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Fixed Tm unstuck removal

This commit is contained in:
Guillermo 2023-02-01 11:00:25 +01:00 committed by glopezdiest
parent 9ecee5069d
commit 58461b4a2d
2 changed files with 5 additions and 5 deletions
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1
CHANGELOG.md
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@ -1,5 +1,6 @@
## Latest
* Fixed bug causing the TM's unstuck logic to incorrectly remove the vehicles in some situations.
* Fixed the extra data in Directx textures, so we need to copy row by row on Windows to remove extra bytes on images
* Restored gamma value to 2.2 instead of 2.4

9
LibCarla/source/carla/trafficmanager/ALSM.cpp
View File

@ -188,6 +188,7 @@ void ALSM::UpdateRegisteredActorsData(const bool hybrid_physics_mode, ALSM::Idle
ActorId actor_id = vehicle->GetId();
if (hero_actors.find(actor_id) == hero_actors.end()) {
UpdateData(hybrid_physics_mode, max_idle_time, vehicle, hero_actor_present, physics_radius_square);
UpdateIdleTime(max_idle_time, actor_id);
}
}
}
@ -264,9 +265,6 @@ void ALSM::UpdateData(const bool hybrid_physics_mode,
simulation_state.AddActor(actor_id, kinematic_state, attributes, tl_state);
}
// Updating idle time when necessary.
UpdateIdleTime(max_idle_time, actor_id);
}
@ -358,8 +356,9 @@ bool ALSM::IsVehicleStuck(const ActorId& actor_id) {
if (idle_time.find(actor_id) != idle_time.end()) {
double delta_idle_time = current_timestamp.elapsed_seconds - idle_time.at(actor_id);
TrafficLightState tl_state = simulation_state.GetTLS(actor_id);
if ((!tl_state.at_traffic_light && tl_state.tl_state != TLS::Red && delta_idle_time >= BLOCKED_TIME_THRESHOLD)
|| (delta_idle_time >= RED_TL_BLOCKED_TIME_THRESHOLD)) {
if ((delta_idle_time >= RED_TL_BLOCKED_TIME_THRESHOLD)
|| (delta_idle_time >= BLOCKED_TIME_THRESHOLD && tl_state.tl_state != TLS::Red))
{
return true;
}
}