Changes to add Global distance to Leading Vehicle

LibCarla/source/carla/trafficmanager/Parameters.cpp

@@ -152,13 +152,19 @@ bool Parameters::GetAutoLaneChange(const ActorPtr &actor) {
 float Parameters::GetDistanceToLeadingVehicle(const ActorPtr &actor) {
 
   const ActorId actor_id = actor->GetId();
-  float distance_margin = -1.0f;
-
+  float specific_distance_margin = 0.0f;
   if (distance_to_leading_vehicle.Contains(actor_id)) {
-    distance_margin = distance_to_leading_vehicle.GetValue(actor_id);
+    specific_distance_margin = distance_to_leading_vehicle.GetValue(actor_id);
+  } else {
+    specific_distance_margin = distance_margin;
   }
+  //std::cout <<"distance_margin :- "<< distance_margin <<" " <<"Value of Specific Distance Margin - " << specific_distance_margin << std::endl;
+  return specific_distance_margin;
+}
 
-  return distance_margin;
+void Parameters::SetGlobalDistanceToLeadingVehicle(const float dist) {
+
+  distance_margin.store(dist);
 }
 
 void Parameters::SetPercentageRunningLight(const ActorPtr &actor, const float perc) {

LibCarla/source/carla/trafficmanager/Parameters.h

@@ -56,6 +56,8 @@ namespace traffic_manager {
     AtomicMap<ActorId, float> perc_ignore_vehicles;
     /// Synchronous mode switch.
     std::atomic<bool> synchronous_mode;
+    /// Distance Margin
+    std::atomic<float> distance_margin {2.0};
 
   public:
     Parameters();
@@ -113,6 +115,9 @@ namespace traffic_manager {
     /// Method to get % to ignore any walker.
     float GetPercentageIgnoreWalkers(const ActorPtr &actor);
 
+     /// Method to set distance to leading vehicle for a given vehicle.
+    void SetGlobalDistanceToLeadingVehicle(const float dist);
+
     /// Method to set % to run any traffic sign.
     void SetPercentageRunningSign(const ActorPtr &actor, const float perc);
 

LibCarla/source/carla/trafficmanager/TrafficManager.h

@@ -204,6 +204,14 @@ public:
     return false;
   }
 
+  /// Method to Set Global distance to Leading vehicle 
+  void SetGlobalDistanceToLeadingVehicle(const float distance) {
+    TrafficManagerBase* tm_ptr = GetTM(_port);
+    if(tm_ptr != nullptr){
+      tm_ptr->SetGlobalDistanceToLeadingVehicle(distance);
+    }
+  }
+
 private:
 
   void CreateTrafficManagerServer(

LibCarla/source/carla/trafficmanager/TrafficManagerBase.h

@@ -97,6 +97,9 @@ public:
   /// Get carla episode information
   virtual  carla::client::detail::EpisodeProxy& GetEpisodeProxy() = 0;
 
+  /// Method to set Global Distance to Leading Vehicle.
+  virtual void SetGlobalDistanceToLeadingVehicle(const float dist) = 0;
+
 protected:
 
 };

LibCarla/source/carla/trafficmanager/TrafficManagerClient.h

@@ -166,6 +166,14 @@ public:
     _client->call("health_check_remote_TM");
   }
 
+  /// Method to specify how much distance a vehicle should maintain to
+  /// the Global leading vehicle.
+  void SetGlobalDistanceToLeadingVehicle(const float distance) {
+    DEBUG_ASSERT(_client != nullptr);
+    _client->call("set_global_distance_to_leading_vehicle",distance);
+  }
+
+
 private:
 
   /// RPC client.

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -177,6 +177,10 @@ void TrafficManagerLocal::SetDistanceToLeadingVehicle(const ActorPtr &actor, con
   parameters.SetDistanceToLeadingVehicle(actor, distance);
 }
 
+void TrafficManagerLocal::SetGlobalDistanceToLeadingVehicle(const float distance) {
+  parameters.SetGlobalDistanceToLeadingVehicle(distance);
+}
+
 void TrafficManagerLocal::SetPercentageIgnoreWalkers(const ActorPtr &actor, const float perc) {
   parameters.SetPercentageIgnoreWalkers(actor, perc);
 }

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.h

@@ -177,6 +177,10 @@ namespace traffic_manager {
 
     /// Get list of all registered vehicles.
     std::vector<ActorId> GetRegisteredVehiclesIDs();
+
+    /// Method to specify how much distance a vehicle should maintain to
+    /// the Global leading vehicle.
+    void SetGlobalDistanceToLeadingVehicle(const float distance);
   };
 
 } // namespace traffic_manager

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.cpp

@@ -141,6 +141,11 @@ void TrafficManagerRemote::SetDistanceToLeadingVehicle(const ActorPtr &_actor, c
   client.SetDistanceToLeadingVehicle(actor, distance);
 }
 
+void TrafficManagerRemote::SetGlobalDistanceToLeadingVehicle(const float distance) {
+  client.SetGlobalDistanceToLeadingVehicle(distance);
+}
+
+
 void TrafficManagerRemote::SetPercentageIgnoreWalkers(const ActorPtr &_actor, const float percentage) {
   carla::rpc::Actor actor(_actor->Serialize());
 

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.h

@@ -76,6 +76,9 @@ public:
   /// the leading vehicle.
   void SetDistanceToLeadingVehicle(const ActorPtr &actor, const float distance);
 
+  /// Method to specify Global Distance
+  void SetGlobalDistanceToLeadingVehicle(const float distance);
+
   /// Method to specify the % chance of ignoring collisions with any walker.
   void SetPercentageIgnoreWalkers(const ActorPtr &actor, const float perc);
 

LibCarla/source/carla/trafficmanager/TrafficManagerServer.h

@@ -119,6 +119,12 @@ public:
         tm->SetDistanceToLeadingVehicle(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), distance);
       });
 
+      /// Method to the Global Distance to Leading vehicle
+      
+      server->bind("set_global_distance_to_leading_vehicle", [=]( const float distance) {
+        tm->SetGlobalDistanceToLeadingVehicle(distance);
+      });
+
       /// Method to specify the % chance of running any traffic light.
       server->bind("set_percentage_running_light", [=](carla::rpc::Actor actor, const float percentage) {
         tm->SetPercentageRunningLight(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);

PythonAPI/carla/source/libcarla/TrafficManager.cpp

@@ -27,5 +27,6 @@ void export_trafficmanager() {
       .def("ignore_walkers_percentage", &carla::traffic_manager::TrafficManager::SetPercentageIgnoreWalkers)
       .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("ignore_signs_percentage", &carla::traffic_manager::TrafficManager::SetPercentageRunningSign)
+      .def("set_global_distance_to_leading_vehicle", &carla::traffic_manager::TrafficManager::SetGlobalDistanceToLeadingVehicle);
 }

PythonAPI/examples/spawn_npc.py

@@ -91,6 +91,7 @@ def main():
     try:
 
         traffic_manager = client.get_trafficmanager(args.tm_port)
+        traffic_manager.set_global_distance_to_leading_vehicle(2.0)
         world = client.get_world()
 
         synchronous_master = False