Added parameter set_percentage_keep_right_rule

LibCarla/source/carla/trafficmanager/Parameters.cpp

@@ -66,6 +66,12 @@ void Parameters::SetForceLaneChange(const ActorPtr &actor, const bool direction)
   force_lane_change.AddEntry(entry);
 }
 
+void Parameters::SetKeepRightPercentage(const ActorPtr &actor, const float percentage) {
+
+  const auto entry = std::make_pair(actor->GetId(), percentage);
+  perc_keep_right.AddEntry(entry);
+}
+
 void Parameters::SetAutoLaneChange(const ActorPtr &actor, const bool enable) {
 
   const auto entry = std::make_pair(actor->GetId(), enable);
@@ -137,6 +143,20 @@ ChangeLaneInfo Parameters::GetForceLaneChange(const ActorPtr &actor) {
   return change_lane_info;
 }
 
+float Parameters::GetKeepRightPercentage(const ActorPtr &actor) {
+
+  const ActorId actor_id = actor->GetId();
+  float percentage = -1.0f;
+
+  if (perc_keep_right.Contains(actor_id)) {
+    percentage = perc_keep_right.GetValue(actor_id);
+  }
+
+  perc_keep_right.RemoveEntry(actor_id);
+
+  return percentage;
+}
+
 bool Parameters::GetAutoLaneChange(const ActorPtr &actor) {
 
   const ActorId actor_id = actor->GetId();

LibCarla/source/carla/trafficmanager/Parameters.h

@@ -54,6 +54,8 @@ namespace traffic_manager {
     AtomicMap<ActorId, float> perc_ignore_walkers;
     /// Map containing % of ignoring vehicles.
     AtomicMap<ActorId, float> perc_ignore_vehicles;
+    /// Map containing % of keep right rule.
+    AtomicMap<ActorId, float> perc_keep_right;
     /// Synchronous mode switch.
     std::atomic<bool> synchronous_mode;
     /// Distance Margin
@@ -97,6 +99,9 @@ namespace traffic_manager {
     /// Method to query lane change command for a vehicle.
     ChangeLaneInfo GetForceLaneChange(const ActorPtr &actor);
 
+    /// Method to query percentage probability of keep right rule for a vehicle.
+    float GetKeepRightPercentage(const ActorPtr &actor);
+
     /// Method to query auto lane change rule for a vehicle.
     bool GetAutoLaneChange(const ActorPtr &actor);
 
@@ -130,6 +135,9 @@ namespace traffic_manager {
     /// Method to set % to ignore any vehicle.
     void SetPercentageIgnoreWalkers(const ActorPtr &actor, const float perc);
 
+    /// Method to set probabilistic preference to keep on the right lane.
+    void SetKeepRightPercentage(const ActorPtr &actor,const float percentage);
+
     /// Method to get synchronous mode.
     bool GetSynchronousMode();
 

LibCarla/source/carla/trafficmanager/TrafficManager.h

@@ -212,6 +212,14 @@ public:
     }
   }
 
+  /// Method to set probabilistic preference to keep on the right lane.
+  void SetKeepRightPercentage(const ActorPtr &actor, const float percentage) {
+    TrafficManagerBase* tm_ptr = GetTM(_port);
+    if(tm_ptr != nullptr){
+      tm_ptr->SetKeepRightPercentage(actor, percentage);
+    }
+  }
+
 private:
 
   void CreateTrafficManagerServer(

LibCarla/source/carla/trafficmanager/TrafficManagerBase.h

@@ -100,6 +100,9 @@ public:
   /// Method to set Global Distance to Leading Vehicle.
   virtual void SetGlobalDistanceToLeadingVehicle(const float dist) = 0;
 
+  /// Method to set probabilistic preference to keep on the right lane.
+  virtual void SetKeepRightPercentage(const ActorPtr &actor,const float percentage) = 0;
+
 protected:
 
 };

LibCarla/source/carla/trafficmanager/TrafficManagerClient.h

@@ -173,6 +173,11 @@ public:
     _client->call("set_global_distance_to_leading_vehicle",distance);
   }
 
+  /// Method to set probabilistic preference to keep on the right lane.
+  void SetKeepRightPercentage(const carla::rpc::Actor &actor, const float percentage) {
+    DEBUG_ASSERT(_client != nullptr);
+    _client->call("set_percentage_keep_right_rule", actor, percentage);
+  }
 
 private:
 

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -197,6 +197,10 @@ void TrafficManagerLocal::SetPercentageRunningSign(const ActorPtr &actor, const
   parameters.SetPercentageRunningSign(actor, perc);
 }
 
+void TrafficManagerLocal::SetKeepRightPercentage(const ActorPtr &actor, const float percentage) {
+  parameters.SetKeepRightPercentage(actor, percentage);
+}
+
 bool TrafficManagerLocal::CheckAllFrozen(TLGroup tl_to_freeze) {
   for (auto& elem : tl_to_freeze) {
     if (!elem->IsFrozen() || elem->GetState() != TLS::Red) {

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.h

@@ -181,6 +181,9 @@ namespace traffic_manager {
     /// Method to specify how much distance a vehicle should maintain to
     /// the Global leading vehicle.
     void SetGlobalDistanceToLeadingVehicle(const float distance);
+
+    /// Method to set probabilistic preference to keep on the right lane.
+    void SetKeepRightPercentage(const ActorPtr &actor, const float percentage);
   };
 
 } // namespace traffic_manager

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.cpp

@@ -170,6 +170,12 @@ void TrafficManagerRemote::SetPercentageRunningSign(const ActorPtr &_actor, cons
   client.SetPercentageRunningSign(actor, percentage);
 }
 
+void TrafficManagerRemote::SetKeepRightPercentage(const ActorPtr &_actor, const float percentage) {
+  carla::rpc::Actor actor(_actor->Serialize());
+
+  client.SetKeepRightPercentage(actor, percentage);
+}
+
 void TrafficManagerRemote::ResetAllTrafficLights() {
   client.ResetAllTrafficLights();
 }

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.h

@@ -97,6 +97,9 @@ public:
   /// Method to set Tick timeout for synchronous execution.
   void SetSynchronousModeTimeOutInMiliSecond(double time);
 
+  /// Method to set probabilistic preference to keep on the right lane.
+  void SetKeepRightPercentage(const ActorPtr &actor, const float percentage);
+
   /// Method to provide synchronous tick
   bool SynchronousTick();
 

LibCarla/source/carla/trafficmanager/TrafficManagerServer.h

@@ -145,6 +145,11 @@ public:
         tm->SetPercentageIgnoreVehicles(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
       });
 
+      /// Method to specify the % chance of ignoring collisions with any vehicle.
+      server->bind("set_percentage_keep_right_rule", [=](carla::rpc::Actor actor, const float percentage) {
+        tm->SetKeepRightPercentage(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
+      });
+
       /// Method to set synchronous mode.
       server->bind("set_synchronous_mode", [=](const bool mode) {
         tm->SetSynchronousMode(mode);

PythonAPI/carla/source/libcarla/TrafficManager.cpp

@@ -28,5 +28,6 @@ void export_trafficmanager() {
       .def("ignore_vehicles_percentage", &carla::traffic_manager::TrafficManager::SetPercentageIgnoreVehicles)
       .def("ignore_lights_percentage", &carla::traffic_manager::TrafficManager::SetPercentageRunningLight)
       .def("ignore_signs_percentage", &carla::traffic_manager::TrafficManager::SetPercentageRunningSign)
-      .def("set_global_distance_to_leading_vehicle", &carla::traffic_manager::TrafficManager::SetGlobalDistanceToLeadingVehicle);
+      .def("set_global_distance_to_leading_vehicle", &carla::traffic_manager::TrafficManager::SetGlobalDistanceToLeadingVehicle)
+      .def("set_percentage_keep_right_rule", &carla::traffic_manager::TrafficManager::SetKeepRightPercentage);
 }