vtd::VtdConfiguration Struct Reference

#include <vtd_conf.hpp>

Inheritance diagram for vtd::VtdConfiguration:

Collaboration diagram for vtd::VtdConfiguration:

Public Member Functions
	CONFABLE_SCHEMA (VtdConfiguration)
Public Member Functions inherited from fable::Confable
	Confable (const Confable &) noexcept
	Confable (Confable &&) noexcept=default
Confable &	operator= (const Confable &other) noexcept
Confable &	operator= (Confable &&other) noexcept
virtual void	reset_schema ()
Schema &	schema ()
const Schema &	schema () const
virtual void	validate_or_throw (const Conf &c) const
virtual bool	validate (const Conf &c, std::optional< SchemaError > &err) const
virtual void	from_conf (const Conf &c)
virtual void	to_json (Json &j) const
Json	to_json () const

Public Attributes
cloe::utility::TcpTransceiverFullConfiguration	paramserver {"localhost", VTD_PARAMSERVER_PORT}
cloe::utility::TcpTransceiverFullConfiguration	connection {"localhost", VTD_DEFAULT_SCP_PORT}
cloe::utility::TcpTransceiverConfiguration	task_control_params
cloe::utility::TcpTransceiverConfiguration	rdb_params {60, std::chrono::duration<float>{0.5}}
uint16_t	configuration_retry_attempts {10}
uint16_t	sensor_initial_port {48196}
std::map< std::string, VtdVehicleConfig >	vehicles
std::string	setup = "Cloe.Default"
std::string	scenario = ""
std::string	project = ""
bool	image_generator = true
bool	camera_third_person = true
std::string	camera_focus_on = ""
LabelConfiguration	label_vehicle = LabelConfiguration::Text
std::string	dat_file = ""
std::map< std::string, std::string >	scp_actions {}

Additional Inherited Members
Protected Member Functions inherited from fable::Confable
virtual Schema	schema_impl ()

Detailed Description

The VtdConfiguration class contains all configuration values for VTD. It can be merged from an input JSON object, as well as serialized to a JSON object.

Member Data Documentation

camera_focus_on

std::string vtd::VtdConfiguration::camera_focus_on = ""

What player to focus the camera on, by name. If this is empty or not found, a random player is taken.

camera_third_person

bool vtd::VtdConfiguration::camera_third_person = true

Whether to use the third person for the camera. Currently, this is a prerequisite for setting the camera at all.

configuration_retry_attempts

uint16_t vtd::VtdConfiguration::configuration_retry_attempts {10}

Attempt to recover configuration failure this many times.

This commonly occurs with VTD; in certain circumstances up to 50% of configurations fail with a broken TCP pipe. By retrying N times, we increase the chances of success to 1 - 1/2^N.

connection

cloe::utility::TcpTransceiverFullConfiguration vtd::VtdConfiguration::connection {"localhost", VTD_DEFAULT_SCP_PORT}

Connection parameters for the SCP connection, including host and port.

dat_file

std::string vtd::VtdConfiguration::dat_file = ""

Record VTD dat file.

image_generator

bool vtd::VtdConfiguration::image_generator = true

Whether to use the VTD image generator.

This is also derived to be false when the setup is "Cloe.noGUInoIG" or "Cloe.noIG".

label_vehicle

LabelConfiguration vtd::VtdConfiguration::label_vehicle = LabelConfiguration::Text

Whether to label the ego vehicle controller state.

paramserver

cloe::utility::TcpTransceiverFullConfiguration vtd::VtdConfiguration::paramserver {"localhost", VTD_PARAMSERVER_PORT}

Connection parameters for the SCP connection, including host and port.

rdb_params

cloe::utility::TcpTransceiverConfiguration vtd::VtdConfiguration::rdb_params {60, std::chrono::duration<float>{0.5}}

Connection parameters for the RDB sensor connections.

scp_actions

std::map<std::string, std::string> vtd::VtdConfiguration::scp_actions {}

A set of predefined SCP actions to be used by the action trigger.

sensor_initial_port

uint16_t vtd::VtdConfiguration::sensor_initial_port {48196}

TCP port for the first sensor RDB connection.

Because these parameters are used not only for creating multiple vehicles, but also for each sensor in a vehicle, the port is only used for the very first sensor configured across all vehicles, and is subsequently incremented for each opened RDB sensor connection.

task_control_params

cloe::utility::TcpTransceiverConfiguration vtd::VtdConfiguration::task_control_params

Initial value:

{60,
                                                                 std::chrono::duration<float>{0.5}}

Connection parameters for the Task Control client connection.

vehicles

std::map<std::string, VtdVehicleConfig> vtd::VtdConfiguration::vehicles

Vehicle parameters such as sensor definitions and component mappings

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

• /home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/v0.25.0/optional/vtd/src/vtd_conf.hpp