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Fixed recorder for traffic lights in standalone mode.

This commit is contained in:
Axel1092 2020-07-02 11:32:31 +02:00 committed by Axel1092
parent fda71fe6e0
commit 3ef383157d
8 changed files with 159 additions and 56 deletions
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8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
View File

@ -70,8 +70,8 @@ static auto FWorldObserver_GetActorState(const FActorView &View, const FActorReg
auto TrafficLight = Cast<ATrafficLightBase>(View.GetActor());
if (TrafficLight != nullptr)
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(TrafficLight->FindComponentByClass<UTrafficLightComponent>());
auto* TrafficLightComponent =
TrafficLight->GetTrafficLightComponent();
using TLS = carla::rpc::TrafficLightState;
@ -89,8 +89,8 @@ static auto FWorldObserver_GetActorState(const FActorView &View, const FActorReg
}
else
{
UTrafficLightController* Controller = TrafficLightComponent->GetController();
ATrafficLightGroup* Group = TrafficLightComponent->GetGroup();
const UTrafficLightController* Controller = TrafficLightComponent->GetController();
const ATrafficLightGroup* Group = TrafficLightComponent->GetGroup();
if (!Controller)
{

152
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
View File

@ -53,7 +53,7 @@ void ATrafficLightBase::Tick(float DeltaSeconds)
{
Super::Tick(DeltaSeconds);
if (TimeIsFrozen)
if (TimeIsFrozen || TrafficLightComponent)
{
return;
}
@ -103,14 +103,26 @@ void ATrafficLightBase::PostEditChangeProperty(FPropertyChangedEvent &Event)
}
#endif // WITH_EDITOR
ETrafficLightState ATrafficLightBase::GetTrafficLightState() const
{
if (TrafficLightComponent)
{
return TrafficLightComponent->GetLightState();
}
else
{
return State;
}
}
void ATrafficLightBase::SetTrafficLightState(const ETrafficLightState InState)
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
if(TrafficLightComponent)
{
TrafficLightComponent->SetLightState(InState);
} else {
}
else
{
ElapsedTime = 0.0f;
State = InState;
SetTrafficSignState(ToTrafficSignState(State));
@ -185,83 +197,128 @@ void ATrafficLightBase::UnNotifyWheeledVehicle(ACarlaWheeledVehicle *Vehicle)
void ATrafficLightBase::SetGreenTime(float InGreenTime)
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
if(TrafficLightComponent)
{
UTrafficLightController* TrafficLightController =
TrafficLightComponent->GetController();
TrafficLightComponent->GetController();
check(TrafficLightController)
TrafficLightController->SetGreenTime(InGreenTime);
} else {
}
else
{
GreenTime = InGreenTime;
}
}
float ATrafficLightBase::GetGreenTime() const
{
return GreenTime;
if (TrafficLightComponent)
{
auto* Controller = TrafficLightComponent->GetController();
check(Controller);
return Controller->GetGreenTime();
}
else
{
return GreenTime;
}
}
void ATrafficLightBase::SetYellowTime(float InYellowTime)
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
if(TrafficLightComponent)
{
UTrafficLightController* TrafficLightController =
TrafficLightComponent->GetController();
check(TrafficLightController)
TrafficLightController->SetYellowTime(InYellowTime);
} else {
}
else
{
YellowTime = InYellowTime;
}
}
float ATrafficLightBase::GetYellowTime() const
{
return YellowTime;
if (TrafficLightComponent)
{
auto* Controller = TrafficLightComponent->GetController();
check(Controller);
return Controller->GetYellowTime();
}
else
{
return YellowTime;
}
}
void ATrafficLightBase::SetRedTime(float InRedTime)
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
if(TrafficLightComponent)
{
UTrafficLightController* TrafficLightController =
TrafficLightComponent->GetController();
check(TrafficLightController)
TrafficLightController->SetRedTime(InRedTime);
} else {
}
else
{
RedTime = InRedTime;
}
}
float ATrafficLightBase::GetRedTime() const
{
return RedTime;
if (TrafficLightComponent)
{
auto* Controller = TrafficLightComponent->GetController();
check(Controller);
return Controller->GetRedTime();
}
else
{
return RedTime;
}
}
float ATrafficLightBase::GetElapsedTime() const
{
return ElapsedTime;
if (TrafficLightComponent)
{
auto* Group = TrafficLightComponent->GetGroup();
check(Group);
return Group->GetElapsedTime();
}
else
{
return ElapsedTime;
}
}
void ATrafficLightBase::SetElapsedTime(float InElapsedTime)
{
ElapsedTime = InElapsedTime;
if (TrafficLightComponent)
{
auto* Group = TrafficLightComponent->GetGroup();
check(Group);
return Group->SetElapsedTime(InElapsedTime);
}
else
{
ElapsedTime = InElapsedTime;
}
}
void ATrafficLightBase::SetTimeIsFrozen(bool InTimeIsFrozen)
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
if(TrafficLightComponent)
{
TrafficLightComponent->SetFrozenGroup(InTimeIsFrozen);
} else {
}
else
{
TimeIsFrozen = InTimeIsFrozen;
if (!TimeIsFrozen)
{
@ -272,6 +329,12 @@ void ATrafficLightBase::SetTimeIsFrozen(bool InTimeIsFrozen)
bool ATrafficLightBase::GetTimeIsFrozen() const
{
if(TrafficLightComponent)
{
auto* Group = TrafficLightComponent->GetGroup();
check(Group);
return Group->IsFrozen();
}
return TimeIsFrozen;
}
@ -287,10 +350,8 @@ int ATrafficLightBase::GetPoleIndex() const
TArray<ATrafficLightBase *> ATrafficLightBase::GetGroupTrafficLights() const
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
if(TrafficLightComponent)
{
TArray<ATrafficLightBase *> result;
ATrafficLightGroup* Group = TrafficLightComponent->GetGroup();
@ -313,3 +374,22 @@ void ATrafficLightBase::SetGroupTrafficLights(TArray<ATrafficLightBase *> InGrou
{
GroupTrafficLights = InGroupTrafficLights;
}
UTrafficLightComponent* ATrafficLightBase::CreateTrafficLightComponent()
{
TrafficLightComponent = NewObject<UTrafficLightComponent>(RootComponent);
TrafficLightComponent->RegisterComponent();
TrafficLightComponent->AttachToComponent(
GetRootComponent(),
FAttachmentTransformRules::KeepRelativeTransform);
return TrafficLightComponent;
}
UTrafficLightComponent* ATrafficLightBase::GetTrafficLightComponent()
{
return TrafficLightComponent;
}
const UTrafficLightComponent* ATrafficLightBase::GetTrafficLightComponent() const
{
return TrafficLightComponent;
}

14
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h
View File

@ -9,6 +9,7 @@
#include "Traffic/TrafficSignBase.h"
#include "Traffic/TrafficLightState.h"
#include "Traffic/TrafficLightComponent.h"
#include "TrafficLightBase.generated.h"
@ -39,10 +40,7 @@ protected:
public:
UFUNCTION(Category = "Traffic Light", BlueprintCallable)
ETrafficLightState GetTrafficLightState() const
{
return State;
}
ETrafficLightState GetTrafficLightState() const;
UFUNCTION(Category = "Traffic Light", BlueprintCallable)
void SetTrafficLightState(ETrafficLightState State);
@ -99,6 +97,11 @@ public:
// used from replayer
void SetElapsedTime(float InElapsedTime);
UTrafficLightComponent* CreateTrafficLightComponent();
UTrafficLightComponent* GetTrafficLightComponent();
const UTrafficLightComponent* GetTrafficLightComponent() const;
protected:
UFUNCTION(Category = "Traffic Light", BlueprintImplementableEvent)
@ -132,4 +135,7 @@ private:
UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
TArray<ATrafficLightBase *> GroupTrafficLights;
UPROPERTY(Category = "Traffic Light", EditAnywhere)
UTrafficLightComponent * TrafficLightComponent = nullptr;
};

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.cpp
View File

@ -114,11 +114,21 @@ ATrafficLightGroup* UTrafficLightComponent::GetGroup()
return TrafficLightGroup;
}
const ATrafficLightGroup* UTrafficLightComponent::GetGroup() const
{
return TrafficLightGroup;
}
UTrafficLightController* UTrafficLightComponent::GetController()
{
return TrafficLightController;
}
const UTrafficLightController* UTrafficLightComponent::GetController() const
{
return TrafficLightController;
}
void UTrafficLightComponent::OnOverlapTriggerBox(UPrimitiveComponent *OverlappedComp,
AActor *OtherActor,
UPrimitiveComponent *OtherComp,

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.h
View File

@ -41,9 +41,13 @@ public:
UFUNCTION(Category = "Traffic Light", BlueprintPure)
ATrafficLightGroup* GetGroup();
const ATrafficLightGroup* GetGroup() const;
UFUNCTION(Category = "Traffic Light", BlueprintPure)
UTrafficLightController* GetController();
const UTrafficLightController* GetController() const;
virtual void InitializeSign(const carla::road::Map &Map) override;
protected:

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightGroup.cpp
View File

@ -22,7 +22,7 @@ void ATrafficLightGroup::SetFrozenGroup(bool InFreeze)
bIsFrozen = InFreeze;
}
bool ATrafficLightGroup::IsFrozen()
bool ATrafficLightGroup::IsFrozen() const
{
return bIsFrozen;
}
@ -47,6 +47,11 @@ float ATrafficLightGroup::GetElapsedTime() const
return (CurrentStateTimer - Timer);
}
void ATrafficLightGroup::SetElapsedTime(float ElapsedTime)
{
Timer = CurrentStateTimer - ElapsedTime;
}
// Called every frame
void ATrafficLightGroup::Tick(float DeltaTime)
{

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightGroup.h
View File

@ -35,7 +35,7 @@ public:
void SetFrozenGroup(bool InFreeze);
UFUNCTION(Category = "Traffic Group", BlueprintCallable)
bool IsFrozen();
bool IsFrozen() const;
UFUNCTION(Category = "Traffic Group", BlueprintPure)
int GetJunctionId() const;
@ -46,6 +46,9 @@ public:
UFUNCTION(Category = "Traffic Group", BlueprintCallable)
float GetElapsedTime() const;
UFUNCTION(Category = "Traffic Group", BlueprintCallable)
void SetElapsedTime(float ElapsedTime);
protected:
// Called every frame
virtual void Tick(float DeltaTime) override;

15
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp
View File

@ -178,7 +178,7 @@ void ATrafficLightManager::BeginPlay()
Super::BeginPlay();
// Should not run in empty maps
if (!GetMap())
if (!GetMap())
{
return;
}
@ -213,11 +213,11 @@ void ATrafficLightManager::ResetTrafficLightObjects()
}
TrafficControllers.Empty();
for (TActorIterator<ATrafficSignBase> It(GetWorld()); It; ++It)
for (TActorIterator<ATrafficLightBase> It(GetWorld()); It; ++It)
{
ATrafficSignBase* trafficSignBase = (*It);
ATrafficLightBase* trafficSignBase = (*It);
UTrafficLightComponent* TrafficLightComponent =
trafficSignBase->FindComponentByClass<UTrafficLightComponent>();
trafficSignBase->GetTrafficLightComponent();
if(TrafficLightComponent)
{
@ -290,13 +290,8 @@ void ATrafficLightManager::SpawnTrafficLights()
TrafficSigns.Add(TrafficLight);
UTrafficLightComponent *TrafficLightComponent =
NewObject<UTrafficLightComponent>(TrafficLight);
UTrafficLightComponent *TrafficLightComponent = TrafficLight->CreateTrafficLightComponent();
TrafficLightComponent->SetSignId(SignalId.c_str());
TrafficLightComponent->RegisterComponent();
TrafficLightComponent->AttachToComponent(
TrafficLight->GetRootComponent(),
FAttachmentTransformRules::KeepRelativeTransform);
auto ClosestWaypointToSignal =
GetMap()->GetClosestWaypointOnRoad(CarlaTransform.location);