314 lines
12 KiB
C
314 lines
12 KiB
C
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// Copyright (c) 2020 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 <vector>
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#include "carla/Exception.h"
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#include "carla/client/Actor.h"
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#include "carla/client/detail/ActorVariant.h"
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#include "carla/rpc/Server.h"
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#include "carla/trafficmanager/Constants.h"
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#include "carla/trafficmanager/TrafficManagerBase.h"
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namespace carla {
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namespace traffic_manager {
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using ActorPtr = carla::SharedPtr<carla::client::Actor>;
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using Path = std::vector<cg::Location>;
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using Route = std::vector<uint8_t>;
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using namespace constants::Networking;
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class TrafficManagerServer {
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public:
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TrafficManagerServer(const TrafficManagerServer &) = default;
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TrafficManagerServer(TrafficManagerServer &&) = default;
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TrafficManagerServer &operator=(const TrafficManagerServer &) = default;
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TrafficManagerServer &operator=(TrafficManagerServer &&) = default;
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/// Here RPCPort is the traffic manager local instance RPC server port where
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/// it can listen to remote traffic managers and apply the changes to
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/// local instance through a TrafficManagerBase pointer.
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TrafficManagerServer(
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uint16_t &RPCPort,
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carla::traffic_manager::TrafficManagerBase* tm)
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: _RPCPort(RPCPort) {
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uint16_t counter = 0;
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while(counter < MIN_TRY_COUNT) {
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try {
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/// Create server instance.
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server = new ::rpc::server(RPCPort);
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} catch(std::exception) {
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using namespace std::chrono_literals;
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/// Update port number and try again.
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std::this_thread::sleep_for(500ms);
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}
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/// If server created.
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if(server != nullptr) {
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break;
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}
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counter ++;
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}
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/// If server still not created throw a runtime exception.
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if(server == nullptr) {
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carla::throw_exception(std::runtime_error(
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"trying to create rpc server for traffic manager; "
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"but the system failed to create because of bind error."));
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} else {
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/// If the server creation was successful we are
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/// binding a lambda function to the name "register_vehicle".
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server->bind("register_vehicle", [=](std :: vector <carla::rpc::Actor> _actor_list) {
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std::vector<ActorPtr> actor_list;
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for (auto &&actor : _actor_list) {
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actor_list.emplace_back(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()));
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}
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tm->RegisterVehicles(actor_list);
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});
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/// Binding a lambda function to the name "unregister_vehicle".
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server->bind("unregister_vehicle", [=](std :: vector <carla::rpc::Actor> _actor_list) {
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std::vector<ActorPtr> actor_list;
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for (auto &&actor : _actor_list) {
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actor_list.emplace_back(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()));
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}
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tm->UnregisterVehicles(actor_list);
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});
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/// Method to set a vehicle's % decrease in velocity with respect to the speed limit.
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/// If less than 0, it's a % increase.
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server->bind("set_percentage_speed_difference", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetPercentageSpeedDifference(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to set a lane offset displacement from the center line.
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/// Positive values imply a right offset while negative ones mean a left one.
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server->bind("set_lane_offset", [=](carla::rpc::Actor actor, const float offset) {
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tm->SetLaneOffset(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), offset);
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});
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/// Set a vehicle's exact desired velocity.
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server->bind("set_desired_speed", [=](carla::rpc::Actor actor, const float value) {
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tm->SetDesiredSpeed(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), value);
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});
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/// Method to set the automatic management of the vehicle lights
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server->bind("update_vehicle_lights", [=](carla::rpc::Actor actor, const bool do_update) {
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tm->SetUpdateVehicleLights(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), do_update);
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});
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/// Method to set a global % decrease in velocity with respect to the speed limit.
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/// If less than 0, it's a % increase.
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server->bind("set_global_percentage_speed_difference", [=](const float percentage) {
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tm->SetGlobalPercentageSpeedDifference(percentage);
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});
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/// Method to set a global lane offset displacement from the center line.
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/// Positive values imply a right offset while negative ones mean a left one.
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server->bind("set_global_lane_offset", [=](const float offset) {
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tm->SetGlobalLaneOffset(offset);
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});
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/// Method to set collision detection rules between vehicles.
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server->bind("set_collision_detection", [=](const carla::rpc::Actor &reference_actor, const carla::rpc::Actor &other_actor, const bool detect_collision) {
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const auto reference = carla::client::detail::ActorVariant(reference_actor).Get(tm->GetEpisodeProxy());
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const auto other = carla::client::detail::ActorVariant(other_actor).Get(tm->GetEpisodeProxy());
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tm->SetCollisionDetection(reference, other, detect_collision);
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});
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/// Method to force lane change on a vehicle.
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/// Direction flag can be set to true for left and false for right.
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server->bind("set_force_lane_change", [=](carla::rpc::Actor actor, const bool direction) {
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tm->SetForceLaneChange(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), direction);
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});
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/// Enable/disable automatic lane change on a vehicle.
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server->bind("set_auto_lane_change", [=](carla::rpc::Actor actor, const bool enable) {
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tm->SetAutoLaneChange(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), enable);
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});
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/// Method to specify how much distance a vehicle should maintain to
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/// the leading vehicle.
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server->bind("set_distance_to_leading_vehicle", [=](carla::rpc::Actor actor, const float distance) {
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tm->SetDistanceToLeadingVehicle(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), distance);
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});
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/// Method to the Global Distance to Leading vehicle
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server->bind("set_global_distance_to_leading_vehicle", [=]( const float distance) {
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tm->SetGlobalDistanceToLeadingVehicle(distance);
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});
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/// Method to specify the % chance of running any traffic light.
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server->bind("set_percentage_running_light", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetPercentageRunningLight(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to specify the % chance of running any traffic sign.
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server->bind("set_percentage_running_sign", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetPercentageRunningSign(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to specify the % chance of ignoring collisions with any walker.
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server->bind("set_percentage_ignore_walkers", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetPercentageIgnoreWalkers(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to specify the % chance of ignoring collisions with any vehicle.
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server->bind("set_percentage_ignore_vehicles", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetPercentageIgnoreVehicles(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to set % to keep on the right lane.
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server->bind("set_percentage_keep_right_rule", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetKeepRightPercentage(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to set % to randomly do a left lane change.
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server->bind("set_percentage_random_left_lanechange", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetRandomLeftLaneChangePercentage(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to set % to randomly do a right lane change.
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server->bind("set_percentage_random_right_lanechange", [=](carla::rpc::Actor actor, const float percentage) {
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tm->SetRandomRightLaneChangePercentage(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), percentage);
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});
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/// Method to set hybrid physics mode.
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server->bind("set_hybrid_physics_mode", [=](const bool mode_switch) {
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tm->SetHybridPhysicsMode(mode_switch);
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});
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/// Method to set hybrid physics radius.
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server->bind("set_hybrid_physics_radius", [=](const float radius) {
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tm->SetHybridPhysicsRadius(radius);
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});
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/// Method to set hybrid physics radius.
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server->bind("set_osm_mode", [=](const bool mode_switch) {
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tm->SetOSMMode(mode_switch);
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});
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/// Method to set our own imported path.
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server->bind("set_path", [=](carla::rpc::Actor actor, const Path path, const bool empty_buffer) {
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tm->SetCustomPath(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), path, empty_buffer);
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});
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/// Method to remove a list of points.
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server->bind("remove_custom_path", [=](const ActorId actor_id, const bool remove_path) {
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tm->RemoveUploadPath(actor_id, remove_path);
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});
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/// Method to update an already set list of points.
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server->bind("update_custom_path", [=](const ActorId actor_id, const Path path) {
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tm->UpdateUploadPath(actor_id, path);
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});
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/// Method to set our own imported route.
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server->bind("set_imported_route", [=](carla::rpc::Actor actor, const Route route, const bool empty_buffer) {
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tm->SetImportedRoute(carla::client::detail::ActorVariant(actor).Get(tm->GetEpisodeProxy()), route, empty_buffer);
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});
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/// Method to remove a route.
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server->bind("remove_imported_route", [=](const ActorId actor_id, const bool remove_path) {
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tm->RemoveImportedRoute(actor_id, remove_path);
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});
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/// Method to update an already set list of points.
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server->bind("update_imported_route", [=](const ActorId actor_id, const Route route) {
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tm->UpdateImportedRoute(actor_id, route);
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});
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/// Method to set respawn dormant vehicles mode.
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server->bind("set_respawn_dormant_vehicles", [=](const bool mode_switch) {
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tm->SetRespawnDormantVehicles(mode_switch);
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});
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/// Method to set respawn dormant vehicles mode.
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server->bind("set_boundaries_respawn_dormant_vehicles", [=](const float lower_bound, const float upper_bound) {
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tm->SetBoundariesRespawnDormantVehicles(lower_bound, upper_bound);
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});
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/// Method to get the vehicle's next action.
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server->bind("get_next_action", [=](const ActorId actor_id) {
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tm->GetNextAction(actor_id);
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});
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/// Method to get the vehicle's action buffer.
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server->bind("get_all_actions", [=](const ActorId actor_id) {
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tm->GetActionBuffer(actor_id);
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});
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server->bind("shut_down", [=]() {
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tm->Release();
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});
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/// Method to set synchronous mode.
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server->bind("set_synchronous_mode", [=](const bool mode) {
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tm->SetSynchronousMode(mode);
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});
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/// Method to set tick timeout for synchronous execution.
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server->bind("set_synchronous_mode_timeout_in_milisecond", [=](const double time) {
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tm->SetSynchronousModeTimeOutInMiliSecond(time);
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});
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/// Method to set randomization seed.
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server->bind("set_random_device_seed", [=](const uint64_t seed) {
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tm->SetRandomDeviceSeed(seed);
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});
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/// Method to provide synchronous tick.
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server->bind("synchronous_tick", [=]() -> bool {
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return tm->SynchronousTick();
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});
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/// Method to check server is alive or not.
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server->bind("health_check_remote_TM", [=](){});
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/// Run traffic manager server to respond of any
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/// user client in asynchronous mode.
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server->async_run();
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}
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}
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~TrafficManagerServer() {
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if(server) {
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server->stop();
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delete server;
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server = nullptr;
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}
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}
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uint16_t port() const {
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return _RPCPort;
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}
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private:
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/// Traffic manager server RPC port
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uint16_t _RPCPort;
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/// Server instance
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::rpc::server *server = nullptr;
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};
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} // namespace traffic_manager
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} // namespace carla
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