114 lines
3.8 KiB
C
114 lines
3.8 KiB
C
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// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include <mutex>
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#include <vector>
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#include <unordered_map>
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#include <unordered_set>
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#include "carla/Memory.h"
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#include "carla/NonCopyable.h"
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#include "carla/client/detail/Episode.h"
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#include "carla/client/Light.h"
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#include "carla/client/LightState.h"
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#include "carla/rpc/LightState.h"
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namespace carla {
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namespace client {
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class LightManager
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: public EnableSharedFromThis<LightManager> {
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using LightGroup = rpc::LightState::LightGroup;
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public:
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LightManager() {}
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~LightManager();
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LightManager(const LightManager& other) : EnableSharedFromThis<LightManager>() {
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_lights_state = other._lights_state;
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_lights_changes = other._lights_changes;
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_lights = other._lights;
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_episode = other._episode;
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_on_tick_register_id = other._on_tick_register_id;
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_on_light_update_register_id = other._on_light_update_register_id;
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_dirty = other._dirty;
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}
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void SetEpisode(detail::WeakEpisodeProxy episode);
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std::vector<Light> GetAllLights(LightGroup type = LightGroup::None) const;
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// TODO: std::vector<Light> GetAllLightsInRoad(RoadId id, LightGroup type = LightGroup::None);
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// TODO: std::vector<Light> GetAllLightsInDistance(Vec3 origin, float distance, LightGroup type = Light::LightType::None);
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void TurnOn(std::vector<Light>& lights);
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void TurnOff(std::vector<Light>& lights);
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void SetActive(std::vector<Light>& lights, std::vector<bool>& active);
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std::vector<bool> IsActive(std::vector<Light>& lights) const;
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std::vector<Light> GetTurnedOnLights(LightGroup type = LightGroup::None) const;
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std::vector<Light> GetTurnedOffLights(LightGroup type = LightGroup::None) const;
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void SetColor(std::vector<Light>& lights, Color color);
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void SetColor(std::vector<Light>& lights, std::vector<Color>& colors);
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std::vector<Color> GetColor(std::vector<Light>& lights) const;
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void SetIntensity(std::vector<Light>& lights, float intensity);
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void SetIntensity(std::vector<Light>& lights, std::vector<float>& intensities);
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std::vector<float> GetIntensity(std::vector<Light>& lights) const;
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void SetLightGroup(std::vector<Light>& lights, LightGroup group);
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void SetLightGroup(std::vector<Light>& lights, std::vector<LightGroup>& groups);
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std::vector<LightGroup> GetLightGroup(std::vector<Light>& lights) const;
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void SetLightState(std::vector<Light>& lights, LightState state);
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void SetLightState(std::vector<Light>& lights, std::vector<LightState>& states);
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std::vector<LightState> GetLightState(std::vector<Light>& lights) const;
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Color GetColor(LightId id) const;
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float GetIntensity(LightId id) const;
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LightState GetLightState(LightId id) const;
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LightGroup GetLightGroup(LightId id) const;
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bool IsActive(LightId id) const;
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void SetActive(LightId id, bool active);
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void SetColor(LightId id, Color color);
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void SetIntensity(LightId id, float intensity);
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void SetLightState(LightId id, const LightState& new_state);
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void SetLightStateNoLock(LightId id, const LightState& new_state);
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void SetLightGroup(LightId id, LightGroup group);
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void SetDayNightCycle(const bool active);
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private:
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const LightState& RetrieveLightState(LightId id) const;
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void QueryLightsStateToServer();
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void UpdateServerLightsState(bool discard_client = false);
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void ApplyChanges();
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std::unordered_map<LightId, LightState> _lights_state;
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std::unordered_map<LightId, LightState> _lights_changes;
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std::unordered_map<LightId, Light> _lights;
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detail::WeakEpisodeProxy _episode;
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std::mutex _mutex;
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LightState _state;
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size_t _on_tick_register_id = 0;
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size_t _on_light_update_register_id = 0;
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bool _dirty = false;
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};
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} // namespace client
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} // namespace carla
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