Implemented parameter for OSM mode.

LibCarla/source/carla/trafficmanager/Parameters.cpp

@@ -133,6 +133,10 @@ void Parameters::SetHybridPhysicsRadius(const float radius) {
   hybrid_physics_radius.store(new_radius);
 }
 
+void Parameters::SetOSMMode(const bool mode_switch) {
+  osm_mode.store(mode_switch);
+}
+
 //////////////////////////////////// GETTERS //////////////////////////////////
 
 float Parameters::GetHybridPhysicsRadius() const {
@@ -269,5 +273,10 @@ bool Parameters::GetHybridPhysicsMode() const {
   return hybrid_physics_mode.load();
 }
 
+bool Parameters::GetOSMMode() {
+
+  return osm_mode.load();
+}
+
 } // namespace traffic_manager
 } // namespace carla

LibCarla/source/carla/trafficmanager/Parameters.h

@@ -64,6 +64,8 @@ private:
   std::atomic<bool> hybrid_physics_mode{false};
   /// Hybrid physics radius.
   std::atomic<float> hybrid_physics_radius {70.0};
+  /// Parameter specifying Open Street Map mode.
+  std::atomic<bool> osm_mode {false};
 
 public:
   Parameters();
@@ -126,6 +128,9 @@ public:
   /// Method to set hybrid physics radius.
   void SetHybridPhysicsRadius(const float radius);
 
+  /// Method to set Open Street Map mode.
+  void SetOSMMode(const bool mode_switch);
+
   ///////////////////////////////// GETTERS /////////////////////////////////////
 
   /// Method to retrieve hybrid physics radius.
@@ -170,6 +175,9 @@ public:
   /// Method to retrieve hybrid physics mode.
   bool GetHybridPhysicsMode() const;
 
+  /// Method to get Open Street Map mode.
+  bool GetOSMMode();
+
   /// Synchronous mode time out variable.
   std::chrono::duration<double, std::milli> synchronous_time_out;
 };

LibCarla/source/carla/trafficmanager/TrafficManager.h

@@ -57,6 +57,14 @@ public:
     return (_port > 1023);
   }
 
+  /// Method to set Open Street Map mode.
+  void SetOSMMode(const bool mode_switch) {
+    TrafficManagerBase* tm_ptr = GetTM(_port);
+    if (tm_ptr != nullptr) {
+      tm_ptr->SetOSMMode(mode_switch);
+    }
+  }
+
   /// This method sets the hybrid physics mode.
   void SetHybridPhysicsMode(const bool mode_switch) {
     TrafficManagerBase* tm_ptr = GetTM(_port);

LibCarla/source/carla/trafficmanager/TrafficManagerBase.h

@@ -104,6 +104,9 @@ public:
   /// Method to set hybrid physics radius.
   virtual void SetHybridPhysicsRadius(const float radius) = 0;
 
+  /// Method to set Open Street Map mode.
+  virtual void SetOSMMode(const bool mode_switch) = 0;
+
 protected:
 
 };

LibCarla/source/carla/trafficmanager/TrafficManagerClient.h

@@ -193,6 +193,12 @@ public:
     _client->call("set_hybrid_physics_radius", radius);
   }
 
+  /// Method to set Open Street Map mode.
+  void SetOSMMode(const bool mode_switch) {
+    DEBUG_ASSERT(_client != nullptr);
+    _client->call("set_osm_mode", mode_switch);
+  }
+
 private:
 
   /// RPC client.

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -338,6 +338,10 @@ void TrafficManagerLocal::SetHybridPhysicsRadius(const float radius) {
   parameters.SetHybridPhysicsRadius(radius);
 }
 
+void TrafficManagerLocal::SetOSMMode(const bool mode_switch) {
+  parameters.SetOSMMode(mode_switch);
+}
+
 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

@@ -214,6 +214,9 @@ public:
 
   /// Method to set hybrid physics radius.
   void SetHybridPhysicsRadius(const float radius);
+
+  /// Method to set Open Street Map mode.
+  void SetOSMMode(const bool mode_switch);
 };
 
 } // namespace traffic_manager

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.cpp

@@ -181,6 +181,10 @@ void TrafficManagerRemote::SetHybridPhysicsRadius(const float radius) {
   client.SetHybridPhysicsRadius(radius);
 }
 
+void TrafficManagerRemote::SetOSMMode(const bool mode_switch) {
+  client.SetOSMMode(mode_switch);
+}
+
 void TrafficManagerRemote::ResetAllTrafficLights() {
   client.ResetAllTrafficLights();
 }

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.h

@@ -102,6 +102,9 @@ public:
   /// Method to set hybrid physics radius.
   void SetHybridPhysicsRadius(const float radius);
 
+  /// Method to set Open Street Map mode.
+  void SetOSMMode(const bool mode_switch);
+
   /// Method to provide synchronous tick
   bool SynchronousTick();
 

LibCarla/source/carla/trafficmanager/TrafficManagerServer.h

@@ -163,6 +163,11 @@ public:
         tm->SetHybridPhysicsRadius(radius);
       });
 
+      /// Method to set hybrid physics radius.
+      server->bind("set_osm_mode", [=](const bool mode_switch) {
+        tm->SetHybridPhysicsRadius(mode_switch);
+      });
+
       /// Method to set synchronous mode.
       server->bind("set_synchronous_mode", [=](const bool mode) {
         tm->SetSynchronousMode(mode);

PythonAPI/carla/source/libcarla/TrafficManager.cpp

@@ -33,5 +33,6 @@ void export_trafficmanager() {
       .def("set_percentage_keep_right_rule", &carla::traffic_manager::TrafficManager::SetKeepRightPercentage)
       .def("set_synchronous_mode", &carla::traffic_manager::TrafficManager::SetSynchronousMode)
       .def("set_hybrid_physics_mode", &carla::traffic_manager::TrafficManager::SetHybridPhysicsMode)
-      .def("set_hybrid_physics_radius", &carla::traffic_manager::TrafficManager::SetHybridPhysicsRadius);
+      .def("set_hybrid_physics_radius", &carla::traffic_manager::TrafficManager::SetHybridPhysicsRadius)
+      .def("set_osm_mode", &carla::traffic_manager::TrafficManager::SetOSMMode);
 }