Add option for manual gear shifting to VehicleControl

carla-simulator · Dec 13, 2018 · 56534e9 · 56534e9
1 parent b37b76d
commit 56534e9
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Showing 6 changed files with 62 additions and 15 deletions.
diff --git a/LibCarla/source/carla/rpc/VehicleControl.h b/LibCarla/source/carla/rpc/VehicleControl.h
@@ -25,18 +25,24 @@ namespace rpc {
         float in_steer,
         float in_brake,
         bool in_hand_brake,
-        bool in_reverse)
+        bool in_reverse,
+        bool in_manual_gear_shift,
+        int32_t in_gear)
       : throttle(in_throttle),
         steer(in_steer),
         brake(in_brake),
         hand_brake(in_hand_brake),
-        reverse(in_reverse) {}
+        reverse(in_reverse),
+        manual_gear_shift(in_manual_gear_shift),
+        gear(in_gear) {}
 
     float throttle = 0.0f;
     float steer = 0.0f;
     float brake = 0.0f;
     bool hand_brake = false;
     bool reverse = false;
+    bool manual_gear_shift = false;
+    int32_t gear = 0;
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
@@ -45,7 +51,9 @@ namespace rpc {
         steer(Control.Steer),
         brake(Control.Brake),
         hand_brake(Control.bHandBrake),
-        reverse(Control.bReverse) {}
+        reverse(Control.bReverse),
+        manual_gear_shift(Control.bManualGearShift),
+        gear(Control.Gear) {}
 
     operator FVehicleControl() const {
       FVehicleControl Control;
@@ -54,6 +62,8 @@ namespace rpc {
       Control.Brake = brake;
       Control.bHandBrake = hand_brake;
       Control.bReverse = reverse;
+      Control.bManualGearShift = manual_gear_shift;
+      Control.Gear = gear;
       return Control;
     }
 
@@ -65,7 +75,9 @@ namespace rpc {
           steer != rhs.steer ||
           brake != rhs.brake ||
           hand_brake != rhs.hand_brake ||
-          reverse != rhs.reverse;
+          reverse != rhs.reverse ||
+          manual_gear_shift != rhs.manual_gear_shift ||
+          gear != rhs.gear;
     }
 
     bool operator==(const VehicleControl &rhs) const {
@@ -77,7 +89,9 @@ namespace rpc {
         steer,
         brake,
         hand_brake,
-        reverse);
+        reverse,
+        manual_gear_shift,
+        gear);
   };
 
 } // namespace rpc

diff --git a/LibCarla/source/carla/sensor/data/ActorDynamicState.h b/LibCarla/source/carla/sensor/data/ActorDynamicState.h
@@ -31,10 +31,12 @@ namespace detail {
         steer(control.steer),
         brake(control.brake),
         hand_brake(control.hand_brake),
-        reverse(control.reverse) {}
+        reverse(control.reverse),
+        manual_gear_shift(control.manual_gear_shift),
+        gear(control.gear) {}
 
     operator rpc::VehicleControl() const {
-      return {throttle, steer, brake, hand_brake, reverse};
+      return {throttle, steer, brake, hand_brake, reverse, manual_gear_shift, gear};
     }
 
   private:
@@ -44,6 +46,8 @@ namespace detail {
     float brake;
     bool hand_brake;
     bool reverse;
+    bool manual_gear_shift;
+    int32_t gear;
   };
 #pragma pack(pop)
 

diff --git a/PythonAPI/source/libcarla/Control.cpp b/PythonAPI/source/libcarla/Control.cpp
@@ -17,7 +17,9 @@ namespace rpc {
         << ", steer=" << control.steer
         << ", brake=" << control.brake
         << ", hand_brake=" << boolalpha(control.hand_brake)
-        << ", reverse=" << boolalpha(control.reverse) << ')';
+        << ", reverse=" << boolalpha(control.reverse)
+        << ", manual_gear_shift=" << boolalpha(control.manual_gear_shift)
+        << ", gear=" << control.gear << ')';
     return out;
   }
 
@@ -29,17 +31,21 @@ void export_control() {
   namespace cr = carla::rpc;
 
   class_<cr::VehicleControl>("VehicleControl")
-    .def(init<float, float, float, bool, bool>(
+    .def(init<float, float, float, bool, bool, bool, int>(
         (arg("throttle")=0.0f,
          arg("steer")=0.0f,
          arg("brake")=0.0f,
          arg("hand_brake")=false,
-         arg("reverse")=false)))
+         arg("reverse")=false,
+         arg("manual_gear_shift")=false,
+         arg("gear")=0)))
     .def_readwrite("throttle", &cr::VehicleControl::throttle)
     .def_readwrite("steer", &cr::VehicleControl::steer)
     .def_readwrite("brake", &cr::VehicleControl::brake)
     .def_readwrite("hand_brake", &cr::VehicleControl::hand_brake)
     .def_readwrite("reverse", &cr::VehicleControl::reverse)
+    .def_readwrite("manual_gear_shift", &cr::VehicleControl::manual_gear_shift)
+    .def_readwrite("gear", &cr::VehicleControl::gear)
     .def("__eq__", &cr::VehicleControl::operator==)
     .def("__ne__", &cr::VehicleControl::operator!=)
     .def(self_ns::str(self_ns::self))

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@@ -76,11 +76,27 @@ float ACarlaWheeledVehicle::GetMaximumSteerAngle() const
 
 void ACarlaWheeledVehicle::ApplyVehicleControl(const FVehicleControl &VehicleControl)
 {
-  SetThrottleInput(VehicleControl.Throttle);
-  SetSteeringInput(VehicleControl.Steer);
-  SetBrakeInput(VehicleControl.Brake);
-  SetHandbrakeInput(VehicleControl.bHandBrake);
-  SetReverse(VehicleControl.bReverse);
+  auto *MovementComponent = GetVehicleMovementComponent();
+  MovementComponent->SetThrottleInput(VehicleControl.Throttle);
+  MovementComponent->SetSteeringInput(VehicleControl.Steer);
+  MovementComponent->SetBrakeInput(VehicleControl.Brake);
+  MovementComponent->SetHandbrakeInput(VehicleControl.bHandBrake);
+  if (Control.bReverse != VehicleControl.bReverse)
+  {
+    MovementComponent->SetUseAutoGears(!VehicleControl.bReverse);
+    MovementComponent->SetTargetGear(VehicleControl.bReverse ? -1 : 1, true);
+  }
+  else
+  {
+    MovementComponent->SetUseAutoGears(!VehicleControl.bManualGearShift);
+    if (VehicleControl.bManualGearShift)
+    {
+      MovementComponent->SetTargetGear(VehicleControl.Gear, true);
+    }
+  }
+  Control = VehicleControl;
+  Control.Gear = MovementComponent->GetCurrentGear();
+  Control.bReverse = Control.Gear < 0;
 }
 
 void ACarlaWheeledVehicle::SetThrottleInput(const float Value)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
@@ -96,6 +96,7 @@ class CARLA_API ACarlaWheeledVehicle : public AWheeledVehicle
   /// @}
   // ===========================================================================
   /// @name Set functions
+  /// @todo Keep only ApplyVehicleControl.
   // ===========================================================================
   /// @{
 public:

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleControl.h
@@ -27,4 +27,10 @@ struct CARLA_API FVehicleControl
 
   UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite)
   bool bReverse = false;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite)
+  bool bManualGearShift = false;
+
+  UPROPERTY(Category = "Vehicle Control", EditAnywhere, BlueprintReadWrite, meta = (EditCondition = bManualGearShift))
+  int32 Gear = 0;
 };