Added traffic light time events.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp

@@ -305,6 +305,21 @@ void ACarlaRecorder::AddPhysicsControl(const ACarlaWheeledVehicle& Vehicle)
   }
 }
 
+void ACarlaRecorder::AddTrafficLightTime(const ATrafficLightBase& TrafficLight)
+{
+  if (bAdditionalData)
+  {
+    auto DatabaseId = Episode->GetActorRegistry().Find(&TrafficLight).GetActorId();
+    CarlaRecorderTrafficLightTime TrafficLightTime{
+      DatabaseId,
+      TrafficLight.GetGreenTime(),
+      TrafficLight.GetYellowTime(),
+      TrafficLight.GetRedTime()
+    };
+    TrafficLightTimes.Add(TrafficLightTime);
+  }
+}
+
 std::string ACarlaRecorder::Start(std::string Name, FString MapName, bool AdditionalData)
 {
   // stop replayer if any in course
@@ -376,6 +391,7 @@ void ACarlaRecorder::Clear(void)
   Kinematics.Clear();
   BoundingBoxes.Clear();
   PhysicsControls.Clear();
+  TrafficLightTimes.Clear();
 }
 
 void ACarlaRecorder::Write(double DeltaSeconds)
@@ -409,6 +425,7 @@ void ACarlaRecorder::Write(double DeltaSeconds)
     BoundingBoxes.Write(File);
     PlatformTime.Write(File);
     PhysicsControls.Write(File);
+    TrafficLightTimes.Write(File);
   }
 
   // end
@@ -602,10 +619,17 @@ void ACarlaRecorder::CreateRecorderEventAdd(
   };
   AddEvent(std::move(RecEvent));
 
+  // Other events related to spawning actors
   // check if it is a vehicle to get initial physics control
   ACarlaWheeledVehicle* Vehicle = Cast<ACarlaWheeledVehicle>(Episode->GetActorRegistry().Find(DatabaseId).GetActor());
   if (Vehicle)
   {
     AddPhysicsControl(*Vehicle);
   }
+
+  ATrafficLightBase* TrafficLight = Cast<ATrafficLightBase>(Episode->GetActorRegistry().Find(DatabaseId).GetActor());
+  if (TrafficLight)
+  {
+    AddTrafficLightTime(*TrafficLight);
+  }
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.h

@@ -11,6 +11,7 @@
 
 #include "Carla/Actor/ActorDescription.h"
 
+#include "CarlaRecorderTraficLightTime.h"
 #include "CarlaRecorderPhysicsControl.h"
 #include "CarlaRecorderPlatformTime.h"
 #include "CarlaRecorderBoundingBox.h"
@@ -36,6 +37,7 @@ class AActor;
 class UCarlaEpisode;
 class ACarlaWheeledVehicle;
 class UCarlaLight;
+class ATrafficLightBase;
 
 enum class CarlaRecorderPacketId : uint8_t
 {
@@ -55,7 +57,7 @@ enum class CarlaRecorderPacketId : uint8_t
   BoundingBox,
   PlatformTime,
   PhysicsControl,
-  TrafficLightParameters
+  TrafficLightTime
 };
 
 /// Recorder for the simulation
@@ -114,6 +116,8 @@ public:
 
   void AddPhysicsControl(const ACarlaWheeledVehicle& Vehicle);
 
+  void AddTrafficLightTime(const ATrafficLightBase& TrafficLight);
+
   // set episode
   void SetEpisode(UCarlaEpisode *ThisEpisode)
   {
@@ -176,6 +180,7 @@ private:
   CarlaRecorderBoundingBoxes BoundingBoxes;
   CarlaRecorderPlatformTime PlatformTime;
   CarlaRecorderPhysicsControls PhysicsControls;
+  CarlaRecorderTrafficLightTimes TrafficLightTimes;
 
 
   // replayer

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderQuery.cpp

@@ -479,6 +479,31 @@ std::string CarlaRecorderQuery::QueryInfo(std::string Filename, bool bShowAll)
           SkipPacket();
         break;
 
+        case static_cast<char>(CarlaRecorderPacketId::TrafficLightTime):
+        if (bShowAll)
+        {
+          ReadValue<uint16_t>(File, Total);
+          if (Total > 0 && !bFramePrinted)
+          {
+            PrintFrame(Info);
+            bFramePrinted = true;
+          }
+
+          Info << " Traffic Light time events: " << Total << std::endl;
+          for (i = 0; i < Total; ++i)
+          {
+            TrafficLightTime.Read(File);
+            Info << "  Actor id " << TrafficLightTime.DatabaseId
+                << ": Green Time " << TrafficLightTime.GreenTime
+                << " Yellow Time " << TrafficLightTime.YellowTime
+                << " Red Time " << TrafficLightTime.RedTime
+                << std::endl;
+          }
+        }
+        else
+          SkipPacket();
+        break;
+
         // frame end
         case static_cast<char>(CarlaRecorderPacketId::FrameEnd):
         // do nothing, it is empty

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderQuery.h

@@ -8,6 +8,7 @@
 
 #include <fstream>
 
+#include "CarlaRecorderTraficLightTime.h"
 #include "CarlaRecorderPhysicsControl.h"
 #include "CarlaRecorderPlatformTime.h"
 #include "CarlaRecorderBoundingBox.h"
@@ -64,6 +65,7 @@ private:
   CarlaRecorderBoundingBox BoundingBox;
   CarlaRecorderPlatformTime PlatformTime;
   CarlaRecorderPhysicsControl PhysicsControl;
+  CarlaRecorderTrafficLightTime TrafficLightTime;
 
   // read next header packet
   bool ReadHeader(void);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderTraficLightTime.cpp

@@ -0,0 +1,55 @@
+// Copyright (c) 2020 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 "CarlaRecorderTraficLightTime.h"
+#include "CarlaRecorder.h"
+#include "CarlaRecorderHelpers.h"
+
+
+void CarlaRecorderTrafficLightTime::Write(std::ofstream &OutFile)
+{
+  WriteValue<uint32_t>(OutFile, this->DatabaseId);
+  WriteValue(OutFile, this->GreenTime);
+  WriteValue(OutFile, this->YellowTime);
+  WriteValue(OutFile, this->RedTime);
+}
+
+void CarlaRecorderTrafficLightTime::Read(std::ifstream &InFile)
+{
+  ReadValue<uint32_t>(InFile, this->DatabaseId);
+  ReadValue(InFile, this->GreenTime);
+  ReadValue(InFile, this->YellowTime);
+  ReadValue(InFile, this->RedTime);
+}
+
+// ---------------------------------------------
+
+void CarlaRecorderTrafficLightTimes::Clear(void)
+{
+  TrafficLightTimes.clear();
+}
+
+void CarlaRecorderTrafficLightTimes::Add(const CarlaRecorderTrafficLightTime &InObj)
+{
+  TrafficLightTimes.push_back(InObj);
+}
+
+void CarlaRecorderTrafficLightTimes::Write(std::ofstream &OutFile)
+{
+  // write the packet id
+  WriteValue<char>(OutFile, static_cast<char>(CarlaRecorderPacketId::TrafficLightTime));
+
+  uint32_t Total = sizeof(uint16_t) + TrafficLightTimes.size() * sizeof(CarlaRecorderTrafficLightTime);
+  WriteValue<uint32_t>(OutFile, Total);
+
+  Total = TrafficLightTimes.size();
+  WriteValue<uint16_t>(OutFile, Total);
+
+  for (auto& TrafficLightTime : TrafficLightTimes)
+  {
+    TrafficLightTime.Write(OutFile);
+  }
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorderTraficLightTime.h

@@ -0,0 +1,39 @@
+// Copyright (c) 2020 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 <fstream>
+#include <vector>
+
+#pragma pack(push, 1)
+struct CarlaRecorderTrafficLightTime
+{
+  uint32_t DatabaseId;
+  float GreenTime = 0;
+  float YellowTime = 0;
+  float RedTime = 0;
+
+  void Read(std::ifstream &InFile);
+
+  void Write(std::ofstream &OutFile);
+};
+#pragma pack(pop)
+
+class CarlaRecorderTrafficLightTimes
+{
+  public:
+
+  void Add(const CarlaRecorderTrafficLightTime &InObj);
+
+  void Clear(void);
+
+  void Write(std::ofstream &OutFile);
+
+private:
+
+  std::vector<CarlaRecorderTrafficLightTime> TrafficLightTimes;
+};

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

@@ -108,6 +108,7 @@ void ATrafficLightBase::SetGreenTime(float InGreenTime)
         TrafficLightComponent->GetController();
     check(TrafficLightController)
     TrafficLightController->SetGreenTime(InGreenTime);
+    AddTimeToRecorder();
   }
 }
 
@@ -133,6 +134,7 @@ void ATrafficLightBase::SetYellowTime(float InYellowTime)
       TrafficLightComponent->GetController();
     check(TrafficLightController)
     TrafficLightController->SetYellowTime(InYellowTime);
+    AddTimeToRecorder();
   }
 }
 
@@ -158,6 +160,7 @@ void ATrafficLightBase::SetRedTime(float InRedTime)
       TrafficLightComponent->GetController();
     check(TrafficLightController)
     TrafficLightController->SetRedTime(InRedTime);
+    AddTimeToRecorder();
   }
 }
 
@@ -264,6 +267,15 @@ const UTrafficLightComponent* ATrafficLightBase::GetTrafficLightComponent() cons
   return TrafficLightComponent;
 }
 
+void ATrafficLightBase::AddTimeToRecorder()
+{
+  auto * Recorder = UCarlaStatics::GetRecorder(GetWorld());
+  if (Recorder && Recorder->IsEnabled())
+  {
+    Recorder->AddTrafficLightTime(*this);
+  }
+}
+
 void ATrafficLightBase::LightChangedCompatibility(ETrafficLightState NewLightState)
 {
   OnTrafficLightStateChanged(NewLightState);

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

@@ -88,6 +88,8 @@ public:
   // Compatibility old traffic light system with traffic light components
   void LightChangedCompatibility(ETrafficLightState NewLightState);
 
+  void AddTimeToRecorder();
+
 protected:
 
   UFUNCTION(Category = "Traffic Light", BlueprintImplementableEvent)