Set up agent components

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/AgentComponent.h

@@ -8,7 +8,7 @@
 
 #include "Agent/AgentComponentVisitor.h"
 
-#include "Components/ActorComponent.h"
+#include "Components/SceneComponent.h"
 #include "Templates/SharedPointer.h"
 
 #include "AgentComponent.generated.h"
@@ -18,7 +18,7 @@ class FAgentMap;
 /// Actors with an UAgentComponent are registered as agents in the scene and
 /// their status is sent to the client each frame (if requested by the client).
 UCLASS(Abstract)
-class CARLA_API UAgentComponent : public UActorComponent
+class CARLA_API UAgentComponent : public USceneComponent
 {
   GENERATED_BODY()
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.cpp

@@ -9,11 +9,15 @@
 #include "Carla.h"
 #include "TrafficSignAgentComponent.h"
 
+#include "Traffic/TrafficSignBase.h"
+
 UTrafficSignAgentComponent::UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer) {}
 
-void UTrafficSignAgentComponent::OnComponentCreated()
+void UTrafficSignAgentComponent::BeginPlay()
 {
-  Super::OnComponentCreated();
+  TrafficSign = Cast<ATrafficSignBase>(GetOwner());
+  checkf(TrafficSign != nullptr, TEXT("UTrafficSignAgentComponent can only be attached to ATrafficSignBase"));
 
+  Super::BeginPlay();
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/TrafficSignAgentComponent.h

@@ -10,8 +10,8 @@
 
 #include "TrafficSignAgentComponent.generated.h"
 
-/// This component can be added to any AWheeledVehicle to be added as agent.
-/// See UAgentComponent.
+class ATrafficSignBase;
+
 UCLASS()
 class CARLA_API UTrafficSignAgentComponent : public UAgentComponent
 {
@@ -21,9 +21,15 @@ public:
 
   UTrafficSignAgentComponent(const FObjectInitializer &ObjectInitializer);
 
+  const ATrafficSignBase &GetTrafficSign() const
+  {
+    check(TrafficSign != nullptr);
+    return *TrafficSign;
+  }
+
 protected:
 
-  virtual void OnComponentCreated() override;
+  virtual void BeginPlay() override;
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
   {
@@ -32,5 +38,6 @@ protected:
 
 private:
 
-
+  UPROPERTY()
+  ATrafficSignBase *TrafficSign = nullptr;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.cpp

@@ -9,15 +9,15 @@
 #include "Carla.h"
 #include "VehicleAgentComponent.h"
 
-#include "WheeledVehicle.h"
+#include "Vehicle/CarlaWheeledVehicle.h"
 
 UVehicleAgentComponent::UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer) {}
 
-void UVehicleAgentComponent::OnComponentCreated()
+void UVehicleAgentComponent::BeginPlay()
 {
-  Super::OnComponentCreated();
+  WheeledVehicle = Cast<ACarlaWheeledVehicle>(GetOwner());
+  checkf(WheeledVehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to ACarlaWheeledVehicle"));
 
-  WheeledVehicle = Cast<AWheeledVehicle>(GetOwner());
-  checkf(WheeledVehicle != nullptr, TEXT("UVehicleAgentComponent can only be attached to AWheeledVehicle"));
+  Super::BeginPlay();
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/VehicleAgentComponent.h

@@ -10,7 +10,7 @@
 
 #include "VehicleAgentComponent.generated.h"
 
-class AWheeledVehicle;
+class ACarlaWheeledVehicle;
 
 UCLASS()
 class CARLA_API UVehicleAgentComponent : public UAgentComponent
@@ -21,9 +21,15 @@ public:
 
   UVehicleAgentComponent(const FObjectInitializer &ObjectInitializer);
 
+  ACarlaWheeledVehicle &GetVehicle() const
+  {
+    check(WheeledVehicle != nullptr);
+    return *WheeledVehicle;
+  }
+
 protected:
 
-  virtual void OnComponentCreated() override;
+  virtual void BeginPlay() override;
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
   {
@@ -32,5 +38,5 @@ protected:
 
 private:
 
-  AWheeledVehicle *WheeledVehicle = nullptr;
+  ACarlaWheeledVehicle *WheeledVehicle = nullptr;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.cpp

@@ -9,11 +9,21 @@
 #include "Carla.h"
 #include "WalkerAgentComponent.h"
 
+#include "GameFramework/Character.h"
+
 UWalkerAgentComponent::UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer)
   : Super(ObjectInitializer) {}
 
-void UWalkerAgentComponent::OnComponentCreated()
+float UWalkerAgentComponent::GetForwardSpeed() const
 {
-  Super::OnComponentCreated();
-
+  /// @todo Is it necessary to compute this speed every tick?
+  return FVector::DotProduct(Walker->GetVelocity(), Walker->GetActorRotation().Vector()) * 0.036f;
+}
+
+void UWalkerAgentComponent::BeginPlay()
+{
+  Walker = Cast<ACharacter>(GetOwner());
+  checkf(Walker != nullptr, TEXT("UWalkerAgentComponent can only be attached to ACharacter"));
+
+  Super::BeginPlay();
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Agent/WalkerAgentComponent.h

@@ -10,6 +10,8 @@
 
 #include "WalkerAgentComponent.generated.h"
 
+class ACharacter;
+
 /// This component can be added to any ACharacter to be added as agent.
 /// See UAgentComponent.
 UCLASS()
@@ -21,9 +23,18 @@ public:
 
   UWalkerAgentComponent(const FObjectInitializer &ObjectInitializer);
 
+  /// Return forward speed in km/h.
+  float GetForwardSpeed() const;
+
+  FVector GetBoundingBoxExtent() const
+  {
+    /// @todo Perhaps the box it is not the same for every walker...
+    return {45.0f, 35.0f, 100.0f};
+  }
+
 protected:
 
-  virtual void OnComponentCreated() override;
+  virtual void BeginPlay() override;
 
   virtual void AcceptVisitor(IAgentComponentVisitor &Visitor) const final
   {
@@ -32,5 +43,6 @@ protected:
 
 private:
 
-
+  UPROPERTY()
+  ACharacter *Walker = nullptr;
 };

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

@@ -35,7 +35,8 @@ static ETrafficSignState ToTrafficSignState(ETrafficLightState State) {
 // -- ATrafficLightBase --------------------------------------------------------
 // =============================================================================
 
-ATrafficLightBase::ATrafficLightBase() : Super()
+ATrafficLightBase::ATrafficLightBase(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer)
 {
 	PrimaryActorTick.bCanEverTick = false;
 }

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

@@ -22,7 +22,7 @@ class CARLA_API ATrafficLightBase : public ATrafficSignBase {
 
 public:
 
-  ATrafficLightBase();
+  ATrafficLightBase(const FObjectInitializer &ObjectInitializer);
 
 protected:
 

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

@@ -7,16 +7,13 @@
 #include "Carla.h"
 #include "TrafficSignBase.h"
 
-#include "Game/CarlaGameState.h"
+ATrafficSignBase::ATrafficSignBase(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer) {
+  RootComponent =
+      ObjectInitializer.CreateDefaultSubobject<USceneComponent>(this, TEXT("SceneRootComponent"));
+  RootComponent->SetMobility(EComponentMobility::Static);
 
-ATrafficSignBase::ATrafficSignBase() : Super() {}
-
-void ATrafficSignBase::BeginPlay()
-{
-  auto *GameState = GetWorld()->GetGameState<ACarlaGameState>();
-  if (GameState != nullptr) {
-    GameState->RegisterTrafficSign(this);
-  } else {
-    UE_LOG(LogCarla, Error, TEXT("Missing CARLA game state!"));
-  }
+  TrafficSignAgentComponent =
+      CreateDefaultSubobject<UTrafficSignAgentComponent>(TEXT("TrafficSignAgentComponent"));
+  TrafficSignAgentComponent->SetupAttachment(RootComponent);
 }

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

@@ -32,9 +32,7 @@ class CARLA_API ATrafficSignBase : public AActor {
 
 public:
 
-  ATrafficSignBase();
-
-  virtual void BeginPlay() override;
+  ATrafficSignBase(const FObjectInitializer &ObjectInitializer);
 
   UFUNCTION(BlueprintCallable)
   ETrafficSignState GetTrafficSignState() const
@@ -52,4 +50,7 @@ private:
 
   UPROPERTY(Category = "Traffic Sign", EditAnywhere)
   ETrafficSignState TrafficSignState = ETrafficSignState::UNKNOWN;
+
+  UPROPERTY(Category = "Traffic Sign", VisibleAnywhere)
+  UTrafficSignAgentComponent *TrafficSignAgentComponent;
 };

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

@@ -26,6 +26,7 @@ ACarlaWheeledVehicle::ACarlaWheeledVehicle(const FObjectInitializer& ObjectIniti
   VehicleBounds->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
 
   VehicleAgentComponent = CreateDefaultSubobject<UVehicleAgentComponent>(TEXT("VehicleAgentComponent"));
+  VehicleAgentComponent->SetupAttachment(RootComponent);
 
   GetVehicleMovementComponent()->bReverseAsBrake = false;
 }