This class has functionality for responding to traffic lights and managing entry into non-signalized junctions. More...

#include <TrafficLightStage.h>

Inheritance diagram for carla::traffic_manager::TrafficLightStage:

Collaboration diagram for carla::traffic_manager::TrafficLightStage:

Public Member Functions
void	RemoveActor (const ActorId actor_id) override

void	Reset () override

	TrafficLightStage (const std::vector< ActorId > &vehicle_id_list, const SimulationState &Simulation_state, const BufferMap &buffer_map, const Parameters &parameters, const cc::World &world, TLFrame &output_array, RandomGenerator &random_device)

void	Update (const unsigned long index) override

Private Member Functions
void	AddActorToNonSignalisedJunction (const ActorId ego_actor_id, const JunctionID junction_id)
	Initialized the vehicle to the non-signalized junction maps. More...

JunctionID	GetAffectedJunctionId (const ActorId ego_actor_id)
	Get current affected junction id for the vehicle. More...

bool	HandleNonSignalisedJunction (const ActorId ego_actor_id, const JunctionID junction_id, cc::Timestamp timestamp)
	This controls all vehicle's interactions at non signalized junctions. More...

Private Member Functions inherited from carla::traffic_manager::Stage
	Stage ()

	Stage (const Stage &)

virtual	~Stage ()

Private Attributes
const BufferMap &	buffer_map

cc::Timestamp	current_timestamp

std::unordered_map< JunctionID, std::deque< ActorId > >	entering_vehicles_map
	Variables used to handle non signalized junctions. More...

TLFrame &	output_array

const Parameters &	parameters

RandomGenerator &	random_device

const SimulationState &	simulation_state

const std::vector< ActorId > &	vehicle_id_list

std::unordered_map< ActorId, JunctionID >	vehicle_last_junction
	Map linking the vehicles with their current junction. Used for easy access to the previous two maps. More...

std::unordered_map< ActorId, cc::Timestamp >	vehicle_stop_time
	Map containing the timestamp at which the actor first stopped at a stop sign. More...

const cc::World &	world

Detailed Description

This class has functionality for responding to traffic lights and managing entry into non-signalized junctions.

Definition at line 15 of file TrafficLightStage.h.

Constructor & Destructor Documentation

◆ TrafficLightStage()

carla::traffic_manager::TrafficLightStage::TrafficLightStage	(	const std::vector< ActorId > &	vehicle_id_list,
		const SimulationState &	Simulation_state,
		const BufferMap &	buffer_map,
		const Parameters &	parameters,
		const cc::World &	world,
		TLFrame &	output_array,
		RandomGenerator &	random_device
	)

Definition at line 15 of file TrafficLightStage.cpp.

Member Function Documentation

◆ AddActorToNonSignalisedJunction()

void carla::traffic_manager::TrafficLightStage::AddActorToNonSignalisedJunction	(	const ActorId	ego_actor_id,
		const JunctionID	junction_id
	)

private

Initialized the vehicle to the non-signalized junction maps.

Definition at line 83 of file TrafficLightStage.cpp.

References entering_vehicles_map, RemoveActor(), and vehicle_last_junction.

Referenced by Update().

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◆ GetAffectedJunctionId()

JunctionID carla::traffic_manager::TrafficLightStage::GetAffectedJunctionId ( const ActorId ego_actor_id )

private

Get current affected junction id for the vehicle.

Definition at line 132 of file TrafficLightStage.cpp.

References buffer_map, carla::traffic_manager::GetTargetWaypoint(), carla::traffic_manager::constants::WaypointSelection::JUNCTION_LOOK_AHEAD, and vehicle_last_junction.

Referenced by Update().

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◆ HandleNonSignalisedJunction()

bool carla::traffic_manager::TrafficLightStage::HandleNonSignalisedJunction	(	const ActorId	ego_actor_id,
		const JunctionID	junction_id,
		cc::Timestamp	timestamp
	)

private

This controls all vehicle's interactions at non signalized junctions.

Priorities are done by order of arrival and no two vehicle will enter the junction at the same time. Only once it is exiting can the next one enter. Additionally, all vehicles will always brake at the stop sign for a set amount of time.

Definition at line 104 of file TrafficLightStage.cpp.

References carla::client::Timestamp::elapsed_seconds, entering_vehicles_map, carla::traffic_manager::constants::MotionPlan::EPSILON_RELATIVE_SPEED, carla::traffic_manager::SimulationState::GetVelocity(), carla::geom::Vector3D::Length(), carla::traffic_manager::constants::TrafficLight::MINIMUM_STOP_TIME, simulation_state, and vehicle_stop_time.

Referenced by Update().

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◆ RemoveActor()

void carla::traffic_manager::TrafficLightStage::RemoveActor ( const ActorId actor_id )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 169 of file TrafficLightStage.cpp.

References entering_vehicles_map, vehicle_last_junction, and vehicle_stop_time.

Referenced by AddActorToNonSignalisedJunction(), carla::traffic_manager::ALSM::RemoveActor(), and Update().

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◆ Reset()

void carla::traffic_manager::TrafficLightStage::Reset ( void )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 187 of file TrafficLightStage.cpp.

References entering_vehicles_map, vehicle_last_junction, and vehicle_stop_time.

Referenced by carla::traffic_manager::TrafficManagerLocal::Stop().

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◆ Update()

void carla::traffic_manager::TrafficLightStage::Update ( const unsigned long index )

overridevirtual

Implements carla::traffic_manager::Stage.

Definition at line 31 of file TrafficLightStage.cpp.

References AddActorToNonSignalisedJunction(), carla::traffic_manager::TrafficLightState::at_traffic_light, current_timestamp, GetAffectedJunctionId(), carla::traffic_manager::Parameters::GetPercentageRunningLight(), carla::traffic_manager::Parameters::GetPercentageRunningSign(), carla::client::World::GetSnapshot(), carla::client::WorldSnapshot::GetTimestamp(), carla::traffic_manager::SimulationState::GetTLS(), carla::rpc::Green, HandleNonSignalisedJunction(), carla::traffic_manager::SimulationState::IsDormant(), carla::traffic_manager::RandomGenerator::next(), output_array, parameters, random_device, RemoveActor(), simulation_state, carla::traffic_manager::TrafficLightState::tl_state, vehicle_id_list, vehicle_last_junction, and world.

Referenced by carla::traffic_manager::TrafficManagerLocal::Run().

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Member Data Documentation

◆ buffer_map

const BufferMap& carla::traffic_manager::TrafficLightStage::buffer_map

private

Definition at line 19 of file TrafficLightStage.h.

Referenced by GetAffectedJunctionId().

◆ current_timestamp

cc::Timestamp carla::traffic_manager::TrafficLightStage::current_timestamp

private

Definition at line 33 of file TrafficLightStage.h.

Referenced by Update().

◆ entering_vehicles_map

std::unordered_map<JunctionID, std::deque<ActorId> > carla::traffic_manager::TrafficLightStage::entering_vehicles_map

private

Variables used to handle non signalized junctions.

Map containing the vehicles entering a specific junction, ordered by time of arrival.

Definition at line 26 of file TrafficLightStage.h.

Referenced by AddActorToNonSignalisedJunction(), HandleNonSignalisedJunction(), RemoveActor(), and Reset().

◆ output_array

TLFrame& carla::traffic_manager::TrafficLightStage::output_array

private

Definition at line 31 of file TrafficLightStage.h.

Referenced by Update().

◆ parameters

const Parameters& carla::traffic_manager::TrafficLightStage::parameters

private

Definition at line 20 of file TrafficLightStage.h.

Referenced by Update().

◆ random_device

RandomGenerator& carla::traffic_manager::TrafficLightStage::random_device

private

Definition at line 32 of file TrafficLightStage.h.

Referenced by Update().

◆ simulation_state

const SimulationState& carla::traffic_manager::TrafficLightStage::simulation_state

private

Definition at line 18 of file TrafficLightStage.h.

Referenced by HandleNonSignalisedJunction(), and Update().

◆ vehicle_id_list

const std::vector<ActorId>& carla::traffic_manager::TrafficLightStage::vehicle_id_list

private

Definition at line 17 of file TrafficLightStage.h.

Referenced by Update().

◆ vehicle_last_junction

std::unordered_map<ActorId, JunctionID> carla::traffic_manager::TrafficLightStage::vehicle_last_junction

private

Map linking the vehicles with their current junction. Used for easy access to the previous two maps.

Definition at line 28 of file TrafficLightStage.h.

Referenced by AddActorToNonSignalisedJunction(), GetAffectedJunctionId(), RemoveActor(), Reset(), and Update().

◆ vehicle_stop_time

std::unordered_map<ActorId, cc::Timestamp> carla::traffic_manager::TrafficLightStage::vehicle_stop_time

private

Map containing the timestamp at which the actor first stopped at a stop sign.

Definition at line 30 of file TrafficLightStage.h.

Referenced by HandleNonSignalisedJunction(), RemoveActor(), and Reset().

◆ world

const cc::World& carla::traffic_manager::TrafficLightStage::world

private

Definition at line 21 of file TrafficLightStage.h.

Referenced by Update().

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrafficLightStage()

Member Function Documentation

◆ AddActorToNonSignalisedJunction()

◆ GetAffectedJunctionId()

◆ HandleNonSignalisedJunction()

◆ RemoveActor()

◆ Reset()

◆ Update()

Member Data Documentation

◆ buffer_map

◆ current_timestamp

◆ entering_vehicles_map

◆ output_array

◆ parameters

◆ random_device

◆ simulation_state

◆ vehicle_id_list

◆ vehicle_last_junction

◆ vehicle_stop_time

◆ world