TrafficSign.cpp

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// Copyright (c) 2026 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>.
 
#include "carla/client/TrafficSign.h"
#include "carla/client/detail/Simulator.h"
#include "carla/client/ActorList.h"
#include "carla/client/Map.h"
 
#include <unordered_map>
#include <unordered_set>
 
namespace carla {
namespace client {
 
  carla::road::SignId TrafficSign::GetSignId() const {
    return std::string(GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.sign_id);
  }
 
  std::vector<SharedPtr<Waypoint>> TrafficSign::GetAffectedLaneWaypoints() const {
    std::vector<SharedPtr<Waypoint>> result;
    SharedPtr<Map> carla_map = GetEpisode().Lock()->GetCurrentMap();
    std::vector<SharedPtr<Landmark>> landmarks = carla_map->GetLandmarksFromId(GetSignId());
    for (auto& landmark : landmarks) {
      for (const road::LaneValidity& validity : landmark->GetValidities()) {
        if (validity._from_lane < validity._to_lane) {
          for (int lane_id = validity._from_lane; lane_id <= validity._to_lane; ++lane_id) {
            if(lane_id == 0) continue;
            result.emplace_back(
                carla_map->GetWaypointXODR(
                landmark->GetRoadId(), lane_id, static_cast<float>(landmark->GetS())));
          }
        } else {
          for (int lane_id = validity._from_lane; lane_id >= validity._to_lane; --lane_id) {
            if(lane_id == 0) continue;
            result.emplace_back(
                carla_map->GetWaypointXODR(
                landmark->GetRoadId(), lane_id, static_cast<float>(landmark->GetS())));
          }
        }
      }
    }
    return result;
  }
 
  std::vector<SharedPtr<Waypoint>> TrafficSign::GetStopWaypoints() const {
    std::vector<SharedPtr<Waypoint>> result;
    SharedPtr<Map> carla_map = GetEpisode().Lock()->GetCurrentMap();
    geom::BoundingBox box = GetTriggerVolume();
    geom::Transform transform = GetTransform();
    geom::Location box_position = box.location;
    transform.TransformPoint(box_position);
    geom::Vector3D right_direction = transform.GetForwardVector();
    float min_x = -0.9f*box.extent.x;
    float max_x = 0.9f*box.extent.x;
    float current_x = min_x;
    std::unordered_map<road::RoadId, std::unordered_set<road::LaneId>> road_lanes_map;
    while (current_x < max_x) {
      geom::Location query_point = box_position + geom::Location(right_direction*current_x);
      SharedPtr<Waypoint> waypoint = carla_map->GetWaypoint(query_point);
      if (road_lanes_map[waypoint->GetRoadId()].count(waypoint->GetLaneId()) == 0) {
        road_lanes_map[waypoint->GetRoadId()].insert(waypoint->GetLaneId());
        result.emplace_back(waypoint);
      }
      current_x += 1.f;
    }
    return result;
  }
 
} // namespace client
} // namespace carla