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Move from boost optional, variant, shared_ptr, filesystem to STL. Update copyright notices.

This commit is contained in:
Marcel Pi 2023-11-27 20:34:03 +01:00
parent 06a2c0467f
commit c869a55b0b
786 changed files with 1166 additions and 1157 deletions
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2
CMakeLists.txt
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@ -16,7 +16,7 @@ project (
include (CheckCCompilerFlag) include (CheckCCompilerFlag)
include (CheckCXXCompilerFlag) include (CheckCXXCompilerFlag)
set (CMAKE_CXX_STANDARD 17) set (CMAKE_CXX_STANDARD 20)
set (CMAKE_CXX_STANDARD_REQUIRED ON) set (CMAKE_CXX_STANDARD_REQUIRED ON)
set (CMAKE_EXPORT_COMPILE_COMMANDS ON) set (CMAKE_EXPORT_COMPILE_COMMANDS ON)

6
Configure.py
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@ -471,6 +471,12 @@ class DependencyUEPlugin(Dependency):
super().__init__(name, *sources) super().__init__(name, *sources)
DEFAULT_DEPENDENCIES = [ DEFAULT_DEPENDENCIES = [
Dependency(
'boost-asio',
GitRepository('https://github.com/boostorg/asio.git')),
Dependency(
'boost-python',
GitRepository('https://github.com/boostorg/python.git')),
Dependency( Dependency(
'boost', 'boost',
Download(f'https://boostorg.jfrog.io/artifactory/main/release/{BOOST_VERSION_STRING}/source/boost_{BOOST_VERSION_MAJOR}_{BOOST_VERSION_MINOR}_{BOOST_VERSION_PATCH}.zip'), Download(f'https://boostorg.jfrog.io/artifactory/main/release/{BOOST_VERSION_STRING}/source/boost_{BOOST_VERSION_MAJOR}_{BOOST_VERSION_MINOR}_{BOOST_VERSION_PATCH}.zip'),

6
Examples/CppClient/main.cpp
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@ -99,7 +99,7 @@ int main(int argc, const char *argv[]) {
// Spawn the vehicle. // Spawn the vehicle.
auto actor = world.SpawnActor(blueprint, transform); auto actor = world.SpawnActor(blueprint, transform);
std::cout << "Spawned " << actor->GetDisplayId() << '\n'; std::cout << "Spawned " << actor->GetDisplayId() << '\n';
auto vehicle = boost::static_pointer_cast<cc::Vehicle>(actor); auto vehicle = std::static_pointer_cast<cc::Vehicle>(actor);
// Apply control to vehicle. // Apply control to vehicle.
cc::Vehicle::Control control; cc::Vehicle::Control control;
@ -124,11 +124,11 @@ int main(int argc, const char *argv[]) {
cg::Location{-5.5f, 0.0f, 2.8f}, // x, y, z. cg::Location{-5.5f, 0.0f, 2.8f}, // x, y, z.
cg::Rotation{-15.0f, 0.0f, 0.0f}}; // pitch, yaw, roll. cg::Rotation{-15.0f, 0.0f, 0.0f}}; // pitch, yaw, roll.
auto cam_actor = world.SpawnActor(*camera_bp, camera_transform, actor.get()); auto cam_actor = world.SpawnActor(*camera_bp, camera_transform, actor.get());
auto camera = boost::static_pointer_cast<cc::Sensor>(cam_actor); auto camera = std::static_pointer_cast<cc::Sensor>(cam_actor);
// Register a callback to save images to disk. // Register a callback to save images to disk.
camera->Listen([](auto data) { camera->Listen([](auto data) {
auto image = boost::static_pointer_cast<csd::Image>(data); auto image = std::static_pointer_cast<csd::Image>(data);
EXPECT_TRUE(image != nullptr); EXPECT_TRUE(image != nullptr);
SaveSemSegImageToDisk(*image); SaveSemSegImageToDisk(*image);
}); });

10
LibCarla/source/carla/AtomicList.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -30,14 +30,14 @@ namespace detail {
template <typename ValueT> template <typename ValueT>
void Push(ValueT &&value) { void Push(ValueT &&value) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
auto new_list = std::make_shared<ListT>(*Load()); auto new_list = std::make_shared<ListT>(*Load());
new_list->emplace_back(std::forward<ValueT>(value)); new_list->emplace_back(std::forward<ValueT>(value));
_list = new_list; _list = new_list;
} }
void DeleteByIndex(size_t index) { void DeleteByIndex(size_t index) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
auto new_list = std::make_shared<ListT>(*Load()); auto new_list = std::make_shared<ListT>(*Load());
auto begin = new_list->begin(); auto begin = new_list->begin();
std::advance(begin, index); std::advance(begin, index);
@ -47,14 +47,14 @@ namespace detail {
template <typename ValueT> template <typename ValueT>
void DeleteByValue(const ValueT &value) { void DeleteByValue(const ValueT &value) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
auto new_list = std::make_shared<ListT>(*Load()); auto new_list = std::make_shared<ListT>(*Load());
new_list->erase(std::remove(new_list->begin(), new_list->end(), value), new_list->end()); new_list->erase(std::remove(new_list->begin(), new_list->end(), value), new_list->end());
_list = new_list; _list = new_list;
} }
void Clear() { void Clear() {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
_list = std::make_shared<ListT>(); _list = std::make_shared<ListT>();
} }

2
LibCarla/source/carla/AtomicSharedPtr.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/Buffer.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/BufferPool.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/Debug.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

10
LibCarla/source/carla/Exception.cpp
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@ -1,11 +1,11 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>. // For a copy, see <https://opensource.org/licenses/MIT>.
#include "carla/Exception.h" #include "carla/Exception.h"
#include <boost/assert/source_location.hpp> #include <source_location>
// ============================================================================= // =============================================================================
// -- Define boost::throw_exception -------------------------------------------- // -- Define boost::throw_exception --------------------------------------------
@ -15,13 +15,15 @@
namespace boost { namespace boost {
void throw_exception(const std::exception &e) { void throw_exception(const std::exception &e)
{
carla::throw_exception(e); carla::throw_exception(e);
} }
void throw_exception( void throw_exception(
const std::exception &e, const std::exception &e,
boost::source_location const & loc) { std::source_location const& loc)
{
throw_exception(e); throw_exception(e);
} }

2
LibCarla/source/carla/Exception.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

6
LibCarla/source/carla/FileSystem.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -9,11 +9,11 @@
#include "carla/Exception.h" #include "carla/Exception.h"
#include "carla/StringUtil.h" #include "carla/StringUtil.h"
#include <boost/filesystem/operations.hpp> #include <filesystem>
namespace carla { namespace carla {
namespace fs = boost::filesystem; namespace fs = std::filesystem;
void FileSystem::ValidateFilePath(std::string &filepath, const std::string &ext) { void FileSystem::ValidateFilePath(std::string &filepath, const std::string &ext) {
fs::path path(filepath); fs::path path(filepath);

2
LibCarla/source/carla/FileSystem.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/Functional.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/Iterator.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/ListView.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/Logging.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

18
LibCarla/source/carla/Memory.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -6,28 +6,26 @@
#pragma once #pragma once
#include <boost/enable_shared_from_this.hpp> #include <memory>
#include <boost/make_shared.hpp> #include <utility>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
namespace carla { namespace carla {
/// Use this SharedPtr (boost::shared_ptr) to keep compatibility with /// Use this SharedPtr (std::shared_ptr) to keep compatibility with
/// boost::python, but it would be nice if in the future we can make a Python /// boost::python, but it would be nice if in the future we can make a Python
/// adaptor for std::shared_ptr. /// adaptor for std::shared_ptr.
template <typename T> template <typename T>
using SharedPtr = boost::shared_ptr<T>; using SharedPtr = std::shared_ptr<T>;
template <typename T> template <typename T>
using WeakPtr = boost::weak_ptr<T>; using WeakPtr = std::weak_ptr<T>;
template <typename T> template <typename T>
using EnableSharedFromThis = boost::enable_shared_from_this<T>; using EnableSharedFromThis = std::enable_shared_from_this<T>;
template <typename T, typename... Args> template <typename T, typename... Args>
static inline auto MakeShared(Args &&... args) { static inline auto MakeShared(Args &&... args) {
return boost::make_shared<T>(std::forward<Args>(args)...); return std::make_shared<T>(std::forward<Args>(args)...);
} }
} // namespace carla } // namespace carla

2
LibCarla/source/carla/MoveHandler.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/MsgPack.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

46
LibCarla/source/carla/MsgPackAdaptors.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -9,16 +9,16 @@
#include "carla/Exception.h" #include "carla/Exception.h"
#include "carla/MsgPack.h" #include "carla/MsgPack.h"
#include <boost/optional.hpp> #include <optional>
#ifdef _MSC_VER #ifdef _MSC_VER
#pragma warning(push) #pragma warning(push)
#pragma warning(disable:4583) #pragma warning(disable:4583)
#pragma warning(disable:4582) #pragma warning(disable:4582)
#include <boost/variant2/variant.hpp> #include <variant>
#pragma warning(pop) #pragma warning(pop)
#else #else
#include <boost/variant2/variant.hpp> #include <variant>
#endif #endif
#include <tuple> #include <tuple>
@ -28,21 +28,21 @@ MSGPACK_API_VERSION_NAMESPACE(MSGPACK_DEFAULT_API_NS) {
namespace adaptor { namespace adaptor {
// =========================================================================== // ===========================================================================
// -- Adaptors for boost::optional ------------------------------------------- // -- Adaptors for std::optional -------------------------------------------
// =========================================================================== // ===========================================================================
template<typename T> template<typename T>
struct convert<boost::optional<T>> { struct convert<std::optional<T>> {
const clmdep_msgpack::object &operator()( const clmdep_msgpack::object &operator()(
const clmdep_msgpack::object &o, const clmdep_msgpack::object &o,
boost::optional<T> &v) const { std::optional<T> &v) const {
if (o.type != clmdep_msgpack::type::ARRAY) { if (o.type != clmdep_msgpack::type::ARRAY) {
::carla::throw_exception(clmdep_msgpack::type_error()); ::carla::throw_exception(clmdep_msgpack::type_error());
} }
if (o.via.array.size == 1) { if (o.via.array.size == 1) {
v.reset(); v.reset();
} else if (o.via.array.size == 2) { } else if (o.via.array.size == 2) {
v.reset(o.via.array.ptr[1].as<T>()); v = o.via.array.ptr[1].as<T>();
} else { } else {
::carla::throw_exception(clmdep_msgpack::type_error()); ::carla::throw_exception(clmdep_msgpack::type_error());
} }
@ -51,11 +51,11 @@ namespace adaptor {
}; };
template<typename T> template<typename T>
struct pack<boost::optional<T>> { struct pack<std::optional<T>> {
template <typename Stream> template <typename Stream>
packer<Stream> &operator()( packer<Stream> &operator()(
clmdep_msgpack::packer<Stream> &o, clmdep_msgpack::packer<Stream> &o,
const boost::optional<T> &v) const { const std::optional<T> &v) const {
if (v.has_value()) { if (v.has_value()) {
o.pack_array(2); o.pack_array(2);
o.pack(true); o.pack(true);
@ -69,10 +69,10 @@ namespace adaptor {
}; };
template<typename T> template<typename T>
struct object_with_zone<boost::optional<T>> { struct object_with_zone<std::optional<T>> {
void operator()( void operator()(
clmdep_msgpack::object::with_zone &o, clmdep_msgpack::object::with_zone &o,
const boost::optional<T> &v) const { const std::optional<T> &v) const {
o.type = type::ARRAY; o.type = type::ARRAY;
if (v.has_value()) { if (v.has_value()) {
o.via.array.size = 2; o.via.array.size = 2;
@ -92,15 +92,15 @@ namespace adaptor {
}; };
// =========================================================================== // ===========================================================================
// -- Adaptors for boost::variant2::variant ---------------------------------- // -- Adaptors for std::variant ----------------------------------
// =========================================================================== // ===========================================================================
template<typename... Ts> template<typename... Ts>
struct convert<boost::variant2::variant<Ts...>> { struct convert<std::variant<Ts...>> {
const clmdep_msgpack::object &operator()( const clmdep_msgpack::object &operator()(
const clmdep_msgpack::object &o, const clmdep_msgpack::object &o,
boost::variant2::variant<Ts...> &v) const { std::variant<Ts...> &v) const {
if (o.type != clmdep_msgpack::type::ARRAY) { if (o.type != clmdep_msgpack::type::ARRAY) {
::carla::throw_exception(clmdep_msgpack::type_error()); ::carla::throw_exception(clmdep_msgpack::type_error());
} }
@ -117,7 +117,7 @@ namespace adaptor {
template <uint64_t I> template <uint64_t I>
static void copy_to_variant_impl( static void copy_to_variant_impl(
const clmdep_msgpack::object &o, const clmdep_msgpack::object &o,
boost::variant2::variant<Ts...> &v) { std::variant<Ts...> &v) {
/// @todo Workaround for finding the type. /// @todo Workaround for finding the type.
auto dummy = std::get<I>(std::tuple<Ts...>{}); auto dummy = std::get<I>(std::tuple<Ts...>{});
using T = decltype(dummy); using T = decltype(dummy);
@ -128,7 +128,7 @@ namespace adaptor {
static void copy_to_variant( static void copy_to_variant(
const uint64_t index, const uint64_t index,
const clmdep_msgpack::object &o, const clmdep_msgpack::object &o,
boost::variant2::variant<Ts...> &v, std::variant<Ts...> &v,
std::index_sequence<Is...>) { std::index_sequence<Is...>) {
std::initializer_list<int> ({ std::initializer_list<int> ({
(index == Is ? copy_to_variant_impl<Is>(o, v), 0 : 0)... (index == Is ? copy_to_variant_impl<Is>(o, v), 0 : 0)...
@ -137,30 +137,30 @@ namespace adaptor {
}; };
template<typename... Ts> template<typename... Ts>
struct pack<boost::variant2::variant<Ts...>> { struct pack<std::variant<Ts...>> {
template <typename Stream> template <typename Stream>
packer<Stream> &operator()( packer<Stream> &operator()(
clmdep_msgpack::packer<Stream> &o, clmdep_msgpack::packer<Stream> &o,
const boost::variant2::variant<Ts...> &v) const { const std::variant<Ts...> &v) const {
o.pack_array(2); o.pack_array(2);
o.pack(static_cast<uint64_t>(v.index())); o.pack(static_cast<uint64_t>(v.index()));
boost::variant2::visit([&](const auto &value) { o.pack(value); }, v); std::visit([&](const auto &value) { o.pack(value); }, v);
return o; return o;
} }
}; };
template<typename... Ts> template<typename... Ts>
struct object_with_zone<boost::variant2::variant<Ts...>> { struct object_with_zone<std::variant<Ts...>> {
void operator()( void operator()(
clmdep_msgpack::object::with_zone &o, clmdep_msgpack::object::with_zone &o,
const boost::variant2::variant<Ts...> &v) const { const std::variant<Ts...> &v) const {
o.type = type::ARRAY; o.type = type::ARRAY;
o.via.array.size = 2; o.via.array.size = 2;
o.via.array.ptr = static_cast<clmdep_msgpack::object*>(o.zone.allocate_align( o.via.array.ptr = static_cast<clmdep_msgpack::object*>(o.zone.allocate_align(
sizeof(clmdep_msgpack::object) * o.via.array.size, sizeof(clmdep_msgpack::object) * o.via.array.size,
MSGPACK_ZONE_ALIGNOF(clmdep_msgpack::object))); MSGPACK_ZONE_ALIGNOF(clmdep_msgpack::object)));
o.via.array.ptr[0] = clmdep_msgpack::object(static_cast<uint64_t>(v.index()), o.zone); o.via.array.ptr[0] = clmdep_msgpack::object(static_cast<uint64_t>(v.index()), o.zone);
boost::variant2::visit([&](const auto &value) { std::visit([&](const auto &value) {
o.via.array.ptr[1] = clmdep_msgpack::object(value, o.zone); o.via.array.ptr[1] = clmdep_msgpack::object(value, o.zone);
}, v); }, v);
} }

2
LibCarla/source/carla/NonCopyable.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/Platform.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/PythonUtil.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

20
LibCarla/source/carla/RecurrentSharedFuture.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -9,15 +9,15 @@
#include "carla/Exception.h" #include "carla/Exception.h"
#include "carla/Time.h" #include "carla/Time.h"
#include <boost/optional.hpp> #include <optional>
#ifdef _MSC_VER #ifdef _MSC_VER
#pragma warning(push) #pragma warning(push)
#pragma warning(disable:4583) #pragma warning(disable:4583)
#pragma warning(disable:4582) #pragma warning(disable:4582)
#include <boost/variant2/variant.hpp> #include <variant>
#pragma warning(pop) #pragma warning(pop)
#else #else
#include <boost/variant2/variant.hpp> #include <variant>
#endif #endif
#include <condition_variable> #include <condition_variable>
@ -49,7 +49,7 @@ namespace detail {
/// simultaneously. /// simultaneously.
/// ///
/// @return empty optional if the timeout is met. /// @return empty optional if the timeout is met.
boost::optional<T> WaitFor(time_duration timeout); std::optional<T> WaitFor(time_duration timeout);
/// Set the value and notify all waiting threads. /// Set the value and notify all waiting threads.
template <typename T2> template <typename T2>
@ -71,7 +71,7 @@ namespace detail {
struct mapped_type { struct mapped_type {
bool should_wait; bool should_wait;
boost::variant2::variant<SharedException, T> value; std::variant<SharedException, T> value;
}; };
std::map<const char *, mapped_type> _map; std::map<const char *, mapped_type> _map;
@ -110,7 +110,7 @@ namespace detail {
} // namespace detail } // namespace detail
template <typename T> template <typename T>
boost::optional<T> RecurrentSharedFuture<T>::WaitFor(time_duration timeout) { std::optional<T> RecurrentSharedFuture<T>::WaitFor(time_duration timeout) {
std::unique_lock<std::mutex> lock(_mutex); std::unique_lock<std::mutex> lock(_mutex);
auto &r = _map[&detail::thread_tag]; auto &r = _map[&detail::thread_tag];
r.should_wait = true; r.should_wait = true;
@ -118,15 +118,15 @@ namespace detail {
return {}; return {};
} }
if (r.value.index() == 0) { if (r.value.index() == 0) {
throw_exception(boost::variant2::get<SharedException>(r.value)); throw_exception(std::get<SharedException>(r.value));
} }
return boost::variant2::get<T>(std::move(r.value)); return std::get<T>(std::move(r.value));
} }
template <typename T> template <typename T>
template <typename T2> template <typename T2>
void RecurrentSharedFuture<T>::SetValue(const T2 &value) { void RecurrentSharedFuture<T>::SetValue(const T2 &value) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
for (auto &pair : _map) { for (auto &pair : _map) {
pair.second.should_wait = false; pair.second.should_wait = false;
pair.second.value = value; pair.second.value = value;

2
LibCarla/source/carla/Sockets.h
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/StopWatch.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/StringUtil.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/StringUtil.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/ThreadGroup.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

9
LibCarla/source/carla/ThreadPool.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -39,12 +39,7 @@ namespace carla {
/// Post a task to the pool. /// Post a task to the pool.
template < template <
typename FunctorT, typename FunctorT,
#if __cplusplus < 201703L typename ResultT = typename std::invoke_result_t<FunctorT()>>
typename ResultT = typename std::result_of_t<FunctorT()>
#else
typename ResultT = typename std::invoke_result_t<FunctorT()>
#endif
>
std::future<ResultT> Post(FunctorT &&functor) { std::future<ResultT> Post(FunctorT &&functor) {
auto task = std::packaged_task<ResultT()>(std::forward<FunctorT>(functor)); auto task = std::packaged_task<ResultT()>(std::forward<FunctorT>(functor));
auto future = task.get_future(); auto future = task.get_future();

20
LibCarla/source/carla/Time.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -7,11 +7,12 @@
#pragma once #pragma once
#include "carla/Debug.h" #include "carla/Debug.h"
#include <boost/date_time/posix_time/posix_time_types.hpp>
#include <chrono> #include <chrono>
#if __has_include(<boost/date_time/posix_time/posix_time_types.hpp>)
#include <boost/date_time/posix_time/posix_time_types.hpp>
#endif
namespace carla { namespace carla {
/// Positive time duration up to milliseconds resolution. Automatically casts /// Positive time duration up to milliseconds resolution. Automatically casts
@ -36,16 +37,19 @@ namespace carla {
DEBUG_ASSERT(count >= 0); DEBUG_ASSERT(count >= 0);
return static_cast<size_t>(count); return static_cast<size_t>(count);
}()) {} }()) {}
time_duration(boost::posix_time::time_duration timeout)
: time_duration(std::chrono::milliseconds(timeout.total_milliseconds())) {}
time_duration(const time_duration &) = default; time_duration(const time_duration &) = default;
time_duration &operator=(const time_duration &) = default; time_duration &operator=(const time_duration &) = default;
#if __has_include(<boost/date_time/posix_time/posix_time_types.hpp>)
time_duration(boost::posix_time::time_duration timeout)
: time_duration(std::chrono::milliseconds(timeout.total_milliseconds()))
{
}
boost::posix_time::time_duration to_posix_time() const { boost::posix_time::time_duration to_posix_time() const {
return boost::posix_time::milliseconds(_milliseconds); return boost::posix_time::milliseconds(_milliseconds);
} }
#endif
constexpr auto to_chrono() const { constexpr auto to_chrono() const {
return std::chrono::milliseconds(_milliseconds); return std::chrono::milliseconds(_milliseconds);

2
LibCarla/source/carla/TypeTraits.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Actor.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Actor.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ActorAttribute.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ActorAttribute.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ActorBlueprint.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ActorBlueprint.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ActorList.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ActorList.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ActorSnapshot.h
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@ -1,4 +1,4 @@
// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/BlueprintLibrary.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/BlueprintLibrary.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Client.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ClientSideSensor.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/DebugHelper.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/DebugHelper.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/FIleTransfer.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/FileTransfer.h
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@ -1,4 +1,4 @@
// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/GarbageCollectionPolicy.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Junction.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Junction.h
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Landmark.h
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

4
LibCarla/source/carla/client/LaneInvasionSensor.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -144,7 +144,7 @@ namespace client {
} }
void LaneInvasionSensor::Listen(CallbackFunctionType callback) { void LaneInvasionSensor::Listen(CallbackFunctionType callback) {
auto vehicle = boost::dynamic_pointer_cast<Vehicle>(GetParent()); auto vehicle = std::dynamic_pointer_cast<Vehicle>(GetParent());
if (vehicle == nullptr) { if (vehicle == nullptr) {
log_error(GetDisplayId(), ": not attached to a vehicle"); log_error(GetDisplayId(), ": not attached to a vehicle");
return; return;

2
LibCarla/source/carla/client/LaneInvasionSensor.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Light.cpp
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@ -1,5 +1,5 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Light.h
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

18
LibCarla/source/carla/client/LightManager.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -216,7 +216,7 @@ bool LightManager::IsActive(LightId id) const {
} }
void LightManager::SetActive(LightId id, bool active) { void LightManager::SetActive(LightId id, bool active) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
LightState& state = const_cast<LightState&>(RetrieveLightState(id)); LightState& state = const_cast<LightState&>(RetrieveLightState(id));
state._active = active; state._active = active;
_lights_changes[id] = state; _lights_changes[id] = state;
@ -224,7 +224,7 @@ void LightManager::SetActive(LightId id, bool active) {
} }
void LightManager::SetColor(LightId id, Color color) { void LightManager::SetColor(LightId id, Color color) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
LightState& state = const_cast<LightState&>(RetrieveLightState(id)); LightState& state = const_cast<LightState&>(RetrieveLightState(id));
state._color = color; state._color = color;
_lights_changes[id] = state; _lights_changes[id] = state;
@ -232,7 +232,7 @@ void LightManager::SetColor(LightId id, Color color) {
} }
void LightManager::SetIntensity(LightId id, float intensity) { void LightManager::SetIntensity(LightId id, float intensity) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
LightState& state = const_cast<LightState&>(RetrieveLightState(id)); LightState& state = const_cast<LightState&>(RetrieveLightState(id));
state._intensity = intensity; state._intensity = intensity;
_lights_changes[id] = state; _lights_changes[id] = state;
@ -240,7 +240,7 @@ void LightManager::SetIntensity(LightId id, float intensity) {
} }
void LightManager::SetLightState(LightId id, const LightState& new_state) { void LightManager::SetLightState(LightId id, const LightState& new_state) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
LightState& state = const_cast<LightState&>(RetrieveLightState(id)); LightState& state = const_cast<LightState&>(RetrieveLightState(id));
state = new_state; state = new_state;
_lights_changes[id] = state; _lights_changes[id] = state;
@ -254,7 +254,7 @@ void LightManager::SetLightStateNoLock(LightId id, const LightState& new_state)
} }
void LightManager::SetLightGroup(LightId id, LightGroup group) { void LightManager::SetLightGroup(LightId id, LightGroup group) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
LightState& state = const_cast<LightState&>(RetrieveLightState(id)); LightState& state = const_cast<LightState&>(RetrieveLightState(id));
state._group = group; state._group = group;
_lights_changes[id] = state; _lights_changes[id] = state;
@ -271,7 +271,7 @@ const LightState& LightManager::RetrieveLightState(LightId id) const {
} }
void LightManager::QueryLightsStateToServer() { void LightManager::QueryLightsStateToServer() {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
// Send blocking query // Send blocking query
std::vector<rpc::LightState> lights_snapshot = _episode.Lock()->QueryLightsStateToServer(); std::vector<rpc::LightState> lights_snapshot = _episode.Lock()->QueryLightsStateToServer();
@ -294,7 +294,7 @@ void LightManager::QueryLightsStateToServer() {
} }
void LightManager::UpdateServerLightsState(bool discard_client) { void LightManager::UpdateServerLightsState(bool discard_client) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
if(_dirty) { if(_dirty) {
std::vector<rpc::LightState> message; std::vector<rpc::LightState> message;
@ -321,7 +321,7 @@ void LightManager::UpdateServerLightsState(bool discard_client) {
} }
void LightManager::ApplyChanges() { void LightManager::ApplyChanges() {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
for(const auto& it : _lights_changes) { for(const auto& it : _lights_changes) {
SetLightStateNoLock(it.first, it.second); SetLightStateNoLock(it.first, it.second);
} }

2
LibCarla/source/carla/client/LightManager.h
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/LightState.h
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@ -1,4 +1,4 @@
// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

6
LibCarla/source/carla/client/Map.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -45,7 +45,7 @@ namespace client {
const geom::Location &location, const geom::Location &location,
bool project_to_road, bool project_to_road,
int32_t lane_type) const { int32_t lane_type) const {
boost::optional<road::element::Waypoint> waypoint; std::optional<road::element::Waypoint> waypoint;
if (project_to_road) { if (project_to_road) {
waypoint = _map.GetClosestWaypointOnRoad(location, lane_type); waypoint = _map.GetClosestWaypointOnRoad(location, lane_type);
} else { } else {
@ -60,7 +60,7 @@ namespace client {
carla::road::RoadId road_id, carla::road::RoadId road_id,
carla::road::LaneId lane_id, carla::road::LaneId lane_id,
float s) const { float s) const {
boost::optional<road::element::Waypoint> waypoint; std::optional<road::element::Waypoint> waypoint;
waypoint = _map.GetWaypoint(road_id, lane_id, s); waypoint = _map.GetWaypoint(road_id, lane_id, s);
return waypoint.has_value() ? return waypoint.has_value() ?
SharedPtr<Waypoint>(new Waypoint{shared_from_this(), *waypoint}) : SharedPtr<Waypoint>(new Waypoint{shared_from_this(), *waypoint}) :

2
LibCarla/source/carla/client/Map.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Sensor.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ServerSideSensor.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/ServerSideSensor.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/TimeoutException.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/TimeoutException.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Timestamp.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

4
LibCarla/source/carla/client/TrafficLight.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -69,7 +69,7 @@ namespace client {
auto ids = GetEpisode().Lock()->GetGroupTrafficLights(*this); auto ids = GetEpisode().Lock()->GetGroupTrafficLights(*this);
for (auto id : ids) { for (auto id : ids) {
SharedPtr<Actor> actor = GetWorld().GetActors()->Find(id); SharedPtr<Actor> actor = GetWorld().GetActors()->Find(id);
result.push_back(boost::static_pointer_cast<TrafficLight>(actor)); result.push_back(std::static_pointer_cast<TrafficLight>(actor));
} }
return result; return result;
} }

2
LibCarla/source/carla/client/TrafficLight.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/TrafficSign.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/TrafficSign.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

4
LibCarla/source/carla/client/Vehicle.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -117,7 +117,7 @@ namespace client {
SharedPtr<TrafficLight> Vehicle::GetTrafficLight() const { SharedPtr<TrafficLight> Vehicle::GetTrafficLight() const {
auto id = GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.traffic_light_id; auto id = GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.traffic_light_id;
return boost::static_pointer_cast<TrafficLight>(GetWorld().GetActor(id)); return std::static_pointer_cast<TrafficLight>(GetWorld().GetActor(id));
} }
void Vehicle::EnableCarSim(std::string simfile_path) { void Vehicle::EnableCarSim(std::string simfile_path) {

2
LibCarla/source/carla/client/Vehicle.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Walker.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/Walker.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

4
LibCarla/source/carla/client/WalkerAIController.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -44,7 +44,7 @@ namespace client {
} }
} }
boost::optional<geom::Location> WalkerAIController::GetRandomLocation() { std::optional<geom::Location> WalkerAIController::GetRandomLocation() {
auto nav = GetEpisode().Lock()->GetNavigation(); auto nav = GetEpisode().Lock()->GetNavigation();
if (nav != nullptr) { if (nav != nullptr) {
return nav->GetRandomLocation(); return nav->GetRandomLocation();

6
LibCarla/source/carla/client/WalkerAIController.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -9,7 +9,7 @@
#include "carla/client/Actor.h" #include "carla/client/Actor.h"
#include "carla/geom/Vector3D.h" #include "carla/geom/Vector3D.h"
#include <boost/optional.hpp> #include <optional>
namespace carla { namespace carla {
namespace client { namespace client {
@ -23,7 +23,7 @@ namespace client {
void Stop(); void Stop();
boost::optional<geom::Location> GetRandomLocation(); std::optional<geom::Location> GetRandomLocation();
void GoToLocation(const carla::geom::Location &destination); void GoToLocation(const carla::geom::Location &destination);

10
LibCarla/source/carla/client/Waypoint.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -145,18 +145,18 @@ namespace client {
return nullptr; return nullptr;
} }
boost::optional<road::element::LaneMarking> Waypoint::GetRightLaneMarking() const { std::optional<road::element::LaneMarking> Waypoint::GetRightLaneMarking() const {
if (_mark_record.first != nullptr) { if (_mark_record.first != nullptr) {
return road::element::LaneMarking(*_mark_record.first); return road::element::LaneMarking(*_mark_record.first);
} }
return boost::optional<road::element::LaneMarking>{}; return std::optional<road::element::LaneMarking>{};
} }
boost::optional<road::element::LaneMarking> Waypoint::GetLeftLaneMarking() const { std::optional<road::element::LaneMarking> Waypoint::GetLeftLaneMarking() const {
if (_mark_record.second != nullptr) { if (_mark_record.second != nullptr) {
return road::element::LaneMarking(*_mark_record.second); return road::element::LaneMarking(*_mark_record.second);
} }
return boost::optional<road::element::LaneMarking>{}; return std::optional<road::element::LaneMarking>{};
} }
template <typename EnumT> template <typename EnumT>

8
LibCarla/source/carla/client/Waypoint.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -15,7 +15,7 @@
#include "carla/road/Lane.h" #include "carla/road/Lane.h"
#include "carla/road/RoadTypes.h" #include "carla/road/RoadTypes.h"
#include <boost/optional.hpp> #include <optional>
namespace carla { namespace carla {
namespace client { namespace client {
@ -85,9 +85,9 @@ namespace client {
SharedPtr<Waypoint> GetLeft() const; SharedPtr<Waypoint> GetLeft() const;
boost::optional<road::element::LaneMarking> GetRightLaneMarking() const; std::optional<road::element::LaneMarking> GetRightLaneMarking() const;
boost::optional<road::element::LaneMarking> GetLeftLaneMarking() const; std::optional<road::element::LaneMarking> GetLeftLaneMarking() const;
road::element::LaneMarking::LaneChange GetLaneChange() const; road::element::LaneMarking::LaneChange GetLaneChange() const;

10
LibCarla/source/carla/client/World.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -41,7 +41,7 @@ namespace client {
return _episode.Lock()->GetVehiclesLightStates(); return _episode.Lock()->GetVehiclesLightStates();
} }
boost::optional<geom::Location> World::GetRandomLocationFromNavigation() const { std::optional<geom::Location> World::GetRandomLocationFromNavigation() const {
return _episode.Lock()->GetRandomLocationFromNavigation(); return _episode.Lock()->GetRandomLocationFromNavigation();
} }
@ -68,7 +68,7 @@ namespace client {
for (auto i = 0u; i < number_of_attemps; i++) { for (auto i = 0u; i < number_of_attemps; i++) {
const auto curr_snapshot = GetSnapshot(); const auto curr_snapshot = GetSnapshot();
const double error = abs(new_settings.fixed_delta_seconds.get() - curr_snapshot.GetTimestamp().delta_seconds); const double error = abs(new_settings.fixed_delta_seconds.value() - curr_snapshot.GetTimestamp().delta_seconds);
if (error < std::numeric_limits<float>::epsilon()) if (error < std::numeric_limits<float>::epsilon())
tics_correct++; tics_correct++;
@ -237,7 +237,7 @@ namespace client {
_episode.Lock()->EnableEnvironmentObjects(env_objects_ids, enable); _episode.Lock()->EnableEnvironmentObjects(env_objects_ids, enable);
} }
boost::optional<rpc::LabelledPoint> World::ProjectPoint( std::optional<rpc::LabelledPoint> World::ProjectPoint(
geom::Location location, geom::Vector3D direction, float search_distance) const { geom::Location location, geom::Vector3D direction, float search_distance) const {
auto result = _episode.Lock()->ProjectPoint(location, direction, search_distance); auto result = _episode.Lock()->ProjectPoint(location, direction, search_distance);
if (result.first) { if (result.first) {
@ -246,7 +246,7 @@ namespace client {
return {}; return {};
} }
boost::optional<rpc::LabelledPoint> World::GroundProjection( std::optional<rpc::LabelledPoint> World::GroundProjection(
geom::Location location, float search_distance) const { geom::Location location, float search_distance) const {
const geom::Vector3D DownVector(0,0,-1); const geom::Vector3D DownVector(0,0,-1);
return ProjectPoint(location, DownVector, search_distance); return ProjectPoint(location, DownVector, search_distance);

10
LibCarla/source/carla/client/World.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -29,7 +29,7 @@
#include "carla/rpc/Texture.h" #include "carla/rpc/Texture.h"
#include "carla/rpc/MaterialParameter.h" #include "carla/rpc/MaterialParameter.h"
#include <boost/optional.hpp> #include <optional>
namespace carla { namespace carla {
namespace client { namespace client {
@ -76,7 +76,7 @@ namespace client {
rpc::VehicleLightStateList GetVehiclesLightStates() const; rpc::VehicleLightStateList GetVehiclesLightStates() const;
/// Get a random location from the pedestrians navigation mesh /// Get a random location from the pedestrians navigation mesh
boost::optional<geom::Location> GetRandomLocationFromNavigation() const; std::optional<geom::Location> GetRandomLocationFromNavigation() const;
/// Return the spectator actor. The spectator controls the view in the /// Return the spectator actor. The spectator controls the view in the
/// simulator window. /// simulator window.
@ -177,10 +177,10 @@ namespace client {
std::vector<uint64_t> env_objects_ids, std::vector<uint64_t> env_objects_ids,
bool enable) const; bool enable) const;
boost::optional<rpc::LabelledPoint> ProjectPoint( std::optional<rpc::LabelledPoint> ProjectPoint(
geom::Location location, geom::Vector3D direction, float search_distance = 10000.f) const; geom::Location location, geom::Vector3D direction, float search_distance = 10000.f) const;
boost::optional<rpc::LabelledPoint> GroundProjection( std::optional<rpc::LabelledPoint> GroundProjection(
geom::Location location, float search_distance = 10000.0) const; geom::Location location, float search_distance = 10000.0) const;
std::vector<rpc::LabelledPoint> CastRay( std::vector<rpc::LabelledPoint> CastRay(

6
LibCarla/source/carla/client/WorldSnapshot.h
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@ -1,4 +1,4 @@
// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -10,7 +10,7 @@
#include "carla/client/ActorSnapshot.h" #include "carla/client/ActorSnapshot.h"
#include "carla/client/detail/EpisodeState.h" #include "carla/client/detail/EpisodeState.h"
#include <boost/optional.hpp> #include <optional>
namespace carla { namespace carla {
namespace client { namespace client {
@ -41,7 +41,7 @@ namespace client {
} }
/// Find an ActorSnapshot by id. /// Find an ActorSnapshot by id.
boost::optional<ActorSnapshot> Find(ActorId actor_id) const { std::optional<ActorSnapshot> Find(ActorId actor_id) const {
return _state->GetActorSnapshotIfPresent(actor_id); return _state->GetActorSnapshotIfPresent(actor_id);
} }

2
LibCarla/source/carla/client/detail/ActorFactory.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/detail/ActorFactory.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/detail/ActorState.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/detail/ActorState.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

4
LibCarla/source/carla/client/detail/ActorVariant.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -16,7 +16,7 @@ namespace detail {
void ActorVariant::MakeActor(EpisodeProxy episode) const { void ActorVariant::MakeActor(EpisodeProxy episode) const {
_value = detail::ActorFactory::MakeActor( _value = detail::ActorFactory::MakeActor(
episode, episode,
boost::variant2::get<rpc::Actor>(std::move(_value)), std::get<rpc::Actor>(std::move(_value)),
GarbageCollectionPolicy::Disabled); GarbageCollectionPolicy::Disabled);
} }

12
LibCarla/source/carla/client/detail/ActorVariant.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -16,10 +16,10 @@
#pragma warning(push) #pragma warning(push)
#pragma warning(disable:4583) #pragma warning(disable:4583)
#pragma warning(disable:4582) #pragma warning(disable:4582)
#include <boost/variant2/variant.hpp> #include <variant>
#pragma warning(pop) #pragma warning(pop)
#else #else
#include <boost/variant2/variant.hpp> #include <variant>
#endif #endif
namespace carla { namespace carla {
@ -51,11 +51,11 @@ namespace detail {
MakeActor(episode); MakeActor(episode);
} }
DEBUG_ASSERT(_value.index() == 1u); DEBUG_ASSERT(_value.index() == 1u);
return boost::variant2::get<SharedPtr<client::Actor>>(_value); return std::get<SharedPtr<client::Actor>>(_value);
} }
const rpc::Actor &Serialize() const { const rpc::Actor &Serialize() const {
return boost::variant2::visit(Visitor(), _value); return std::visit(Visitor(), _value);
} }
ActorId GetId() const { ActorId GetId() const {
@ -91,7 +91,7 @@ namespace detail {
void MakeActor(EpisodeProxy episode) const; void MakeActor(EpisodeProxy episode) const;
mutable boost::variant2::variant<rpc::Actor, SharedPtr<client::Actor>> _value; mutable std::variant<rpc::Actor, SharedPtr<client::Actor>> _value;
}; };
} // namespace detail } // namespace detail

20
LibCarla/source/carla/client/detail/CachedActorList.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -44,7 +44,7 @@ namespace detail {
/// Retrieve the actor matching @a id, or empty optional if actor is not /// Retrieve the actor matching @a id, or empty optional if actor is not
/// cached. /// cached.
boost::optional<rpc::Actor> GetActorById(ActorId id) const; std::optional<rpc::Actor> GetActorById(ActorId id) const;
/// Retrieve the actors matching the ids in @a range. /// Retrieve the actors matching the ids in @a range.
template <typename RangeT> template <typename RangeT>
@ -64,7 +64,7 @@ namespace detail {
// =========================================================================== // ===========================================================================
inline void CachedActorList::Insert(rpc::Actor actor) { inline void CachedActorList::Insert(rpc::Actor actor) {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
auto id = actor.id; auto id = actor.id;
_actors.emplace(id, std::move(actor)); _actors.emplace(id, std::move(actor));
} }
@ -78,7 +78,7 @@ namespace detail {
auto make_iterator = [&make_a_pair](auto it) { auto make_iterator = [&make_a_pair](auto it) {
return boost::make_transform_iterator(std::make_move_iterator(it), make_a_pair); return boost::make_transform_iterator(std::make_move_iterator(it), make_a_pair);
}; };
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
_actors.insert(make_iterator(std::begin(range)), make_iterator(std::end(range))); _actors.insert(make_iterator(std::begin(range)), make_iterator(std::end(range)));
} }
@ -86,27 +86,27 @@ namespace detail {
inline std::vector<ActorId> CachedActorList::GetMissingIds(const RangeT &range) const { inline std::vector<ActorId> CachedActorList::GetMissingIds(const RangeT &range) const {
std::vector<ActorId> result; std::vector<ActorId> result;
result.reserve(range.size()); result.reserve(range.size());
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
std::copy_if(std::begin(range), std::end(range), std::back_inserter(result), [this](auto id) { std::copy_if(std::begin(range), std::end(range), std::back_inserter(result), [this](auto id) {
return _actors.find(id) == _actors.end(); return _actors.find(id) == _actors.end();
}); });
return result; return result;
} }
inline boost::optional<rpc::Actor> CachedActorList::GetActorById(ActorId id) const { inline std::optional<rpc::Actor> CachedActorList::GetActorById(ActorId id) const {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
auto it = _actors.find(id); auto it = _actors.find(id);
if (it != _actors.end()) { if (it != _actors.end()) {
return it->second; return it->second;
} }
return boost::none; return std::nullopt;
} }
template <typename RangeT> template <typename RangeT>
inline std::vector<rpc::Actor> CachedActorList::GetActorsById(const RangeT &range) const { inline std::vector<rpc::Actor> CachedActorList::GetActorsById(const RangeT &range) const {
std::vector<rpc::Actor> result; std::vector<rpc::Actor> result;
result.reserve(range.size()); result.reserve(range.size());
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
for (auto &&id : range) { for (auto &&id : range) {
auto it = _actors.find(id); auto it = _actors.find(id);
if (it != _actors.end()) { if (it != _actors.end()) {
@ -117,7 +117,7 @@ namespace detail {
} }
inline void CachedActorList::Clear() { inline void CachedActorList::Clear() {
std::lock_guard<std::mutex> lock(_mutex); std::scoped_lock<std::mutex> lock(_mutex);
_actors.clear(); _actors.clear();
} }

2
LibCarla/source/carla/client/detail/CallbackList.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/detail/Client.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/detail/Client.h
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

4
LibCarla/source/carla/client/detail/Episode.cpp
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@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -110,7 +110,7 @@ using namespace std::chrono_literals;
}); });
} }
boost::optional<rpc::Actor> Episode::GetActorById(ActorId id) { std::optional<rpc::Actor> Episode::GetActorById(ActorId id) {
auto actor = _actors.GetActorById(id); auto actor = _actors.GetActorById(id);
if (!actor.has_value()) { if (!actor.has_value()) {
auto actor_list = _client.GetActorsById({id}); auto actor_list = _client.GetActorsById({id});

6
LibCarla/source/carla/client/detail/Episode.h
View File

@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -54,13 +54,13 @@ namespace detail {
_actors.Insert(std::move(actor)); _actors.Insert(std::move(actor));
} }
boost::optional<rpc::Actor> GetActorById(ActorId id); std::optional<rpc::Actor> GetActorById(ActorId id);
std::vector<rpc::Actor> GetActorsById(const std::vector<ActorId> &actor_ids); std::vector<rpc::Actor> GetActorsById(const std::vector<ActorId> &actor_ids);
std::vector<rpc::Actor> GetActors(); std::vector<rpc::Actor> GetActors();
boost::optional<WorldSnapshot> WaitForState(time_duration timeout) { std::optional<WorldSnapshot> WaitForState(time_duration timeout) {
return _snapshot.WaitFor(timeout); return _snapshot.WaitFor(timeout);
} }

2
LibCarla/source/carla/client/detail/EpisodeProxy.cpp
View File

@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/detail/EpisodeProxy.h
View File

@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

2
LibCarla/source/carla/client/detail/EpisodeState.cpp
View File

@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.

8
LibCarla/source/carla/client/detail/EpisodeState.h
View File

@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -14,7 +14,7 @@
#include "carla/geom/Vector3DInt.h" #include "carla/geom/Vector3DInt.h"
#include "carla/sensor/data/RawEpisodeState.h" #include "carla/sensor/data/RawEpisodeState.h"
#include <boost/optional.hpp> #include <optional>
#include <memory> #include <memory>
#include <unordered_map> #include <unordered_map>
@ -70,8 +70,8 @@ namespace detail {
return state; return state;
} }
boost::optional<ActorSnapshot> GetActorSnapshotIfPresent(ActorId id) const { std::optional<ActorSnapshot> GetActorSnapshotIfPresent(ActorId id) const {
boost::optional<ActorSnapshot> state; std::optional<ActorSnapshot> state;
CopyActorSnapshotIfPresent(id, state); CopyActorSnapshotIfPresent(id, state);
return state; return state;
} }

6
LibCarla/source/carla/client/detail/Simulator.cpp
View File

@ -1,4 +1,4 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma // Copyright (c) 2023 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB). // de Barcelona (UAB).
// //
// This work is licensed under the terms of the MIT license. // This work is licensed under the terms of the MIT license.
@ -264,7 +264,7 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
"synchronous mode and substepping are enabled but the number of substeps is not valid. " "synchronous mode and substepping are enabled but the number of substeps is not valid. "
"Please be aware that this value needs to be in the range [1-16]."); "Please be aware that this value needs to be in the range [1-16].");
} }
double n_substeps = settings.fixed_delta_seconds.get() / settings.max_substep_delta_time; double n_substeps = settings.fixed_delta_seconds.value() / settings.max_substep_delta_time;
if (n_substeps > static_cast<double>(settings.max_substeps)) { if (n_substeps > static_cast<double>(settings.max_substeps)) {
log_warning( log_warning(
@ -320,7 +320,7 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
nav->UnregisterWalker(walker->GetId(), controller.GetId()); nav->UnregisterWalker(walker->GetId(), controller.GetId());
} }
boost::optional<geom::Location> Simulator::GetRandomLocationFromNavigation() { std::optional<geom::Location> Simulator::GetRandomLocationFromNavigation() {
DEBUG_ASSERT(_episode != nullptr); DEBUG_ASSERT(_episode != nullptr);
auto nav = _episode->CreateNavigationIfMissing(); auto nav = _episode->CreateNavigationIfMissing();
return nav->GetRandomLocation(); return nav->GetRandomLocation();

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