83 lines
2.3 KiB
C
83 lines
2.3 KiB
C
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// Copyright (c) 2017 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 "carla/client/TrafficSign.h"
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#include "carla/rpc/TrafficLightState.h"
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#include "carla/client/Waypoint.h"
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#include "carla/client/Map.h"
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#include "carla/geom/BoundingBox.h"
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namespace carla {
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namespace client {
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class TrafficLight : public TrafficSign {
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public:
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explicit TrafficLight(ActorInitializer init) : TrafficSign(std::move(init)) {}
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void SetState(rpc::TrafficLightState state);
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/// Return the current state of the traffic light.
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///
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/// @note This function does not call the simulator, it returns the data
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/// received in the last tick.
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rpc::TrafficLightState GetState() const;
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void SetGreenTime(float green_time);
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/// @note This function does not call the simulator, it returns the data
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/// received in the last tick.
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float GetGreenTime() const;
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void SetYellowTime(float yellow_time);
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/// @note This function does not call the simulator, it returns the data
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/// received in the last tick.
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float GetYellowTime() const;
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void SetRedTime(float red_time);
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/// @note This function does not call the simulator, it returns the data
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/// received in the last tick.
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float GetRedTime() const;
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/// @note This function does not call the simulator, it returns the data
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/// received in the last tick.
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float GetElapsedTime() const;
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void Freeze(bool freeze);
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/// @note This function does not call the simulator, it returns the data
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/// received in the last tick.
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bool IsFrozen() const;
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/// Returns the index of the pole in the traffic light group
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uint32_t GetPoleIndex();
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/// Return all traffic lights in the group this one belongs to.
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///
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/// @note This function calls the simulator
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std::vector<SharedPtr<TrafficLight>> GetGroupTrafficLights();
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// resets the timers and states of all groups
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void ResetGroup();
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std::vector<SharedPtr<Waypoint>> GetAffectedLaneWaypoints() const;
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std::vector<geom::BoundingBox> GetLightBoxes() const;
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road::SignId GetOpenDRIVEID() const;
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std::vector<SharedPtr<Waypoint>> GetStopWaypoints() const;
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};
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} // namespace client
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} // namespace carla
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