Merge branch 'master' into manishthani/no_rendering_mode

CHANGELOG.md

@@ -22,6 +22,7 @@
   * Fixed BP_MultipleFloor, tweaked offset in BaseFloor to adjust meshes between them
   * New traffic signs assets: one-way, no-turn, more speed limits, do not enter, arrow floors, Michigan left, and lane end
   * Expose traffic sign's trigger volumes on Python API
+  * Updated the Python API to enable the user to acquire a traffic light's pole index and all traffic lights in it's group
 
 ## CARLA 0.9.3
 

Docs/python_api.md

@@ -127,6 +127,8 @@
 - `get_elapsed_time()`
 - `freeze(True)`
 - `is_frozen()`
+- `get_pole_index()`
+- `get_group_traffic_lights()`
 
 ## `carla.Sensor(carla.Actor)`
 

LibCarla/source/carla/client/TrafficLight.cpp

@@ -5,8 +5,8 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "carla/client/TrafficLight.h"
-
 #include "carla/client/detail/Simulator.h"
+#include "carla/client/ActorList.h"
 
 namespace carla {
 namespace client {
@@ -55,5 +55,20 @@ namespace client {
     return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.time_is_frozen;
   }
 
+  uint32_t TrafficLight::GetPoleIndex()
+  {
+    return GetEpisode().Lock()->GetActorDynamicState(*this).state.traffic_light_data.pole_index;
+  }
+
+  std::vector<SharedPtr<TrafficLight>> TrafficLight::GetGroupTrafficLights() {
+    std::vector<SharedPtr<TrafficLight>> result;
+    auto ids = GetEpisode().Lock()->GetGroupTrafficLights(*this);
+    for (auto id : ids) {
+      SharedPtr<Actor> actor = GetWorld().GetActors()->Find(id);
+      result.push_back(boost::static_pointer_cast<TrafficLight>(actor));
+    }
+    return result;
+  }
+
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/TrafficLight.h

@@ -52,6 +52,13 @@ namespace client {
     /// @note This function does not call the simulator, it returns the data
     /// received in the last tick.
     bool IsFrozen() const;
+
+    uint32_t GetPoleIndex();
+
+    /// Return all traffic lights in the group this one belongs to.
+    ///
+    /// @note This function calls the simulator
+    std::vector<SharedPtr<TrafficLight>> GetGroupTrafficLights();
   };
 
 } // namespace client

LibCarla/source/carla/client/detail/Client.cpp

@@ -247,6 +247,11 @@ namespace detail {
     _pimpl->AsyncCall("add_actor_impulse", actor, vector);
   }
 
+  std::vector<rpc::actor_id_type> Client::GetGroupTrafficLights(const rpc::Actor &trafficLight) {
+    using return_t = std::vector<rpc::actor_id_type>;
+    return _pimpl->CallAndWait<return_t>("get_group_traffic_lights", trafficLight);
+  }
+
   void Client::SubscribeToStream(
       const streaming::Token &token,
       std::function<void(Buffer)> callback) {

LibCarla/source/carla/client/detail/Client.h

@@ -164,6 +164,8 @@ namespace detail {
 
     void DrawDebugShape(const rpc::DebugShape &shape);
 
+    std::vector<rpc::actor_id_type> GetGroupTrafficLights(const rpc::Actor &trafficLight);
+
   private:
 
     class Pimpl;

LibCarla/source/carla/client/detail/Simulator.h

@@ -266,6 +266,10 @@ namespace detail {
       _client.FreezeTrafficLight(trafficLight.Serialize(), freeze);
     }
 
+    std::vector<rpc::actor_id_type> GetGroupTrafficLights(TrafficLight &trafficLight) {
+      return _client.GetGroupTrafficLights(trafficLight.Serialize());
+    }
+
     /// @}
     // =========================================================================
     /// @name Debug

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

@@ -99,6 +99,7 @@ namespace detail {
     float red_time;
     float elapsed_time;
     bool time_is_frozen;
+    uint32_t pole_index;
   };
 #pragma pack(pop)
 } // namespace detail

PythonAPI/source/libcarla/Actor.cpp

@@ -33,6 +33,16 @@ static auto GetSemanticTags(const carla::client::Actor &self) {
   return boost::python::list(iter);
 }
 
+static auto GetGroupTrafficLights(carla::client::TrafficLight &self) {
+  namespace py = boost::python;
+  auto values = self.GetGroupTrafficLights();
+  py::list result;
+  for (auto value : values) {
+    result.append(value);
+  }
+  return result;
+}
+
 void export_actor() {
   using namespace boost::python;
   namespace cc = carla::client;
@@ -123,6 +133,8 @@ void export_actor() {
     .def("get_elapsed_time", &cc::TrafficLight::GetElapsedTime)
     .def("freeze", &cc::TrafficLight::Freeze, (arg("freeze")))
     .def("is_frozen", &cc::TrafficLight::IsFrozen)
+    .def("get_pole_index", &cc::TrafficLight::GetPoleIndex)
+    .def("get_group_traffic_lights", &GetGroupTrafficLights)
     .def(self_ns::str(self_ns::self))
   ;
 }

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

@@ -71,6 +71,7 @@ static auto AWorldObserver_GetActorState(const FActorView &View, const FActorReg
       state.traffic_light_data.red_time = TrafficLight->GetRedTime();
       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();
     }
   }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp

@@ -589,6 +589,32 @@ void FTheNewCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   });
 
+  Server.BindSync("get_group_traffic_lights", [this](
+        const cr::Actor Actor) -> R<std::vector<cr::actor_id_type>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill())
+    {
+      RESPOND_ERROR("unable to get group traffic lights: actor not found");
+    }
+    auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
+    if (TrafficLight == nullptr)
+    {
+      RESPOND_ERROR("unable to get group traffic lights: actor is not a traffic light");
+    }
+    std::vector<cr::actor_id_type> Result;
+    for (auto TLight : TrafficLight->GetGroupTrafficLights())
+    {
+      auto View = Episode->FindActor(TLight);
+      if (View.IsValid())
+      {
+        Result.push_back(View.GetActorId());
+      }
+    }
+    return Result;
+  });
+
   Server.BindSync("draw_debug_shape", [this](const cr::DebugShape &shape) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();

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

@@ -79,6 +79,11 @@ void ATrafficLightBase::Tick(float DeltaSeconds)
 
   if (ElapsedTime > ChangeTime)
   {
+    // Freeze if part of a group and about to turn red
+    if (GroupTrafficLights.Num() > 0 && State == ETrafficLightState::Yellow)
+    {
+      SetTimeIsFrozen(true);
+    }
     SwitchTrafficLightState();
   }
 }
@@ -98,7 +103,6 @@ void ATrafficLightBase::PostEditChangeProperty(FPropertyChangedEvent &Event)
 
 void ATrafficLightBase::SetTrafficLightState(const ETrafficLightState InState)
 {
-  NumChanges++;
   ElapsedTime = 0.0f;
   State = InState;
   SetTrafficSignState(ToTrafficSignState(State));
@@ -197,7 +201,6 @@ void ATrafficLightBase::SetTimeIsFrozen(bool InTimeIsFrozen)
   TimeIsFrozen = InTimeIsFrozen;
   if (!TimeIsFrozen)
   {
-    NumChanges = 0;
     ElapsedTime = 0.0f;
   }
 }
@@ -207,7 +210,22 @@ bool ATrafficLightBase::GetTimeIsFrozen() const
   return TimeIsFrozen;
 }
 
-int ATrafficLightBase::GetNumChanges() const
+void ATrafficLightBase::SetPoleIndex(int InPoleIndex)
 {
-  return NumChanges;
+  PoleIndex = InPoleIndex;
+}
+
+int ATrafficLightBase::GetPoleIndex() const
+{
+  return PoleIndex;
+}
+
+TArray<ATrafficLightBase *> ATrafficLightBase::GetGroupTrafficLights() const
+{
+  return GroupTrafficLights;
+}
+
+void ATrafficLightBase::SetGroupTrafficLights(TArray<ATrafficLightBase *> InGroupTrafficLights)
+{
+  GroupTrafficLights = InGroupTrafficLights;
 }

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

@@ -82,7 +82,16 @@ public:
   bool GetTimeIsFrozen() const;
 
   UFUNCTION(Category = "Traffic Light", BlueprintCallable)
-  int GetNumChanges() const;
+  void SetPoleIndex(int InPoleIndex);
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  int GetPoleIndex() const;
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  TArray<ATrafficLightBase *> GetGroupTrafficLights() const;
+
+  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
+  void SetGroupTrafficLights(TArray<ATrafficLightBase *> InGroupTrafficLights);
 
 protected:
 
@@ -113,5 +122,8 @@ private:
   bool TimeIsFrozen = false;
 
   UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
-  int NumChanges = 0;
+  int PoleIndex = 0;
+
+  UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
+  TArray<ATrafficLightBase *> GroupTrafficLights;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp

@@ -218,7 +218,7 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
   Vehicle4W->SteeringCurve.EditorCurveData = PhysicsControl.SteeringCurve;
 
   // Wheels Setup
-  for (uint32 i = 0; i < PhysicsControl.Wheels.Num(); ++i)
+  for (int32 i = 0; i < PhysicsControl.Wheels.Num(); ++i)
   {
     Vehicle4W->Wheels[i]->DampingRate = PhysicsControl.Wheels[i].DampingRate;
     Vehicle4W->Wheels[i]->SteerAngle = PhysicsControl.Wheels[i].SteerAngle;

Util/ContentVersions.txt

@@ -17,4 +17,4 @@
 0.9.1: 1IZDzNQNVL67h8UlGyKuGegLH612Ifd7H
 0.9.2: 1RKRGB22U5t80q4zwYXBJvxQXhzNjaaDf
 0.9.3: 1jJlStNHpey62CrMkWVfmtQcJGO7PaD0R
-Latest: 1Rr30x4BDCDLM7QfAFsQYhduy6De976qQ
+Latest: 1LA1dLOozATCaJryqT7U_nOBR_nPVnBC8