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Merge branch 'master' into roads

This commit is contained in:
nsubiron 2018-11-12 14:48:44 +01:00
parent a08e7db963 4ca95b7e88
commit 503fedeb6b
18 changed files with 298 additions and 89 deletions
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5
Docs/python_api.md
View File

@ -102,8 +102,8 @@
## `carla.Vehicle(carla.Actor)`
- `bounding_box`
- `control`
- `apply_control(vehicle_control)`
- `get_vehicle_control()`
- `set_autopilot(enabled=True)`
## `carla.TrafficLight(carla.Actor)`
@ -272,7 +272,8 @@ Static presets
## `carla.TrafficLightState`
- `Unknown`
- `Off`
- `Red`
- `Yellow`
- `Green`
- `Unknown`

10
LibCarla/source/carla/client/TrafficLight.cpp
View File

@ -11,14 +11,8 @@
namespace carla {
namespace client {
TrafficLightState TrafficLight::GetState() {
auto state = GetEpisode().Lock()->GetActorDynamicState(*this).state;
switch (state) {
case 1u: return TrafficLightState::Red;
case 2u: return TrafficLightState::Yellow;
case 3u: return TrafficLightState::Green;
default: return TrafficLightState::Unknown;
}
rpc::TrafficLightState TrafficLight::GetState() {
return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_state;
}
} // namespace client

10
LibCarla/source/carla/client/TrafficLight.h
View File

@ -7,17 +7,11 @@
#pragma once
#include "carla/client/Actor.h"
#include "carla/rpc/TrafficLightState.h"
namespace carla {
namespace client {
enum class TrafficLightState {
Unknown,
Red,
Yellow,
Green
};
class TrafficLight : public Actor {
public:
@ -27,7 +21,7 @@ namespace client {
///
/// @note This function does not call the simulator, it returns the
/// traffic light state received in the last tick.
TrafficLightState GetState();
rpc::TrafficLightState GetState();
};
} // namespace client

8
LibCarla/source/carla/client/Vehicle.cpp
View File

@ -11,6 +11,10 @@
namespace carla {
namespace client {
void Vehicle::SetAutopilot(bool enabled) {
GetEpisode().Lock()->SetVehicleAutopilot(*this, enabled);
}
void Vehicle::ApplyControl(const Control &control) {
if (control != _control) {
GetEpisode().Lock()->ApplyControlToVehicle(*this, control);
@ -18,8 +22,8 @@ namespace client {
}
}
void Vehicle::SetAutopilot(bool enabled) {
GetEpisode().Lock()->SetVehicleAutopilot(*this, enabled);
Vehicle::Control Vehicle::GetVehicleControl() const {
return GetEpisode().Lock()->GetActorDynamicState(*this).state.vehicle_control;
}
} // namespace client

9
LibCarla/source/carla/client/Vehicle.h
View File

@ -27,12 +27,9 @@ namespace client {
/// Return the control last applied to this vehicle.
///
/// @warning This function only takes into account the control applied to
/// this instance of Vehicle. Note that several instances of Vehicle (even
/// in different processes) may point to the same vehicle in the simulator.
const Control &GetControl() const {
return _control;
}
/// @note This function does not call the simulator, it returns the Control
/// received in the last tick.
Control GetVehicleControl() const;
private:

2
LibCarla/source/carla/client/detail/EpisodeState.h
View File

@ -30,7 +30,7 @@ namespace detail {
geom::Transform transform;
geom::Vector3D velocity;
geom::Vector3D acceleration;
uint8_t state = 0u;
sensor::data::ActorDynamicState::TypeDependentState state;
};
const auto &GetTimestamp() const {

29
LibCarla/source/carla/rpc/TrafficLightState.h Normal file
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@ -0,0 +1,29 @@
// Copyright (c) 2017 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 "carla/MsgPack.h"
#include <cstdint>
namespace carla {
namespace rpc {
enum class TrafficLightState : uint8_t {
Off,
Red,
Yellow,
Green,
Unknown,
SIZE
};
} // namespace rpc
} // namespace carla
MSGPACK_ADD_ENUM(carla::rpc::TrafficLightState);

4
LibCarla/source/carla/rpc/WeatherParameters.cpp
View File

@ -12,14 +12,14 @@ namespace rpc {
using WP = WeatherParameters;
// cloudyness precip. prec.dep. wind azimuth altitude
WP WP::ClearNoon = { 0.0f, 0.0f, 00.0f, 0.35f, 0.0f, 75.0f};
WP WP::ClearNoon = { 15.0f, 0.0f, 00.0f, 0.35f, 0.0f, 75.0f};
WP WP::CloudyNoon = { 80.0f, 0.0f, 00.0f, 0.35f, 0.0f, 75.0f};
WP WP::WetNoon = { 20.0f, 0.0f, 50.0f, 0.35f, 0.0f, 75.0f};
WP WP::WetCloudyNoon = { 80.0f, 0.0f, 50.0f, 0.35f, 0.0f, 75.0f};
WP WP::MidRainyNoon = { 80.0f, 30.0f, 50.0f, 0.40f, 0.0f, 75.0f};
WP WP::HardRainNoon = { 90.0f, 60.0f, 100.0f, 1.0f, 0.0f, 75.0f};
WP WP::SoftRainNoon = { 70.0f, 15.0f, 50.0f, 0.35f, 0.0f, 75.0f};
WP WP::ClearSunset = { 0.0f, 0.0f, 00.0f, 0.35f, 0.0f, 15.0f};
WP WP::ClearSunset = { 15.0f, 0.0f, 00.0f, 0.35f, 0.0f, 15.0f};
WP WP::CloudySunset = { 80.0f, 0.0f, 00.0f, 0.35f, 0.0f, 15.0f};
WP WP::WetSunset = { 20.0f, 0.0f, 50.0f, 0.35f, 0.0f, 15.0f};
WP WP::WetCloudySunset = { 90.0f, 0.0f, 50.0f, 0.35f, 0.0f, 15.0f};

42
LibCarla/source/carla/sensor/data/ActorDynamicState.h
View File

@ -9,6 +9,8 @@
#include "carla/geom/Transform.h"
#include "carla/geom/Vector3D.h"
#include "carla/rpc/ActorId.h"
#include "carla/rpc/TrafficLightState.h"
#include "carla/rpc/VehicleControl.h"
#include <cstdint>
@ -16,6 +18,37 @@ namespace carla {
namespace sensor {
namespace data {
namespace detail {
#pragma pack(push, 1)
class PackedVehicleControl {
public:
PackedVehicleControl() = default;
PackedVehicleControl(const rpc::VehicleControl &control)
: throttle(control.throttle),
steer(control.steer),
brake(control.brake),
hand_brake(control.hand_brake),
reverse(control.reverse) {}
operator rpc::VehicleControl() const {
return {throttle, steer, brake, hand_brake, reverse};
}
private:
float throttle;
float steer;
float brake;
bool hand_brake;
bool reverse;
};
#pragma pack(pop)
} // namespace detail
#pragma pack(push, 1)
/// Dynamic state of an actor at a certain frame.
@ -27,12 +60,17 @@ namespace data {
geom::Vector3D velocity;
uint8_t state;
union TypeDependentState {
rpc::TrafficLightState traffic_light_state;
detail::PackedVehicleControl vehicle_control;
} state;
};
#pragma pack(pop)
static_assert(sizeof(ActorDynamicState) == 1u + 10u * sizeof(uint32_t), "Invalid ActorDynamicState size!");
static_assert(
sizeof(ActorDynamicState) == 10u * sizeof(uint32_t) + sizeof(detail::PackedVehicleControl),
"Invalid ActorDynamicState size!");
} // namespace data
} // namespace sensor

126
PythonAPI/manual_control.py
View File

@ -29,6 +29,7 @@ Use ARROWS or WASD keys for control.
R : toggle recording images to disk
F1 : toggle HUD
H/? : toggle help
ESC : quit
"""
@ -64,7 +65,10 @@ import carla
from carla import ColorConverter as cc
import argparse
import collections
import datetime
import logging
import math
import random
import re
import weakref
@ -79,6 +83,7 @@ try:
from pygame.locals import K_BACKSPACE
from pygame.locals import K_DOWN
from pygame.locals import K_ESCAPE
from pygame.locals import K_F1
from pygame.locals import K_LEFT
from pygame.locals import K_RIGHT
from pygame.locals import K_SLASH
@ -115,10 +120,16 @@ def find_weather_presets():
return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
def get_actor_display_name(actor, truncate=250):
name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
return (name[:truncate-1] + u'\u2026') if len(name) > truncate else name
class World(object):
def __init__(self, carla_world, hud):
self.world = carla_world
self.hud = hud
self.world.on_tick(hud.on_world_tick)
blueprint = self._get_random_blueprint()
spawn_points = self.world.get_map().get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
@ -196,6 +207,8 @@ class KeyboardControl(object):
return True
elif event.key == K_BACKSPACE:
world.restart()
elif event.key == K_F1:
world.hud.toggle_info()
elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
world.hud.help.toggle()
elif event.key == K_TAB:
@ -253,13 +266,70 @@ class HUD(object):
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self.client_fps = 0
self.server_fps = 0
self.frame_number = 0
self.simulation_time = 0
self._show_info = True
self._info_text = []
self._server_clock = pygame.time.Clock()
def on_world_tick(self, timestamp):
self._server_clock.tick()
self.server_fps = self._server_clock.get_fps()
self.frame_number = timestamp.frame_count
self.simulation_time = timestamp.elapsed_seconds
def tick(self, world, clock):
self.client_fps = clock.get_fps()
if not self._show_info:
return
t = world.vehicle.get_transform()
v = world.vehicle.get_velocity()
c = world.vehicle.get_vehicle_control()
heading = 'N' if abs(t.rotation.yaw) < 89.5 else ''
heading += 'S' if abs(t.rotation.yaw) > 90.5 else ''
heading += 'E' if 179.5 > t.rotation.yaw > 0.5 else ''
heading += 'W' if -0.5 > t.rotation.yaw > -179.5 else ''
colhist = world.collision_sensor.get_collision_history()
collision = [colhist[x + self.frame_number - 200] for x in range(0, 200)]
max_col = max(1.0, max(collision))
collision = [x / max_col for x in collision]
self._info_text = [
'server: % 16d FPS' % self.server_fps,
'client: % 16d FPS' % clock.get_fps(),
'',
'vehicle: % 20s' % get_actor_display_name(world.vehicle, truncate=20),
'map: % 20s' % world.world.map_name,
'simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
'',
'speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
u'heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
'location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
'height: % 18.0f m' % t.location.z,
'',
('throttle:', c.throttle, 0.0, 1.0),
('steer:', c.steer, -1.0, 1.0),
('brake:', c.brake, 0.0, 1.0),
('reverse:', c.reverse),
('hand brake:', c.hand_brake),
'',
'collision:',
collision
]
vehicles = world.world.get_actors().filter('vehicle.*')
if len(vehicles) > 1:
self._info_text += ['', 'nearby vehicles:']
distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.vehicle.id]
for d, vehicle in sorted(vehicles):
if d > 200.0:
break
vehicle_type = get_actor_display_name(vehicle, truncate=22)
self._info_text.append('% 4dm %s' % (d, vehicle_type))
self._notifications.tick(world, clock)
def toggle_info(self):
self._show_info = not self._show_info
def notification(self, text, seconds=2.0):
self._notifications.set_text(text, seconds=seconds)
@ -267,11 +337,42 @@ class HUD(object):
self._notifications.set_text('Error: %s' % text, (255, 0, 0))
def render(self, display):
if self._show_info:
info_surface = pygame.Surface((220, self.dim[1]))
info_surface.set_alpha(100)
display.blit(info_surface, (0, 0))
v_offset = 4
bar_h_offset = 100
bar_width = 106
for item in self._info_text:
if v_offset + 18 > self.dim[1]:
break
if isinstance(item, list):
if len(item) > 1:
points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
pygame.draw.lines(display, (255, 136, 0), False, points, 2)
item = None
v_offset += 18
elif isinstance(item, tuple):
if isinstance(item[1], bool):
rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
else:
rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
f = (item[1] - item[2]) / (item[3] - item[2])
if item[2] < 0.0:
rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
else:
rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect)
item = item[0]
if item: # At this point has to be a str.
surface = self._font_mono.render(item, True, (255, 255, 255))
display.blit(surface, (8, v_offset))
v_offset += 18
self._notifications.render(display)
self.help.render(display)
fps_text = 'client: %02d FPS; server: %02d FPS' % (self.client_fps, self.server_fps)
fps = self._font_mono.render(fps_text, True, (60, 60, 60))
display.blit(fps, (6, 4))
# ==============================================================================
@ -339,6 +440,7 @@ class HelpText(object):
class CollisionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._history = []
self._parent = parent_actor
self._hud = hud
world = self._parent.get_world()
@ -349,6 +451,12 @@ class CollisionSensor(object):
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event))
def get_collision_history(self):
history = collections.defaultdict(int)
for frame, intensity in self._history:
history[frame] += intensity
return history
@staticmethod
def _on_collision(weak_self, event):
self = weak_self()
@ -356,6 +464,11 @@ class CollisionSensor(object):
return
actor_type = ' '.join(event.other_actor.type_id.replace('_', '.').title().split('.')[1:])
self._hud.notification('Collision with %r' % actor_type)
impulse = event.normal_impulse
intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
self._history.append((event.frame_number, intensity))
if len(self._history) > 2000:
self._history.pop(0)
# ==============================================================================
@ -391,7 +504,6 @@ class CameraManager(object):
bp.set_attribute('image_size_y', str(hud.dim[1]))
item.append(bp)
self._index = None
self._server_clock = pygame.time.Clock()
def toggle_camera(self):
self._transform_index = (self._transform_index + 1) % len(self._camera_transforms)
@ -433,8 +545,6 @@ class CameraManager(object):
self = weak_self()
if not self:
return
self._server_clock.tick()
self._hud.server_fps = self._server_clock.get_fps()
if self._sensors[self._index][0].startswith('sensor.lidar'):
points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
points = np.reshape(points, (int(points.shape[0]/3), 3))

14
PythonAPI/source/libcarla/Actor.cpp
View File

@ -7,6 +7,7 @@
#include <carla/client/Actor.h>
#include <carla/client/TrafficLight.h>
#include <carla/client/Vehicle.h>
#include <carla/rpc/TrafficLightState.h>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
@ -59,17 +60,18 @@ void export_actor() {
class_<cc::Vehicle, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Vehicle>>("Vehicle", no_init)
.add_property("bounding_box", CALL_RETURNING_COPY(cc::Vehicle, GetBoundingBox))
.add_property("control", CALL_RETURNING_COPY(cc::Vehicle, GetControl))
.def("apply_control", &cc::Vehicle::ApplyControl, (arg("control")))
.def("get_vehicle_control", &cc::Vehicle::GetVehicleControl)
.def("set_autopilot", &cc::Vehicle::SetAutopilot, (arg("enabled")=true))
.def(self_ns::str(self_ns::self))
;
enum_<cc::TrafficLightState>("TrafficLightState")
.value("Unknown", cc::TrafficLightState::Unknown)
.value("Red", cc::TrafficLightState::Red)
.value("Yellow", cc::TrafficLightState::Yellow)
.value("Green", cc::TrafficLightState::Green)
enum_<cr::TrafficLightState>("TrafficLightState")
.value("Off", cr::TrafficLightState::Off)
.value("Red", cr::TrafficLightState::Red)
.value("Yellow", cr::TrafficLightState::Yellow)
.value("Green", cr::TrafficLightState::Green)
.value("Unknown", cr::TrafficLightState::Unknown)
;
class_<cc::TrafficLight, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::TrafficLight>>("TrafficLight", no_init)

20
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorRegistry.cpp
View File

@ -12,12 +12,20 @@
#include "Carla/Game/Tagger.h"
#include "Carla/Traffic/TrafficLightBase.h"
static bool FActorRegistry_IsTrafficLight(const FActorView &View)
static FActorView::ActorType FActorRegistry_GetActorType(const FActorView &View)
{
return
View.IsValid() &&
View.GetSemanticTags().Contains(ECityObjectLabel::TrafficSigns) &&
(nullptr != Cast<ATrafficLightBase>(View.GetActor()));
if (View.IsValid())
{
if (nullptr != Cast<ACarlaWheeledVehicle>(View.GetActor()))
{
return FActorView::ActorType::Vehicle;
}
else if (nullptr != Cast<ATrafficLightBase>(View.GetActor()))
{
return FActorView::ActorType::TrafficLight;
}
}
return FActorView::ActorType::Other;
}
static FString GetRelevantTagAsString(const FActorView &View)
@ -51,7 +59,7 @@ FActorView FActorRegistry::Register(AActor &Actor, FActorDescription Description
auto View = FActorView(Id, Actor, std::move(Description));
ATagger::GetTagsOfTaggedActor(Actor, View.SemanticTags);
View.bIsTrafficLight = FActorRegistry_IsTrafficLight(View);
View.Type = FActorRegistry_GetActorType(View);
auto Result = ActorDatabase.emplace(Id, View);
check(Result.second);

21
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorView.h
View File

@ -18,6 +18,12 @@ public:
using IdType = uint32;
enum class ActorType : uint8 {
Other,
Vehicle,
TrafficLight
};
FActorView() = default;
FActorView(const FActorView &) = default;
@ -31,6 +37,11 @@ public:
return Id;
}
ActorType GetActorType() const
{
return Type;
}
AActor *GetActor()
{
return TheActor;
@ -51,11 +62,6 @@ public:
return SemanticTags;
}
bool IsTrafficLight() const
{
return bIsTrafficLight;
}
private:
friend class FActorRegistry;
@ -67,12 +73,11 @@ private:
IdType Id = 0u;
ActorType Type = ActorType::Other;
AActor *TheActor = nullptr;
TSharedPtr<const FActorDescription> Description = nullptr;
TSet<ECityObjectLabel> SemanticTags;
/// @todo
bool bIsTrafficLight = false;
};

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DepthCamera.h
View File

@ -8,6 +8,8 @@
#include "Carla/Sensor/ShaderBasedSensor.h"
#include "Carla/Actor/ActorDefinition.h"
#include "DepthCamera.generated.h"
/// Sensor that produces "depth" images.

25
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.cpp
View File

@ -13,19 +13,34 @@
#include <compiler/disable-ue4-macros.h>
#include <carla/sensor/SensorRegistry.h>
#include <carla/sensor/data/ActorDynamicState.h>
#include <compiler/enable-ue4-macros.h>
static uint8 AWorldObserver_GetActorState(const FActorView &View)
static auto AWorldObserver_GetActorState(const FActorView &View)
{
if (View.IsTrafficLight())
using AType = FActorView::ActorType;
carla::sensor::data::ActorDynamicState::TypeDependentState state;
if (AType::Vehicle == View.GetActorType())
{
auto Vehicle = Cast<ACarlaWheeledVehicle>(View.GetActor());
if (Vehicle != nullptr)
{
state.vehicle_control = carla::rpc::VehicleControl{Vehicle->GetVehicleControl()};
}
}
else if (AType::TrafficLight == View.GetActorType())
{
auto TrafficLight = Cast<ATrafficLightBase>(View.GetActor());
if (TrafficLight != nullptr)
{
return static_cast<uint8>(TrafficLight->GetTrafficSignState());
using TLS = carla::rpc::TrafficLightState;
state.traffic_light_state = static_cast<TLS>(TrafficLight->GetTrafficSignState());
}
}
return 0u;
return state;
}
static carla::Buffer AWorldObserver_Serialize(
@ -53,7 +68,7 @@ static carla::Buffer AWorldObserver_Serialize(
for (auto &&pair : Registry) {
auto &&actor_view = pair.second;
check(actor_view.GetActor() != nullptr);
constexpr float TO_METERS = 1e-3;
constexpr float TO_METERS = 1e-2;
const auto velocity = TO_METERS * actor_view.GetActor()->GetVelocity();
ActorDynamicState info = {
actor_view.GetActorId(),

24
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficSignBase.h
View File

@ -14,18 +14,18 @@
UENUM(BlueprintType)
enum class ETrafficSignState : uint8 {
UNKNOWN UMETA(DisplayName = "UNKNOWN"),
TrafficLightRed UMETA(DisplayName = "Traffic Light - Red"),
TrafficLightYellow UMETA(DisplayName = "Traffic Light - Yellow"),
TrafficLightGreen UMETA(DisplayName = "Traffic Light - Green"),
SpeedLimit_30 UMETA(DisplayName = "Speed Limit - 30"),
SpeedLimit_40 UMETA(DisplayName = "Speed Limit - 40"),
SpeedLimit_50 UMETA(DisplayName = "Speed Limit - 50"),
SpeedLimit_60 UMETA(DisplayName = "Speed Limit - 60"),
SpeedLimit_90 UMETA(DisplayName = "Speed Limit - 90"),
SpeedLimit_100 UMETA(DisplayName = "Speed Limit - 100"),
SpeedLimit_120 UMETA(DisplayName = "Speed Limit - 120"),
SpeedLimit_130 UMETA(DisplayName = "Speed Limit - 130")
UNKNOWN = 0u UMETA(DisplayName = "UNKNOWN"),
TrafficLightRed = 1u UMETA(DisplayName = "Traffic Light - Red"),
TrafficLightYellow = 2u UMETA(DisplayName = "Traffic Light - Yellow"),
TrafficLightGreen = 3u UMETA(DisplayName = "Traffic Light - Green"),
SpeedLimit_30 UMETA(DisplayName = "Speed Limit - 30"),
SpeedLimit_40 UMETA(DisplayName = "Speed Limit - 40"),
SpeedLimit_50 UMETA(DisplayName = "Speed Limit - 50"),
SpeedLimit_60 UMETA(DisplayName = "Speed Limit - 60"),
SpeedLimit_90 UMETA(DisplayName = "Speed Limit - 90"),
SpeedLimit_100 UMETA(DisplayName = "Speed Limit - 100"),
SpeedLimit_120 UMETA(DisplayName = "Speed Limit - 120"),
SpeedLimit_130 UMETA(DisplayName = "Speed Limit - 130")
};
UCLASS()

12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -86,29 +86,33 @@ void ACarlaWheeledVehicle::ApplyVehicleControl(const FVehicleControl &VehicleCon
void ACarlaWheeledVehicle::SetThrottleInput(const float Value)
{
GetVehicleMovementComponent()->SetThrottleInput(Value);
Control.Throttle = Value;
}
void ACarlaWheeledVehicle::SetSteeringInput(const float Value)
{
GetVehicleMovementComponent()->SetSteeringInput(Value);
Control.Steer = Value;
}
void ACarlaWheeledVehicle::SetBrakeInput(const float Value)
{
GetVehicleMovementComponent()->SetBrakeInput(Value);
Control.Brake = Value;
}
void ACarlaWheeledVehicle::SetReverse(const bool Value)
{
if (Value != bIsInReverse) {
bIsInReverse = Value;
if (Value != Control.bReverse) {
Control.bReverse = Value;
auto MovementComponent = GetVehicleMovementComponent();
MovementComponent->SetUseAutoGears(!bIsInReverse);
MovementComponent->SetTargetGear(bIsInReverse ? -1 : 1, true);
MovementComponent->SetUseAutoGears(!Control.bReverse);
MovementComponent->SetTargetGear(Control.bReverse ? -1 : 1, true);
}
}
void ACarlaWheeledVehicle::SetHandbrakeInput(const bool Value)
{
GetVehicleMovementComponent()->SetHandbrakeInput(Value);
Control.bHandBrake = Value;
}

24
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -41,6 +41,13 @@ public:
/// @{
public:
/// Vehicle control currently applied to this vehicle.
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
const FVehicleControl &GetVehicleControl() const
{
return Control;
}
/// Transform of the vehicle. Location is shifted so it matches center of the
/// vehicle bounds rather than the actor's location.
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
@ -80,6 +87,12 @@ public:
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
float GetMaximumSteerAngle() const;
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
ECarlaWheeledVehicleState GetAIVehicleState() const
{
return State;
}
/// @}
// ===========================================================================
/// @name Set functions
@ -105,7 +118,7 @@ public:
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
void ToggleReverse()
{
SetReverse(!bIsInReverse);
SetReverse(!Control.bReverse);
}
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
@ -128,12 +141,6 @@ public:
State = InState;
}
UFUNCTION(Category = "AI Controller", BlueprintCallable)
ECarlaWheeledVehicleState GetAIVehicleState() const
{
return State;
}
private:
/// Current state of the vehicle controller (for debugging purposes).
@ -146,6 +153,5 @@ private:
UPROPERTY(Category = "CARLA Wheeled Vehicle", VisibleAnywhere)
UVehicleAgentComponent *VehicleAgentComponent;
UPROPERTY()
bool bIsInReverse = false;
FVehicleControl Control;
};