CarlaLightSubsystem.h

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// 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 <vector>
 
#include <compiler/disable-ue4-macros.h>
#include <carla/rpc/LightState.h>
#include <compiler/enable-ue4-macros.h>
 
#include "Carla.h"
#include "CoreMinimal.h"
#include "CarlaLight.h"
#include "Subsystems/WorldSubsystem.h"
 
#include "CarlaLightSubsystem.generated.h"
 
/**
 *
 */
UCLASS(Blueprintable, BlueprintType)
class CARLA_API UCarlaLightSubsystem : public UWorldSubsystem
{
  GENERATED_BODY()
 
  //using cr = carla::rpc;
 
public:
 
  // Begin USubsystem
  void Initialize(FSubsystemCollectionBase& Collection) override;
  // End USubsystem
  void Deinitialize() override;
 
  void RegisterLight(UCarlaLight* CarlaLight);
 
  void UnregisterLight(UCarlaLight* CarlaLight);
 
  UFUNCTION(BlueprintCallable)
  bool IsUpdatePending() const;
 
  UFUNCTION(BlueprintCallable)
  int32 NumLights() const {
    return Lights.Num();
  }
 
  std::vector<carla::rpc::LightState> GetLights(FString Client);
 
  void SetLights(
      FString Client,
      std::vector<carla::rpc::LightState> LightsToSet,
      bool DiscardClient = false);
 
  UCarlaLight* GetLight(int Id);
 
  TMap<int, UCarlaLight* >& GetLights()
  {
    return Lights;
  }
 
  void SetDayNightCycle(const bool active);
 
private:
 
  void SetClientStatesdirty(FString ClientThatUpdate);
 
  TMap<int, UCarlaLight* > Lights;
 
  // Flag for each client to tell if an update needs to be done
  TMap<FString, bool> ClientStates;
  // Since the clients doesn't have a proper id on the simulation,
  // I use the host : port pair.
 
};