Creation of TrafficLight and Sign Components on UE

LibCarla/source/carla/client/TrafficLight.cpp

@@ -11,64 +11,64 @@
 namespace carla {
 namespace client {
 
-  void TrafficLight::SetState(rpc::TrafficLightState state) {
-    GetEpisode().Lock()->SetTrafficLightState(*this, state);
-  }
+void TrafficLight::SetState(rpc::TrafficLightState state) {
+  GetEpisode().Lock()->SetTrafficLightState(*this, state);
+}
 
-  rpc::TrafficLightState TrafficLight::GetState() const {
-    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.state;
-  }
+rpc::TrafficLightState TrafficLight::GetState() const {
+  return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.state;
+}
 
-  void TrafficLight::SetGreenTime(float green_time) {
-    GetEpisode().Lock()->SetTrafficLightGreenTime(*this, green_time);
-  }
+void TrafficLight::SetGreenTime(float green_time) {
+  GetEpisode().Lock()->SetTrafficLightGreenTime(*this, green_time);
+}
 
-  float TrafficLight::GetGreenTime() const {
-    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.green_time;
-  }
+float TrafficLight::GetGreenTime() const {
+  return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.green_time;
+}
 
-  void TrafficLight::SetYellowTime(float yellow_time) {
-    GetEpisode().Lock()->SetTrafficLightYellowTime(*this, yellow_time);
-  }
+void TrafficLight::SetYellowTime(float yellow_time) {
+  GetEpisode().Lock()->SetTrafficLightYellowTime(*this, yellow_time);
+}
 
-  float TrafficLight::GetYellowTime() const {
-    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.yellow_time;
-  }
+float TrafficLight::GetYellowTime() const {
+  return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.yellow_time;
+}
 
-  void TrafficLight::SetRedTime(float red_time) {
-    GetEpisode().Lock()->SetTrafficLightRedTime(*this, red_time);
-  }
+void TrafficLight::SetRedTime(float red_time) {
+  GetEpisode().Lock()->SetTrafficLightRedTime(*this, red_time);
+}
 
-  float TrafficLight::GetRedTime() const {
-    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.red_time;
-  }
+float TrafficLight::GetRedTime() const {
+  return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.red_time;
+}
 
-  float TrafficLight::GetElapsedTime() const {
-    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.elapsed_time;
-  }
+float TrafficLight::GetElapsedTime() const {
+  return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.elapsed_time;
+}
 
-  void TrafficLight::Freeze(bool freeze) {
-    GetEpisode().Lock()->FreezeTrafficLight(*this, freeze);
-  }
+void TrafficLight::Freeze(bool freeze) {
+  GetEpisode().Lock()->FreezeTrafficLight(*this, freeze);
+}
 
-  bool TrafficLight::IsFrozen() const {
-    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.time_is_frozen;
-  }
+bool TrafficLight::IsFrozen() const {
+  return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.time_is_frozen;
+}
 
-  uint32_t TrafficLight::GetPoleIndex()
-  {
-    return GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.pole_index;
-  }
+uint32_t TrafficLight::GetPoleIndex()
+{
+  return GetEpisode().Lock()->GetActorSnapshot(*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;
+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

@@ -12,54 +12,57 @@
 namespace carla {
 namespace client {
 
-  class TrafficLight : public TrafficSign {
-  public:
+class TrafficLight : public Actor {
 
-    explicit TrafficLight(ActorInitializer init) : TrafficSign(std::move(init)) {}
+public:
 
-    void SetState(rpc::TrafficLightState state);
+  explicit TrafficLight(ActorInitializer init) : Actor(std::move(init)) {}
 
-    /// Return the current state of the traffic light.
-    ///
-    /// @note This function does not call the simulator, it returns the data
-    /// received in the last tick.
-    rpc::TrafficLightState GetState() const;
+  void SetState(rpc::TrafficLightState state);
 
-    void SetGreenTime(float green_time);
+  /// Return the current state of the traffic light.
+  ///
+  /// @note This function does not call the simulator, it returns the data
+  /// received in the last tick.
+  rpc::TrafficLightState GetState() const;
 
-    /// @note This function does not call the simulator, it returns the data
-    /// received in the last tick.
-    float GetGreenTime() const;
+  void SetGreenTime(float green_time);
 
-    void SetYellowTime(float yellow_time);
+  /// @note This function does not call the simulator, it returns the data
+  /// received in the last tick.
+  float GetGreenTime() const;
 
-    /// @note This function does not call the simulator, it returns the data
-    /// received in the last tick.
-    float GetYellowTime() const;
+  void SetYellowTime(float yellow_time);
 
-    void SetRedTime(float red_time);
+  /// @note This function does not call the simulator, it returns the data
+  /// received in the last tick.
+  float GetYellowTime() const;
 
-    /// @note This function does not call the simulator, it returns the data
-    /// received in the last tick.
-    float GetRedTime() const;
+  void SetRedTime(float red_time);
 
-    /// @note This function does not call the simulator, it returns the data
-    /// received in the last tick.
-    float GetElapsedTime() const;
+  /// @note This function does not call the simulator, it returns the data
+  /// received in the last tick.
+  float GetRedTime() const;
 
-    void Freeze(bool freeze);
+  /// @note This function does not call the simulator, it returns the data
+  /// received in the last tick.
+  float GetElapsedTime() const;
 
-    /// @note This function does not call the simulator, it returns the data
-    /// received in the last tick.
-    bool IsFrozen() const;
+  void Freeze(bool freeze);
 
-    uint32_t GetPoleIndex();
+  /// @note This function does not call the simulator, it returns the data
+  /// received in the last tick.
+  bool IsFrozen() const;
 
-    /// Return all traffic lights in the group this one belongs to.
-    ///
-    /// @note This function calls the simulator
-    std::vector<SharedPtr<TrafficLight>> GetGroupTrafficLights();
-  };
+  /// Returns the index of the pole in the traffic light group
+  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
 } // namespace carla

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

@@ -0,0 +1,34 @@
+// 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>.
+
+
+#include "SignComponent.h"
+
+
+// Sets default values for this component's properties
+USignComponent::USignComponent()
+{
+  // Set this component to be initialized when the game starts, and to be ticked every frame.  You can turn these features
+  // off to improve performance if you don't need them.
+  PrimaryComponentTick.bCanEverTick = true;
+
+  // ...
+}
+
+
+// Called when the game starts
+void USignComponent::BeginPlay()
+{
+  Super::BeginPlay();
+
+  // ...
+
+}
+
+
+// Called every frame
+void USignComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
+{
+  Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
+
+  // ...
+}

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

@@ -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 "CoreMinimal.h"
+#include "Components/ActorComponent.h"
+#include "SignComponent.generated.h"
+
+
+UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
+class CARLA_API USignComponent : public UActorComponent
+{
+  GENERATED_BODY()
+
+public:
+  // Sets default values for this component's properties
+  USignComponent();
+
+protected:
+  // Called when the game starts
+  virtual void BeginPlay() override;
+
+public:
+  // Called every frame
+  virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
+
+
+
+};

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

@@ -0,0 +1,34 @@
+// 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>.
+
+
+#include "TrafficLightComponent.h"
+
+
+// Sets default values for this component's properties
+UTrafficLightComponent::UTrafficLightComponent()
+{
+  // Set this component to be initialized when the game starts, and to be ticked every frame.  You can turn these features
+  // off to improve performance if you don't need them.
+  PrimaryComponentTick.bCanEverTick = true;
+
+  // ...
+}
+
+
+// Called when the game starts
+void UTrafficLightComponent::BeginPlay()
+{
+  Super::BeginPlay();
+
+  // ...
+
+}
+
+
+// Called every frame
+void UTrafficLightComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
+{
+  Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
+
+  // ...
+}

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

@@ -0,0 +1,27 @@
+// 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 "CoreMinimal.h"
+#include "Components/ActorComponent.h"
+#include "TrafficLightComponent.generated.h"
+
+
+UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
+class CARLA_API UTrafficLightComponent : public UActorComponent
+{
+  GENERATED_BODY()
+
+public:
+  // Sets default values for this component's properties
+  UTrafficLightComponent();
+
+protected:
+  // Called when the game starts
+  virtual void BeginPlay() override;
+
+public:
+  // Called every frame
+  virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
+
+};