Implemented vehicle removal in OSM mode.

LibCarla/source/carla/trafficmanager/ALSM.cpp

@@ -18,6 +18,7 @@ ALSM::ALSM(
   AtomicActorSet &registered_vehicles,
   BufferMap &buffer_map,
   TrackTraffic &track_traffic,
+  std::vector<ActorId>& marked_for_removal,
   const Parameters &parameters,
   const cc::World &world,
   const LocalMapPtr &local_map,
@@ -29,6 +30,7 @@ ALSM::ALSM(
   : registered_vehicles(registered_vehicles),
     buffer_map(buffer_map),
     track_traffic(track_traffic),
+    marked_for_removal(marked_for_removal),
     parameters(parameters),
     world(world),
     local_map(local_map),
@@ -106,6 +108,15 @@ void ALSM::Update() {
     elapsed_last_actor_destruction = current_timestamp.elapsed_seconds;
   }
 
+  // Destorying vehicles for marked for removal by stages.
+  if (parameters.GetOSMMode()) {
+    for (const ActorId& actor_id: marked_for_removal) {
+      registered_vehicles.Destroy(actor_id);
+      RemoveActor(actor_id, true);
+    }
+    marked_for_removal.clear();
+  }
+
   // Update dynamic state and static attributes for unregistered actors.
   UpdateUnregisteredActorsData();
 }

LibCarla/source/carla/trafficmanager/ALSM.h

@@ -48,6 +48,8 @@ private:
   // Structure containing vehicles with attribute role_name with value hero.
   ActorMap hero_actors;
   TrackTraffic &track_traffic;
+  // Array of vehicles marked by stages for removal.
+  std::vector<ActorId>& marked_for_removal;
   const Parameters &parameters;
   const cc::World &world;
   const LocalMapPtr &local_map;
@@ -88,6 +90,7 @@ public:
   ALSM(AtomicActorSet &registered_vehicles,
        BufferMap &buffer_map,
        TrackTraffic &track_traffic,
+       std::vector<ActorId>& marked_for_removal,
        const Parameters &parameters,
        const cc::World &world,
        const LocalMapPtr &local_map,

LibCarla/source/carla/trafficmanager/LocalizationStage.cpp

@@ -17,6 +17,7 @@ LocalizationStage::LocalizationStage(
   TrackTraffic &track_traffic,
   const LocalMapPtr &local_map,
   Parameters &parameters,
+  std::vector<ActorId>& marked_for_removal,
   LocalizationFrame &output_array,
   cc::DebugHelper &debug_helper)
   : vehicle_id_list(vehicle_id_list),
@@ -25,6 +26,7 @@ LocalizationStage::LocalizationStage(
     track_traffic(track_traffic),
     local_map(local_map),
     parameters(parameters),
+    marked_for_removal(marked_for_removal),
     output_array(output_array),
     debug_helper(debug_helper) {}
 
@@ -150,6 +152,13 @@ void LocalizationStage::Update(const unsigned long index) {
     // Pseudo-randomized path selection if found more than one choice.
     if (next_waypoints.size() > 1) {
       selection_index = static_cast<uint64_t>(pgen.next()) % next_waypoints.size();
+    } else if (next_waypoints.size() == 0) {
+      if (parameters.GetOSMMode()) {
+        marked_for_removal.push_back(actor_id);
+        break;
+      } else {
+        throw std::invalid_argument("This is an OSM, please activate the set_open_street_map parameter");
+      }
     }
     SimpleWaypointPtr next_wp = next_waypoints.at(selection_index);
     if (next_wp == nullptr) {

LibCarla/source/carla/trafficmanager/LocalizationStage.h

@@ -34,6 +34,8 @@ private:
   TrackTraffic &track_traffic;
   const LocalMapPtr &local_map;
   Parameters &parameters;
+  // Array of vehicles marked by stages for removal.
+  std::vector<ActorId>& marked_for_removal;
   LocalizationFrame &output_array;
   cc::DebugHelper &debug_helper;
   LaneChangeLocationMap last_lane_change_location;
@@ -60,6 +62,7 @@ public:
                     TrackTraffic &track_traffic,
                     const LocalMapPtr &local_map,
                     Parameters &parameters,
+                    std::vector<ActorId>& marked_for_removal,
                     LocalizationFrame &output_array,
                     cc::DebugHelper &debug_helper);
 

LibCarla/source/carla/trafficmanager/Parameters.cpp

@@ -273,7 +273,7 @@ bool Parameters::GetHybridPhysicsMode() const {
   return hybrid_physics_mode.load();
 }
 
-bool Parameters::GetOSMMode() {
+bool Parameters::GetOSMMode() const {
 
   return osm_mode.load();
 }

LibCarla/source/carla/trafficmanager/Parameters.h

@@ -176,7 +176,7 @@ public:
   bool GetHybridPhysicsMode() const;
 
   /// Method to get Open Street Map mode.
-  bool GetOSMMode();
+  bool GetOSMMode() const;
 
   /// Synchronous mode time out variable.
   std::chrono::duration<double, std::milli> synchronous_time_out;

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -37,6 +37,7 @@ TrafficManagerLocal::TrafficManagerLocal(
                                          track_traffic,
                                          local_map,
                                          parameters,
+                                         marked_for_removal,
                                          localization_frame,
                                          debug_helper)),
 
@@ -71,6 +72,7 @@ TrafficManagerLocal::TrafficManagerLocal(
     alsm(ALSM(registered_vehicles,
               buffer_map,
               track_traffic,
+              marked_for_removal,
               parameters,
               world,
               local_map,

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.h

@@ -109,6 +109,7 @@ private:
   std::condition_variable step_end_trigger;
   /// Single worker thread for sequential execution of sub-components.
   std::unique_ptr<std::thread> worker_thread;
+  std::vector<ActorId> marked_for_removal;
 
   /// Method to check if all traffic lights are frozen in a group.
   bool CheckAllFrozen(TLGroup tl_to_freeze);

PythonAPI/examples/spawn_npc.py

@@ -84,6 +84,10 @@ def main():
         '--hybrid',
         action='store_true',
         help='Enanble')
+    argparser.add_argument(
+        '--osm',
+        action='store_true',
+        help='Open Street Map mode')
     argparser.add_argument(
         '--car-lights-on',
         action='store_true',
@@ -108,6 +112,9 @@ def main():
         if args.hybrid:
             traffic_manager.set_hybrid_physics_mode(True)
 
+        if args.osm:
+            traffic_manager.set_osm_mode(True)
+
         if args.sync:
             settings = world.get_settings()
             traffic_manager.set_synchronous_mode(True)