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Organize rpc bindings

This commit is contained in:
nsubiron 2019-02-23 15:57:57 +01:00
parent 365eecbb7f
commit 38963872ef
1 changed files with 52 additions and 33 deletions
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85
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
View File

@ -117,6 +117,16 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return carla::version();
});
// ~~ Tick ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("tick_cue", [this]() -> R<void>
{
++TickCuesReceived;
return R<void>::Success();
});
// ~~ Load new episode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindAsync("get_available_maps", [this]() -> R<std::vector<std::string>>
{
const auto MapNames = UCarlaStatics::GetAllMapNames();
@ -129,12 +139,6 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return result;
});
Server.BindSync("tick_cue", [this]() -> R<void>
{
++TickCuesReceived;
return R<void>::Success();
});
Server.BindSync("load_new_episode", [this](const std::string &map_name) -> R<void>
{
REQUIRE_CARLA_EPISODE();
@ -145,6 +149,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return R<void>::Success();
});
// ~~ Episode settings and info ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("get_episode_info", [this]() -> R<cr::EpisodeInfo>
{
REQUIRE_CARLA_EPISODE();
@ -193,6 +199,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return Episode->SerializeActor(ActorView);
});
// ~~ Weather ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("get_weather_parameters", [this]() -> R<cr::WeatherParameters>
{
REQUIRE_CARLA_EPISODE();
@ -217,6 +225,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return R<void>::Success();
});
// ~~ Actor operations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("get_actors_by_id", [this](
const std::vector<FActorView::IdType> &ids) -> R<std::vector<cr::Actor>>
{
@ -309,6 +319,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return R<void>::Success();
});
// ~~ Actor physics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("set_actor_location", [this](
cr::Actor Actor,
cr::Location Location) -> R<void>
@ -411,8 +423,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return R<void>::Success();
});
Server.BindSync("get_physics_control", [this](
Server.BindSync("get_physics_control", [this](
cr::Actor Actor) -> R<cr::VehiclePhysicsControl>
{
REQUIRE_CARLA_EPISODE();
@ -469,6 +480,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return R<void>::Success();
});
// ~~ Apply control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("apply_control_to_vehicle", [this](
cr::Actor Actor,
cr::VehicleControl Control) -> R<void>
@ -536,6 +549,8 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return R<void>::Success();
});
// ~~ Traffic lights ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("set_traffic_light_state", [this](
cr::Actor Actor,
cr::TrafficLightState trafficLightState) -> R<void>
@ -631,6 +646,34 @@ void FTheNewCarlaServer::FPimpl::BindActions()
return R<void>::Success();
});
Server.BindSync("get_group_traffic_lights", [this](
const cr::Actor Actor) -> R<std::vector<cr::ActorId>>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill())
{
RESPOND_ERROR("unable to get group traffic lights: actor not found");
}
auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
if (TrafficLight == nullptr)
{
RESPOND_ERROR("unable to get group traffic lights: actor is not a traffic light");
}
std::vector<cr::ActorId> Result;
for (auto TLight : TrafficLight->GetGroupTrafficLights())
{
auto View = Episode->FindActor(TLight);
if (View.IsValid())
{
Result.push_back(View.GetActorId());
}
}
return Result;
});
// ~~ Logging and playback ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("start_recorder", [this](std::string name) -> R<std::string> {
REQUIRE_CARLA_EPISODE();
return R<std::string>(Episode->StartRecorder(name));
@ -677,31 +720,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
follow_id));
});
Server.BindSync("get_group_traffic_lights", [this](
const cr::Actor Actor) -> R<std::vector<cr::ActorId>>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill())
{
RESPOND_ERROR("unable to get group traffic lights: actor not found");
}
auto TrafficLight = Cast<ATrafficLightBase>(ActorView.GetActor());
if (TrafficLight == nullptr)
{
RESPOND_ERROR("unable to get group traffic lights: actor is not a traffic light");
}
std::vector<cr::ActorId> Result;
for (auto TLight : TrafficLight->GetGroupTrafficLights())
{
auto View = Episode->FindActor(TLight);
if (View.IsValid())
{
Result.push_back(View.GetActorId());
}
}
return Result;
});
// ~~ Draw debug shapes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("draw_debug_shape", [this](const cr::DebugShape &shape) -> R<void>
{