Source code for smarts.core.actor

# Copyright (C) 2022. Huawei Technologies Co., Ltd. All rights reserved.
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from __future__ import annotations

from dataclasses import dataclass
from enum import IntEnum
from typing import TYPE_CHECKING, Optional

if TYPE_CHECKING:
    from smarts.core.coordinates import Dimensions, Pose


class ActorRole(IntEnum):
    """Used to specify the role an actor (e.g. vehicle) is currently playing in the simulation."""

    Unknown = 0

    # Vehicle Roles
    Social = 1  # Traffic
    SocialAgent = 2
    EgoAgent = 3

    # Non-vehicle Roles
    Signal = 4

    # For deferring to external co-simulators only. Cannot be hijacked or trapped.
    # Privileged state, so use with caution!
    External = 5


@dataclass
class ActorState:
    """Actor state information."""

    actor_id: str  # must be unique within the simulation
    actor_type: Optional[str] = None
    source: Optional[str] = None  # the source of truth for this Actor's state
    role: ActorRole = ActorRole.Unknown
    updated: bool = False

    def get_pose(self) -> Optional[Pose]:
        """Get the pose of this actor. Some actors do not have a physical location."""
        return None

    def get_dimensions(self) -> Optional[Dimensions]:
        """Get the dimensions of this actor. Some actors do not have physical dimensions."""
        return None

    def __lt__(self, other) -> bool:
        """Allows ordering ActorStates for use in sorted data-structures."""
        assert isinstance(other, ActorState)
        return self.actor_id < other.actor_id or (
            self.actor_id == other.actor_id and id(self) < id(other)
        )

    def __hash__(self) -> int:
        # actor_id must be unique within the simulation
        return hash(self.actor_id)

    def __eq__(self, other) -> bool:
        return isinstance(other, type(self)) and hash(self.actor_id) == hash(
            other.actor_id
        )