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Refactor bindings

This commit is contained in:
nsubiron 2019-02-23 16:55:40 +01:00
parent 94ce35dd31
commit 3e7e8fb009
1 changed files with 162 additions and 122 deletions
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284
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
View File

@ -103,6 +103,36 @@ private:
CARLA_ENSURE_GAME_THREAD(); \
if (Episode == nullptr) { RESPOND_ERROR("episode not ready"); }
class ServerBinder {
public:
constexpr ServerBinder(const char *name, carla::rpc::Server &srv, bool sync)
: _name(name),
_server(srv),
_sync(sync) {}
template <typename FuncT>
auto operator<<(FuncT func) {
if (_sync) {
_server.BindSync(_name, func);
} else {
_server.BindAsync(_name, func);
}
return func;
}
private:
const char *_name;
carla::rpc::Server &_server;
bool _sync;
};
#define BIND_SYNC(name) auto name = ServerBinder(#name, Server, true)
#define BIND_ASYNC(name) auto name = ServerBinder(#name, Server, false)
// =============================================================================
// -- Bind Actions -------------------------------------------------------------
// =============================================================================
@ -112,22 +142,22 @@ void FTheNewCarlaServer::FPimpl::BindActions()
namespace cr = carla::rpc;
namespace cg = carla::geom;
Server.BindAsync("version", []() -> R<std::string>
BIND_ASYNC(version) << []() -> R<std::string>
{
return carla::version();
});
};
// ~~ Tick ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("tick_cue", [this]() -> R<void>
BIND_SYNC(tick_cue) << [this]() -> R<void>
{
++TickCuesReceived;
return R<void>::Success();
});
};
// ~~ Load new episode ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindAsync("get_available_maps", [this]() -> R<std::vector<std::string>>
BIND_ASYNC(get_available_maps) << [this]() -> R<std::vector<std::string>>
{
const auto MapNames = UCarlaStatics::GetAllMapNames();
std::vector<std::string> result;
@ -137,9 +167,9 @@ void FTheNewCarlaServer::FPimpl::BindActions()
result.emplace_back(cr::FromFString(MapName));
}
return result;
});
};
Server.BindSync("load_new_episode", [this](const std::string &map_name) -> R<void>
BIND_SYNC(load_new_episode) << [this](const std::string &map_name) -> R<void>
{
REQUIRE_CARLA_EPISODE();
if (!Episode->LoadNewEpisode(cr::ToFString(map_name)))
@ -147,19 +177,19 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RESPOND_ERROR("map not found");
}
return R<void>::Success();
});
};
// ~~ Episode settings and info ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("get_episode_info", [this]() -> R<cr::EpisodeInfo>
BIND_SYNC(get_episode_info) << [this]() -> R<cr::EpisodeInfo>
{
REQUIRE_CARLA_EPISODE();
return cr::EpisodeInfo{
Episode->GetId(),
BroadcastStream.token()};
});
};
Server.BindSync("get_map_info", [this]() -> R<cr::MapInfo>
BIND_SYNC(get_map_info) << [this]() -> R<cr::MapInfo>
{
REQUIRE_CARLA_EPISODE();
auto FileContents = FOpenDrive::Load(Episode->GetMapName());
@ -168,28 +198,29 @@ void FTheNewCarlaServer::FPimpl::BindActions()
cr::FromFString(Episode->GetMapName()),
cr::FromFString(FileContents),
MakeVectorFromTArray<cg::Transform>(SpawnPoints)};
});
};
Server.BindSync("get_episode_settings", [this]() -> R<cr::EpisodeSettings>
BIND_SYNC(get_episode_settings) << [this]() -> R<cr::EpisodeSettings>
{
REQUIRE_CARLA_EPISODE();
return cr::EpisodeSettings{Episode->GetSettings()};
});
};
Server.BindSync("set_episode_settings", [this](const cr::EpisodeSettings &settings) -> R<void>
BIND_SYNC(set_episode_settings) << [this](const cr::EpisodeSettings &settings) -> R<void>
{
REQUIRE_CARLA_EPISODE();
Episode->ApplySettings(settings);
return R<void>::Success();
});
};
Server.BindSync("get_actor_definitions", [this]() -> R<std::vector<cr::ActorDefinition>>
BIND_SYNC(get_actor_definitions) << [this]() -> R<std::vector<cr::ActorDefinition>>
{
REQUIRE_CARLA_EPISODE();
return MakeVectorFromTArray<cr::ActorDefinition>(Episode->GetActorDefinitions());
});
};
Server.BindSync("get_spectator", [this]() -> R<cr::Actor> {
BIND_SYNC(get_spectator) << [this]() -> R<cr::Actor>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(Episode->GetSpectatorPawn());
if (!ActorView.IsValid())
@ -197,11 +228,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RESPOND_ERROR("internal error: unable to find spectator");
}
return Episode->SerializeActor(ActorView);
});
};
// ~~ Weather ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("get_weather_parameters", [this]() -> R<cr::WeatherParameters>
BIND_SYNC(get_weather_parameters) << [this]() -> R<cr::WeatherParameters>
{
REQUIRE_CARLA_EPISODE();
auto *Weather = Episode->GetWeather();
@ -210,10 +241,10 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RESPOND_ERROR("internal error: unable to find weather");
}
return Weather->GetCurrentWeather();
});
};
Server.BindSync("set_weather_parameters", [this](
const cr::WeatherParameters &weather) -> R<void>
BIND_SYNC(set_weather_parameters) << [this](
const cr::WeatherParameters &weather) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto *Weather = Episode->GetWeather();
@ -223,12 +254,12 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
Weather->ApplyWeather(weather);
return R<void>::Success();
});
};
// ~~ Actor operations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("get_actors_by_id", [this](
const std::vector<FActorView::IdType> &ids) -> R<std::vector<cr::Actor>>
BIND_SYNC(get_actors_by_id) << [this](
const std::vector<FActorView::IdType> &ids) -> R<std::vector<cr::Actor>>
{
REQUIRE_CARLA_EPISODE();
std::vector<cr::Actor> Result;
@ -242,11 +273,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
}
return Result;
});
};
Server.BindSync("spawn_actor", [this](
cr::ActorDescription Description,
const cr::Transform &Transform) -> R<cr::Actor>
BIND_SYNC(spawn_actor) << [this](
cr::ActorDescription Description,
const cr::Transform &Transform) -> R<cr::Actor>
{
REQUIRE_CARLA_EPISODE();
auto Result = Episode->SpawnActorWithInfo(Transform, std::move(Description));
@ -259,12 +290,12 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RESPOND_ERROR("internal error: actor could not be spawned");
}
return Episode->SerializeActor(Result.Value);
});
};
Server.BindSync("spawn_actor_with_parent", [this](
cr::ActorDescription Description,
const cr::Transform &Transform,
cr::ActorId ParentId) -> R<cr::Actor>
BIND_SYNC(spawn_actor_with_parent) << [this](
cr::ActorDescription Description,
const cr::Transform &Transform,
cr::ActorId ParentId) -> R<cr::Actor>
{
REQUIRE_CARLA_EPISODE();
auto Result = Episode->SpawnActorWithInfo(Transform, std::move(Description));
@ -283,9 +314,9 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
Episode->AttachActors(Result.Value.GetActor(), ParentActorView.GetActor());
return Episode->SerializeActor(Result.Value);
});
};
Server.BindSync("destroy_actor", [this](cr::ActorId ActorId) -> R<void>
BIND_SYNC(destroy_actor) << [this](cr::ActorId ActorId) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -298,11 +329,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RESPOND_ERROR("internal error: unable to destroy actor");
}
return R<void>::Success();
});
};
Server.BindSync("attach_actors", [this](
cr::ActorId ChildId,
cr::ActorId ParentId) -> R<void>
BIND_SYNC(attach_actors) << [this](
cr::ActorId ChildId,
cr::ActorId ParentId) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ChildView = Episode->FindActor(ChildId);
@ -317,13 +348,13 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
Episode->AttachActors(ChildView.GetActor(), ParentView.GetActor());
return R<void>::Success();
});
};
// ~~ Actor physics ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("set_actor_location", [this](
cr::ActorId ActorId,
cr::Location Location) -> R<void>
BIND_SYNC(set_actor_location) << [this](
cr::ActorId ActorId,
cr::Location Location) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -337,11 +368,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
nullptr,
ETeleportType::TeleportPhysics);
return R<void>::Success();
});
};
Server.BindSync("set_actor_transform", [this](
cr::ActorId ActorId,
cr::Transform Transform) -> R<void>
BIND_SYNC(set_actor_transform) << [this](
cr::ActorId ActorId,
cr::Transform Transform) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -355,11 +386,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
nullptr,
ETeleportType::TeleportPhysics);
return R<void>::Success();
});
};
Server.BindSync("set_actor_velocity", [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
BIND_SYNC(set_actor_velocity) << [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -377,11 +408,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
false,
"None");
return R<void>::Success();
});
};
Server.BindSync("set_actor_angular_velocity", [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
BIND_SYNC(set_actor_angular_velocity) << [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -399,11 +430,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
false,
"None");
return R<void>::Success();
});
};
Server.BindSync("add_actor_impulse", [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
BIND_SYNC(add_actor_impulse) << [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -421,10 +452,10 @@ void FTheNewCarlaServer::FPimpl::BindActions()
"None",
false);
return R<void>::Success();
});
};
Server.BindSync("get_physics_control", [this](
cr::Actor Actor) -> R<cr::VehiclePhysicsControl>
BIND_SYNC(get_physics_control) << [this](
cr::Actor Actor) -> R<cr::VehiclePhysicsControl>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(Actor.id);
@ -439,10 +470,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
return cr::VehiclePhysicsControl(Vehicle->GetVehiclePhysicsControl());
});
};
Server.BindSync("apply_physics_control", [this](
cr::Actor Actor, cr::VehiclePhysicsControl PhysicsControl) -> R<void>
BIND_SYNC(apply_physics_control) << [this](
cr::Actor Actor,
cr::VehiclePhysicsControl PhysicsControl) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(Actor.id);
@ -459,11 +491,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
Vehicle->ApplyVehiclePhysicsControl(FVehiclePhysicsControl(PhysicsControl));
return R<void>::Success();
});
};
Server.BindSync("set_actor_simulate_physics", [this](
cr::ActorId ActorId,
bool bEnabled) -> R<void>
BIND_SYNC(set_actor_simulate_physics) << [this](
cr::ActorId ActorId,
bool bEnabled) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -478,13 +510,13 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
RootComponent->SetSimulatePhysics(bEnabled);
return R<void>::Success();
});
};
// ~~ Apply control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("apply_control_to_vehicle", [this](
cr::ActorId ActorId,
cr::VehicleControl Control) -> R<void>
BIND_SYNC(apply_control_to_vehicle) << [this](
cr::ActorId ActorId,
cr::VehicleControl Control) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -499,11 +531,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
Vehicle->ApplyVehicleControl(Control);
return R<void>::Success();
});
};
Server.BindSync("apply_control_to_walker", [this](
cr::ActorId ActorId,
cr::WalkerControl Control) -> R<void>
BIND_SYNC(apply_control_to_walker) << [this](
cr::ActorId ActorId,
cr::WalkerControl Control) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -523,11 +555,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
Controller->ApplyWalkerControl(Control);
return R<void>::Success();
});
};
Server.BindSync("set_actor_autopilot", [this](
cr::ActorId ActorId,
bool bEnabled) -> R<void>
BIND_SYNC(set_actor_autopilot) << [this](
cr::ActorId ActorId,
bool bEnabled) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->FindActor(ActorId);
@ -547,13 +579,13 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
Controller->SetAutopilot(bEnabled);
return R<void>::Success();
});
};
// ~~ Traffic lights ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("set_traffic_light_state", [this](
cr::ActorId ActorId,
cr::TrafficLightState trafficLightState) -> R<void>
BIND_SYNC(set_traffic_light_state) << [this](
cr::ActorId ActorId,
cr::TrafficLightState trafficLightState) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(ActorId);
@ -568,11 +600,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
TrafficLight->SetTrafficLightState(static_cast<ETrafficLightState>(trafficLightState));
return R<void>::Success();
});
};
Server.BindSync("set_traffic_light_green_time", [this](
cr::ActorId ActorId,
float GreenTime) -> R<void>
BIND_SYNC(set_traffic_light_green_time) << [this](
cr::ActorId ActorId,
float GreenTime) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(ActorId);
@ -587,11 +619,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
TrafficLight->SetGreenTime(GreenTime);
return R<void>::Success();
});
};
Server.BindSync("set_traffic_light_yellow_time", [this](
cr::ActorId ActorId,
float YellowTime) -> R<void>
BIND_SYNC(set_traffic_light_yellow_time) << [this](
cr::ActorId ActorId,
float YellowTime) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(ActorId);
@ -606,11 +638,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
TrafficLight->SetYellowTime(YellowTime);
return R<void>::Success();
});
};
Server.BindSync("set_traffic_light_red_time", [this](
cr::ActorId ActorId,
float RedTime) -> R<void>
BIND_SYNC(set_traffic_light_red_time) << [this](
cr::ActorId ActorId,
float RedTime) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(ActorId);
@ -625,11 +657,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
TrafficLight->SetRedTime(RedTime);
return R<void>::Success();
});
};
Server.BindSync("freeze_traffic_light", [this](
cr::ActorId ActorId,
bool Freeze) -> R<void>
BIND_SYNC(freeze_traffic_light) << [this](
cr::ActorId ActorId,
bool Freeze) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(ActorId);
@ -644,10 +676,10 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
TrafficLight->SetTimeIsFrozen(Freeze);
return R<void>::Success();
});
};
Server.BindSync("get_group_traffic_lights", [this](
const cr::Actor Actor) -> R<std::vector<cr::ActorId>>
BIND_SYNC(get_group_traffic_lights) << [this](
const cr::Actor Actor) -> R<std::vector<cr::ActorId>>
{
REQUIRE_CARLA_EPISODE();
auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
@ -670,47 +702,53 @@ void FTheNewCarlaServer::FPimpl::BindActions()
}
}
return Result;
});
};
// ~~ Logging and playback ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("start_recorder", [this](std::string name) -> R<std::string> {
BIND_SYNC(start_recorder) << [this](std::string name) -> R<std::string>
{
REQUIRE_CARLA_EPISODE();
return R<std::string>(Episode->StartRecorder(name));
});
};
Server.BindSync("stop_recorder", [this]() -> R<void> {
BIND_SYNC(stop_recorder) << [this]() -> R<void>
{
REQUIRE_CARLA_EPISODE();
Episode->GetRecorder()->Stop();
return R<void>::Success();
});
};
Server.BindSync("show_recorder_file_info", [this](std::string name) -> R<std::string> {
BIND_SYNC(show_recorder_file_info) << [this](std::string name) -> R<std::string>
{
REQUIRE_CARLA_EPISODE();
return R<std::string>(Episode->GetRecorder()->ShowFileInfo(
carla::rpc::FromFString(FPaths::ConvertRelativePathToFull(FPaths::ProjectSavedDir())),
name));
});
};
Server.BindSync("show_recorder_collisions", [this](std::string name, char type1, char type2) -> R<std::string> {
BIND_SYNC(show_recorder_collisions) << [this](std::string name, char type1, char type2) -> R<std::string>
{
REQUIRE_CARLA_EPISODE();
return R<std::string>(Episode->GetRecorder()->ShowFileCollisions(
carla::rpc::FromFString(FPaths::ConvertRelativePathToFull(FPaths::ProjectSavedDir())),
name,
type1,
type2));
});
};
Server.BindSync("show_recorder_actors_blocked", [this](std::string name, double min_time, double min_distance) -> R<std::string> {
BIND_SYNC(show_recorder_actors_blocked) << [this](std::string name, double min_time, double min_distance) -> R<std::string>
{
REQUIRE_CARLA_EPISODE();
return R<std::string>(Episode->GetRecorder()->ShowFileActorsBlocked(
carla::rpc::FromFString(FPaths::ConvertRelativePathToFull(FPaths::ProjectSavedDir())),
name,
min_time,
min_distance));
});
};
Server.BindSync("replay_file", [this](std::string name, double start, double duration, uint32_t follow_id) -> R<std::string> {
BIND_SYNC(replay_file) << [this](std::string name, double start, double duration, uint32_t follow_id) -> R<std::string>
{
REQUIRE_CARLA_EPISODE();
return R<std::string>(Episode->GetRecorder()->ReplayFile(
carla::rpc::FromFString(FPaths::ConvertRelativePathToFull(FPaths::ProjectSavedDir())),
@ -718,11 +756,11 @@ void FTheNewCarlaServer::FPimpl::BindActions()
start,
duration,
follow_id));
});
};
// ~~ Draw debug shapes ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Server.BindSync("draw_debug_shape", [this](const cr::DebugShape &shape) -> R<void>
BIND_SYNC(draw_debug_shape) << [this](const cr::DebugShape &shape) -> R<void>
{
REQUIRE_CARLA_EPISODE();
auto *World = Episode->GetWorld();
@ -730,13 +768,15 @@ void FTheNewCarlaServer::FPimpl::BindActions()
FDebugShapeDrawer Drawer(*World);
Drawer.Draw(shape);
return R<void>::Success();
});
};
}
// =============================================================================
// -- Undef helper macros ------------------------------------------------------
// =============================================================================
#undef BIND_ASYNC
#undef BIND_SYNC
#undef REQUIRE_CARLA_EPISODE
#undef RESPOND_ERROR_FSTRING
#undef RESPOND_ERROR