110 lines
3.3 KiB
C++
110 lines
3.3 KiB
C++
// Copyright (c) 2017 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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#include "carla/client/ServerSideSensor.h"
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#include "carla/Logging.h"
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#include "carla/client/detail/Simulator.h"
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#include <exception>
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constexpr size_t GBufferTextureCount = 13;
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namespace carla {
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namespace client {
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ServerSideSensor::~ServerSideSensor() {
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if (IsAlive() && IsListening()) {
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log_warning(
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"sensor object went out of the scope but the sensor is still alive",
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"in the simulation:",
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GetDisplayId());
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}
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if (IsListening() && GetEpisode().IsValid()) {
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try {
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for (uint32_t i = 1; i != GBufferTextureCount + 1; ++i) {
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if (listening_mask.test(i))
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StopGBuffer(i - 1);
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}
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Stop();
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} catch (const std::exception &e) {
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log_error("exception trying to stop sensor:", GetDisplayId(), ':', e.what());
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}
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}
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}
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void ServerSideSensor::Listen(CallbackFunctionType callback) {
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log_debug("calling sensor Listen() ", GetDisplayId());
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log_debug(GetDisplayId(), ": subscribing to stream");
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GetEpisode().Lock()->SubscribeToSensor(*this, std::move(callback));
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listening_mask.set(0);
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}
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void ServerSideSensor::Stop() {
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log_debug("calling sensor Stop() ", GetDisplayId());
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if (!IsListening()) {
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log_warning(
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"attempting to unsubscribe from stream but sensor wasn't listening:",
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GetDisplayId());
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return;
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}
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GetEpisode().Lock()->UnSubscribeFromSensor(*this);
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listening_mask.reset(0);
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}
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void ServerSideSensor::ListenToGBuffer(uint32_t GBufferId, CallbackFunctionType callback) {
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log_debug(GetDisplayId(), ": subscribing to gbuffer stream");
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RELEASE_ASSERT(GBufferId < GBufferTextureCount);
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if (GetActorDescription().description.id != "sensor.camera.rgb")
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{
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log_warning("GBuffer methods are not supported on non-RGB sensors (sensor.camera.rgb).");
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return;
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}
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GetEpisode().Lock()->SubscribeToGBuffer(*this, GBufferId, std::move(callback));
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listening_mask.set(0);
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listening_mask.set(GBufferId + 1);
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}
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void ServerSideSensor::StopGBuffer(uint32_t GBufferId) {
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log_debug(GetDisplayId(), ": unsubscribing from gbuffer stream");
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RELEASE_ASSERT(GBufferId < GBufferTextureCount);
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if (GetActorDescription().description.id != "sensor.camera.rgb")
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{
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log_warning("GBuffer methods are not supported on non-RGB sensors (sensor.camera.rgb).");
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return;
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}
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GetEpisode().Lock()->UnSubscribeFromGBuffer(*this, GBufferId);
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listening_mask.reset(GBufferId + 1);
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}
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void ServerSideSensor::EnableForROS() {
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GetEpisode().Lock()->EnableForROS(*this);
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}
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void ServerSideSensor::DisableForROS() {
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GetEpisode().Lock()->DisableForROS(*this);
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}
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bool ServerSideSensor::IsEnabledForROS(){
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return GetEpisode().Lock()->IsEnabledForROS(*this);
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}
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bool ServerSideSensor::Destroy() {
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log_debug("calling sensor Destroy() ", GetDisplayId());
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if (IsListening()) {
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for (uint32_t i = 1; i != GBufferTextureCount + 1; ++i) {
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if (listening_mask.test(i)) {
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StopGBuffer(i - 1);
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}
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}
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Stop();
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}
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return Actor::Destroy();
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}
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} // namespace client
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} // namespace carla
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