70 lines
1.9 KiB
C
70 lines
1.9 KiB
C
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// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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// #include "carla/Logging.h"
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#include "carla/multigpu/commands.h"
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#include "carla/multigpu/primary.h"
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#include "carla/streaming/detail/tcp/Message.h"
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#include "carla/streaming/detail/Token.h"
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#include "carla/streaming/detail/Types.h"
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namespace carla {
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namespace multigpu {
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// using session = std::shared_ptr<Primary>;
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// using callback_response = std::function<void(std::shared_ptr<Primary>, carla::Buffer)>;
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using token_type = carla::streaming::detail::token_type;
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using stream_id = carla::streaming::detail::stream_id_type;
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class Router;
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class PrimaryCommands {
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public:
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PrimaryCommands();
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PrimaryCommands(std::shared_ptr<Router> router);
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void set_router(std::shared_ptr<Router> router);
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// broadcast to all secondary servers the frame data
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void SendFrameData(carla::Buffer buffer);
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// broadcast to all secondary servers the map to load
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void SendLoadMap(std::string map);
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// send to know if a connection is alive
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void SendIsAlive();
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token_type GetToken(stream_id sensor_id);
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void EnableForROS(stream_id sensor_id);
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void DisableForROS(stream_id sensor_id);
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bool IsEnabledForROS(stream_id sensor_id);
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private:
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// send to one secondary to get the token of a sensor
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token_type SendGetToken(carla::streaming::detail::stream_id_type sensor_id);
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// manage ROS enable/disable of sensor
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void SendEnableForROS(stream_id sensor_id);
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void SendDisableForROS(stream_id sensor_id);
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bool SendIsEnabledForROS(stream_id sensor_id);
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std::shared_ptr<Router> _router;
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std::unordered_map<stream_id, token_type> _tokens;
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std::unordered_map<stream_id, std::weak_ptr<Primary>> _servers;
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};
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} // namespace multigpu
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} // namespace carla
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