Added batch command SetVehicleLightState

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

@@ -219,7 +219,7 @@ namespace detail {
   void Client::SetLightStateToVehicle(
       rpc::ActorId vehicle,
       const rpc::VehicleLightState &light_state) {
-    return _pimpl->AsyncCall("apply_vehicle_light_state", vehicle, light_state);
+    return _pimpl->AsyncCall("set_vehicle_light_state", vehicle, light_state);
   }
 
   rpc::Actor Client::SpawnActor(

LibCarla/source/carla/rpc/Command.h

@@ -12,6 +12,7 @@
 #include "carla/rpc/ActorDescription.h"
 #include "carla/rpc/ActorId.h"
 #include "carla/rpc/VehicleControl.h"
+#include "carla/rpc/VehicleLightState.h"
 #include "carla/rpc/WalkerControl.h"
 
 #include <boost/variant.hpp>
@@ -152,8 +153,6 @@ namespace rpc {
     };
 
     struct SetAutopilot : CommandBase<SetAutopilot> {
-      using TM = traffic_manager::TrafficManager;
-
       SetAutopilot() = default;
       SetAutopilot(
           ActorId id,
@@ -168,6 +167,18 @@ namespace rpc {
       MSGPACK_DEFINE_ARRAY(actor, enabled);
     };
 
+    struct SetVehicleLightState : CommandBase<SetVehicleLightState> {
+      SetVehicleLightState() = default;
+      SetVehicleLightState(
+          ActorId id,
+          VehicleLightState::flag_type value)
+        : actor(id),
+          light_state(value) {}
+      ActorId actor;
+      VehicleLightState::flag_type light_state;
+      MSGPACK_DEFINE_ARRAY(actor, light_state);
+    };
+
     using CommandType = boost::variant<
         SpawnActor,
         DestroyActor,
@@ -180,7 +191,8 @@ namespace rpc {
         ApplyImpulse,
         ApplyAngularImpulse,
         SetSimulatePhysics,
-        SetAutopilot>;
+        SetAutopilot,
+        SetVehicleLightState>;
 
     CommandType command;
 

PythonAPI/carla/source/libcarla/Commands.cpp

@@ -166,6 +166,13 @@ void export_commands() {
     .def_readwrite("enabled", &cr::Command::SetAutopilot::enabled)
   ;
 
+  class_<cr::Command::SetVehicleLightState>("SetVehicleLightState")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("light_state")))
+    .def(init<cr::ActorId, cr::VehicleLightState::flag_type>((arg("actor_id"), arg("light_state"))))
+    .def_readwrite("actor_id", &cr::Command::SetVehicleLightState::actor)
+    .def_readwrite("light_state", &cr::Command::SetVehicleLightState::light_state)
+  ;
+
   implicitly_convertible<cr::Command::SpawnActor, cr::Command>();
   implicitly_convertible<cr::Command::DestroyActor, cr::Command>();
   implicitly_convertible<cr::Command::ApplyVehicleControl, cr::Command>();
@@ -178,4 +185,5 @@ void export_commands() {
   implicitly_convertible<cr::Command::ApplyAngularImpulse, cr::Command>();
   implicitly_convertible<cr::Command::SetSimulatePhysics, cr::Command>();
   implicitly_convertible<cr::Command::SetAutopilot, cr::Command>();
+  implicitly_convertible<cr::Command::SetVehicleLightState, cr::Command>();
 }

PythonAPI/examples/manual_control.py

@@ -420,11 +420,11 @@ class KeyboardControl(object):
                 if self._control.brake:
                     current_lights |= carla.VehicleLightState.Brake
                 else: # Remove the Brake flag
-                    current_lights &= carla.VehicleLightState.All ^ carla.VehicleLightState.Brake
+                    current_lights &= ~carla.VehicleLightState.Brake
                 if self._control.reverse:
                     current_lights |= carla.VehicleLightState.Reverse
                 else: # Remove the Reverse flag
-                    current_lights &= carla.VehicleLightState.All ^ carla.VehicleLightState.Reverse
+                    current_lights &= ~carla.VehicleLightState.Reverse
                 if current_lights != self._lights: # Change the light state only if necessary
                     self._lights = current_lights
                     world.player.set_light_state(carla.VehicleLightState(self._lights))

PythonAPI/examples/spawn_npc.py

@@ -23,6 +23,8 @@ except IndexError:
 
 import carla
 
+from carla import VehicleLightState as vls
+
 import argparse
 import logging
 import random
@@ -82,6 +84,11 @@ def main():
         '--hybrid',
         action='store_true',
         help='Enanble')
+    argparser.add_argument(
+        '--car-lights-on',
+        action='store_true',
+        default=False,
+        help='Enanble car lights')
     args = argparser.parse_args()
 
     logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
@@ -135,6 +142,7 @@ def main():
         # @todo cannot import these directly.
         SpawnActor = carla.command.SpawnActor
         SetAutopilot = carla.command.SetAutopilot
+        SetVehicleLightState = carla.command.SetVehicleLightState
         FutureActor = carla.command.FutureActor
 
         # --------------
@@ -152,7 +160,16 @@ def main():
                 driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
                 blueprint.set_attribute('driver_id', driver_id)
             blueprint.set_attribute('role_name', 'autopilot')
-            batch.append(SpawnActor(blueprint, transform).then(SetAutopilot(FutureActor, True, traffic_manager.get_port())))
+
+            # prepare the light state of the cars to spawn
+            light_state = vls.NONE
+            if args.car_lights_on:
+                light_state = vls.Position | vls.LowBeam | vls.LowBeam
+
+            # spawn the cars and set their autopilot and light state all together
+            batch.append(SpawnActor(blueprint, transform)
+                .then(SetAutopilot(FutureActor, True, traffic_manager.get_port()))
+                .then(SetVehicleLightState(FutureActor, light_state)))
 
         for response in client.apply_batch_sync(batch, synchronous_master):
             if response.error:

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

@@ -665,7 +665,7 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
-  BIND_SYNC(apply_vehicle_light_state) << [this](
+  BIND_SYNC(set_vehicle_light_state) << [this](
       cr::ActorId ActorId,
       cr::VehicleLightState LightState) -> R<void>
   {
@@ -1057,6 +1057,7 @@ void FCarlaServer::FPimpl::BindActions()
       [=](auto, const C::SetSimulatePhysics &c) {   MAKE_RESULT(set_actor_simulate_physics(c.actor, c.enabled)); },
       // TODO: SetAutopilot should be removed. This is the old way to control the vehicles
       [=](auto, const C::SetAutopilot &c) {         MAKE_RESULT(set_actor_autopilot(c.actor, c.enabled)); },
+      [=](auto, const C::SetVehicleLightState &c) { MAKE_RESULT(set_vehicle_light_state(c.actor, c.light_state)); },
       [=](auto, const C::ApplyWalkerState &c) {     MAKE_RESULT(set_walker_state(c.actor, c.transform, c.speed)); });
 
 #undef MAKE_RESULT