Holds the current episode, and the current episode state. More...

#include <Episode.h>

Inheritance diagram for carla::client::detail::Episode:

Public Member Functions
void	AddPendingException (std::string e)

std::shared_ptr< WalkerNavigation >	CreateNavigationIfMissing ()

	Episode (Client &client, std::weak_ptr< Simulator > simulator)

std::optional< rpc::Actor >	GetActorById (ActorId id)

std::vector< rpc::Actor >	GetActors ()

std::vector< rpc::Actor >	GetActorsById (const std::vector< ActorId > &actor_ids)

auto	GetId () const

std::shared_ptr< const EpisodeState >	GetState () const

bool	HasMapChangedSinceLastCall ()

bool	IsEpisodeChangeHandled () const
	Whether OnEpisodeChanged has finished for the episode GetId() returns.

void	Listen ()

void	RegisterActor (rpc::Actor actor)

size_t	RegisterLightUpdateChangeEvent (std::function< void(WorldSnapshot)> callback)

size_t	RegisterOnMapChangeEvent (std::function< void(WorldSnapshot)> callback)

size_t	RegisterOnTickEvent (std::function< void(WorldSnapshot)> callback)

void	RemoveLightUpdateChangeEvent (size_t id)

void	RemoveOnMapChangeEvent (size_t id)

void	RemoveOnTickEvent (size_t id)

void	SetPedestriansCrossFactor (float percentage)

void	SetPedestriansSeed (unsigned int seed)

std::optional< WorldSnapshot >	WaitForState (time_duration timeout)

	~Episode ()

Private Member Functions
	Episode (Client &client, const rpc::EpisodeInfo &info, std::weak_ptr< Simulator > simulator)

void	OnEpisodeChanged (uint64_t episode_id)

void	OnEpisodeStarted ()

Private Member Functions inherited from carla::NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

	NonCopyable (NonCopyable &&)=delete

NonCopyable &	operator= (const NonCopyable &)=delete

NonCopyable &	operator= (NonCopyable &&)=delete

Private Attributes
CachedActorList	_actors

Client &	_client

std::atomic< uint64_t >	_handled_episode_id

CallbackList< WorldSnapshot >	_on_light_update_callbacks

CallbackList< WorldSnapshot >	_on_map_change_callbacks

CallbackList< WorldSnapshot >	_on_tick_callbacks

bool	_pending_exceptions = false

std::string	_pending_exceptions_msg

bool	_should_update_map = true

std::weak_ptr< Simulator >	_simulator

RecurrentSharedFuture< WorldSnapshot >	_snapshot

AtomicSharedPtr< const EpisodeState >	_state

std::thread	_tm_reset_thread

const streaming::Token	_token

AtomicSharedPtr< WalkerNavigation >	_walker_navigation

Detailed Description

Holds the current episode, and the current episode state.

The episode state changes in the background each time a world tick is received. The episode may change with any background update if the simulator has loaded a new episode.

Definition at line 36 of file Episode.h.

Constructor & Destructor Documentation

◆ Episode() [1/2]

carla::client::detail::Episode::Episode	(	Client &	client,
		std::weak_ptr< Simulator >	simulator
	)

explicit

Definition at line 39 of file Episode.cpp.

◆ ~Episode()

carla::client::detail::Episode::~Episode ( )

Definition at line 49 of file Episode.cpp.

References _client, _tm_reset_thread, _token, carla::log_error(), and carla::client::detail::Client::UnSubscribeFromStream().

◆ Episode() [2/2]

carla::client::detail::Episode::Episode	(	Client &	client,
		const rpc::EpisodeInfo &	info,
		std::weak_ptr< Simulator >	simulator
	)

private

Definition at line 42 of file Episode.cpp.

Member Function Documentation

◆ AddPendingException()

void carla::client::detail::Episode::AddPendingException ( std::string e )

inline

Definition at line 102 of file Episode.h.

References _pending_exceptions, and _pending_exceptions_msg.

◆ CreateNavigationIfMissing()

std::shared_ptr< WalkerNavigation > carla::client::detail::Episode::CreateNavigationIfMissing ( )

Definition at line 190 of file Episode.cpp.

References _client, _simulator, _walker_navigation, and carla::client::detail::Client::IsNavigationServerSide().

◆ GetActorById()

std::optional< rpc::Actor > carla::client::detail::Episode::GetActorById ( ActorId id )

Definition at line 140 of file Episode.cpp.

References _actors, _client, carla::client::detail::CachedActorList::GetActorById(), carla::client::detail::Client::GetActorsById(), and carla::client::detail::CachedActorList::Insert().

◆ GetActors()

std::vector< rpc::Actor > carla::client::detail::Episode::GetActors ( )

Definition at line 156 of file Episode.cpp.

References _actors, _client, carla::client::detail::GetActorsById_Impl(), and GetState().

◆ GetActorsById()

std::vector< rpc::Actor > carla::client::detail::Episode::GetActorsById ( const std::vector< ActorId > & actor_ids )

Definition at line 152 of file Episode.cpp.

References _actors, _client, and carla::client::detail::GetActorsById_Impl().

◆ GetId()

auto carla::client::detail::Episode::GetId ( ) const

inline

Definition at line 47 of file Episode.h.

References GetState().

Referenced by IsEpisodeChangeHandled().

◆ GetState()

std::shared_ptr< const EpisodeState > carla::client::detail::Episode::GetState ( ) const

inline

Definition at line 56 of file Episode.h.

References _state.

Referenced by GetActors(), GetId(), and carla::client::detail::SynchronizeFrame().

◆ HasMapChangedSinceLastCall()

bool carla::client::detail::Episode::HasMapChangedSinceLastCall ( )

Definition at line 182 of file Episode.cpp.

References _should_update_map.

◆ IsEpisodeChangeHandled()

bool carla::client::detail::Episode::IsEpisodeChangeHandled ( ) const

inline

Whether OnEpisodeChanged has finished for the episode GetId() returns.

Definition at line 52 of file Episode.h.

References _handled_episode_id, and GetId().

◆ Listen()

void carla::client::detail::Episode::Listen ( )

Check for pending exceptions (Mainly TM server closed)

Mark pending exception false

Create exception for the error message

Sensor case: inconsistent data

Episode change

Definition at line 60 of file Episode.cpp.

References _client, _token, carla::client::detail::CastData(), carla::sensor::Deserializer::Deserialize(), carla::log_error(), and carla::client::detail::Client::SubscribeToStream().

◆ OnEpisodeChanged()

void carla::client::detail::Episode::OnEpisodeChanged ( uint64_t episode_id )

private

Definition at line 167 of file Episode.cpp.

References _handled_episode_id, _tm_reset_thread, carla::log_error(), and carla::traffic_manager::TrafficManager::Reset().

◆ OnEpisodeStarted()

void carla::client::detail::Episode::OnEpisodeStarted ( )

private

Definition at line 160 of file Episode.cpp.

References _actors, _on_tick_callbacks, _walker_navigation, carla::client::detail::CachedActorList::Clear(), and carla::traffic_manager::TrafficManager::Release().

◆ RegisterActor()

void carla::client::detail::Episode::RegisterActor ( rpc::Actor actor )

inline

Definition at line 60 of file Episode.h.

References _actors, and carla::client::detail::CachedActorList::Insert().

◆ RegisterLightUpdateChangeEvent()

size_t carla::client::detail::Episode::RegisterLightUpdateChangeEvent ( std::function< void(WorldSnapshot)> callback )

inline

Definition at line 90 of file Episode.h.

References _on_light_update_callbacks.

◆ RegisterOnMapChangeEvent()

size_t carla::client::detail::Episode::RegisterOnMapChangeEvent ( std::function< void(WorldSnapshot)> callback )

inline

Definition at line 82 of file Episode.h.

References _on_map_change_callbacks.

◆ RegisterOnTickEvent()

size_t carla::client::detail::Episode::RegisterOnTickEvent ( std::function< void(WorldSnapshot)> callback )

inline

Definition at line 74 of file Episode.h.

References _on_tick_callbacks.

◆ RemoveLightUpdateChangeEvent()

void carla::client::detail::Episode::RemoveLightUpdateChangeEvent ( size_t id )

inline

Definition at line 94 of file Episode.h.

References _on_light_update_callbacks.

◆ RemoveOnMapChangeEvent()

void carla::client::detail::Episode::RemoveOnMapChangeEvent ( size_t id )

inline

Definition at line 86 of file Episode.h.

References _on_map_change_callbacks.

◆ RemoveOnTickEvent()

void carla::client::detail::Episode::RemoveOnTickEvent ( size_t id )

inline

Definition at line 78 of file Episode.h.

References _on_tick_callbacks.

◆ SetPedestriansCrossFactor()

void carla::client::detail::Episode::SetPedestriansCrossFactor ( float percentage )

◆ SetPedestriansSeed()

void carla::client::detail::Episode::SetPedestriansSeed ( unsigned int seed )

◆ WaitForState()

std::optional< WorldSnapshot > carla::client::detail::Episode::WaitForState ( time_duration timeout )

inline

Definition at line 70 of file Episode.h.

References _snapshot.

Member Data Documentation

◆ _actors

CachedActorList carla::client::detail::Episode::_actors

private

Definition at line 125 of file Episode.h.

Referenced by GetActorById(), GetActors(), GetActorsById(), OnEpisodeStarted(), and RegisterActor().

◆ _client

Client& carla::client::detail::Episode::_client

private

Definition at line 119 of file Episode.h.

Referenced by CreateNavigationIfMissing(), GetActorById(), GetActors(), GetActorsById(), Listen(), and ~Episode().

◆ _handled_episode_id

std::atomic<uint64_t> carla::client::detail::Episode::_handled_episode_id

private

Definition at line 145 of file Episode.h.

Referenced by IsEpisodeChangeHandled(), and OnEpisodeChanged().

◆ _on_light_update_callbacks

CallbackList<WorldSnapshot> carla::client::detail::Episode::_on_light_update_callbacks

private

Definition at line 131 of file Episode.h.

Referenced by RegisterLightUpdateChangeEvent(), and RemoveLightUpdateChangeEvent().

◆ _on_map_change_callbacks

CallbackList<WorldSnapshot> carla::client::detail::Episode::_on_map_change_callbacks

private

Definition at line 129 of file Episode.h.

Referenced by RegisterOnMapChangeEvent(), and RemoveOnMapChangeEvent().

◆ _on_tick_callbacks

CallbackList<WorldSnapshot> carla::client::detail::Episode::_on_tick_callbacks

private

Definition at line 127 of file Episode.h.

Referenced by OnEpisodeStarted(), RegisterOnTickEvent(), and RemoveOnTickEvent().

◆ _pending_exceptions

bool carla::client::detail::Episode::_pending_exceptions = false

private

Definition at line 139 of file Episode.h.

Referenced by AddPendingException().

◆ _pending_exceptions_msg

std::string carla::client::detail::Episode::_pending_exceptions_msg

private

Definition at line 123 of file Episode.h.

Referenced by AddPendingException().

◆ _should_update_map

bool carla::client::detail::Episode::_should_update_map = true

private

Definition at line 141 of file Episode.h.

Referenced by HasMapChangedSinceLastCall().

◆ _simulator

std::weak_ptr<Simulator> carla::client::detail::Episode::_simulator

private

Definition at line 143 of file Episode.h.

Referenced by CreateNavigationIfMissing().

◆ _snapshot

RecurrentSharedFuture<WorldSnapshot> carla::client::detail::Episode::_snapshot

private

Definition at line 133 of file Episode.h.

Referenced by WaitForState().

◆ _state

AtomicSharedPtr<const EpisodeState> carla::client::detail::Episode::_state

private

Definition at line 121 of file Episode.h.

Referenced by GetState().

◆ _tm_reset_thread

std::thread carla::client::detail::Episode::_tm_reset_thread

private

Definition at line 147 of file Episode.h.

Referenced by OnEpisodeChanged(), and ~Episode().

◆ _token

const streaming::Token carla::client::detail::Episode::_token

private

Definition at line 137 of file Episode.h.

Referenced by Listen(), and ~Episode().

◆ _walker_navigation

AtomicSharedPtr<WalkerNavigation> carla::client::detail::Episode::_walker_navigation

private

Definition at line 135 of file Episode.h.

Referenced by CreateNavigationIfMissing(), and OnEpisodeStarted().

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Episode() [1/2]

◆ ~Episode()

◆ Episode() [2/2]

Member Function Documentation

◆ AddPendingException()

◆ CreateNavigationIfMissing()

◆ GetActorById()

◆ GetActors()

◆ GetActorsById()

◆ GetId()

◆ GetState()

◆ HasMapChangedSinceLastCall()

◆ IsEpisodeChangeHandled()

◆ Listen()

◆ OnEpisodeChanged()

◆ OnEpisodeStarted()

◆ RegisterActor()

◆ RegisterLightUpdateChangeEvent()

◆ RegisterOnMapChangeEvent()

◆ RegisterOnTickEvent()

◆ RemoveLightUpdateChangeEvent()

◆ RemoveOnMapChangeEvent()

◆ RemoveOnTickEvent()

◆ SetPedestriansCrossFactor()

◆ SetPedestriansSeed()

◆ WaitForState()

Member Data Documentation

◆ _actors

◆ _client

◆ _handled_episode_id

◆ _on_light_update_callbacks

◆ _on_map_change_callbacks

◆ _on_tick_callbacks

◆ _pending_exceptions

◆ _pending_exceptions_msg

◆ _should_update_map

◆ _simulator

◆ _snapshot

◆ _state

◆ _tm_reset_thread

◆ _token

◆ _walker_navigation