72 lines
2.0 KiB
C
72 lines
2.0 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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#pragma once
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#ifdef _MSC_VER
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#pragma warning(push)
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#pragma warning(disable:4583)
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#pragma warning(disable:4582)
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#include <boost/variant2/variant.hpp>
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#pragma warning(pop)
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#else
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#include <boost/variant2/variant.hpp>
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#endif
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#include "carla/rpc/ActorId.h"
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namespace carla {
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namespace nav {
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class Navigation;
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class WalkerManager;
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/// result of an event
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enum class EventResult : uint8_t {
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Continue,
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End,
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TimeOut
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};
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/// empty event that just ignores
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struct WalkerEventIgnore {
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};
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/// event to wait for a while
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struct WalkerEventWait {
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double time;
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WalkerEventWait(double duration) : time(duration) {};
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};
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/// event to pause and check for near vehicles
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struct WalkerEventStopAndCheck {
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double time;
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bool check_for_trafficlight;
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SharedPtr<carla::client::TrafficLight> actor;
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WalkerEventStopAndCheck(double duration) : time(duration),
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check_for_trafficlight(true)
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{};
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};
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/// walker event variant
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using WalkerEvent = boost::variant2::variant<WalkerEventIgnore, WalkerEventWait, WalkerEventStopAndCheck>;
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/// visitor class
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class WalkerEventVisitor {
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public:
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WalkerEventVisitor(WalkerManager *manager, ActorId id, double delta) : _manager(manager), _id(id), _delta(delta) {};
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EventResult operator()(WalkerEventIgnore &event);
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EventResult operator()(WalkerEventWait &event);
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EventResult operator()(WalkerEventStopAndCheck &event);
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private:
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WalkerManager *_manager { nullptr };
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ActorId _id { 0 };
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double _delta { 0 };
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};
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} // namespace nav
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} // namespace carla
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