TrafficLightManager.h

浏览该文件的文档.

// 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 "TrafficLightComponent.h"
#include "TrafficLightGroup.h"
#include "TrafficSignBase.h"
#include "Carla/OpenDrive/OpenDrive.h"
 
#include "TrafficLightManager.generated.h"
 
/// Class In charge of creating and assigning traffic
/// light groups, controllers and components.
UCLASS()
class CARLA_API ATrafficLightManager : public AActor
{
  GENERATED_BODY()
 
public:
 
  ATrafficLightManager();
 
  UFUNCTION(BlueprintCallable, Category = "Traffic Light Manager")
  void RegisterLightComponentFromOpenDRIVE(UTrafficLightComponent * TrafficLight);
 
  UFUNCTION(BlueprintCallable, Category = "Traffic Light Manager")
  void RegisterLightComponentGenerated(UTrafficLightComponent * TrafficLight);
 
  const boost::optional<carla::road::Map> &GetMap();
 
  UFUNCTION(BlueprintCallable, Category = "Traffic Light Manager")
  ATrafficLightGroup* GetTrafficGroup(int JunctionId);
 
  UFUNCTION(BlueprintCallable, Category = "Traffic Light Manager")
  UTrafficLightController* GetController(FString ControllerId);
 
  UFUNCTION(BlueprintCallable, Category = "Traffic Light Manager")
  USignComponent* GetTrafficSign(FString SignId);
 
  UFUNCTION(BlueprintCallable, Category = "Traffic Light Manager")
  void SetFrozen(bool InFrozen);
 
  UFUNCTION(BlueprintCallable, Category = "Traffic Light Manager")
  bool GetFrozen();
 
  UFUNCTION(CallInEditor, Category = "Traffic Light Manager")
  void GenerateSignalsAndTrafficLights();
 
  UFUNCTION(CallInEditor, Category = "Traffic Light Manager")
  void RemoveGeneratedSignalsAndTrafficLights();
 
  UFUNCTION(CallInEditor, Category = "Traffic Light Manager")
  void MatchTrafficLightActorsWithOpenDriveSignals();
 
  // Called when the game starts by the gamemode
  void InitializeTrafficLights();
 
private:
 
  void SpawnTrafficLights();
 
  void SpawnSignals();
 
  void RemoveRoadrunnerProps() const;
 
  void RemoveAttachedProps(TArray<AActor*> Actors) const;
 
  // Mapped references to ATrafficLightGroup (junction)
  UPROPERTY()
  TMap<int, ATrafficLightGroup *> TrafficGroups;
 
  // Mapped references to UTrafficLightController (controllers)
  UPROPERTY()
  TMap<FString, UTrafficLightController *> TrafficControllers;
 
  // Mapped references to individual TrafficLightComponents
  UPROPERTY()
  TMap<FString, USignComponent *> TrafficSignComponents;
 
  // Mapped references to TrafficSigns
  TArray<ATrafficSignBase*> TrafficSigns;
 
  UPROPERTY(EditAnywhere, Category= "Traffic Light Manager")
  TSubclassOf<AActor> TrafficLightModel;
 
  // Relates an OpenDRIVE type to a traffic sign blueprint
  UPROPERTY(EditAnywhere, Category= "Traffic Light Manager")
  TMap<FString, TSubclassOf<AActor>> TrafficSignsModels;
 
  UPROPERTY(EditAnywhere, Category= "Traffic Light Manager")
  TMap<FString, TSubclassOf<USignComponent>> SignComponentModels;
 
  UPROPERTY(EditAnywhere, Category= "Traffic Light Manager")
  TMap<FString, TSubclassOf<AActor>> SpeedLimitModels;
 
  UPROPERTY(Category = "Traffic Light Manager", VisibleDefaultsOnly, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
  USceneComponent *SceneComponent;
 
  UPROPERTY(EditAnywhere, Category= "Traffic Light Manager")
  bool TrafficLightsGenerated = false;
 
  // Id for TrafficLightGroups without corresponding OpenDRIVE junction
  UPROPERTY()
  int TrafficLightGroupMissingId = -2;
 
  // Id for TrafficLightControllers without corresponding OpenDRIVE junction
  UPROPERTY()
  int TrafficLightControllerMissingId = -1;
 
  // Id for TrafficLightComponents without corresponding OpenDRIVE junction
  UPROPERTY()
  int TrafficLightComponentMissingId = -1;
 
  UPROPERTY()
  bool bTrafficLightsFrozen = false;
 
};