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

LibCarla/source/carla/sensor/data/ActorDynamicState.h

@@ -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 "

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

@@ -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

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

@@ -105,6 +105,12 @@ void ATrafficLightBase::PostEditChangeProperty(FPropertyChangedEvent &Event)
 
 void ATrafficLightBase::SetTrafficLightState(const ETrafficLightState InState)
 {
+  UTrafficLightComponent* TrafficLightComponent =
+      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+
+  if(TrafficLightComponent) {
+    TrafficLightComponent->SetLightState(InState);
+  } else {
     ElapsedTime = 0.0f;
     State = InState;
     SetTrafficSignState(ToTrafficSignState(State));
@@ -123,6 +129,7 @@ void ATrafficLightBase::SetTrafficLightState(const ETrafficLightState InState)
     {
       Vehicles.Empty();
     }
+  }
   OnTrafficLightStateChanged(State);
 }
 
@@ -178,7 +185,18 @@ void ATrafficLightBase::UnNotifyWheeledVehicle(ACarlaWheeledVehicle *Vehicle)
 
 void ATrafficLightBase::SetGreenTime(float 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)
 {
+  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)
 {
+  UTrafficLightComponent* TrafficLightComponent =
+      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+
+  if(TrafficLightComponent) {
+    UTrafficLightController* TrafficLightController =
+      TrafficLightComponent->GetController();
+    check(TrafficLightController)
+    TrafficLightController->SetRedTime(InRedTime);
+  } else {
     RedTime = InRedTime;
+  }
 }
 
 float ATrafficLightBase::GetRedTime() const
@@ -218,11 +256,18 @@ void ATrafficLightBase::SetElapsedTime(float InElapsedTime)
 
 void ATrafficLightBase::SetTimeIsFrozen(bool InTimeIsFrozen)
 {
+  UTrafficLightComponent* TrafficLightComponent =
+      Cast<UTrafficLightComponent>(FindComponentByClass<UTrafficLightComponent>());
+
+  if(TrafficLightComponent) {
+    TrafficLightComponent->SetFrozenGroup(InTimeIsFrozen);
+  } else {
     TimeIsFrozen = InTimeIsFrozen;
     if (!TimeIsFrozen)
     {
       ElapsedTime = 0.0f;
     }
+  }
 }
 
 bool ATrafficLightBase::GetTimeIsFrozen() const
@@ -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;
 }
 

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

@@ -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)

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

@@ -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)