CarlaLightSubsystem.cpp

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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>.
 
#include "CarlaLightSubsystem.h"
#include "Carla/Weather/Weather.h"
#include "Kismet/GameplayStatics.h"
 
//using cr = carla::rpc;
 
void UCarlaLightSubsystem::Initialize(FSubsystemCollectionBase& Collection)
{
  // TODO: Subscribe to map change
}
 
void UCarlaLightSubsystem::Deinitialize()
{
 
}
 
void UCarlaLightSubsystem::RegisterLight(UCarlaLight* CarlaLight)
{
  if(CarlaLight)
  {
    auto LightId = CarlaLight->GetId();
    if (Lights.Contains(LightId))
    {
      UE_LOG(LogCarla, Warning, TEXT("Light Id overlapping"));
      return;
    }
    Lights.Add(LightId, CarlaLight);
  }
  SetClientStatesdirty("");
}
 
void UCarlaLightSubsystem::UnregisterLight(UCarlaLight* CarlaLight)
{
  if(CarlaLight)
  {
    Lights.Remove(CarlaLight->GetId());
  }
  SetClientStatesdirty("");
}
 
bool UCarlaLightSubsystem::IsUpdatePending() const
{
  for (auto ClientPair : ClientStates)
  {
    if(ClientPair.Value)
    {
      return true;
    }
  }
  return false;
}
 
std::vector<carla::rpc::LightState> UCarlaLightSubsystem::GetLights(FString Client)
{
  std::vector<carla::rpc::LightState> result;
 
  ClientStates.FindOrAdd(Client) = false;
 
  for(auto& Light : Lights)
  {
    UCarlaLight* CarlaLight = Light.Value;
 
    result.push_back(CarlaLight->GetLightState());
  }
  return result;
}
 
void UCarlaLightSubsystem::SetLights(
  FString Client,
  std::vector<carla::rpc::LightState> LightsToSet,
  bool DiscardClient)
{
  bool* ClientState = ClientStates.Find(Client);
 
  if(ClientState) {
    for(auto& LightState : LightsToSet) {
      UCarlaLight* CarlaLight = Lights.FindRef(LightState._id);
      if(CarlaLight) {
        CarlaLight->SetLightState(LightState);
      }
    }
    *ClientState = true;
 
    if(DiscardClient)
    {
      ClientStates.Remove(Client);
    }
  }
 
}
 
UCarlaLight* UCarlaLightSubsystem::GetLight(int Id)
{
  if (Lights.Contains(Id))
  {
    return Lights[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);
    }
  }
}
 
void UCarlaLightSubsystem::SetClientStatesdirty(FString ClientThatUpdate)
{
  for(auto& Client : ClientStates)
  {
    if(Client.Key != ClientThatUpdate)
    {
      Client.Value = true;
    }
 
  }
}