Added scene light events to recorder.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lights/CarlaLight.cpp

@@ -6,7 +6,11 @@
 
 #include "CarlaLight.h"
 #include "CarlaLightSubsystem.h"
+#include "Carla/Game/CarlaStatics.h"
 
+#include <compiler/disable-ue4-macros.h>
+#include <boost/container_hash/hash.hpp>
+#include <compiler/enable-ue4-macros.h>
 
 UCarlaLight::UCarlaLight()
 {
@@ -46,7 +50,7 @@ void UCarlaLight::SetLightIntensity(float Intensity)
   UpdateLights();
 }
 
-float UCarlaLight::GetLightIntensity()
+float UCarlaLight::GetLightIntensity() const
 {
   return LightIntensity;
 }
@@ -55,9 +59,10 @@ void UCarlaLight::SetLightColor(FLinearColor Color)
 {
   LightColor = Color;
   UpdateLights();
+  RecordLightChange();
 }
 
-FLinearColor UCarlaLight::GetLightColor()
+FLinearColor UCarlaLight::GetLightColor() const
 {
   return LightColor;
 }
@@ -66,9 +71,10 @@ void UCarlaLight::SetLightOn(bool bOn)
 {
   bLightOn = bOn;
   UpdateLights();
+  RecordLightChange();
 }
 
-bool UCarlaLight::GetLightOn()
+bool UCarlaLight::GetLightOn() const
 {
   return bLightOn;
 }
@@ -78,7 +84,7 @@ void UCarlaLight::SetLightType(ELightType Type)
   LightType = Type;
 }
 
-ELightType UCarlaLight::GetLightType()
+ELightType UCarlaLight::GetLightType() const
 {
   return LightType;
 }
@@ -105,6 +111,7 @@ void UCarlaLight::SetLightState(carla::rpc::LightState LightState)
   LightType = static_cast<ELightType>(LightState._group);
   bLightOn = LightState._active;
   UpdateLights();
+  RecordLightChange();
 }
 
 FVector UCarlaLight::GetLocation() const
@@ -112,7 +119,22 @@ FVector UCarlaLight::GetLocation() const
   return GetOwner()->GetActorLocation();
 }
 
-uint32 UCarlaLight::GetId() const
+int UCarlaLight::GetId() const
 {
-  return GetUniqueID();
+  return Id;
+}
+
+void UCarlaLight::SetId(int InId)
+{
+  Id = InId;
+}
+
+void UCarlaLight::RecordLightChange() const
+{
+  auto* Episode = UCarlaStatics::GetCurrentEpisode(GetWorld());
+  auto* Recorder = Episode->GetRecorder();
+  if (Recorder && Recorder->IsEnabled())
+  {
+    Recorder->AddEventLightSceneChanged(this);
+  }
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lights/CarlaLight.h

@@ -52,25 +52,25 @@ public:
   void SetLightIntensity(float Intensity);
 
   UFUNCTION(BlueprintPure, Category = "Carla Light")
-  float GetLightIntensity();
+  float GetLightIntensity() const;
 
   UFUNCTION(BlueprintCallable, Category = "Carla Light")
   void SetLightColor(FLinearColor Color);
 
   UFUNCTION(BlueprintPure, Category = "Carla Light")
-  FLinearColor GetLightColor();
+  FLinearColor GetLightColor() const;
 
   UFUNCTION(BlueprintCallable, Category = "Carla Light")
   void SetLightOn(bool bOn);
 
   UFUNCTION(BlueprintPure, Category = "Carla Light")
-  bool GetLightOn();
+  bool GetLightOn() const;
 
   UFUNCTION(BlueprintCallable, Category = "Carla Light")
   void SetLightType(ELightType Type);
 
   UFUNCTION(BlueprintPure, Category = "Carla Light")
-  ELightType GetLightType();
+  ELightType GetLightType() const;
 
   carla::rpc::LightState GetLightState();
 
@@ -78,7 +78,11 @@ public:
 
   FVector GetLocation() const;
 
-  uint32 GetId() const;
+  UFUNCTION(BlueprintPure, Category = "Carla Light")
+  int GetId() const;
+
+  UFUNCTION(BlueprintCallable, Category = "Carla Light")
+  void SetId(int InId);
 
 protected:
 
@@ -94,4 +98,10 @@ protected:
   UPROPERTY(EditAnywhere, Category = "Carla Light")
   bool bLightOn;
 
+  UPROPERTY(EditAnywhere, Category = "Carla Light")
+  int Id = -1;
+
+  private:
+
+  void RecordLightChange() const;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lights/CarlaLightSubsystem.cpp

@@ -22,7 +22,13 @@ void UCarlaLightSubsystem::RegisterLight(UCarlaLight* CarlaLight)
 {
   if(CarlaLight)
   {
-    Lights.Add(CarlaLight->GetId(), CarlaLight);
+    auto LightId = CarlaLight->GetId();
+    if (Lights.Contains(LightId))
+    {
+      UE_LOG(LogCarla, Warning, TEXT("Light Id overlapping"));
+      return;
+    }
+    Lights.Add(LightId, CarlaLight);
   }
 }
 
@@ -85,6 +91,15 @@ void UCarlaLightSubsystem::SetLights(
 
 }
 
+UCarlaLight* UCarlaLightSubsystem::GetLight(int Id)
+{
+  if (Lights.Contains(Id))
+  {
+    return Lights[Id];
+  }
+  return nullptr;
+}
+
 void UCarlaLightSubsystem::SetClientStatesdirty(FString ClientThatUpdate)
 {
   for(auto& Client : ClientStates)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Lights/CarlaLightSubsystem.h

@@ -55,11 +55,12 @@ public:
       std::vector<carla::rpc::LightState> LightsToSet,
       bool DiscardClient = false);
 
+  UCarlaLight* GetLight(int Id);
 private:
 
   void SetClientStatesdirty(FString ClientThatUpdate);
 
-  TMap<uint32, UCarlaLight* > Lights;
+  TMap<int, UCarlaLight* > Lights;
 
   // Flag for each client to tell if an update needs to be done
   TMap<FString, bool> ClientStates;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp

@@ -297,6 +297,7 @@ void ACarlaRecorder::Clear(void)
   Vehicles.Clear();
   Walkers.Clear();
   LightVehicles.Clear();
+  LightScenes.Clear();
 }
 
 void ACarlaRecorder::Write(double DeltaSeconds)
@@ -321,6 +322,7 @@ void ACarlaRecorder::Write(double DeltaSeconds)
   Vehicles.Write(File);
   Walkers.Write(File);
   LightVehicles.Write(File);
+  LightScenes.Write(File);
 
   // end
   Frames.WriteEnd(File);
@@ -425,6 +427,23 @@ void ACarlaRecorder::AddLightVehicle(const CarlaRecorderLightVehicle &LightVehic
   }
 }
 
+void ACarlaRecorder::AddEventLightSceneChanged(const UCarlaLight* Light)
+{
+  if (Enabled)
+  {
+    CarlaRecorderLightScene LightScene =
+    {
+      Light->GetId(),
+      Light->GetLightIntensity(),
+      Light->GetLightColor(),
+      Light->GetLightOn(),
+      static_cast<uint8>(Light->GetLightType())
+    };
+
+    LightScenes.Add(LightScene);
+  }
+}
+
 void ACarlaRecorder::AddExistingActors(void)
 {
   // registring all existing actors in first frame

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.h

@@ -11,6 +11,7 @@
 
 #include "Carla/Actor/ActorDescription.h"
 
+#include "CarlaRecorderLightScene.h"
 #include "CarlaRecorderLightVehicle.h"
 #include "CarlaRecorderAnimVehicle.h"
 #include "CarlaRecorderAnimWalker.h"
@@ -30,7 +31,7 @@
 class AActor;
 class UCarlaEpisode;
 class ACarlaWheeledVehicle;
-struct FVehicleLightState;
+class UCarlaLight;
 
 enum class CarlaRecorderPacketId : uint8_t
 {
@@ -96,6 +97,8 @@ public:
 
   void AddLightVehicle(const CarlaRecorderLightVehicle &LightVehicle);
 
+  void AddEventLightSceneChanged(const UCarlaLight* Light);
+
   // set episode
   void SetEpisode(UCarlaEpisode *ThisEpisode)
   {
@@ -150,6 +153,7 @@ private:
   CarlaRecorderAnimVehicles Vehicles;
   CarlaRecorderAnimWalkers Walkers;
   CarlaRecorderLightVehicles LightVehicles;
+  CarlaRecorderLightScenes LightScenes;
 
   // replayer
   CarlaReplayer Replayer;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderLightScene.cpp

@@ -0,0 +1,65 @@
+// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "CarlaRecorderLightScene.h"
+#include "CarlaRecorder.h"
+#include "CarlaRecorderHelpers.h"
+
+
+void CarlaRecorderLightScene::Write(std::ofstream &OutFile)
+{
+  WriteValue<int>(OutFile, this->LightId);
+  WriteValue<float>(OutFile, this->Intensity);
+  WriteValue<FLinearColor>(OutFile, this->Color);
+  WriteValue<bool>(OutFile, this->bOn);
+  WriteValue<uint8>(OutFile, this->Type);
+}
+void CarlaRecorderLightScene::Read(std::ifstream &InFile)
+{
+  ReadValue<int>(InFile, this->LightId);
+  ReadValue<float>(InFile, this->Intensity);
+  ReadValue<FLinearColor>(InFile, this->Color);
+  ReadValue<bool>(InFile, this->bOn);
+  ReadValue<uint8>(InFile, this->Type);
+}
+
+// ---------------------------------------------
+
+void CarlaRecorderLightScenes::Clear(void)
+{
+  Lights.clear();
+}
+
+void CarlaRecorderLightScenes::Add(const CarlaRecorderLightScene &Vehicle)
+{
+  Lights.push_back(Vehicle);
+}
+
+void CarlaRecorderLightScenes::Write(std::ofstream &OutFile)
+{
+  // write the packet id
+  WriteValue<char>(OutFile, static_cast<char>(CarlaRecorderPacketId::SceneLight));
+
+  std::streampos PosStart = OutFile.tellp();
+
+  // write a dummy packet size
+  uint32_t Total = 0;
+  WriteValue<uint32_t>(OutFile, Total);
+
+  // write total records
+  Total = Lights.size();
+  WriteValue<uint16_t>(OutFile, Total);
+
+  for (uint16_t i=0; i<Total; ++i)
+    Lights[i].Write(OutFile);
+
+  // write the real packet size
+  std::streampos PosEnd = OutFile.tellp();
+  Total = PosEnd - PosStart - sizeof(uint32_t);
+  OutFile.seekp(PosStart, std::ios::beg);
+  WriteValue<uint32_t>(OutFile, Total);
+  OutFile.seekp(PosEnd, std::ios::beg);
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderLightScene.h

@@ -0,0 +1,42 @@
+// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include <fstream>
+#include <vector>
+#include <type_traits>
+
+#pragma pack(push, 1)
+struct CarlaRecorderLightScene
+{
+
+  int LightId;
+  float Intensity;
+  FLinearColor Color;
+  bool bOn;
+  uint8 Type;
+
+  void Read(std::ifstream &InFile);
+
+  void Write(std::ofstream &OutFile);
+};
+#pragma pack(pop)
+
+struct CarlaRecorderLightScenes
+{
+public:
+
+  void Add(const CarlaRecorderLightScene &InObj);
+
+  void Clear(void);
+
+  void Write(std::ofstream &OutFile);
+
+private:
+
+  std::vector<CarlaRecorderLightScene> Lights;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.cpp

@@ -341,6 +341,14 @@ void CarlaReplayer::ProcessToTime(double Time, bool IsFirstTime)
           SkipPacket();
         break;
 
+      // scene lights animation
+      case static_cast<char>(CarlaRecorderPacketId::SceneLight):
+        if (bFrameFound)
+          ProcessLightScene();
+        else
+          SkipPacket();
+        break;
+
       // frame end
       case static_cast<char>(CarlaRecorderPacketId::FrameEnd):
         if (bFrameFound)
@@ -542,6 +550,20 @@ void CarlaReplayer::ProcessLightVehicle(void)
   }
 }
 
+void CarlaReplayer::ProcessLightScene(void)
+{
+  uint16_t Total;
+  CarlaRecorderLightScene LightScene;
+
+  // read Total walkers
+  ReadValue<uint16_t>(File, Total);
+  for (uint16_t i = 0; i < Total; ++i)
+  {
+    LightScene.Read(File);
+    Helper.ProcessReplayerLightScene(LightScene);
+  }
+}
+
 void CarlaReplayer::ProcessPositions(bool IsFirstTime)
 {
   uint16_t i, Total;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayer.h

@@ -142,6 +142,7 @@ private:
   void ProcessAnimWalker(void);
 
   void ProcessLightVehicle(void);
+  void ProcessLightScene(void);
 
   // positions
   void UpdatePositions(double Per, double DeltaTime);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.cpp

@@ -12,6 +12,8 @@
 #include "Carla/Vehicle/WheeledVehicleAIController.h"
 #include "Carla/Walker/WalkerControl.h"
 #include "Carla/Walker/WalkerController.h"
+#include "Carla/Lights/CarlaLight.h"
+#include "Carla/Lights/CarlaLightSubsystem.h"
 
 // create or reuse an actor for replaying
 std::pair<int, FActorView>CarlaReplayerHelper::TryToCreateReplayerActor(
@@ -349,6 +351,28 @@ void CarlaReplayerHelper::ProcessReplayerLightVehicle(CarlaRecorderLightVehicle
   }
 }
 
+void CarlaReplayerHelper::ProcessReplayerLightScene(CarlaRecorderLightScene LightScene)
+{
+  check(Episode != nullptr);
+  UWorld* World = Episode->GetWorld();
+  if(World)
+  {
+    UCarlaLightSubsystem* CarlaLightSubsystem = World->GetSubsystem<UCarlaLightSubsystem>();
+    if (!CarlaLightSubsystem)
+    {
+      return;
+    }
+    auto* CarlaLight = CarlaLightSubsystem->GetLight(LightScene.LightId);
+    if (CarlaLight)
+    {
+      CarlaLight->SetLightIntensity(LightScene.Intensity);
+      CarlaLight->SetLightColor(LightScene.Color);
+      CarlaLight->SetLightOn(LightScene.bOn);
+      CarlaLight->SetLightType(static_cast<ELightType>(LightScene.Type));
+    }
+  }
+}
+
 // set the animation for walkers
 void CarlaReplayerHelper::ProcessReplayerAnimWalker(CarlaRecorderAnimWalker Walker)
 {

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaReplayerHelper.h

@@ -50,6 +50,9 @@ public:
   // set the vehicle light
   void ProcessReplayerLightVehicle(CarlaRecorderLightVehicle LightVehicle);
 
+  // set scene lights
+  void ProcessReplayerLightScene(CarlaRecorderLightScene LightScene);
+
   // replay finish
   bool ProcessReplayerFinish(bool bApplyAutopilot, bool bIgnoreHero, std::unordered_map<uint32_t, bool> &IsHero);