196 lines
6.9 KiB
C++
196 lines
6.9 KiB
C++
// Copyright (c) 2020 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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#include <condition_variable>
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#include <mutex>
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#include <vector>
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#include "carla/client/Actor.h"
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#include "carla/client/detail/EpisodeProxy.h"
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#include "carla/trafficmanager/TrafficManagerBase.h"
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#include "carla/trafficmanager/TrafficManagerClient.h"
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namespace carla {
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namespace traffic_manager {
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using ActorPtr = carla::SharedPtr<carla::client::Actor>;
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using Path = std::vector<cg::Location>;
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using Route = std::vector<uint8_t>;
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/// The function of this class is to integrate all the various stages of
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/// the traffic manager appropriately using messengers.
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class TrafficManagerRemote : public TrafficManagerBase {
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public:
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/// To start the TrafficManager.
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void Start();
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/// To stop the TrafficManager.
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void Stop();
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/// To release the traffic manager.
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void Release();
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/// To reset the traffic manager.
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void Reset();
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/// Constructor store remote location information.
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TrafficManagerRemote(const std::pair<std::string, uint16_t> &_serverTM, carla::client::detail::EpisodeProxy &episodeProxy);
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/// Destructor.
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virtual ~TrafficManagerRemote();
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/// This method registers a vehicle with the traffic manager.
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void RegisterVehicles(const std::vector<ActorPtr> &actor_list);
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/// This method unregisters a vehicle from traffic manager.
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void UnregisterVehicles(const std::vector<ActorPtr> &actor_list);
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/// Method to set a vehicle's % decrease in velocity with respect to the speed limit.
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/// If less than 0, it's a % increase.
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void SetPercentageSpeedDifference(const ActorPtr &actor, const float percentage);
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/// Method to set a lane offset displacement from the center line.
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/// Positive values imply a right offset while negative ones mean a left one.
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void SetLaneOffset(const ActorPtr &actor, const float offset);
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/// Set a vehicle's exact desired velocity.
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void SetDesiredSpeed(const ActorPtr &actor, const float value);
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/// Method to set a global % decrease in velocity with respect to the speed limit.
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/// If less than 0, it's a % increase.
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void SetGlobalPercentageSpeedDifference(float const percentage);
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/// Method to set a global lane offset displacement from the center line.
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/// Positive values imply a right offset while negative ones mean a left one.
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void SetGlobalLaneOffset(float const offset);
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/// Method to set the automatic management of the vehicle lights
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void SetUpdateVehicleLights(const ActorPtr &actor, const bool do_update);
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/// Method to set collision detection rules between vehicles.
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void SetCollisionDetection(const ActorPtr &reference_actor, const ActorPtr &other_actor, const bool detect_collision);
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/// Method to force lane change on a vehicle.
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/// Direction flag can be set to true for left and false for right.
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void SetForceLaneChange(const ActorPtr &actor, const bool direction);
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/// Enable/disable automatic lane change on a vehicle.
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void SetAutoLaneChange(const ActorPtr &actor, const bool enable);
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/// Method to specify how much distance a vehicle should maintain to
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/// the leading vehicle.
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void SetDistanceToLeadingVehicle(const ActorPtr &actor, const float distance);
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/// Method to specify Global Distance
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void SetGlobalDistanceToLeadingVehicle(const float distance);
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/// Method to specify the % chance of ignoring collisions with any walker.
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void SetPercentageIgnoreWalkers(const ActorPtr &actor, const float perc);
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/// Method to specify the % chance of ignoring collisions with any vehicle.
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void SetPercentageIgnoreVehicles(const ActorPtr &actor, const float perc);
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/// Method to specify the % chance of running any traffic light
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void SetPercentageRunningLight(const ActorPtr &actor, const float perc);
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/// Method to specify the % chance of running any traffic sign
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void SetPercentageRunningSign(const ActorPtr &actor, const float perc);
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/// Method to switch traffic manager into synchronous execution.
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void SetSynchronousMode(bool mode);
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/// Method to set Tick timeout for synchronous execution.
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void SetSynchronousModeTimeOutInMiliSecond(double time);
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/// Method to set % to keep on the right lane.
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void SetKeepRightPercentage(const ActorPtr &actor, const float percentage);
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/// Method to set % to randomly do a left lane change.
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void SetRandomLeftLaneChangePercentage(const ActorPtr &actor, const float percentage);
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/// Method to set % to randomly do a right lane change.
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void SetRandomRightLaneChangePercentage(const ActorPtr &actor, const float percentage);
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/// Method to set hybrid physics mode.
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void SetHybridPhysicsMode(const bool mode_switch);
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/// Method to set hybrid physics radius.
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void SetHybridPhysicsRadius(const float radius);
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/// Method to set Open Street Map mode.
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void SetOSMMode(const bool mode_switch);
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/// Method to set our own imported path.
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void SetCustomPath(const ActorPtr &actor, const Path path, const bool empty_buffer);
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/// Method to remove a path.
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void RemoveUploadPath(const ActorId &actor_id, const bool remove_path);
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/// Method to update an already set path.
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void UpdateUploadPath(const ActorId &actor_id, const Path path);
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/// Method to set our own imported route.
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void SetImportedRoute(const ActorPtr &actor, const Route route, const bool empty_buffer);
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/// Method to remove a route.
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void RemoveImportedRoute(const ActorId &actor_id, const bool remove_path);
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/// Method to update an already set route.
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void UpdateImportedRoute(const ActorId &actor_id, const Route route);
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/// Method to set automatic respawn of dormant vehicles.
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void SetRespawnDormantVehicles(const bool mode_switch);
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// Method to set boundaries to respawn of dormant vehicles.
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void SetBoundariesRespawnDormantVehicles(const float lower_bound, const float upper_bound);
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// Method to set boundaries to respawn of dormant vehicles.
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void SetMaxBoundaries(const float lower, const float upper);
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virtual void ShutDown();
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/// Method to get the vehicle's next action.
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Action GetNextAction(const ActorId &actor_id);
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/// Method to get the vehicle's action buffer.
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ActionBuffer GetActionBuffer(const ActorId &actor_id);
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/// Method to provide synchronous tick
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bool SynchronousTick();
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/// Get CARLA episode information.
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carla::client::detail::EpisodeProxy& GetEpisodeProxy();
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/// Method to check server is alive or not.
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void HealthCheckRemoteTM();
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/// Method to set randomization seed.
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void SetRandomDeviceSeed(const uint64_t seed);
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private:
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/// Remote client using the IP and port information it connects to
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/// as remote RPC traffic manager server.
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TrafficManagerClient client;
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/// CARLA client connection object.
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carla::client::detail::EpisodeProxy episodeProxyTM;
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std::condition_variable _cv;
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std::mutex _mutex;
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bool _keep_alive = true;
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};
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} // namespace traffic_manager
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} // namespace carla
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