Unique seed for Traffic Manager

LibCarla/source/carla/trafficmanager/ALSM.cpp

@@ -27,8 +27,7 @@ ALSM::ALSM(
   CollisionStage &collision_stage,
   TrafficLightStage &traffic_light_stage,
   MotionPlanStage &motion_plan_stage,
-  VehicleLightStage &vehicle_light_stage,
+  VehicleLightStage &vehicle_light_stage)
-  RandomGeneratorMap &random_devices)
   : registered_vehicles(registered_vehicles),
     buffer_map(buffer_map),
     track_traffic(track_traffic),
@@ -41,8 +40,7 @@ ALSM::ALSM(
     collision_stage(collision_stage),
     traffic_light_stage(traffic_light_stage),
     motion_plan_stage(motion_plan_stage),
-    vehicle_light_stage(vehicle_light_stage),
+    vehicle_light_stage(vehicle_light_stage) {}
-    random_devices(random_devices) {}
 
 void ALSM::Update() {
 
@@ -375,7 +373,6 @@ void ALSM::RemoveActor(const ActorId actor_id, const bool registered_actor) {
     registered_vehicles.Remove({actor_id});
     buffer_map.erase(actor_id);
     idle_time.erase(actor_id);
-    random_devices.erase(actor_id);
     localization_stage.RemoveActor(actor_id);
     collision_stage.RemoveActor(actor_id);
     traffic_light_stage.RemoveActor(actor_id);

LibCarla/source/carla/trafficmanager/ALSM.h

@@ -64,8 +64,6 @@ private:
   // Time elapsed since last vehicle destruction due to being idle for too long.
   double elapsed_last_actor_destruction {0.0};
   cc::Timestamp current_timestamp;
-  // Random devices.
-  RandomGeneratorMap &random_devices;
   std::unordered_map<ActorId, bool> has_physics_enabled;
 
   // Updates the duration for which a registered vehicle is stuck at a location.
@@ -104,8 +102,7 @@ public:
        CollisionStage &collision_stage,
        TrafficLightStage &traffic_light_stage,
        MotionPlanStage &motion_plan_stage,
-       VehicleLightStage &vehicle_light_stage,
+       VehicleLightStage &vehicle_light_stage);
-       RandomGeneratorMap &random_devices);
 
   void Update();
 

LibCarla/source/carla/trafficmanager/CollisionStage.cpp

@@ -22,14 +22,14 @@ CollisionStage::CollisionStage(
   const TrackTraffic &track_traffic,
   const Parameters &parameters,
   CollisionFrame &output_array,
-  RandomGeneratorMap &random_devices)
+  RandomGenerator &random_device)
   : vehicle_id_list(vehicle_id_list),
     simulation_state(simulation_state),
     buffer_map(buffer_map),
     track_traffic(track_traffic),
     parameters(parameters),
     output_array(output_array),
-    random_devices(random_devices) {}
+    random_device(random_device) {}
 
 void CollisionStage::Update(const unsigned long index) {
   ActorId obstacle_id = 0u;
@@ -91,9 +91,9 @@ void CollisionStage::Update(const unsigned long index) {
                                                                        look_ahead_index);
         if (negotiation_result.first) {
           if ((other_actor_type == ActorType::Vehicle
-               && parameters.GetPercentageIgnoreVehicles(ego_actor_id) <= random_devices.at(ego_actor_id).next())
+               && parameters.GetPercentageIgnoreVehicles(ego_actor_id) <= random_device.next())
               || (other_actor_type == ActorType::Pedestrian
-                  && parameters.GetPercentageIgnoreWalkers(ego_actor_id) <= random_devices.at(ego_actor_id).next())) {
+                  && parameters.GetPercentageIgnoreWalkers(ego_actor_id) <= random_device.next())) {
             collision_hazard = true;
             obstacle_id = other_actor_id;
             available_distance_margin = negotiation_result.second;

LibCarla/source/carla/trafficmanager/CollisionStage.h

@@ -57,7 +57,7 @@ private:
   // to avoid repeated computation within a cycle.
   GeometryComparisonMap geometry_cache;
   GeodesicBoundaryMap geodesic_boundary_map;
-  RandomGeneratorMap &random_devices;
+  RandomGenerator &random_device;
 
   // Method to determine if a vehicle is on a collision path to another.
   std::pair<bool, float> NegotiateCollision(const ActorId reference_vehicle_id,
@@ -90,7 +90,7 @@ public:
                  const TrackTraffic &track_traffic,
                  const Parameters &parameters,
                  CollisionFrame &output_array,
-                 RandomGeneratorMap &random_devices);
+                 RandomGenerator &random_device);
 
   void Update (const unsigned long index) override;
 

LibCarla/source/carla/trafficmanager/LocalizationStage.cpp

@@ -22,7 +22,7 @@ LocalizationStage::LocalizationStage(
   Parameters &parameters,
   std::vector<ActorId>& marked_for_removal,
   LocalizationFrame &output_array,
-  RandomGeneratorMap &random_devices)
+  RandomGenerator &random_device)
     : vehicle_id_list(vehicle_id_list),
     buffer_map(buffer_map),
     simulation_state(simulation_state),
@@ -31,7 +31,7 @@ LocalizationStage::LocalizationStage(
     parameters(parameters),
     marked_for_removal(marked_for_removal),
     output_array(output_array),
-    random_devices(random_devices){}
+    random_device(random_device){}
 
 void LocalizationStage::Update(const unsigned long index) {
 
@@ -120,9 +120,9 @@ void LocalizationStage::Update(const unsigned long index) {
     const float perc_keep_right = parameters.GetKeepRightPercentage(actor_id);
     const float perc_random_leftlanechange = parameters.GetRandomLeftLaneChangePercentage(actor_id);
     const float perc_random_rightlanechange = parameters.GetRandomRightLaneChangePercentage(actor_id);
-    const bool is_keep_right = perc_keep_right > random_devices.at(actor_id).next();
+    const bool is_keep_right = perc_keep_right > random_device.next();
-    const bool is_random_left_change = perc_random_leftlanechange >= random_devices.at(actor_id).next();
+    const bool is_random_left_change = perc_random_leftlanechange >= random_device.next();
-    const bool is_random_right_change = perc_random_rightlanechange >= random_devices.at(actor_id).next();
+    const bool is_random_right_change = perc_random_rightlanechange >= random_device.next();
 
     // Determine which of the parameters we should apply.
     if (is_keep_right || is_random_right_change) {
@@ -135,7 +135,7 @@ void LocalizationStage::Update(const unsigned long index) {
         lane_change_direction = false;
       } else {
         // Both a left and right lane changes are forced. Choose between one of them.
-        lane_change_direction = FIFTYPERC > random_devices.at(actor_id).next();
+        lane_change_direction = FIFTYPERC > random_device.next();
       }
     }
   }
@@ -194,7 +194,7 @@ void LocalizationStage::Update(const unsigned long index) {
       uint64_t selection_index = 0u;
       // Pseudo-randomized path selection if found more than one choice.
       if (next_waypoints.size() > 1) {
-        double r_sample = random_devices.at(actor_id).next();
+        double r_sample = random_device.next();
         selection_index = static_cast<uint64_t>(r_sample*next_waypoints.size()*0.01);
       } else if (next_waypoints.size() == 0) {
         if (!parameters.GetOSMMode()) {

LibCarla/source/carla/trafficmanager/LocalizationStage.h

@@ -44,7 +44,7 @@ private:
   ActorIdSet vehicles_at_junction;
   using SimpleWaypointPair = std::pair<SimpleWaypointPtr, SimpleWaypointPtr>;
   std::unordered_map<ActorId, SimpleWaypointPair> vehicles_at_junction_entrance;
-  RandomGeneratorMap &random_devices;
+  RandomGenerator &random_device;
 
   SimpleWaypointPtr AssignLaneChange(const ActorId actor_id,
                                      const cg::Location vehicle_location,
@@ -74,7 +74,7 @@ public:
                     Parameters &parameters,
                     std::vector<ActorId>& marked_for_removal,
                     LocalizationFrame &output_array,
-                    RandomGeneratorMap &random_devices);
+                    RandomGenerator &random_device);
 
   void Update(const unsigned long index) override;
 

LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp

@@ -41,7 +41,7 @@ MotionPlanStage::MotionPlanStage(
   const TLFrame &tl_frame,
   const cc::World &world,
   ControlFrame &output_array,
-  RandomGeneratorMap &random_devices,
+  RandomGenerator &random_device,
   const LocalMapPtr &local_map)
     : vehicle_id_list(vehicle_id_list),
     simulation_state(simulation_state),
@@ -57,7 +57,7 @@ MotionPlanStage::MotionPlanStage(
     tl_frame(tl_frame),
     world(world),
     output_array(output_array),
-    random_devices(random_devices),
+    random_device(random_device),
     local_map(local_map) {
 
       // Adding structure to avoid retrieving traffic lights when checking for landmarks.
@@ -111,7 +111,7 @@ void MotionPlanStage::Update(const unsigned long index) {
     double elapsed_time = current_timestamp.elapsed_seconds - teleportation_instance.at(actor_id).elapsed_seconds;
 
     if (parameters.GetSynchronousMode() || elapsed_time > HYBRID_MODE_DT) {
-      float random_sample = (static_cast<float>(random_devices.at(actor_id).next())*dilate_factor) + lower_bound;
+      float random_sample = (static_cast<float>(random_device.next())*dilate_factor) + lower_bound;
       NodeList teleport_waypoint_list = local_map->GetWaypointsInDelta(hero_location, ATTEMPTS_TO_TELEPORT, random_sample);
       if (!teleport_waypoint_list.empty()) {
         for (auto &teleport_waypoint : teleport_waypoint_list) {

LibCarla/source/carla/trafficmanager/MotionPlanStage.h

@@ -42,7 +42,7 @@ private:
   std::unordered_map<ActorId, cc::Timestamp> teleportation_instance;
   ControlFrame &output_array;
   cc::Timestamp current_timestamp;
-  RandomGeneratorMap &random_devices;
+  RandomGenerator &random_device;
   const LocalMapPtr &local_map;
   TLMap tl_map;
 
@@ -83,7 +83,7 @@ public:
                   const TLFrame &tl_frame,
                   const cc::World &world,
                   ControlFrame &output_array,
-                  RandomGeneratorMap &random_devices,
+                  RandomGenerator &random_device,
                   const LocalMapPtr &local_map);
 
   void Update(const unsigned long index);

LibCarla/source/carla/trafficmanager/RandomGenerator.h

@@ -18,7 +18,5 @@ private:
     std::uniform_real_distribution<double> dist;
 };
 
-using RandomGeneratorMap = std::unordered_map<carla::rpc::ActorId, RandomGenerator>;
-
 } // namespace traffic_manager
 } // namespace carla

LibCarla/source/carla/trafficmanager/TrafficLightStage.cpp

@@ -17,14 +17,14 @@ TrafficLightStage::TrafficLightStage(
   const Parameters &parameters,
   const cc::World &world,
   TLFrame &output_array,
-  RandomGeneratorMap &random_devices)
+  RandomGenerator &random_device)
   : vehicle_id_list(vehicle_id_list),
     simulation_state(simulation_state),
     buffer_map(buffer_map),
     parameters(parameters),
     world(world),
     output_array(output_array),
-    random_devices(random_devices) {}
+    random_device(random_device) {}
 
 void TrafficLightStage::Update(const unsigned long index) {
   bool traffic_light_hazard = false;
@@ -46,7 +46,7 @@ void TrafficLightStage::Update(const unsigned long index) {
     if (is_at_traffic_light &&
         traffic_light_state != TLS::Green &&
         traffic_light_state != TLS::Off &&
-        parameters.GetPercentageRunningLight(ego_actor_id) <= random_devices.at(ego_actor_id).next()) {
+        parameters.GetPercentageRunningLight(ego_actor_id) <= random_device.next()) {
 
       traffic_light_hazard = true;
     }
@@ -55,7 +55,7 @@ void TrafficLightStage::Update(const unsigned long index) {
             !is_at_traffic_light &&
             traffic_light_state != TLS::Green &&
             traffic_light_state != TLS::Off &&
-            parameters.GetPercentageRunningSign(ego_actor_id) <= random_devices.at(ego_actor_id).next()) {
+            parameters.GetPercentageRunningSign(ego_actor_id) <= random_device.next()) {
 
       traffic_light_hazard = HandleNonSignalisedJunction(ego_actor_id, junction_id, current_timestamp);
     }

LibCarla/source/carla/trafficmanager/TrafficLightStage.h

@@ -26,7 +26,7 @@ private:
   /// Map containing the previous junction visited by a vehicle.
   std::unordered_map<ActorId, JunctionID> vehicle_last_junction;
   TLFrame &output_array;
-  RandomGeneratorMap &random_devices;
+  RandomGenerator &random_device;
   cc::Timestamp current_timestamp;
 
   bool HandleNonSignalisedJunction(const ActorId ego_actor_id, const JunctionID junction_id,
@@ -39,7 +39,7 @@ public:
                     const Parameters &parameters,
                     const cc::World &world,
                     TLFrame &output_array,
-                    RandomGeneratorMap &random_devices);
+                    RandomGenerator &random_device);
 
   void Update(const unsigned long index) override;
 

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -42,7 +42,7 @@ TrafficManagerLocal::TrafficManagerLocal(
                                          parameters,
                                          marked_for_removal,
                                          localization_frame,
-                                         random_devices)),
+                                         random_device)),
 
     collision_stage(CollisionStage(vehicle_id_list,
                                    simulation_state,
@@ -50,7 +50,7 @@ TrafficManagerLocal::TrafficManagerLocal(
                                    track_traffic,
                                    parameters,
                                    collision_frame,
-                                   random_devices)),
+                                   random_device)),
 
     traffic_light_stage(TrafficLightStage(vehicle_id_list,
                                           simulation_state,
@@ -58,7 +58,7 @@ TrafficManagerLocal::TrafficManagerLocal(
                                           parameters,
                                           world,
                                           tl_frame,
-                                          random_devices)),
+                                          random_device)),
 
     motion_plan_stage(MotionPlanStage(vehicle_id_list,
                                       simulation_state,
@@ -74,7 +74,7 @@ TrafficManagerLocal::TrafficManagerLocal(
                                       tl_frame,
                                       world,
                                       control_frame,
-                                      random_devices,
+                                      random_device,
                                       local_map)),
 
     vehicle_light_stage(VehicleLightStage(vehicle_id_list,
@@ -95,8 +95,7 @@ TrafficManagerLocal::TrafficManagerLocal(
               collision_stage,
               traffic_light_stage,
               motion_plan_stage,
-              vehicle_light_stage,
+              vehicle_light_stage)),
-              random_devices)),
 
     server(TrafficManagerServer(RPCportTM, static_cast<carla::traffic_manager::TrafficManagerBase *>(this))) {
 
@@ -190,6 +189,7 @@ void TrafficManagerLocal::Run() {
     unsigned long number_of_vehicles = vehicle_id_list.size();
     if (registered_vehicles_state != current_registered_vehicles_state || number_of_vehicles != registered_vehicles.Size()) {
       vehicle_id_list = registered_vehicles.GetIDList();
+      std::sort(vehicle_id_list.begin(), vehicle_id_list.end());
       number_of_vehicles = vehicle_id_list.size();
 
       // Reserve more space if needed.
@@ -282,7 +282,6 @@ void TrafficManagerLocal::Stop() {
   track_traffic.Clear();
   previous_update_instance = chr::system_clock::now();
   current_reserved_capacity = 0u;
-  random_devices.clear();
 
   simulation_state.Reset();
   localization_stage.Reset();
@@ -322,14 +321,6 @@ void TrafficManagerLocal::RegisterVehicles(const std::vector<ActorPtr> &vehicle_
   std::vector<ActorPtr> sorted_vehicle_list = vehicle_list;
   std::sort(sorted_vehicle_list.begin(), sorted_vehicle_list.end(), [](ActorPtr &a, ActorPtr &b) {return a->GetId() > b->GetId(); });
   registered_vehicles.Insert(sorted_vehicle_list);
-  for (const ActorPtr &vehicle: sorted_vehicle_list) {
-    if (!is_custom_seed) {
-      seed = vehicle->GetId() + seed;
-    } else {
-      seed = 1 + seed;
-    }
-    random_devices.insert({vehicle->GetId(), RandomGenerator(seed)});
-  }
 }
 
 void TrafficManagerLocal::UnregisterVehicles(const std::vector<ActorPtr> &actor_list) {
@@ -490,6 +481,8 @@ std::vector<ActorId> TrafficManagerLocal::GetRegisteredVehiclesIDs() {
 void TrafficManagerLocal::SetRandomDeviceSeed(const uint64_t _seed) {
   seed = _seed;
   is_custom_seed = true;
+  random_device = RandomGenerator(seed);
+  std::cout << random_device.next() << std::endl;
   world.ResetAllTrafficLights();
 }
 

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.h

@@ -109,11 +109,11 @@ private:
   std::condition_variable step_end_trigger;
   /// Single worker thread for sequential execution of sub-components.
   std::unique_ptr<std::thread> worker_thread;
-  /// Structure holding random devices per vehicle.
-  RandomGeneratorMap random_devices;
   /// Randomization seed.
   uint64_t seed {static_cast<uint64_t>(time(NULL))};
   bool is_custom_seed {false};
+  /// Structure holding random devices per vehicle.
+  RandomGenerator random_device = RandomGenerator(seed);
   std::vector<ActorId> marked_for_removal;
   /// Mutex to prevent vehicle registration during frame array re-allocation.
   std::mutex registration_mutex;