#include <vtd_vehicle.hpp>

Inheritance diagram for vtd::VtdVehicle:

Collaboration diagram for vtd::VtdVehicle:

Public Member Functions
	VtdVehicle (uint64_t id, const std::string &name, std::unique_ptr< RdbTransceiverTcp > &&rdb_client, std::shared_ptr< TaskControl > task_control)

const std::string &	vtd_name () const

void	vtd_step_vehicle_control (const cloe::Sync &sync, ScpTransceiver &tx, LabelConfiguration lbl)

cloe::Duration	vtd_step_sensors (const cloe::Sync &s)

void	update_label (ScpTransceiver &tx, LabelConfiguration lbl)

void	send_label (ScpTransceiver &tx) const

void	reset ()

void	configure_components (const std::map< std::string, VtdComponentConfig > &components)

Public Member Functions inherited from cloe::Vehicle
	Vehicle (uint64_t id, const std::string &name)

std::shared_ptr< Vehicle >	clone (uint64_t id, const std::string &name)

uint64_t	id () const

size_t	size () const

bool	has (const std::string &key) const

template<typename Enum , std::enable_if_t< std::is_enum< Enum >::value, int > = 0>
bool	has (Enum c) const

template<typename T >
std::shared_ptr< const T >	get (const std::string &key) const

template<typename T >
std::shared_ptr< T >	get (const std::string &key)

template<typename T , typename Enum , std::enable_if_t< std::is_enum< Enum >::value, int > = 0>
std::shared_ptr< const T >	get (Enum c) const

template<typename T , typename Enum , std::enable_if_t< std::is_enum< Enum >::value, int > = 0>
std::shared_ptr< T >	get (Enum c)

template<typename... Arguments>
void	new_component (Component *ptr, const Arguments &... aliases)

template<typename First , typename... Arguments>
void	add_component (std::shared_ptr< Component > sp, const First &alias, const Arguments &... aliases)

template<typename Enum , std::enable_if_t< std::is_enum< Enum >::value, int > = 0>
void	add_component (std::shared_ptr< Component > sp, Enum c)

void	add_component (std::shared_ptr< Component > sp, const std::string &alias)

template<typename First , typename... Arguments>
void	emplace_component (std::shared_ptr< Component > sp, const First &alias, const Arguments &... aliases)

template<typename Enum , std::enable_if_t< std::is_enum< Enum >::value, int > = 0>
void	emplace_component (std::shared_ptr< Component > sp, Enum c)

void	emplace_component (std::shared_ptr< Component > sp, const std::string &alias)

void	set_component (const std::string &key, std::shared_ptr< Component > component)

std::vector< std::string >	component_names () const

Duration	process (const Sync &sync) override

void	connect () override

void	disconnect () override

void	enroll (Registrar &r) override

void	reset () override

void	abort () override

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	start (const Sync &)

virtual void	pause (const Sync &)

virtual void	resume (const Sync &)

virtual void	stop (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)

Public Attributes
const std::string	DEFAULT_SENSOR_NAME = "cloe::vtd::sensor::default"

std::string	vtd_name_ {}

uint16_t	sensor_port_ {0}

uint16_t	id_ {0}

std::shared_ptr< TaskControl >	task_control_ {nullptr}

std::map< std::string, std::shared_ptr< VtdSensorData > >	sensors_

std::shared_ptr< VtdVehicleControl >	ego_control_ {nullptr}

scp::LabelVehicle	vehicle_label_

Friends
void	to_json (cloe::Json &j, const VtdVehicle &v)

Additional Inherited Members
Protected Member Functions inherited from cloe::Vehicle
std::shared_ptr< const Component >	at (const std::string &key) const

std::shared_ptr< Component >	at (const std::string &key)

Protected Member Functions inherited from cloe::Entity
virtual Logger	logger () const

Protected Attributes inherited from cloe::Model
bool	connected_ {false}

bool	operational_ {false}

Protected Attributes inherited from cloe::Entity
std::string	name_

std::string	desc_

Detailed Description

The VtdVehicle class contains all information pertaining to a vehicle represented in VTD.

Constructor & Destructor Documentation

◆ VtdVehicle()

vtd::VtdVehicle::VtdVehicle	(	uint64_t	id,
		const std::string &	name,
		std::unique_ptr< RdbTransceiverTcp > &&	rdb_client,
		std::shared_ptr< TaskControl >	task_control
	)

inline

Construct a new VtdVehicle.

Parameters

id	A globally unique identifier number for this vehicle.
name	The VTD scenario name of this vehicle. This can then be retrieved with the `vtd_name()` method. This is different from what is returned by `name()`, because the VTD name of a vehicle does not need to conform by the identifier requirements that apply to `name()`.
rdb_client	RDB client unique to this vehicle. VTD creates an RDB communication channel for each vehicle in the scenario that we receive sensor data for. This channel is unique to the vehicle.
task_control	Task Control client shared with all vehicles. In order to transmit actuator data, we need to use the groundtruth communication channel that VTD provides. This is also the channel where the global groundtruth data is transmitted. We don't currently use this for retrieving ground truth data however, but may in the future.

Here is the call graph for this function:

Member Function Documentation

◆ reset()

void vtd::VtdVehicle::reset ( )

inlinevirtual

Reset the vehicle, as far as possible.

Reimplemented from cloe::Model.

◆ send_label()

void vtd::VtdVehicle::send_label ( ScpTransceiver & tx ) const

inline

Send the vehicle label to VTD.

◆ update_label()

void vtd::VtdVehicle::update_label	(	ScpTransceiver &	tx,
		LabelConfiguration	lbl
	)

inline

If state is different from previous, then we update the LabelVehicle and send the info.

This has to been done after all actuations have been made but before the cache is cleared for the next cycle.

◆ vtd_name()

const std::string& vtd::VtdVehicle::vtd_name ( ) const

inline

Return the name VTD associates with this vehicle.

◆ vtd_step_sensors()

cloe::Duration vtd::VtdVehicle::vtd_step_sensors ( const cloe::Sync & s )

inline

Do everything that a vehicle needs after a step is triggered.

Here is the call graph for this function:

◆ vtd_step_vehicle_control()

void vtd::VtdVehicle::vtd_step_vehicle_control	(	const cloe::Sync &	sync,
		ScpTransceiver &	tx,
		LabelConfiguration	lbl
	)

inline

Do everything that a vehicle needs before a step is triggered.

This currently does everything for the actuation.

Friends And Related Function Documentation

◆ to_json

void to_json	(	cloe::Json &	j,
		const VtdVehicle &	v
	)

friend

Write the JSON representation into j.

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_vehicle.hpp

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VtdVehicle()

Member Function Documentation

◆ reset()

◆ send_label()

◆ update_label()

◆ vtd_name()

◆ vtd_step_sensors()

◆ vtd_step_vehicle_control()

Friends And Related Function Documentation

◆ to_json