vtd::VtdBinding Class Reference

Inheritance diagram for vtd::VtdBinding:

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Public Member Functions
	VtdBinding (const std::string &name, const VtdConfiguration &config)
void	abort () final
void	connect () final
void	disconnect () final
void	connect_and_configure (size_t)
void	enroll (cloe::Registrar &r) final
void	clear ()
void	reset () final
size_t	num_vehicles () const final
std::shared_ptr< cloe::Vehicle >	get_vehicle (size_t i) const final
std::shared_ptr< cloe::Vehicle >	get_vehicle (const std::string &key) const final
void	start (const cloe::Sync &) final
cloe::Duration	process (const cloe::Sync &sync) final
void	stop (const cloe::Sync &) final
Public Member Functions inherited from cloe::Model
virtual	~Model () noexcept=default
virtual Duration	resolution () const
virtual bool	is_connected () const
virtual bool	is_operational () const
virtual void	pause (const Sync &)
virtual void	resume (const Sync &)
	Entity (std::string name)
	Entity (std::string name, std::string desc)
Public Member Functions inherited from cloe::Entity
	Entity (std::string name)
	Entity (std::string name, std::string desc)
const std::string &	name () const
void	set_name (std::string name)
const std::string &	description () const
void	set_description (std::string desc)

Protected Member Functions
std::shared_ptr< VtdVehicle >	get_vehicle_by_id (uint64_t id) const
std::shared_ptr< VtdVehicle >	get_vehicle_by_name (const std::string &name) const
void	init_camera_position (const std::string &name)
void	readall_scp ()
void	scp_try_read_until (std::function< bool(void)> pred)
void	apply_scp (const std::string &scp_message)
void	apply_scp_rdb (boost::property_tree::ptree &xml)
void	apply_scp_set (boost::property_tree::ptree &xml)
void	apply_scp_init_done (boost::property_tree::ptree &xml)
void	apply_scp_run (boost::property_tree::ptree &)
void	apply_scp_restart (boost::property_tree::ptree &)
void	apply_scp_stop (boost::property_tree::ptree &)
void	apply_scenario_filename (boost::property_tree::ptree &xml)
void	apply_scp_scenario_response (boost::property_tree::ptree &xml)
fs::path	relative_scenario_path (const fs::path &p)
Protected Member Functions inherited from cloe::Entity
virtual Logger	logger () const

Friends
void	to_json (cloe::Json &j, const VtdBinding &b)

Additional Inherited Members
Protected Attributes inherited from cloe::Model
bool	connected_ {false}
bool	operational_ {false}
Protected Attributes inherited from cloe::Entity
std::string	name_
std::string	desc_

Member Function Documentation

abort()

void vtd::VtdBinding::abort ( )

inlinefinalvirtual

Signal an abort to model processing.

This method is called asynchronously. It is highly recommended to make use of a std::atomic_bool for purposes of making the abortion request known to other parts of the model. This method is called when the user requests the simulation to be aborted, e.g., by sending the SIGINT signal.

An abort will be followed by a stop if the simulation was started.

The default implementation will throw an error. This will be caught and possibly ignored. Otherwise, the simulation will be killed.

See also

cloe/core/abort.hpp

Reimplemented from cloe::Model.

apply_scp()

void vtd::VtdBinding::apply_scp ( const std::string &  scp_message )

inlineprotected

Parse selected VTD SCP messages and call the relevant apply methods.

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apply_scp_set()

void vtd::VtdBinding::apply_scp_set ( boost::property_tree::ptree &  xml )

inlineprotected

Create a new vehicle if one with the given ID does not already exist.

We get this before "SimCtrl.Run" arrives. However, users may use the Set command, and therefore these are only processed while VTD is not running.

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clear()

void vtd::VtdBinding::clear ( )

inline

Clear internal data-structures so that we can configure() again.

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connect()

void vtd::VtdBinding::connect ( )

inlinefinalvirtual

Initiate a connection to the model, including any initialization.

• It should block until the connection is successfully established.
• It should throw an exception if an unrecoverable error occurs.
• It should react to an abort() called on the model.
• It may throw an error if already connected.

After a successful connection, the following methods shall be callable:

• enroll(Registrar&)
• start(const Sync&)

When implementing this method, e.g. via override or final, make sure to call this method:

void MySuperModel::connect() final { // Your connection code Model::connect(); }

Reimplemented from cloe::Model.

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connect_and_configure()

void vtd::VtdBinding::connect_and_configure ( size_t  )

inline

Connect to and configure VTD.

Reads SCP bus and collects VTD state information until VTD initialization is completed.

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disconnect()

void vtd::VtdBinding::disconnect ( )

inlinefinalvirtual

Tear down the connection to the model.

• It should block until the connection is successfully closed.
• It should throw an exception if an unrecoverable error occurs.
• It should not throw an exception if called when not connected.

After successful disconnection, it is not expected that the model should be able to connect again.

When implementing this method, e.g. via override or final, make sure to call this method:

void MySuperModel::disconnect() final { // Your disconnection code Model::disconnect(); }

Reimplemented from cloe::Model.

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enroll()

void vtd::VtdBinding::enroll ( cloe::Registrar &  )

inlinefinalvirtual

Register any events, actions, or handlers with the registrar.

• This may exhibit different behavior when called in a disconnected state, in order to provide the possibility for verification of triggers in offline mode.
• It may throw an exception.

Reimplemented from cloe::Model.

get_vehicle() [1/2]

std::shared_ptr<cloe::Vehicle> vtd::VtdBinding::get_vehicle ( const std::string &  key ) const

inlinefinalvirtual

Return a pointer to a Vehicle.

• If a vehicle does not exist with the key, nullptr is returned.
• Same conditions apply as for get_vehicle(size_t).

Implements cloe::Simulator.

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get_vehicle() [2/2]

std::shared_ptr<cloe::Vehicle> vtd::VtdBinding::get_vehicle ( size_t  i ) const

inlinefinalvirtual

Return a pointer to a Vehicle.

• The argument i should be between [0, n), where n = num_vehicles().
• If a vehicle index is accessed that is out-of-bounds, behaviour is undefined.
• The simulator binding must manage the memory of the Vehicle.
• The pointer to the vehicle is guaranteed to be valid for the duration of the simulation.
• After the simulation has disconnected, the pointer is no longer guaranteed to be valid.
• The vehicle may be modified and these modifications will be preserved for the validity of the pointer. In particular, the sensor and actuator interfaces may be replaced by proxies.

Implements cloe::Simulator.

get_vehicle_by_name()

std::shared_ptr<VtdVehicle> vtd::VtdBinding::get_vehicle_by_name ( const std::string &  name ) const

inlineprotected

Return a VtdVehicle with the given name, or nullptr if it doesn't exist.

Thus, this function can be used to also check if a vehicle has a particular name:

if (this->get_vtd_vehicle(name)) { // ... }

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init_camera_position()

void vtd::VtdBinding::init_camera_position ( const std::string &  name )

inlineprotected

Set the initial camera position on the vehicle with the given name.

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num_vehicles()

size_t vtd::VtdBinding::num_vehicles ( ) const

inlinefinalvirtual

Return the number of vehicles that the simulator binding has access to.

• It may throw an exception or return 0 if the simulator is not connected.

Implements cloe::Simulator.

process()

cloe::Duration vtd::VtdBinding::process ( const cloe::Sync &  sync )

inlinefinalvirtual

Synchronize with VTD and trigger the next VTD frame calculation.

It performs the following steps:

• It sends vehicle actuations.
• It retrieves the new world state.
• It updates the vehicles.
• It triggers VTD to perform the next frame calculation.

Implements cloe::Simulator.

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readall_scp()

void vtd::VtdBinding::readall_scp ( )

inlineprotected

Read as many SCP messages as the client currently has in the buffer and apply them, one after another.

This can result in pretty much any change in the binding, including:

• Starting, stopping, resetting the binding
• Creating vehicles

Note: currently there is no need to read a "single" scp message, so there is no read_scp function anymore.

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reset()

void vtd::VtdBinding::reset ( )

inlinefinalvirtual

Restart VTD and reset the essential parts of the binding.

This is not a true reset as some state VTD will remain (e.g. sensor configuration). But the simulation time together with all objects of the scenario will start over from 0.

Reimplemented from cloe::Model.

start()

void vtd::VtdBinding::start ( const cloe::Sync &  )

inlinefinalvirtual

Perform model setup for the simulation.

The passed Sync interface should return a step and time of zero.

• This will be called once per simulation, before process(const Sync&) is called.
• It may throw an exception.
• Method is_operational() should return true after this.

Reimplemented from cloe::Model.

stop()

void vtd::VtdBinding::stop ( const cloe::Sync &  )

inlinefinalvirtual

Perform final work that may throw an exception.

This is called after the last process call when the simulation is through. It is possible after a call to stop, that a reset will be called, followed by a further start. Nominally, however, it will be followed by a disconnect.

• Method is_operational() should return false after this.

Reimplemented from cloe::Model.

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/latest/optional/vtd/src/vtd_binding.cpp