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* Initial commit This commit imports files from scenario_runner repository * WIP TrafficDistributor Set horizontal integral component to 0 Fixed startup concurrency issue * TrafficDistributor first crude version * Code asthetics, Uncrustified. * Code clean up * Fixed more concurrency bugs * Reduced number of vehicles per core Fixed some unhandled exceptions * EOD commit 29AUG2018 * Re-organizing directory structure * WIP code re-organization * Redesigned PipelineStage Implemented Messenger to communicate between stages Implemented LocalizationStage Added StageEnum Removed unecessary files * WIP Testing LocalizationStage * Implemented and benchmarked LocalizationStage Achieved single stage throughput of 600,000,000 * Implemented CopyBufferList() in LocalizationStage * Fixed stage stalling and corrected benchmark * Setting worker thread count to 1 * Code re-organization for porting MotionPlannerStage * WIP - porting MotionPlanner * Moved thread management logic into PipelineStage base class * Implemented output data frame switching Moved relavent structures and types from MotionPlannerStage.h to PIDController.h * Re-organized directory structure to be consistent with rest of the project Initialized frame_selector in constructor * WIP - EOD commit 02SEP209 * WIP - managed to break deadlock between sender and receiver * Implemented common mutex sharing for thread management in PipelineStage Added small timeout for thread locking in PipelineStage Finally broke deadlocks in stage integration * Porting BatchControlStage to new design * Ported BatchControlStage to new design Fixed array indexing bug Messaging actor_id instead of actor pointer to BatchControlStage Improved thread co-ordination logic in PipelineStage * Fixed array exetreme indexing issue * Fixed thread co-ordination logic for multiple worker thread case * Ported PID state map to dynamically allocated vector Changed thread co-ordination time out to 1ms * WIP - EOD 03092019 * Ported CollisionStage to new design Added debug helper parameter Added directionality pre-condition to check polygon overlap Streamlined boundary functions Fixed actor id to array index map Passing individual buffers from localization Using unsigned int keys in VicinityGrid * WIP - fixing localization conflict on frame switching * Fixed localization frame switching bug * Ported TrafficLightStage to new design (#2078) * Implemented TrafficLightStage with new architecture * Implemented slowdown on approaching junction * Integrated all stages into Pipeline class * Ported PipelineExecutable.cpp to work with new Pipeline * WIP - Fixing TrafficDistributor * Switching to single thread stage actions Added release options to CMakeLists.txt Changed vicinity grid keys to string * Changed TrafficDistributor to TrafficDistribution This class only meant to keep track of vehicles acrros different road positions * Changed TrafficDistributor declaration in LocalizationStage * WIP - Lane changes * Streamlined traffic distribution implementation * Implemented a working lane change policy * Fixed const correctness for ActionThreadManager and Action methods Chaned varialbe++ to ++variable wherever suitable * Using STL's numeric_limits instead of arbitrary high values for infinity Made suitable constants static Camelcase starting with uppercase for InMemoryMap methods Fixed comment notions in all files * Streamlined boolean return values from methods in CollisionStage.cpp Using short hand for boost::geometry More comments on boundary calculation logic Camelcasing for methods * Fixed TrafficDistribution vehicle tracking logic Removed distance limit for lane change * Moved lane change logic to TrafficDistributor.cpp * Implemented logic to avoid collisions with unregistered actors * Implemented graceful stop functionality for traffic manager * Code aesthetics * Added debug support for TrafficDistributor.cpp Fixed Test.cpp * Defined constants in TrafficDistributor.cpp Code aesthetic changes * Update README.md * Aphabetical ordering of header include statements * Code streamlining and aesthetic changes * Review comment changes (#2116) Review comment changes Removed frame_map from TrafficLightStage * Made changes for review comments (#2117) * Fixed implicit private inheritence for LocalizationStage Removed unecessary using <method> statements in concrete stage classes * Removed break logic from all loops * Added detailed comments to all header files * Minor review comment changes to collision stage * Detailed comments for all .cpp files * Implemented batch spawn and delete * Added minimum distance check for lane change Increased wait time after sending batch spawn command * Simplified geodesic boundary creation in collision stage * Changing to unsigned integers when appropriate Shorter name aliasing * Changes for code reveiw comments * Removed white spaces * Code review changes Using carla::geom::Math::DistanceSquared whenever possible Better name aliasing Function signature checks * Code aesthetics, text formatting * Changes for appropriate auto keyword usage * Grammar check * Grammatical correction * Distance based check points and boundary generation instead of index based checks * Using explicit typing wherever possible instead of auto * Review comment changes * Review comment changes * Added time margin for approaching vehicles for lane change Increased minimum collision boundary Streamlined InMemoryMap::StructuredWaypoints Implemented gradual braking in PIDController Added left right checks in SimpleWaypoint Removed redundant method in SimpleWaypoint * Initial implementation for reproducibility * Fixed radomization during path selection * Added Vicinity grid-key checker for grid to actor_id map * WIP: junction negotiation enhancement * Polygon to polygon distance based collision negotiation * Update Linux.mk * Update CMakeLists.txt * Update Vars.mk * Update README.md * Update getting_started.md * Review comment changes Namespace aliasing checks Redundant function call checks Default constants defined in motion planner stage Removed hard braking to slow down near junctions Lane change approaching vehicle check time margin Added -h option to get help on traffic manager * Reverting to carla::client::Vehicle::GetTrafficlightState non-signalised junctions * Added communication timeout and implemented stopping when carla stops Removed throughtput measurement logic from PipelineExecutable * Updated gitignore * updated CHANGELOG.md * updated CHANGELOG.md * WIP: negotiating non-signalised junction * Time duration ticketing system for non-signalised junctions Changed from pre-randomised to run time randomised decisions at junctions * Removing debug draw statements * Fixed make and cmake, more work required * Added traffic manager build to jenkins * updated docs |
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README.md
Traffic Manager
Installing Traffic Manager
First of all, make sure that CARLA has already been installed (you can check the instructions on the documentation) and that you have built the following modules:
make LibCarla
make TrafficManager
Using Traffic Manager
Navigate to the build folder and run the compiled executable.
cd ${CARLA_ROOT}/TrafficManager/build/
./traffic_manager -n <NUMBER_OF_VEHICLES>