Windows compatibility changes

LibCarla/source/carla/trafficmanager/BatchControlStage.cpp

@@ -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;
 

LibCarla/source/carla/trafficmanager/BatchControlStage.h

@@ -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:
 

LibCarla/source/carla/trafficmanager/CollisionStage.cpp

@@ -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),

LibCarla/source/carla/trafficmanager/CollisionStage.h

@@ -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;

LibCarla/source/carla/trafficmanager/InMemoryMap.cpp

@@ -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;

LibCarla/source/carla/trafficmanager/LocalizationStage.cpp

@@ -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;
+      uint64_t look_ahead_index = 0u;
-      for (uint j = 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);
     }
   }

LibCarla/source/carla/trafficmanager/LocalizationStage.h

@@ -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);

LibCarla/source/carla/trafficmanager/MotionPlannerStage.cpp

@@ -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;

LibCarla/source/carla/trafficmanager/MotionPlannerStage.h

@@ -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;
 

LibCarla/source/carla/trafficmanager/PIDController.h

@@ -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 {

LibCarla/source/carla/trafficmanager/PerformanceDiagnostics.h

@@ -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;
 

LibCarla/source/carla/trafficmanager/SimpleWaypoint.cpp

@@ -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);
     }

LibCarla/source/carla/trafficmanager/SimpleWaypoint.h

@@ -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);

LibCarla/source/carla/trafficmanager/TrafficLightStage.cpp

@@ -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);

LibCarla/source/carla/trafficmanager/TrafficLightStage.h

@@ -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;

LibCarla/source/carla/trafficmanager/TrafficManager.cpp

@@ -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));