68 lines
2.6 KiB
C++
68 lines
2.6 KiB
C++
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// Copyright (c) 2019 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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#include "carla/nav/Navigation.h"
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#include "carla/nav/WalkerManager.h"
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#include "carla/nav/WalkerEvent.h"
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#include "carla/rpc/TrafficLightState.h"
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namespace carla {
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namespace nav {
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EventResult WalkerEventVisitor::operator()(WalkerEventIgnore &) {
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return EventResult::End;
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}
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EventResult WalkerEventVisitor::operator()(WalkerEventWait &event) {
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// refresh time and check
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event.time -= _delta;
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if (event.time <= 0.0)
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return EventResult::End;
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else
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return EventResult::Continue;
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}
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EventResult WalkerEventVisitor::operator()(WalkerEventStopAndCheck &event) {
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event.time -= _delta;
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if (event.time <= 0.0) {
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return EventResult::TimeOut;
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} else {
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carla::geom::Location currentUnrealPos;
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_manager->GetNavigation()->PauseAgent(_id, true);
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_manager->GetNavigation()->GetWalkerPosition(_id, currentUnrealPos);
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// check if we need to check for a trafficlight there (only the first time)
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if (event.check_for_trafficlight) {
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event.actor = _manager->GetTrafficLightAffecting(currentUnrealPos);
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event.check_for_trafficlight = false;
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}
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// check if we need to wait for a trafficlight
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if (event.actor) {
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auto state = event.actor->GetState();
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if (state == carla::rpc::TrafficLightState::Green ||
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state == carla::rpc::TrafficLightState::Yellow) {
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return EventResult::Continue;
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}
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}
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_manager->GetNavigation()->PauseAgent(_id, false);
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// calculate the direction to look for vehicles
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carla::geom::Location crosswalkEnd;
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_manager->GetWalkerCrosswalkEnd(_id, crosswalkEnd);
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carla::geom::Location direction;
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direction.x = crosswalkEnd.x - currentUnrealPos.x;
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direction.y = crosswalkEnd.y - currentUnrealPos.y;
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direction.z = crosswalkEnd.z - currentUnrealPos.z;
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// check if the agent has any vehicle around
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if (_manager && !(_manager->GetNavigation()->HasVehicleNear(_id, 6.0f, direction))) {
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return EventResult::End;
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} else {
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return EventResult::Continue;
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}
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}
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}
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} // namespace nav
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} // namespace carla
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