EpisodeProxy.h

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/AtomicSharedPtr.h"
 
#include <cstdint>
 
namespace carla {
namespace client {
namespace detail {
 
  class Simulator;
 
  struct EpisodeProxyPointerType {
    using Shared = std::shared_ptr<Simulator>;
    using Strong = AtomicSharedPtr<Simulator>;
    using Weak = std::weak_ptr<Simulator>;
  };
 
  /// Provides access to the Simulator during a given episode. After the episode
  /// is ended any access to the simulator throws an std::runtime_error.
  template <typename PointerT>
  class EpisodeProxyImpl {
  public:
 
    using SharedPtrType = EpisodeProxyPointerType::Shared;
 
    EpisodeProxyImpl() = default;
 
    EpisodeProxyImpl(SharedPtrType simulator);
 
    template <typename T>
    EpisodeProxyImpl(EpisodeProxyImpl<T> other)
      : _episode_id(other._episode_id),
        _simulator(other._simulator) {}
 
    auto GetId() const noexcept {
      return _episode_id;
    }
 
    SharedPtrType TryLock() const noexcept;
 
    /// Same as TryLock but never return nullptr.
    ///
    /// @throw std::runtime_error if episode is gone.
    SharedPtrType Lock() const;
 
    bool IsValid() const noexcept {
      return TryLock() != nullptr;
    }
 
    void Clear() noexcept;
 
  private:
 
    template <typename T>
    friend class EpisodeProxyImpl;
 
    uint64_t _episode_id;
 
    PointerT _simulator;
  };
 
  using EpisodeProxy = EpisodeProxyImpl<EpisodeProxyPointerType::Strong>;
 
  using WeakEpisodeProxy = EpisodeProxyImpl<EpisodeProxyPointerType::Weak>;
 
} // namespace detail
} // namespace client
} // namespace carla