Changing events for walkers

LibCarla/source/carla/nav/WalkerEvent.cpp

@@ -12,27 +12,29 @@
 namespace carla {
 namespace nav {
 
-    bool WalkerEventVisitor::operator()(WalkerEventIgnore &, double, WalkerManager &) {
-        return true;
+    EventResult WalkerEventVisitor::operator()(WalkerEventIgnore &) {
+        return EventResult::End;
     }
 
-    bool WalkerEventVisitor::operator()(WalkerEventWait &event, double delta, WalkerManager &) {
+    EventResult WalkerEventVisitor::operator()(WalkerEventWait &event) {
         // refresh time and check
-        event.time -= delta;
-        return (event.time <= 0.0);
+        event.time -= _delta;
+        if (event.time <= 0.0)
+            return EventResult::End;
+        else
+            return EventResult::Continue;
     }
 
-    bool WalkerEventVisitor::operator()(WalkerEventStopAndCheck &event, double delta, WalkerManager &manager) {
-        event.time -= delta;
-        logging::log("time = ", event.time);
+    EventResult WalkerEventVisitor::operator()(WalkerEventStopAndCheck &event) {
+        event.time -= _delta;
         if (event.time <= 0.0) {
-            // assign a new route
-            logging::log("event time out");
-            manager.SetWalkerRoute(event.id);
-            return true;
+            return EventResult::TimeOut;
         } else {
             // check if the agent has any vehicle around
-            return (!event.nav->hasVehicleNear(event.id));
+            if (_manager && !(_manager->GetNavigation()->hasVehicleNear(_id)))
+                return EventResult::End;
+            else
+                return EventResult::Continue;
         }
     }
 

LibCarla/source/carla/nav/WalkerEvent.h

@@ -16,6 +16,12 @@ namespace nav {
     class Navigation;
     class WalkerManager;
 
+    enum class EventResult : uint8_t {
+        Continue,
+        End,
+        TimeOut
+    };
+
     struct WalkerEventIgnore {
     };
 
@@ -25,18 +31,23 @@ namespace nav {
     };
 
     struct WalkerEventStopAndCheck {
-        ActorId id;
-        Navigation *nav;
         double time;
-        WalkerEventStopAndCheck(ActorId id, Navigation *nav, double duration) : id(id), nav(nav), time(duration) {};
+        WalkerEventStopAndCheck(double duration) : time(duration) {};
     };
 
     using WalkerEvent = boost::variant<WalkerEventIgnore, WalkerEventWait, WalkerEventStopAndCheck>;
 
-    struct WalkerEventVisitor {
-        bool operator()(WalkerEventIgnore &event, double delta, WalkerManager &manager);
-        bool operator()(WalkerEventWait &event, double delta, WalkerManager &manager);
-        bool operator()(WalkerEventStopAndCheck &event, double delta, WalkerManager &manager);
+    // visitor class
+    class WalkerEventVisitor {
+        public:
+            WalkerEventVisitor(WalkerManager *manager, ActorId id, double delta) : _manager(manager), _id(id), _delta(delta) {};
+            EventResult operator()(WalkerEventIgnore &event);
+            EventResult operator()(WalkerEventWait &event);
+            EventResult operator()(WalkerEventStopAndCheck &event);
+        private:
+            WalkerManager *_manager { nullptr };
+            double _delta { 0 };
+            ActorId _id { 0 };
     };
 
 } // namespace nav

LibCarla/source/carla/nav/WalkerManager.cpp

@@ -70,8 +70,17 @@ namespace nav {
                     break;
 
                 case WALKER_IN_EVENT:
-                    if (ExecuteEvent(it.second, delta)) {
-                        SetWalkerNextPoint(it.first);
+                    switch (ExecuteEvent(it.first, it.second, delta)) {
+                        case EventResult::Continue:
+                            break;
+                        case EventResult::End:
+                            // next point in route
+                            SetWalkerNextPoint(it.first);
+                            break;
+                        case EventResult::TimeOut:
+                            // unblock changing the route
+                            SetWalkerRoute(it.first);
+                            break;
                     }
                     break;
 
@@ -95,7 +104,7 @@ namespace nav {
         _nav->GetRandomLocation(location, 1, nullptr);
 
         // set the route
-        SetWalkerRoute(id, location);
+        return SetWalkerRoute(id, location);
     }
 
 	/// set a new route from its current position
@@ -137,7 +146,7 @@ namespace nav {
                 // stop and check
                 case SAMPLE_POLYAREA_ROAD:
                 case SAMPLE_POLYAREA_CROSS:
-                    info.route.emplace_back(WalkerEventStopAndCheck(id, _nav, 3), std::move(path[i]));
+                    info.route.emplace_back(WalkerEventStopAndCheck(5), std::move(path[i]));
                     break;
 
                 default:
@@ -185,13 +194,14 @@ namespace nav {
         return true;
     }
 
-    bool WalkerManager::ExecuteEvent(WalkerInfo &info, double delta) {
+    EventResult WalkerManager::ExecuteEvent(ActorId id, WalkerInfo &info, double delta) {
         // go to the event
         WalkerRoutePoint &rp = info.route[info.currentIndex];
 
-        // we need to add 'delta' as second parameter, and 'this' as third
-        auto bound_visitor = std::bind(WalkerEventVisitor(), std::placeholders::_1, delta, *this);
-        return boost::apply_visitor(bound_visitor, rp.event);
+        // build the visitor structure
+        WalkerEventVisitor visitor(this, id, delta);
+        // run the event
+        return boost::apply_visitor(visitor, rp.event);
     }
 
 

LibCarla/source/carla/nav/WalkerManager.h

@@ -73,9 +73,12 @@ namespace nav {
 	/// set the next point in the route
     bool SetWalkerNextPoint(ActorId id);
 
+	/// return the navigation object
+	Navigation *GetNavigation() { return _nav; };
+
 	private:
 
-    bool ExecuteEvent(WalkerInfo &info, double delta);
+    EventResult ExecuteEvent(ActorId id, WalkerInfo &info, double delta);
 
     std::unordered_map<ActorId, WalkerInfo> _walkers;
 	Navigation *_nav { nullptr };