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Windows compatibility changes

This commit is contained in:
Jacopo Bartiromo 2019-12-12 16:11:05 +01:00 committed by bernat
parent 9d068d2be2
commit 3c1aa7d847
16 changed files with 36 additions and 36 deletions
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2
LibCarla/source/carla/trafficmanager/BatchControlStage.cpp
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@ -27,7 +27,7 @@ namespace traffic_manager {
void BatchControlStage::Action() {
// Looping over registered actors.
for (uint i = 0u; i < number_of_vehicles; ++i) {
for (uint64_t i = 0u; i < number_of_vehicles; ++i) {
cr::VehicleControl vehicle_control;

2
LibCarla/source/carla/trafficmanager/BatchControlStage.h
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@ -40,7 +40,7 @@ namespace traffic_manager {
/// Array to hold command batch.
std::shared_ptr<std::vector<cr::Command>> commands;
/// Number of vehicles registered with the traffic manager.
uint number_of_vehicles;
uint64_t number_of_vehicles;
public:

10
LibCarla/source/carla/trafficmanager/CollisionStage.cpp
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@ -98,7 +98,7 @@ namespace CollisionStageConstants {
}
// Looping over registered actors.
for (uint i = 0u; i < number_of_vehicles; ++i) {
for (uint64_t i = 0u; i < number_of_vehicles; ++i) {
const LocalizationToCollisionData &data = localization_frame->at(i);
const Actor ego_actor = data.actor;
@ -165,7 +165,7 @@ namespace CollisionStageConstants {
// This map also provides us the additional benefit of being able to
// quickly identify
// if a vehicle id is registered with the traffic manager or not.
uint index = 0u;
uint64_t index = 0u;
for (auto &element: *localization_frame.get()) {
vehicle_id_to_index.insert({element.actor->GetId(), index++});
}
@ -301,7 +301,7 @@ namespace CollisionStageConstants {
const float length = vehicle->GetBoundingBox().extent.x;
SimpleWaypointPtr boundary_start = waypoint_buffer.front();
uint boundary_start_index = 0u;
uint64_t boundary_start_index = 0u;
while (boundary_start->DistanceSquared(vehicle_location) < std::pow(length, 2) &&
boundary_start_index < waypoint_buffer.size() -1) {
boundary_start = waypoint_buffer.at(boundary_start_index);
@ -314,7 +314,7 @@ namespace CollisionStageConstants {
// At non-signalized junctions, we extend the boundary across the junction
// and in all other situations, boundary length is velocity-dependent.
bool reached_distance = false;
for (uint j = boundary_start_index; !reached_distance && (j < waypoint_buffer.size()); ++j) {
for (uint64_t j = boundary_start_index; !reached_distance && (j < waypoint_buffer.size()); ++j) {
if (boundary_start->DistanceSquared(current_point) > std::pow(bbox_extension, 2)) {
reached_distance = true;
@ -432,7 +432,7 @@ namespace CollisionStageConstants {
}
void CollisionStage::DrawBoundary(const LocationList &boundary) const {
for (uint i = 0u; i < boundary.size(); ++i) {
for (uint64_t i = 0u; i < boundary.size(); ++i) {
debug_helper.DrawLine(
boundary[i] + cg::Location(0.0f, 0.0f, 1.0f),
boundary[(i + 1) % boundary.size()] + cg::Location(0.0f, 0.0f, 1.0f),

4
LibCarla/source/carla/trafficmanager/CollisionStage.h
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@ -83,9 +83,9 @@ namespace traffic_manager {
std::unordered_map<ActorId, Actor> unregistered_actors;
/// An object used to keep track of time between checking for all world
/// actors.
chr::time_point<chr::_V2::system_clock, chr::nanoseconds> last_world_actors_pass_instance;
chr::time_point<chr::system_clock, chr::nanoseconds> last_world_actors_pass_instance;
/// Number of vehicles registered with the traffic manager.
uint number_of_vehicles;
uint64_t number_of_vehicles;
/// Returns the bounding box corners of the vehicle passed to the method.
LocationList GetBoundary(const Actor &actor) const;

6
LibCarla/source/carla/trafficmanager/InMemoryMap.cpp
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@ -13,7 +13,7 @@ namespace MapConstants {
// Very important that this is less than 10^-4.
static const float ZERO_LENGTH = 0.0001f;
static const float INFINITE_DISTANCE = std::numeric_limits<float>::max();
static const uint LANE_CHANGE_LOOK_AHEAD = 5u;
static const uint64_t LANE_CHANGE_LOOK_AHEAD = 5u;
// Cosine of the angle.
static const float LANE_CHANGE_ANGULAR_THRESHOLD = 0.5f;
static const float GRID_SIZE = 4.0f;
@ -76,7 +76,7 @@ namespace MapConstants {
}
// Linking segments.
uint i = 0u, j = 0u;
uint64_t i = 0u, j = 0u;
for (SimpleWaypointPtr end_point : exit_node_list) {
for (SimpleWaypointPtr begin_point : entry_node_list) {
if (end_point->DistanceSquared(begin_point) < square(ZERO_LENGTH) and i != j) {
@ -110,7 +110,7 @@ namespace MapConstants {
relative_vector = relative_vector.MakeUnitVector();
const float relative_dot = cg::Math::Dot(end_point_vector, relative_vector);
if (relative_dot < LANE_CHANGE_ANGULAR_THRESHOLD) {
uint count = LANE_CHANGE_LOOK_AHEAD;
uint64_t count = LANE_CHANGE_LOOK_AHEAD;
while (count > 0u) {
closest_connection = closest_connection->GetNextWaypoint()[0];
--count;

18
LibCarla/source/carla/trafficmanager/LocalizationStage.cpp
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@ -70,7 +70,7 @@ namespace LocalizationConstants {
traffic_light_frame_selector ? traffic_light_frame_a : traffic_light_frame_b;
// Looping over registered actors.
for (uint i = 0u; i < actor_list.size(); ++i) {
for (uint64_t i = 0u; i < actor_list.size(); ++i) {
const Actor vehicle = actor_list.at(i);
const ActorId actor_id = vehicle->GetId();
@ -125,7 +125,7 @@ namespace LocalizationConstants {
if (change_over_point != nullptr) {
auto number_of_pops = waypoint_buffer.size();
for (uint j = 0u; j < number_of_pops; ++j) {
for (uint64_t j = 0u; j < number_of_pops; ++j) {
PopWaypoint(waypoint_buffer, actor_id);
}
@ -138,7 +138,7 @@ namespace LocalizationConstants {
<= std::pow(horizon_size, 2)) {
std::vector<SimpleWaypointPtr> next_waypoints = waypoint_buffer.back()->GetNextWaypoint();
uint selection_index = 0u;
uint64_t selection_index = 0u;
// Pseudo-randomized path selection if found more than one choice.
if (next_waypoints.size() > 1) {
selection_index = static_cast<uint>(rand()) % next_waypoints.size();
@ -151,7 +151,7 @@ namespace LocalizationConstants {
const float target_point_distance = std::max(std::ceil(vehicle_velocity * TARGET_WAYPOINT_TIME_HORIZON),
TARGET_WAYPOINT_HORIZON_LENGTH);
SimpleWaypointPtr target_waypoint = waypoint_buffer.front();
for (uint j = 0u;
for (uint64_t j = 0u;
(j < waypoint_buffer.size()) &&
(waypoint_buffer.front()->DistanceSquared(target_waypoint)
< std::pow(target_point_distance, 2));
@ -176,8 +176,8 @@ namespace LocalizationConstants {
const float look_ahead_distance = std::max(2.0f * vehicle_velocity, MINIMUM_JUNCTION_LOOK_AHEAD);
SimpleWaypointPtr look_ahead_point = waypoint_buffer.front();
uint look_ahead_index = 0u;
for (uint j = 0u;
uint64_t look_ahead_index = 0u;
for (uint64_t j = 0u;
(waypoint_buffer.front()->DistanceSquared(look_ahead_point)
< std::pow(look_ahead_distance, 2)) &&
(j < waypoint_buffer.size());
@ -189,7 +189,7 @@ namespace LocalizationConstants {
bool approaching_junction = false;
if (waypoint_buffer.front()->CheckJunction() || (look_ahead_point->CheckJunction() && !(waypoint_buffer.front()->CheckJunction()))) {
if (speed_limit > HIGHWAY_SPEED) {
for (uint j = 0u; (j < look_ahead_index) && !approaching_junction; ++j) {
for (uint64_t j = 0u; (j < look_ahead_index) && !approaching_junction; ++j) {
SimpleWaypointPtr swp = waypoint_buffer.at(j);
if (swp->GetNextWaypoint().size() > 1) {
approaching_junction = true;
@ -264,7 +264,7 @@ namespace LocalizationConstants {
actor_list = registered_actors.GetList();
uint index = 0u;
uint64_t index = 0u;
for (auto &actor: actor_list) {
vehicle_id_to_index.insert({actor->GetId(), index});
@ -339,7 +339,7 @@ namespace LocalizationConstants {
void LocalizationStage::DrawBuffer(Buffer &buffer) {
for (uint i = 0u; i < buffer.size() && i < 5; ++i) {
for (uint64_t i = 0u; i < buffer.size() && i < 5; ++i) {
debug_helper.DrawPoint(buffer.at(i)->GetLocation(), 0.1f, {255u, 0u, 0u}, 0.5f);
}
}

4
LibCarla/source/carla/trafficmanager/LocalizationStage.h
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@ -91,7 +91,7 @@ namespace traffic_manager {
/// Map connecting actor ids to indices of data arrays.
std::unordered_map<ActorId, uint> vehicle_id_to_index;
/// Number of vehicles currently registered with the traffic manager.
uint number_of_vehicles;
uint64_t number_of_vehicles;
/// Used to only calculate the extended buffer once at junctions
std::map<carla::ActorId, bool> approached;
/// Final Waypoint of the bounding box at intersections, amps to their respective IDs
@ -99,7 +99,7 @@ namespace traffic_manager {
/// Object for tracking paths of the traffic vehicles.
TrackTraffic track_traffic;
/// Map of all vehicles' idle time
std::unordered_map<ActorId, chr::time_point<chr::_V2::system_clock, chr::nanoseconds>> idle_time;
std::unordered_map<ActorId, chr::time_point<chr::system_clock, chr::nanoseconds>> idle_time;
/// A simple method used to draw waypoint buffer ahead of a vehicle.
void DrawBuffer(Buffer &buffer);

2
LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp
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@ -63,7 +63,7 @@ namespace PlannerConstants {
const auto current_control_frame = frame_selector ? control_frame_a : control_frame_b;
// Looping over all vehicles.
for (uint i = 0u; i < number_of_vehicles; ++i) {
for (uint64_t i = 0u; i < number_of_vehicles; ++i) {
const LocalizationToPlannerData &localization_data = localization_frame->at(i);
const Actor actor = localization_data.actor;

2
LibCarla/source/carla/trafficmanager/MotionPlannerStage.h
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@ -69,7 +69,7 @@ namespace traffic_manager {
/// Controller object.
PIDController controller;
/// Number of vehicles registered with the traffic manager.
uint number_of_vehicles;
uint64_t number_of_vehicles;
/// Reference to Carla's debug helper object.
cc::DebugHelper &debug_helper;

2
LibCarla/source/carla/trafficmanager/PIDController.h
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@ -13,7 +13,7 @@
namespace traffic_manager {
namespace chr = std::chrono;
using TimeInstance = chr::time_point<chr::_V2::system_clock, chr::nanoseconds>;
using TimeInstance = chr::time_point<chr::system_clock, chr::nanoseconds>;
/// Structure to hold the actuation signals.
struct ActuationSignal {

6
LibCarla/source/carla/trafficmanager/PerformanceDiagnostics.h
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@ -21,11 +21,11 @@ namespace traffic_manager {
/// Stage name.
std::string stage_name;
/// Throughput clock.
chr::time_point<chr::_V2::system_clock, chr::nanoseconds> throughput_clock;
chr::time_point<chr::system_clock, chr::nanoseconds> throughput_clock;
/// Throughput counter.
uint throughput_counter;
uint64_t throughput_counter;
/// Inter-update clock.
chr::time_point<chr::_V2::system_clock, chr::nanoseconds> inter_update_clock;
chr::time_point<chr::system_clock, chr::nanoseconds> inter_update_clock;
/// Inter-update duration.
chr::duration<float> inter_update_duration;

2
LibCarla/source/carla/trafficmanager/SimpleWaypoint.cpp
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@ -45,7 +45,7 @@ namespace traffic_manager {
return waypoint->GetTransform().rotation.GetForwardVector();
}
uint SimpleWaypoint::SetNextWaypoint(const std::vector<SimpleWaypointPtr> &waypoints) {
uint64_t SimpleWaypoint::SetNextWaypoint(const std::vector<SimpleWaypointPtr> &waypoints) {
for (auto &simple_waypoint: waypoints) {
next_waypoints.push_back(simple_waypoint);
}

2
LibCarla/source/carla/trafficmanager/SimpleWaypoint.h
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@ -59,7 +59,7 @@ namespace traffic_manager {
uint64_t GetId() const;
/// This method is used to set the next waypoints.
uint SetNextWaypoint(const std::vector<SimpleWaypointPtr> &next_waypoints);
uint64_t SetNextWaypoint(const std::vector<SimpleWaypointPtr> &next_waypoints);
/// This method is used to set the closest left waypoint for a lane change.
void SetLeftWaypoint(SimpleWaypointPtr waypoint);

4
LibCarla/source/carla/trafficmanager/TrafficLightStage.cpp
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@ -10,7 +10,7 @@
namespace traffic_manager {
static const uint NO_SIGNAL_PASSTHROUGH_INTERVAL = 5u;
static const uint64_t NO_SIGNAL_PASSTHROUGH_INTERVAL = 5u;
TrafficLightStage::TrafficLightStage(
std::string stage_name,
@ -45,7 +45,7 @@ namespace traffic_manager {
// Selecting the output frame based on the selection key.
const auto current_planner_frame = frame_selector ? planner_frame_a : planner_frame_b;
// Looping over registered actors.
for (uint i = 0u; i < number_of_vehicles; ++i) {
for (uint64_t i = 0u; i < number_of_vehicles; ++i) {
bool traffic_light_hazard = false;
const LocalizationToTrafficLightData &data = localization_frame->at(i);

4
LibCarla/source/carla/trafficmanager/TrafficLightStage.h
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@ -35,7 +35,7 @@ namespace traffic_manager {
using SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>;
using TrafficLight = carla::SharedPtr<cc::TrafficLight>;
using TLS = carla::rpc::TrafficLightState;
using TimeInstance = chr::time_point<chr::_V2::system_clock, chr::nanoseconds>;
using TimeInstance = chr::time_point<chr::system_clock, chr::nanoseconds>;
/// This class provides the information about the Traffic Lights at the
/// junctions.
@ -69,7 +69,7 @@ namespace traffic_manager {
/// No signal negotiation mutex.
std::mutex no_signal_negotiation_mutex;
/// Number of vehicles registered with the traffic manager.
uint number_of_vehicles;
uint64_t number_of_vehicles;
void DrawLight(TLS traffic_light_state, const Actor &ego_actor) const;

2
LibCarla/source/carla/trafficmanager/TrafficManager.cpp
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@ -223,7 +223,7 @@ namespace traffic_manager {
if (!(std::find(list_of_ids.begin(), list_of_ids.end(), tl->GetId()) != list_of_ids.end())) {
const TLGroup tl_group = boost::static_pointer_cast<cc::TrafficLight>(tl)->GetGroupTrafficLights();
list_of_all_groups.push_back(tl_group);
for (uint i=0u; i<tl_group.size(); i++) {
for (uint64_t i=0u; i<tl_group.size(); i++) {
list_of_ids.push_back(tl_group.at(i).get()->GetId());
if(i!=0u) {
tl_to_freeze.push_back(tl_group.at(i));