TrackTraffic.h

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#pragma once

#include "carla/road/RoadTypes.h"
#include "carla/rpc/ActorId.h"

#include "carla/trafficmanager/SimpleWaypoint.h"

namespace carla {
namespace traffic_manager {

using ActorId = carla::ActorId;
using ActorIdSet = std::unordered_set<ActorId>;
using SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>;
using Buffer = std::deque<SimpleWaypointPtr>;
using GeoGridId = carla::road::JuncId;

// This class is used to track the waypoint occupancy of all the actors.
class TrackTraffic {

private:
    /// Structure to keep track of overlapping waypoints between vehicles.
    using WaypointOverlap = std::unordered_map<uint64_t, ActorIdSet>;
    WaypointOverlap waypoint_overlap_tracker;

    /// Structure to keep track of waypoints occupied by vehicles;
    using WaypointIdSet = std::unordered_set<uint64_t>;
    using WaypointOccupancyMap = std::unordered_map<ActorId, WaypointIdSet>;
    WaypointOccupancyMap waypoint_occupied;

    /// Geodesic grids occupied by actors's paths.
    std::unordered_map<ActorId, std::unordered_set<GeoGridId>> actor_to_grids;
    /// Actors currently passing through grids.
    std::unordered_map<GeoGridId, ActorIdSet> grid_to_actors;
    /// Current hero location.
    cg::Location hero_location = cg::Location(0,0,0);


public:
    TrackTraffic();

    /// Methods to update, remove and retrieve vehicles passing through a waypoint.
    void UpdatePassingVehicle(uint64_t waypoint_id, ActorId actor_id);
    void RemovePassingVehicle(uint64_t waypoint_id, ActorId actor_id);
    ActorIdSet GetPassingVehicles(uint64_t waypoint_id) const;

    void UpdateGridPosition(const ActorId actor_id, const Buffer &buffer);
    void UpdateUnregisteredGridPosition(const ActorId actor_id,
                                        const std::vector<SimpleWaypointPtr> waypoints);

    ActorIdSet GetOverlappingVehicles(ActorId actor_id) const;
    bool IsGeoGridFree(const GeoGridId geogrid_id) const;
    void AddTakenGrid(const GeoGridId geogrid_id, const ActorId actor_id);

    void SetHeroLocation(const cg::Location location);
    cg::Location GetHeroLocation() const;


    /// Method to delete actor data from tracking.
    void DeleteActor(ActorId actor_id);

    void Clear();
};

} // namespace traffic_manager
} // namespace carla