TrackTraffic.h

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#pragma once
 
#include "carla/road/RoadTypes.h"
#include "carla/rpc/ActorId.h"
 
#include "carla/trafficmanager/SimpleWaypoint.h"
 
namespace carla {
namespace traffic_manager {
 
using ActorId = carla::ActorId;
using ActorIdSet = std::unordered_set<ActorId>;
using SimpleWaypointPtr = std::shared_ptr<SimpleWaypoint>;
using Buffer = std::deque<SimpleWaypointPtr>;
using GeoGridId = carla::road::JuncId;
 
// 此类用于跟踪所有角色的航点占用情况
class TrackTraffic {
 
private:
    /// 用于跟踪车辆间重叠航点的结构
    using WaypointOverlap = std::unordered_map<uint64_t, ActorIdSet>;
    WaypointOverlap waypoint_overlap_tracker;
 
    /// 用于跟踪车辆所占用航点的结构
    using WaypointIdSet = std::unordered_set<uint64_t>;
    using WaypointOccupancyMap = std::unordered_map<ActorId, WaypointIdSet>;
    WaypointOccupancyMap waypoint_occupied;
 
    /// 参与者路径所占据的测地线网格
    std::unordered_map<ActorId, std::unordered_set<GeoGridId>> actor_to_grids;
    /// 参与者当前经过的网格
    std::unordered_map<GeoGridId, ActorIdSet> grid_to_actors;
    /// 当前英雄位置
    cg::Location hero_location = cg::Location(0,0,0);
 
 
public:
    TrackTraffic();
 
    /// 更新、移除和检索经过某一路点车辆的方法
    void UpdatePassingVehicle(uint64_t waypoint_id, ActorId actor_id);
    void RemovePassingVehicle(uint64_t waypoint_id, ActorId actor_id);
    ActorIdSet GetPassingVehicles(uint64_t waypoint_id) const;
 
    void UpdateGridPosition(const ActorId actor_id, const Buffer &buffer);
    void UpdateUnregisteredGridPosition(const ActorId actor_id,
                                        const std::vector<SimpleWaypointPtr> waypoints);
 
    ActorIdSet GetOverlappingVehicles(ActorId actor_id) const;
    bool IsGeoGridFree(const GeoGridId geogrid_id) const;
    void AddTakenGrid(const GeoGridId geogrid_id, const ActorId actor_id);
 
    void SetHeroLocation(const cg::Location location);
    cg::Location GetHeroLocation() const;
 
 
    /// 从跟踪中删除参与者数据的方法
    void DeleteActor(ActorId actor_id);
 
    void Clear();
};
 
} // namespace traffic_manager
} // namespace carla