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Rollback component serialization and updated querries to use the new components if possible

This commit is contained in:
dotero 2020-03-10 18:52:08 +01:00 committed by bernat
parent cbb0b711db
commit 40dc7bd7c5
5 changed files with 137 additions and 41 deletions
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4
LibCarla/source/carla/sensor/data/ActorDynamicState.h
View File

@ -119,8 +119,6 @@ namespace detail {
geom::Vector3D acceleration;
uint32_t num_components;
union TypeDependentState {
detail::TrafficLightData traffic_light_data;
detail::VehicleData vehicle_data;
@ -131,7 +129,7 @@ namespace detail {
#pragma pack(pop)
static_assert(
sizeof(ActorDynamicState) == 97u,
sizeof(ActorDynamicState) == 93u,
"Invalid ActorDynamicState size! "
"If you modified this class please update the size here, else you may "
"comment this assert, but your platform may have compatibility issues "

35
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
View File

@ -55,6 +55,7 @@ static auto FWorldObserver_GetActorState(const FActorView &View, const FActorReg
else if (AType::Walker == View.GetActorType())
{
UE_LOG(LogCarla, Warning, TEXT(" FWorldObserver_GetActorState Walker"));
auto Walker = Cast<APawn>(View.GetActor());
auto Controller = Walker != nullptr ? Cast<AWalkerController>(Walker->GetController()) : nullptr;
if (Controller != nullptr)
@ -68,11 +69,13 @@ static auto FWorldObserver_GetActorState(const FActorView &View, const FActorReg
if (TrafficLight != nullptr)
{
UActorComponent* TrafficLightComponent = TrafficLight->FindComponentByClass<UTrafficLightComponent>();
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(TrafficLight->FindComponentByClass<UTrafficLightComponent>());
using TLS = carla::rpc::TrafficLightState;
if(TrafficLightComponent == nullptr) {
// Old way: traffic lights are actors
using TLS = carla::rpc::TrafficLightState;
state.traffic_light_data.state = static_cast<TLS>(TrafficLight->GetTrafficLightState());
state.traffic_light_data.green_time = TrafficLight->GetGreenTime();
state.traffic_light_data.yellow_time = TrafficLight->GetYellowTime();
@ -80,6 +83,18 @@ static auto FWorldObserver_GetActorState(const FActorView &View, const FActorReg
state.traffic_light_data.elapsed_time = TrafficLight->GetElapsedTime();
state.traffic_light_data.time_is_frozen = TrafficLight->GetTimeIsFrozen();
state.traffic_light_data.pole_index = TrafficLight->GetPoleIndex();
} else {
UTrafficLightController* Controller = TrafficLightComponent->GetController();
ATrafficLightGroup* Group = TrafficLightComponent->GetGroup();
state.traffic_light_data.state = static_cast<TLS>(TrafficLightComponent->GetLightState());
state.traffic_light_data.green_time = Controller->GetGreenTime();
state.traffic_light_data.yellow_time = Controller->GetYellowTime();
state.traffic_light_data.red_time = Controller->GetRedTime();
state.traffic_light_data.elapsed_time = Group->GetElapsedTime();
state.traffic_light_data.time_is_frozen = Group->IsFrozen();
// Nobody is using this right now, perhaps we should remove it?
state.traffic_light_data.pole_index = TrafficLight->GetPoleIndex();
}
}
}
@ -192,25 +207,9 @@ static carla::Buffer FWorldObserver_Serialize(
carla::geom::Vector3D{Velocity.X, Velocity.Y, Velocity.Z},
FWorldObserver_GetAngularVelocity(*View.GetActor()),
FWorldObserver_GetAcceleration(View, Velocity, DeltaSeconds),
0,
FWorldObserver_GetActorState(View, Registry),
};
TArray<ComponentDynamicState> ComponentsState;
FWorldObserver_GetActorComponentsState(View, Registry, ComponentsState);
info.num_components = ComponentsState.Num();
write_data(info);
if(info.num_components > 0) {
total_size += info.num_components * sizeof(ComponentDynamicState);
buffer.resize(total_size);
for(auto& CompState : ComponentsState)
{
write_data(CompState);
}
}
}
// Shrink buffer

101
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightBase.cpp
View File

@ -105,23 +105,30 @@ void ATrafficLightBase::PostEditChangeProperty(FPropertyChangedEvent &Event)
void ATrafficLightBase::SetTrafficLightState(const ETrafficLightState InState)
{
ElapsedTime = 0.0f;
State = InState;
SetTrafficSignState(ToTrafficSignState(State));
for (auto Controller : Vehicles)
{
if (Controller != nullptr)
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
TrafficLightComponent->SetLightState(InState);
} else {
ElapsedTime = 0.0f;
State = InState;
SetTrafficSignState(ToTrafficSignState(State));
for (auto Controller : Vehicles)
{
Controller->SetTrafficLightState(State);
if (State == ETrafficLightState::Green)
if (Controller != nullptr)
{
Controller->SetTrafficLight(nullptr);
Controller->SetTrafficLightState(State);
if (State == ETrafficLightState::Green)
{
Controller->SetTrafficLight(nullptr);
}
}
}
}
if (State == ETrafficLightState::Green)
{
Vehicles.Empty();
if (State == ETrafficLightState::Green)
{
Vehicles.Empty();
}
}
OnTrafficLightStateChanged(State);
}
@ -178,7 +185,18 @@ void ATrafficLightBase::UnNotifyWheeledVehicle(ACarlaWheeledVehicle *Vehicle)
void ATrafficLightBase::SetGreenTime(float InGreenTime)
{
GreenTime = InGreenTime;
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
UTrafficLightController* TrafficLightController =
TrafficLightComponent->GetController();
check(TrafficLightController)
TrafficLightController->SetGreenTime(InGreenTime);
} else {
GreenTime = InGreenTime;
}
}
float ATrafficLightBase::GetGreenTime() const
@ -188,7 +206,17 @@ float ATrafficLightBase::GetGreenTime() const
void ATrafficLightBase::SetYellowTime(float InYellowTime)
{
YellowTime = InYellowTime;
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
UTrafficLightController* TrafficLightController =
TrafficLightComponent->GetController();
check(TrafficLightController)
TrafficLightController->SetYellowTime(InYellowTime);
} else {
YellowTime = InYellowTime;
}
}
float ATrafficLightBase::GetYellowTime() const
@ -198,7 +226,17 @@ float ATrafficLightBase::GetYellowTime() const
void ATrafficLightBase::SetRedTime(float InRedTime)
{
RedTime = InRedTime;
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
UTrafficLightController* TrafficLightController =
TrafficLightComponent->GetController();
check(TrafficLightController)
TrafficLightController->SetRedTime(InRedTime);
} else {
RedTime = InRedTime;
}
}
float ATrafficLightBase::GetRedTime() const
@ -218,10 +256,17 @@ void ATrafficLightBase::SetElapsedTime(float InElapsedTime)
void ATrafficLightBase::SetTimeIsFrozen(bool InTimeIsFrozen)
{
TimeIsFrozen = InTimeIsFrozen;
if (!TimeIsFrozen)
{
ElapsedTime = 0.0f;
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
TrafficLightComponent->SetFrozenGroup(InTimeIsFrozen);
} else {
TimeIsFrozen = InTimeIsFrozen;
if (!TimeIsFrozen)
{
ElapsedTime = 0.0f;
}
}
}
@ -242,6 +287,22 @@ int ATrafficLightBase::GetPoleIndex() const
TArray<ATrafficLightBase *> ATrafficLightBase::GetGroupTrafficLights() const
{
UTrafficLightComponent* TrafficLightComponent =
Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
if(TrafficLightComponent) {
TArray<ATrafficLightBase *> result;
UTrafficLightController* TrafficLightController =
TrafficLightComponent->GetController();
check(TrafficLightController)
for(auto& TLComp : TrafficLightController->GetTrafficLights())
{
result.Add(Cast<ATrafficLightBase>(GetOwner()));
}
return result;
}
return GroupTrafficLights;
}

26
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightController.cpp
View File

@ -78,6 +78,21 @@ void UTrafficLightController::ResetState()
SetTrafficLightsState(GetCurrentState().State);
}
void UTrafficLightController::SetYellowTime(float NewTime)
{
SetStateTime(ETrafficLightState::Yellow, NewTime);
}
void UTrafficLightController::SetRedTime(float NewTime)
{
SetStateTime(ETrafficLightState::Red, NewTime);
}
void UTrafficLightController::SetGreenTime(float NewTime)
{
SetStateTime(ETrafficLightState::Green, NewTime);
}
float UTrafficLightController::GetGreenTime() const
{
return GetStateTime(ETrafficLightState::Green);
@ -93,6 +108,17 @@ float UTrafficLightController::GetRedTime() const
return GetStateTime(ETrafficLightState::Red);
}
void UTrafficLightController::SetStateTime(const ETrafficLightState State, float NewTime)
{
for(auto& LightState : LightStates)
{
if(LightState.State == State)
{
LightState.Time = NewTime;
}
}
}
float UTrafficLightController::GetStateTime(const ETrafficLightState State) const
{
for(auto& LightState : LightStates)

12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightController.h
View File

@ -75,6 +75,15 @@ public:
UFUNCTION(Category = "Traffic Controller", BlueprintCallable)
void ResetState();
UFUNCTION(Category = "Traffic Controller", BlueprintCallable)
void SetYellowTime(float NewTime);
UFUNCTION(Category = "Traffic Controller", BlueprintCallable)
void SetRedTime(float NewTime);
UFUNCTION(Category = "Traffic Controller", BlueprintCallable)
void SetGreenTime(float NewTime);
UFUNCTION(Category = "Traffic Controller", BlueprintCallable)
float GetGreenTime() const;
@ -84,8 +93,11 @@ public:
UFUNCTION(Category = "Traffic Controller", BlueprintCallable)
float GetRedTime() const;
private:
void SetStateTime(const ETrafficLightState State, float NewTime);
float GetStateTime(const ETrafficLightState State) const;
UPROPERTY(Category = "Traffic Controller", EditAnywhere)