Check controlled state safely #115
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aaravpandya
requested review from
SamanKazemkhani,
eugenevinitsky and
daphne-cornelisse
src/headless.cpp
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| @@ -71,10 +71,7 @@ int main(int argc, char *argv[]) | |||
| .distanceToExpertThreshold = 0.5 | |||
| }, | |||
| .maxNumControlledVehicles = 0, | |||
| }, | |||
| .enableBatchRenderer = true, | |||
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Thank you for catching it
src/sim.cpp
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| // Technically there would never be a collision between (non valid expert) and (non expert). So one of the below checks would always be false. | ||
| if(ctx.get<ControlledState>(candidateCollision.a).controlledState == ControlMode::EXPERT) | ||
| if(controlledStateA.valid()) |
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The bodies of these if statements are identical save for the Loc. It would be nice if you factored out the logic into a lambda:
auto isExpertAgentInInvalidState = [&](Loc loc) {
auto maybeControlledState = ctx.getCheck<ControlledState>(loc);
if (not maybeControlledState.valid()) {
return false;
}
if (maybeControlledState.value().controlledState != ControlMode::EXPERT) {
return false;
}
auto currStep = getCurrentStep(ctx.get<StepsRemaining>(loc));
return not ctx.get<Trajectory>(loc).valids[currStep];
};
then the if-statements would be
Suggested change
| if(controlledStateA.valid()) | |
| if(isExpertAgentInInvalidState(candidateCollision.a)) { | |
| return; | |
| } |
src/sim.cpp
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| } | ||
| else if(ctx.get<ControlledState>(candidateCollision.b).controlledState == ControlMode::EXPERT) | ||
| else if(controlledStateB.valid()) |
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I don't think this should be an else if. For instance, if candidateCollision.a is a non-expert agent and candidateCollision.b is an expert-agent in an invalid state, this function will not be short-ciruited.
SamanKazemkhani
approved these changes
May 14, 2024
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In the previous, we were checking the control state on entities to determine if they were non valid experts. However, that is error prone as not all entities have control states (physics entities like roads). This PR fixes that by using the safer
getCheck<>.