Fixed recorder for traffic lights in standalone mode.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp

@@ -70,8 +70,8 @@ static auto FWorldObserver_GetActorState(const FActorView &View, const FActorReg
     auto TrafficLight = Cast<ATrafficLightBase>(View.GetActor());
     if (TrafficLight != nullptr)
     {
-      UTrafficLightComponent* TrafficLightComponent =
+      auto* TrafficLightComponent =
-        Cast<UTrafficLightComponent>(TrafficLight->FindComponentByClass<UTrafficLightComponent>());
+          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();
+        const UTrafficLightController* Controller =  TrafficLightComponent->GetController();
-        ATrafficLightGroup* Group = TrafficLightComponent->GetGroup();
+        const ATrafficLightGroup* Group = TrafficLightComponent->GetGroup();
 
         if (!Controller)
         {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp

@@ -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 =
+  if(TrafficLightComponent)
-      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+  {
-
-  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 =
+  if(TrafficLightComponent)
-      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+  {
-
-  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 =
+  if(TrafficLightComponent)
-      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+  {
-
-  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 =
+  if(TrafficLightComponent)
-      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+  {
-
-  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 =
+  if(TrafficLightComponent)
-      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+  {
-
-  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 =
+  if(TrafficLightComponent)
-      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+  {
-
-  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;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.h

@@ -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
+  ETrafficLightState GetTrafficLightState() const;
-  {
-    return State;
-  }
 
   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;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.cpp

@@ -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,

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.h

@@ -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:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightGroup.cpp

@@ -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)
 {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightGroup.h

@@ -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;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp

@@ -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 =
+    UTrafficLightComponent *TrafficLightComponent = TrafficLight->CreateTrafficLightComponent();
-        NewObject<UTrafficLightComponent>(TrafficLight);
     TrafficLightComponent->SetSignId(SignalId.c_str());
-    TrafficLightComponent->RegisterComponent();
-    TrafficLightComponent->AttachToComponent(
-        TrafficLight->GetRootComponent(),
-        FAttachmentTransformRules::KeepRelativeTransform);
 
     auto ClosestWaypointToSignal =
         GetMap()->GetClosestWaypointOnRoad(CarlaTransform.location);