Added set_day_night_cycle parameter (#5322)

CHANGELOG.md

@@ -13,6 +13,7 @@
   * Added `NormalsSensor`, a new sensor with normals information
   * Added support for N wheeled vehicles
   * Added support for new batch commands ConsoleCommand, ApplyLocation (to actor), SetTrafficLightState
+  * Added new API function: `set_day_night_cycle` at the LightManager, to (de)activate the automatic switch of the lights when the simulation changes from day to night mode, and viceversa.
   * Switch to boost::variant2 for rpc::Command as that allows more than 20 RPC commands
   * Added post process effects for rainy and dusty weathers.
 

Docs/python_api.md

@@ -1374,6 +1374,10 @@ Changes the color of each element in `lights` to the corresponding in `colors`.
     - **Parameters:**
         - `lights` (_list([carla.Light](#carla.Light))_) - List of lights to be changed.  
         - `colors` (_list([carla.Color](#carla.Color))_) - List of colors to be applied.  
+- <a name="carla.LightManager.set_day_night_cycle"></a>**<font color="#7fb800">set_day_night_cycle</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**active**</font>)  
+All scene lights have a day-night cycle, automatically turning on and off with the altitude of the sun. This interferes in cases where full control of the scene lights is required, so setting this to __False__ deactivates it. It can reactivated by setting it to __True__.  
+    - **Parameters:**
+        - `active` (_bool_) - (De)activation of the day-night cycle.    
 - <a name="carla.LightManager.set_intensities"></a>**<font color="#7fb800">set_intensities</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**lights**</font>, <font color="#00a6ed">**intensities**</font>)  
 Changes the intensity of each element in `lights` to the corresponding in `intensities`.  
     - **Parameters:**

LibCarla/source/carla/client/LightManager.cpp

@@ -321,5 +321,9 @@ void LightManager::ApplyChanges() {
   }
 }
 
+void LightManager::SetDayNightCycle(const bool active) {
+  _episode.Lock()->UpdateDayNightCycle(active);
+}
+
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/LightManager.h

@@ -84,6 +84,8 @@ public:
   void SetLightState(LightId id, const LightState& new_state);
   void SetLightGroup(LightId id, LightGroup group);
 
+  void SetDayNightCycle(const bool active);
+
 private:
 
   const LightState& RetrieveLightState(LightId id) const;

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

@@ -610,6 +610,10 @@ namespace detail {
     _pimpl->AsyncCall("update_lights_state", _pimpl->endpoint, std::move(lights), discard_client);
   }
 
+  void Client::UpdateDayNightCycle(const bool active) const {
+    _pimpl->AsyncCall("update_day_night_cycle", _pimpl->endpoint, active);
+  }
+
   std::vector<geom::BoundingBox> Client::GetLevelBBs(uint8_t queried_tag) const {
     using return_t = std::vector<geom::BoundingBox>;
     return _pimpl->CallAndWait<return_t>("get_all_level_BBs", queried_tag);

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

@@ -388,6 +388,8 @@ namespace detail {
         std::vector<rpc::LightState>& lights,
         bool discard_client = false) const;
 
+    void UpdateDayNightCycle(const bool active) const;
+
     /// Returns all the BBs of all the elements of the level
     std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
 

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

@@ -678,6 +678,10 @@ namespace detail {
       _client.UpdateServerLightsState(lights, discard_client);
     }
 
+    void UpdateDayNightCycle(const bool active) const {
+      _client.UpdateDayNightCycle(active);
+    }
+
     size_t RegisterLightUpdateChangeEvent(std::function<void(WorldSnapshot)> callback) {
       DEBUG_ASSERT(_episode != nullptr);
       return _episode->RegisterLightUpdateChangeEvent(std::move(callback));

PythonAPI/carla/source/libcarla/LightManager.cpp

@@ -288,6 +288,12 @@ static boost::python::list LightManagerGetLightState(
   return result;
 }
 
+static void LightManagerSetDayNightCycle(
+  cc::LightManager& self,
+  const bool active) {
+  self.SetDayNightCycle(active);
+}
+
 /*******************/
 
 void export_lightmanager() {
@@ -345,6 +351,7 @@ void export_lightmanager() {
       .def("set_light_state", &LightManagerSetLightState, (arg("lights"), arg("light_state")))
       .def("set_light_states", &LightManagerSetVectorLightState, (arg("lights"), arg("light_states")))
       .def("get_light_state", &LightManagerGetLightState, (arg("lights")))
+      .def("set_day_night_cycle", &LightManagerSetDayNightCycle, (arg("active")))
     ;
 
 }

PythonAPI/docs/light_manager.yml

@@ -388,3 +388,12 @@
         doc:
           List of state of the attributes to be applied.
     # --------------------------------------
+    - def_name: set_day_night_cycle
+      doc: >
+        All scene lights have a day-night cycle, automatically turning on and off with the altitude of the sun. This interferes in cases where full control of the scene lights is required, so setting this to __False__ deactivates it. It can reactivated by setting it to __True__.
+      params:
+      - param_name: active
+        type: bool
+        doc:
+          (De)activation of the day-night cycle.
+

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

@@ -5,6 +5,8 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #include "CarlaLightSubsystem.h"
+#include "Carla/Weather/Weather.h"
+#include "Kismet/GameplayStatics.h"
 
 //using cr = carla::rpc;
 
@@ -100,6 +102,19 @@ UCarlaLight* UCarlaLightSubsystem::GetLight(int Id)
   return nullptr;
 }
 
+void UCarlaLightSubsystem::SetDayNightCycle(const bool active) {
+  TArray<AActor*> WeatherActors;
+  UGameplayStatics::GetAllActorsOfClass(GetWorld(), AWeather::StaticClass(), WeatherActors);
+  if (WeatherActors.Num())
+  {
+    if (AWeather* WeatherActor = Cast<AWeather>(WeatherActors[0]))
+    {
+      WeatherActor->SetDayNightCycle(active);
+    }
+  }
+  std::cout << "Calling the server weather to change the day night cycle to " << active << std::endl;
+}
+
 void UCarlaLightSubsystem::SetClientStatesdirty(FString ClientThatUpdate)
 {
   for(auto& Client : ClientStates)

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

@@ -61,6 +61,9 @@ public:
   {
     return Lights;
   }
+
+  void SetDayNightCycle(const bool active);
+
 private:
 
   void SetClientStatesdirty(FString ClientThatUpdate);

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

@@ -2212,6 +2212,18 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(update_day_night_cycle) << [this]
+    (std::string client, const bool active) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto *World = Episode->GetWorld();
+    if(World) {
+      UCarlaLightSubsystem* CarlaLightSubsystem = World->GetSubsystem<UCarlaLightSubsystem>();
+      CarlaLightSubsystem->SetDayNightCycle(active);
+    }
+    return R<void>::Success();
+  };
+
 
   // ~~ Ray Casting ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Weather/Weather.cpp

@@ -49,3 +49,8 @@ void AWeather::SetWeather(const FWeatherParameters &InWeather)
 {
   Weather = InWeather;
 }
+
+void AWeather::SetDayNightCycle(const bool &active)
+{
+  DayNightCycle = active;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Weather/Weather.h

@@ -39,6 +39,16 @@ public:
     return Weather;
   }
 
+  /// Returns whether the day night cycle is active (automatic on/off switch when changin to night mode)
+  UFUNCTION(BlueprintCallable)
+  const bool &GetDayNightCycle() const
+  {
+    return DayNightCycle;
+  }
+
+  /// Update the day night cycle
+  void SetDayNightCycle(const bool &active);
+
 protected:
 
   UFUNCTION(BlueprintImplementableEvent)
@@ -48,4 +58,7 @@ private:
 
   UPROPERTY(VisibleAnywhere)
   FWeatherParameters Weather;
+
+  UPROPERTY(EditAnywhere, Category = "Weather")
+  bool DayNightCycle = true;
 };

Util/ContentVersions.txt

@@ -36,4 +36,4 @@
 0.9.11: 20201222_232b876
 0.9.12: 20210730_564bcdc
 0.9.13: 20211112_d5cfa12
-Latest: 20220404_1730439
+Latest: 20220412_75d259d