#include <task_control.hpp>

Inheritance diagram for vtd::TaskControl:

Collaboration diagram for vtd::TaskControl:

Public Member Functions
	TaskControl (std::unique_ptr< RdbTransceiver > &&rdb_transceiver)

void	process (RDB_DRIVER_CTRL_t *driver_ctrl) override

void	reset () override

void	add_driver_control (const DriverControl &dc)

void	add_dyn_object_state (const DynObjectState &os)

void	add_trigger (cloe::Duration delta_t)

void	send_packages ()

void	add_trigger_and_send (cloe::Duration delta_t)

double	get_steering_wheel_speed (uint64_t id) const

double	get_driver_request_acceleration (uint64_t id) const

bool	has_driver_request_acceleration (uint64_t id)

double	get_driver_request_steering_angle (uint64_t id) const

bool	has_driver_request_steering_angle (uint64_t id)

void	process (RDB_START_OF_FRAME_t *) override

void	process (RDB_END_OF_FRAME_t *) override

void	process (RDB_WHEEL_t *rdb_w, bool) override

void	process (RDB_SENSOR_STATE_t *s) override

void	process (RDB_OBJECT_STATE_t *rdb_os, bool extended) override

void	process (RDB_ROADMARK_t *rdb_rm) override

virtual void	process (RDB_MSG_t *msg, bool &restart, cloe::Duration &sim_time)

virtual void	process (RDB_MSG_ENTRY_HDR_t *entry)

virtual void	process (RDB_START_OF_FRAME_t *)

virtual void	process (RDB_END_OF_FRAME_t *)

virtual void	process (RDB_COORD_SYSTEM_t *)

virtual void	process (RDB_COORD_t *)

virtual void	process (RDB_ROAD_POS_t *)

virtual void	process (RDB_LANE_INFO_t *)

virtual void	process (RDB_ROADMARK_t *)

virtual void	process (RDB_OBJECT_CFG_t *)

virtual void	process (RDB_OBJECT_STATE_t *, bool)

virtual void	process (RDB_VEHICLE_SYSTEMS_t *)

virtual void	process (RDB_VEHICLE_SETUP_t *)

virtual void	process (RDB_ENGINE_t *, bool)

virtual void	process (RDB_DRIVETRAIN_t *, bool)

virtual void	process (RDB_WHEEL_t *, bool)

virtual void	process (RDB_PED_ANIMATION_t *)

virtual void	process (RDB_SENSOR_STATE_t *)

virtual void	process (RDB_SENSOR_OBJECT_t *)

virtual void	process (RDB_CAMERA_t *)

virtual void	process (RDB_CONTACT_POINT_t *)

virtual void	process (RDB_TRAFFIC_SIGN_t *)

virtual void	process (RDB_ROAD_STATE_t *)

virtual void	process (RDB_IMAGE_t *)

virtual void	process (RDB_LIGHT_SOURCE_t *, bool)

virtual void	process (RDB_ENVIRONMENT_t *)

virtual void	process (RDB_TRIGGER_t *)

virtual void	process (RDB_DRIVER_CTRL_t *)

virtual void	process (RDB_TRAFFIC_LIGHT_t *, bool)

virtual void	process (RDB_SYNC_t *)

virtual void	process (RDB_DRIVER_PERCEPTION_t *)

virtual void	process (RDB_FUNCTION_t *)

virtual void	process (RDB_ROAD_QUERY_t *)

virtual void	process (RDB_TRAJECTORY_t *)

virtual void	process (RDB_DYN_2_STEER_t *)

virtual void	process (RDB_STEER_2_DYN_t *)

virtual void	process (RDB_PROXY_t *)

virtual void	process (RDB_MOTION_SYSTEM_t *)

virtual void	process (RDB_FREESPACE_t *)

virtual void	process (RDB_DYN_EL_SWITCH_t *)

virtual void	process (RDB_DYN_EL_DOF_t *)

virtual void	process (RDB_IG_FRAME_t *)

virtual void	process (RDB_RT_PERFORMANCE_t *)

virtual void	process (RDB_CUSTOM_SCORING_t *)

virtual void	process (RDB_CUSTOM_OBJECT_CTRL_TRACK_t *)

Public Member Functions inherited from vtd::VtdOmniSensor
	VtdOmniSensor (std::unique_ptr< RdbTransceiver > &&rdb_transceiver, uint64_t owner_id)

void	step (const cloe::Sync &s) override

void	process (RDB_START_OF_FRAME_t *) override

void	process (RDB_END_OF_FRAME_t *) override

void	process (RDB_WHEEL_t *rdb_w, bool) override

void	process (RDB_SENSOR_STATE_t *s) override

void	process (RDB_OBJECT_STATE_t *rdb_os, bool extended) override

void	process (RDB_ROADMARK_t *rdb_rm) override

const std::string &	get_name () const override

virtual void	process (RDB_MSG_t *msg, bool &restart, cloe::Duration &sim_time)

virtual void	process (RDB_MSG_ENTRY_HDR_t *entry)

virtual void	process (RDB_START_OF_FRAME_t *)

virtual void	process (RDB_END_OF_FRAME_t *)

virtual void	process (RDB_COORD_SYSTEM_t *)

virtual void	process (RDB_COORD_t *)

virtual void	process (RDB_ROAD_POS_t *)

virtual void	process (RDB_LANE_INFO_t *)

virtual void	process (RDB_ROADMARK_t *)

virtual void	process (RDB_OBJECT_CFG_t *)

virtual void	process (RDB_OBJECT_STATE_t *, bool)

virtual void	process (RDB_VEHICLE_SYSTEMS_t *)

virtual void	process (RDB_VEHICLE_SETUP_t *)

virtual void	process (RDB_ENGINE_t *, bool)

virtual void	process (RDB_DRIVETRAIN_t *, bool)

virtual void	process (RDB_WHEEL_t *, bool)

virtual void	process (RDB_PED_ANIMATION_t *)

virtual void	process (RDB_SENSOR_STATE_t *)

virtual void	process (RDB_SENSOR_OBJECT_t *)

virtual void	process (RDB_CAMERA_t *)

virtual void	process (RDB_CONTACT_POINT_t *)

virtual void	process (RDB_TRAFFIC_SIGN_t *)

virtual void	process (RDB_ROAD_STATE_t *)

virtual void	process (RDB_IMAGE_t *)

virtual void	process (RDB_LIGHT_SOURCE_t *, bool)

virtual void	process (RDB_ENVIRONMENT_t *)

virtual void	process (RDB_TRIGGER_t *)

virtual void	process (RDB_DRIVER_CTRL_t *)

virtual void	process (RDB_TRAFFIC_LIGHT_t *, bool)

virtual void	process (RDB_SYNC_t *)

virtual void	process (RDB_DRIVER_PERCEPTION_t *)

virtual void	process (RDB_FUNCTION_t *)

virtual void	process (RDB_ROAD_QUERY_t *)

virtual void	process (RDB_TRAJECTORY_t *)

virtual void	process (RDB_DYN_2_STEER_t *)

virtual void	process (RDB_STEER_2_DYN_t *)

virtual void	process (RDB_PROXY_t *)

virtual void	process (RDB_MOTION_SYSTEM_t *)

virtual void	process (RDB_FREESPACE_t *)

virtual void	process (RDB_DYN_EL_SWITCH_t *)

virtual void	process (RDB_DYN_EL_DOF_t *)

virtual void	process (RDB_IG_FRAME_t *)

virtual void	process (RDB_RT_PERFORMANCE_t *)

virtual void	process (RDB_CUSTOM_SCORING_t *)

virtual void	process (RDB_CUSTOM_OBJECT_CTRL_TRACK_t *)

Public Member Functions inherited from vtd::RdbCodec
	RdbCodec (std::unique_ptr< RdbTransceiver > &&rdb_transceiver)

	RdbCodec (RdbTransceiver *rdb_transceiver)

virtual uint64_t	frame_number () const

virtual void	step (uint64_t frame_number, bool &restart, cloe::Duration &sim_time)

virtual void	process (RDB_MSG_t *msg, bool &restart, cloe::Duration &sim_time)

virtual void	process (RDB_MSG_ENTRY_HDR_t *entry)

virtual void	process (RDB_COORD_SYSTEM_t *)

virtual void	process (RDB_COORD_t *)

virtual void	process (RDB_ROAD_POS_t *)

virtual void	process (RDB_LANE_INFO_t *)

virtual void	process (RDB_OBJECT_CFG_t *)

virtual void	process (RDB_VEHICLE_SYSTEMS_t *)

virtual void	process (RDB_VEHICLE_SETUP_t *)

virtual void	process (RDB_ENGINE_t *, bool)

virtual void	process (RDB_DRIVETRAIN_t *, bool)

virtual void	process (RDB_PED_ANIMATION_t *)

virtual void	process (RDB_SENSOR_OBJECT_t *)

virtual void	process (RDB_CAMERA_t *)

virtual void	process (RDB_CONTACT_POINT_t *)

virtual void	process (RDB_TRAFFIC_SIGN_t *)

virtual void	process (RDB_ROAD_STATE_t *)

virtual void	process (RDB_IMAGE_t *)

virtual void	process (RDB_LIGHT_SOURCE_t *, bool)

virtual void	process (RDB_ENVIRONMENT_t *)

virtual void	process (RDB_TRIGGER_t *)

virtual void	process (RDB_TRAFFIC_LIGHT_t *, bool)

virtual void	process (RDB_SYNC_t *)

virtual void	process (RDB_DRIVER_PERCEPTION_t *)

virtual void	process (RDB_FUNCTION_t *)

virtual void	process (RDB_ROAD_QUERY_t *)

virtual void	process (RDB_TRAJECTORY_t *)

virtual void	process (RDB_DYN_2_STEER_t *)

virtual void	process (RDB_STEER_2_DYN_t *)

virtual void	process (RDB_PROXY_t *)

virtual void	process (RDB_MOTION_SYSTEM_t *)

virtual void	process (RDB_FREESPACE_t *)

virtual void	process (RDB_DYN_EL_SWITCH_t *)

virtual void	process (RDB_DYN_EL_DOF_t *)

virtual void	process (RDB_IG_FRAME_t *)

virtual void	process (RDB_RT_PERFORMANCE_t *)

virtual void	process (RDB_CUSTOM_SCORING_t *)

virtual void	process (RDB_CUSTOM_OBJECT_CTRL_TRACK_t *)

Public Member Functions inherited from vtd::VtdSensorData
	VtdSensorData (const std::string &name)

virtual cloe::Duration	time () const

virtual void	set_name (const std::string &name)

virtual void	set_reset_state ()

const cloe::Object &	get_ego_object () const

const cloe::Objects &	get_world_objects () const

double	get_ego_steering_angle () const

const cloe::Frustum &	get_frustum () const

const Eigen::Isometry3d &	get_mount_pose () const

const cloe::LaneBoundaries &	get_lane_boundaries ()

void	clear_cache ()

Protected Attributes
Framework::RDBHandler	handler_
	RDBHandler helps us conveniently construct RDB messages.

std::map< int, double >	steering_wheel_speed_

std::map< int, double >	driver_request_accel_

std::map< int, double >	driver_request_steering_angle_

Protected Attributes inherited from vtd::VtdOmniSensor
uint64_t	owner_id_
	Id of the sensor's owner (ego).

Protected Attributes inherited from vtd::RdbCodec
std::unique_ptr< RdbTransceiver >	rdb_

uint64_t	frame_number_ = 0
	Frame number from last processed RDB message.

bool	processing_frame_ = false
	Indicates whether in between a start of frame and an end of frame message.

Protected Attributes inherited from vtd::VtdSensorData
std::string	name_ = "default_sensor"
	Human readable name.

bool	restart_ = false
	Indicates whether reset has been requested.

cloe::Duration	sensor_data_time_ = cloe::Duration(0)
	Simulation time from last processed sensor message.

cloe::Duration	sensor_data_time_next_ = cloe::Duration(0)
	Expected simulation time for next sensor message.

Eigen::Isometry3d	mount_
	Sensor mounting position and orientation.

cloe::Frustum	frustum_
	Sensor frustum information.

cloe::Objects	world_objects_
	World objects from last processed frame.

std::shared_ptr< cloe::Object >	ego_object_
	ego object information from last processed frame.

double	ego_steering_angle_ {0.0}
	Ego front left wheel steering angle from last processed frame.

cloe::LaneBoundaries	lanes_
	Lane id-to-boundary-map.

Friends
void	to_json (cloe::Json &j, const TaskControl &tc)

Detailed Description

TaskControl contains the connection to the VTD task control server.

In the usual basic single machine configurations of VTD, there is only one instance of task control server running.

This class implements

Receiving groundtruth data (e.g. object data in inertial coordinates)
Sending all vehicle actuations
Triggering VTD simulation time steps

The idea is that the VtdOmniSensor baseclass receives all groundtruth data and exposes it at the default cloe groundtruth sensor's component-interfaces. Then you add any packages to the task control that you want to send, and once you've done that, you send the packages, which packs the buffer and sends it off.

Contrived example:

TaskControl tc{new RdbTransceiver("localhost", 23456)};

this->new_component(new VtdWorldSensor{tc}, CloeComponent::GROUNDTRUTH_WORLD_SENSOR); ... DriverControl dc; dc.player_id = 1; dc.target_acceleration = 2.0; ... tc.add_driver_control(dc); ... tc.add_trigger(cloe::Milliseconds(20)); tc.send_packages()

Of course, all these statements will be sprinkled around your code.

Member Function Documentation

◆ add_driver_control()

void vtd::TaskControl::add_driver_control ( const DriverControl & dc )

inline

Add driver control to the RDB message for the current frame.

◆ add_trigger()

void vtd::TaskControl::add_trigger ( cloe::Duration delta_t )

inline

Add the trigger package, which specifies how much VTD should step.

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◆ add_trigger_and_send()

void vtd::TaskControl::add_trigger_and_send ( cloe::Duration delta_t )

inline

Add the given trigger and then send it.

A common idiom is to set the trigger and then right away send the package to VTD. This will also send any other packages.

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◆ get_driver_request_acceleration()

double vtd::TaskControl::get_driver_request_acceleration ( uint64_t id ) const

inline

Get driver-requested longitudinal acceleration of vehicle with given id [m/s2].

◆ get_driver_request_steering_angle()

double vtd::TaskControl::get_driver_request_steering_angle ( uint64_t id ) const

inline

Get driver-requested steering angle (at wheels) of vehicle with given id [rad].

◆ get_steering_wheel_speed()

double vtd::TaskControl::get_steering_wheel_speed ( uint64_t id ) const

inline

Get steering speed at front wheels of vehicle with given id [rad/s].

◆ has_driver_request_acceleration()

bool vtd::TaskControl::has_driver_request_acceleration ( uint64_t id )

inline

Check if driver-requested longitudinal acceleration has been set.

◆ has_driver_request_steering_angle()

bool vtd::TaskControl::has_driver_request_steering_angle ( uint64_t id )

inline

Check if driver-requested steering_angle has been set.

◆ process() [1/3]

void vtd::RdbCodec::process

Process each RDB message entry. This method is called in process(RDB_MSG_t) for each entry in a message.

Parameters

entry RDB message entry to be processed

◆ process() [2/3]

void vtd::RdbCodec::process

Process a RDB message. This method is called in process() for each RDB message.

Parameters

msg	message to be processed

◆ process() [3/3]

virtual void vtd::RdbCodec::process

inline

Process a start of frame.

Parameters

start_of_frame only used for dynamic binding; do not access.

◆ reset()

void vtd::TaskControl::reset ( )

inlineoverridevirtual

Reset the codec.

Discard received messages, clear data members, and implement sensor-specific reset steps.

Reimplemented from vtd::VtdOmniSensor.

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◆ send_packages()

void vtd::TaskControl::send_packages ( )

inline

Send the packed RDB message to the task control server.

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

/home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/stable/optional/vtd/src/task_control.hpp

Public Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ add_driver_control()

◆ add_trigger()

◆ add_trigger_and_send()

◆ get_driver_request_acceleration()

◆ get_driver_request_steering_angle()

◆ get_steering_wheel_speed()

◆ has_driver_request_acceleration()

◆ has_driver_request_steering_angle()

◆ process() [1/3]

◆ process() [2/3]

◆ process() [3/3]

◆ reset()

◆ send_packages()