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Stream is removed when the sensor is destroyed

This commit is contained in:
bernatx 2022-05-05 10:43:02 +02:00 committed by bernat
parent cb0ae25111
commit f10b83c4fe
6 changed files with 61 additions and 12 deletions
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4
LibCarla/source/carla/streaming/Server.h
View File

@ -53,6 +53,10 @@ namespace streaming {
return _server.MakeStream();
}
void CloseStream(carla::streaming::detail::stream_id_type id) {
return _server.CloseStream(id);
}
void Run() {
_pool.Run();
}

35
LibCarla/source/carla/streaming/detail/Dispatcher.cpp
View File

@ -57,15 +57,32 @@ namespace detail {
}
}
void Dispatcher::CloseStream(carla::streaming::detail::stream_id_type id) {
std::lock_guard<std::mutex> lock(_mutex);
log_info("Calling CloseStream for ", id);
auto search = _stream_map.find(id);
if (search != _stream_map.end()) {
auto stream_state = search->second.lock();
if (stream_state != nullptr) {
log_info("Disconnecting all sessions (stream ", id, ")");
stream_state->ClearSessions();
}
_stream_map.erase(search);
}
}
bool Dispatcher::RegisterSession(std::shared_ptr<Session> session) {
DEBUG_ASSERT(session != nullptr);
std::lock_guard<std::mutex> lock(_mutex);
auto search = _stream_map.find(session->get_stream_id());
if (search != _stream_map.end()) {
auto stream_state = search->second;
log_info("Connecting session (stream ", session->get_stream_id(), ")");
stream_state->ConnectSession(std::move(session));
return true;
auto stream_state = search->second.lock();
if (stream_state != nullptr) {
log_info("Connecting session (stream ", session->get_stream_id(), ")");
stream_state->ConnectSession(std::move(session));
log_info("Current streams: ", _stream_map.size());
return true;
}
}
log_error("Invalid session: no stream available with id", session->get_stream_id());
return false;
@ -74,11 +91,15 @@ namespace detail {
void Dispatcher::DeregisterSession(std::shared_ptr<Session> session) {
DEBUG_ASSERT(session != nullptr);
std::lock_guard<std::mutex> lock(_mutex);
log_info("Calling DeregisterSession for ", session->get_stream_id());
auto search = _stream_map.find(session->get_stream_id());
if (search != _stream_map.end()) {
auto stream_state = search->second;
log_info("Disconnecting session (stream ", session->get_stream_id(), ")");
stream_state->DisconnectSession(session);
auto stream_state = search->second.lock();
if (stream_state != nullptr) {
log_info("Disconnecting session (stream ", session->get_stream_id(), ")");
stream_state->DisconnectSession(session);
log_info("Current streams: ", _stream_map.size());
}
}
}

2
LibCarla/source/carla/streaming/detail/Dispatcher.h
View File

@ -35,6 +35,8 @@ namespace detail {
carla::streaming::Stream MakeStream();
void CloseStream(carla::streaming::detail::stream_id_type id);
bool RegisterSession(std::shared_ptr<Session> session);
void DeregisterSession(std::shared_ptr<Session> session);

20
LibCarla/source/carla/streaming/detail/MultiStreamState.h
View File

@ -39,6 +39,8 @@ namespace detail {
if (session != nullptr) {
auto message = Session::MakeMessage(std::move(buffers)...);
session->Write(std::move(message));
// log_info("sensor ", session->get_stream_id()," data sent ", message->size(), " by");
log_info("sensor ", session->get_stream_id()," data sent");
// Return here, _session is only valid if we have a
// single session.
return;
@ -46,10 +48,14 @@ namespace detail {
// try write multiple stream
std::lock_guard<std::mutex> lock(_mutex);
auto message = Session::MakeMessage(std::move(buffers)...);
for (auto &s : _sessions) {
if (s != nullptr) {
s->Write(message);
if (_sessions.size() > 0) {
auto message = Session::MakeMessage(std::move(buffers)...);
for (auto &s : _sessions) {
if (s != nullptr) {
s->Write(message);
// log_info("sensor ", s->get_stream_id()," data sent ", message->size(), " by");
log_info("sensor ", s->get_stream_id()," data sent ");
}
}
}
}
@ -74,6 +80,7 @@ namespace detail {
void DisconnectSession(std::shared_ptr<Session> session) final {
DEBUG_ASSERT(session != nullptr);
std::lock_guard<std::mutex> lock(_mutex);
log_info("Calling DisconnectSession for ", session->get_stream_id());
if (_sessions.size() == 0) return;
if (_sessions.size() == 1) {
DEBUG_ASSERT(session == _session.load());
@ -96,6 +103,11 @@ namespace detail {
void ClearSessions() final {
std::lock_guard<std::mutex> lock(_mutex);
for (auto &s : _sessions) {
if (s != nullptr) {
s->Close();
}
}
_sessions.clear();
_session.store(nullptr);
log_debug("Disconnecting all multistream sessions");

5
LibCarla/source/carla/streaming/low_level/Server.h
View File

@ -65,6 +65,10 @@ namespace low_level {
return _dispatcher.MakeStream();
}
void CloseStream(carla::streaming::detail::stream_id_type id) {
return _dispatcher.CloseStream(id);
}
void SetSynchronousMode(bool is_synchro) {
_server.SetSynchronousMode(is_synchro);
}
@ -82,6 +86,7 @@ namespace low_level {
}
};
auto on_session_closed = [this](auto session) {
log_info("on_session_closed called");
_dispatcher.DeregisterSession(session);
};
_server.Listen(on_session_opened, on_session_closed);

5
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Sensor.cpp
View File

@ -10,6 +10,7 @@
#include "Carla/Actor/ActorDescription.h"
#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
#include "Carla/Game/CarlaStatics.h"
ASensor::ASensor(const FObjectInitializer &ObjectInitializer)
: Super(ObjectInitializer)
@ -97,6 +98,10 @@ void ASensor::PostActorCreated()
void ASensor::EndPlay(EEndPlayReason::Type EndPlayReason)
{
Super::EndPlay(EndPlayReason);
// close all sessions associated to the sensor stream
UCarlaStatics::GetGameInstance(GetEpisode().GetWorld())->GetServer().GetStreamingServer().CloseStream(carla::streaming::detail::token_type(Stream.GetToken()).get_stream_id());
Stream = FDataStream();
UCarlaEpisode* Episode = UCarlaStatics::GetCurrentEpisode(GetWorld());