Added OSC Property to turn on all vehicle lights

Change-Id: I1c70db507c3c89ff1b623c78e420f26056f57053
carla-simulator · Aug 25, 2021 · 8cd7035 · 8cd7035
1 parent 5eab069
commit 8cd7035
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Showing 3 changed files with 27 additions and 11 deletions.
diff --git a/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py b/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py
@@ -111,8 +111,9 @@ def run_step(self):
 
         self._actor.apply_control(control)
 
+        current_speed = math.sqrt(self._actor.get_velocity().x**2 + self._actor.get_velocity().y**2)
+
         if self._init_speed:
-            current_speed = math.sqrt(self._actor.get_velocity().x**2 + self._actor.get_velocity().y**2)
 
             # If _init_speed is set, and the PID controller is not yet up to the point to take over,
             # we manually set the vehicle to drive with the correct velocity
@@ -121,3 +122,11 @@ def run_step(self):
                 vx = math.cos(yaw) * target_speed
                 vy = math.sin(yaw) * target_speed
                 self._actor.set_target_velocity(carla.Vector3D(vx, vy, 0))
+
+        light_state = self._actor.get_light_state()
+        if current_speed >= target_speed:
+            light_state |= carla.VehicleLightState.Brake
+        else:
+            light_state &= ~carla.VehicleLightState.Brake
+
+        self._actor.set_light_state(carla.VehicleLightState(light_state))
diff --git a/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py b/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
@@ -283,12 +283,16 @@ def _set_new_velocity(self, next_location):
                 target_speed = 0
 
         if target_speed < current_speed:
-            self._actor.set_light_state(carla.VehicleLightState.Brake)
+            light_state = self._actor.get_light_state()
+            light_state |= carla.VehicleLightState.Brake
+            self._actor.set_light_state(carla.VehicleLightState(light_state))
             if self._max_deceleration is not None:
                 target_speed = max(target_speed, current_speed - (current_time -
                                                                   self._last_update) * self._max_deceleration)
         else:
-            self._actor.set_light_state(carla.VehicleLightState.NONE)
+            light_state = self._actor.get_light_state()
+            light_state &= ~carla.VehicleLightState.Brake
+            self._actor.set_light_state(carla.VehicleLightState(light_state))
             if self._max_acceleration is not None:
                 tmp_speed = min(target_speed, current_speed + (current_time -
                                                                self._last_update) * self._max_acceleration)

diff --git a/srunner/scenariomanager/carla_data_provider.py b/srunner/scenariomanager/carla_data_provider.py
@@ -571,11 +571,12 @@ def request_new_actors(actor_list, safe_blueprint=False, tick=True):
         - actor_list: list of ActorConfigurationData
         """
 
-        SpawnActor = carla.command.SpawnActor               # pylint: disable=invalid-name
-        PhysicsCommand = carla.command.SetSimulatePhysics   # pylint: disable=invalid-name
-        FutureActor = carla.command.FutureActor             # pylint: disable=invalid-name
-        ApplyTransform = carla.command.ApplyTransform       # pylint: disable=invalid-name
-        SetAutopilot = carla.command.SetAutopilot           # pylint: disable=invalid-name
+        SpawnActor = carla.command.SpawnActor                      # pylint: disable=invalid-name
+        PhysicsCommand = carla.command.SetSimulatePhysics          # pylint: disable=invalid-name
+        FutureActor = carla.command.FutureActor                    # pylint: disable=invalid-name
+        ApplyTransform = carla.command.ApplyTransform              # pylint: disable=invalid-name
+        SetAutopilot = carla.command.SetAutopilot                  # pylint: disable=invalid-name
+        SetVehicleLightState = carla.command.SetVehicleLightState  # pylint: disable=invalid-name
 
         batch = []
 
@@ -616,10 +617,12 @@ def request_new_actors(actor_list, safe_blueprint=False, tick=True):
             command = SpawnActor(blueprint, _spawn_point)
             command.then(SetAutopilot(FutureActor, actor.autopilot, CarlaDataProvider._traffic_manager_port))
 
-            if actor.category == 'misc':
-                command.then(PhysicsCommand(FutureActor, True))
-            elif actor.args is not None and 'physics' in actor.args and actor.args['physics'] == "off":
+            if actor.args is not None and 'physics' in actor.args and actor.args['physics'] == "off":
                 command.then(ApplyTransform(FutureActor, _spawn_point)).then(PhysicsCommand(FutureActor, False))
+            elif actor.category == 'misc':
+                command.then(PhysicsCommand(FutureActor, True))
+            if actor.args is not None and 'lights' in actor.args and actor.args['lights'] == "on":
+                command.then(SetVehicleLightState(FutureActor, carla.VehicleLightState.All))
 
             batch.append(command)