMap()->GetSignals().at(SignId);
if(Signal->GetControllers().empty())
{
carla::log_warning("Error: no controllers in signal", SignId);
return;
}
// Only one controller per signal
@ -42,7 +45,6 @@ void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * Traff
const auto &Controller = GetMap()->GetControllers().at(ControllerId);
if(Controller->GetJunctions().empty())
{
carla::log_warning("Error: no junctions in controller", ControllerId);
return;
}
// Get junction of the controller
@ -55,7 +57,6 @@ void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * Traff
GetWorld()->SpawnActor<ATrafficLightGroup>();
TrafficLightGroup->JunctionId = JunctionId;
TrafficGroups.Add(JunctionId, TrafficLightGroup);
carla::log_warning("Spawn TrafficLight Group");
}
auto * TrafficLightGroup = TrafficGroups[JunctionId];
@ -66,7 +67,6 @@ void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * Traff
TrafficLightController->SetControllerId(ControllerId.c_str());
TrafficLightGroup->GetControllers().Add(TrafficLightController);
TrafficControllers.Add(ControllerId.c_str(), TrafficLightController);
carla::log_warning("Created Controller");
}
auto *TrafficLightController = TrafficControllers[ControllerId.c_str()];
@ -78,14 +78,12 @@ void ATrafficLightManager::RegisterLightComponent(UTrafficLightComponent * Traff
// Add signal to map
TrafficLights.Add(TrafficLight->GetSignId(), TrafficLight);
TrafficLightGroup->ResetGroup();
}
const boost::optional<carla::road::Map>& ATrafficLightManager::GetMap()
{
// if(!GameMode) {
// GameMode = UCarlaStatics::GetGameMode(this);
// }
// return GameMode->GetMap();
if (!Map.has_value())
{
FString MapName = GetWorld()->GetName();
@ -102,7 +100,6 @@ void ATrafficLightManager::GenerateTrafficLights()
{
if(!TrafficLightModel)
{
carla::log_warning("Error: no traffic light model.");
return;
}
const auto& Signals = GetMap()->GetSignals();
@ -114,19 +111,28 @@ void ATrafficLightManager::GenerateTrafficLights()
const auto& Signal = Signals.at(SignalId);
auto CarlaTransform = Signal->GetTransform();
FTransform SpawnTransform(CarlaTransform);
carla::log_warning("Creating Signal", SignalId);
FVector SpawnLocation = SpawnTransform.GetLocation();
FRotator SpawnRotation(SpawnTransform.GetRotation());
SpawnRotation.Yaw += 90;
FActorSpawnParameters SpawnParams;
SpawnParams.Owner = this;
SpawnParams.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
AActor * TrafficLight = GetWorld()->SpawnActor<AActor>(TrafficLightModel, SpawnTransform.GetLocation(), FRotator(SpawnTransform.GetRotation()), SpawnParams);
SpawnParams.SpawnCollisionHandlingOverride =
ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
AActor * TrafficLight = GetWorld()->SpawnActor<AActor>(
TrafficLightModel,
SpawnLocation,
SpawnRotation,
SpawnParams);
carla::log_warning("Actor Spawned");
UTrafficLightComponent *TrafficLightComponent = NewObject<UTrafficLightComponent>(TrafficLight);
UTrafficLightComponent *TrafficLightComponent =
NewObject<UTrafficLightComponent>(TrafficLight);
TrafficLightComponent->SetSignId(SignalId.c_str());
TrafficLightComponent->RegisterComponent();
TrafficLightComponent->AttachToComponent(TrafficLight->GetRootComponent(),FAttachmentTransformRules::KeepRelativeTransform);
carla::log_warning("Component Created");
TrafficLightComponent->AttachToComponent(
TrafficLight->GetRootComponent(),
FAttachmentTransformRules::KeepRelativeTransform);
}
}
}