TrafficLightManager.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 "TrafficLightComponent.h"
#include "TrafficLightGroup.h"
#include "TrafficSignBase.h"
#include "Carla/OpenDrive/OpenDrive.h"
 
#include "TrafficLightManager.generated.h"
 
/// 负责创建和分配交通灯组、控制器和组件的类。
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;
 
  // 映射对 ATrafficLightGroup (交叉路口) 的引用
  UPROPERTY()
  TMap<int, ATrafficLightGroup *> TrafficGroups;
 
  // 映射对 UTrafficLightController（控制器）的引用
  UPROPERTY()
  TMap<FString, UTrafficLightController *> TrafficControllers;
 
  // 映射到单个 TrafficLightComponents 的引用
  UPROPERTY()
  TMap<FString, USignComponent *> TrafficSignComponents;
 
  // 交通标志 TrafficSigns 的映射引用
  TArray<ATrafficSignBase*> TrafficSigns;
 
  UPROPERTY(EditAnywhere, Category= "Traffic Light Manager")
  TSubclassOf<AActor> TrafficLightModel;
 
  // 将 OpenDRIVE 类型与交通标志蓝图关联起来
  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;
 
  // 没有对应 OpenDRIVE 交叉路口的 TrafficLightGroups 的 ID
  UPROPERTY()
  int TrafficLightGroupMissingId = -2;
 
  // 没有对应 OpenDRIVE 交叉路口的 TrafficLightControllers 的 ID
  UPROPERTY()
  int TrafficLightControllerMissingId = -1;
 
  // 没有对应 OpenDRIVE 交叉路口的 TrafficLightComponents 的 ID
  UPROPERTY()
  int TrafficLightComponentMissingId = -1;
 
  UPROPERTY()
  bool bTrafficLightsFrozen = false;
 
};