TrafficLightComponent.h

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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>.
 
#pragma once
 
#include "CoreMinimal.h"
#include "SignComponent.h"
#include "TrafficLightState.h"
#include "Carla/Vehicle/WheeledVehicleAIController.h"
#include "TrafficLightComponent.generated.h"
 
class ATrafficLightManager;
class ATrafficLightGroup;
class UTrafficLightController;
 
// Delegate to define dispatcher
DECLARE_DYNAMIC_MULTICAST_DELEGATE(FLightChangeDispatcher);
 
/// Class representing an OpenDRIVE Traffic Signal
UCLASS(Blueprintable, ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
class CARLA_API UTrafficLightComponent : public USignComponent
{
  GENERATED_BODY()
 
public:
  // Sets default values for this component's properties
  UTrafficLightComponent();
 
  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
  void SetLightState(ETrafficLightState NewState);
 
  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
  ETrafficLightState GetLightState() const;
 
  UFUNCTION(Category = "Traffic Light", BlueprintCallable)
  void SetFrozenGroup(bool InFreeze);
 
  UFUNCTION(Category = "Traffic Light", BlueprintPure)
  ATrafficLightGroup* GetGroup();
 
  const ATrafficLightGroup* GetGroup() const;
 
  void SetController(UTrafficLightController* Controller);
 
  UFUNCTION(Category = "Traffic Light", BlueprintPure)
  UTrafficLightController* GetController();
 
  const UTrafficLightController* GetController() const;
 
  virtual void InitializeSign(const carla::road::Map &Map) override;
 
  /// Deregister from the controller so streamed-out lights (World Partition)
  /// never leave dangling entries behind.
  virtual void OnComponentDestroyed(bool bDestroyingHierarchy) override;
 
  UPROPERTY(Category = "Traffic Light", BlueprintAssignable)
  FLightChangeDispatcher LightChangeDispatcher;
 
protected:
 
  UFUNCTION(BlueprintCallable)
  void OnBeginOverlapTriggerBox(UPrimitiveComponent *OverlappedComp,
      AActor *OtherActor,
      UPrimitiveComponent *OtherComp,
      int32 OtherBodyIndex,
      bool bFromSweep,
      const FHitResult &SweepResult);
 
  UFUNCTION(BlueprintCallable)
  void OnEndOverlapTriggerBox(UPrimitiveComponent *OverlappedComp,
      AActor *OtherActor,
      UPrimitiveComponent *OtherComp,
      int32 OtherBodyIndex);
 
 
 
private:
 
  friend ATrafficLightManager;
 
  void GenerateTrafficLightBox(
      const FTransform BoxTransform,
      const FVector BoxSize);
 
  UPROPERTY(Category = "Traffic Light", EditAnywhere)
  ETrafficLightState LightState;
 
  // UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
  // ATrafficLightGroup *TrafficLightGroup = nullptr;
 
  UPROPERTY(Category = "Traffic Light", VisibleAnywhere)
  UTrafficLightController *TrafficLightController = nullptr;
 
  // Vehicles that have entered the trigger box of the traffic light
  UPROPERTY()
  TArray<AWheeledVehicleAIController*> Vehicles;
 
};