Secondary-side map from a primary sensor actor to its local stream, exposed to clients only through an alias of the primary's stream id. More...

#include <sensorStreamRegistry.h>

Classes
struct	Entry

Public Types
using	actor_id_type = uint32_t

using	epoch_type = uint64_t

using	stream_id_type = carla::streaming::detail::stream_id_type

using	token_type = carla::streaming::detail::token_type

Public Member Functions
epoch_type	BeginEpisodeChange (carla::streaming::Server &server)
	The primary switched episode: forgets every actor and returns the epoch the secondary must pass to OpenEpisode() once it runs the new episode.

std::optional< carla::streaming::Stream >	Bind (carla::streaming::Server &server, actor_id_type actor_id, stream_id_type sensor_stream_id, bool can_adopt)
	Returns the stream reserved for actor_id if can_adopt (the sensor has never ticked) and the sensor must adopt it; otherwise the alias is retargeted to sensor_stream_id.

void	CloseEpisode ()

bool	IsEpisodeOpen ()
	Whether Bind()/Unbind() are accepted, i.e.

void	OpenEpisode (epoch_type epoch)
	Accepts binding if epoch is the latest one BeginEpisodeChange() issued.

std::optional< token_type >	Resolve (carla::streaming::Server &server, actor_id_type actor_id, stream_id_type primary_stream_id)
	Token that serves primary actor actor_id under primary_stream_id, reserving a local stream if the sensor has not spawned here yet.

void	Unbind (carla::streaming::Server &server, actor_id_type actor_id)
	Forgets actor_id, closing its reserved stream if no sensor adopted it.

Static Private Member Functions
static void	Forget (carla::streaming::Server &server, const Entry &entry)

Private Attributes
bool	_bindable = false

std::unordered_map< actor_id_type, Entry >	_entries

epoch_type	_epoch = 0u

std::mutex	_mutex

Detailed Description

Secondary-side map from a primary sensor actor to its local stream, exposed to clients only through an alias of the primary's stream id.

Entries are per primary episode. Resolve() and BeginEpisodeChange() run on the multi-GPU command thread, the rest on the game thread.

Definition at line 24 of file sensorStreamRegistry.h.

Member Typedef Documentation

◆ actor_id_type

using carla::multigpu::SensorStreamRegistry::actor_id_type = uint32_t

Definition at line 26 of file sensorStreamRegistry.h.

◆ epoch_type

using carla::multigpu::SensorStreamRegistry::epoch_type = uint64_t

Definition at line 27 of file sensorStreamRegistry.h.

◆ stream_id_type

using carla::multigpu::SensorStreamRegistry::stream_id_type = carla::streaming::detail::stream_id_type

Definition at line 28 of file sensorStreamRegistry.h.

◆ token_type

using carla::multigpu::SensorStreamRegistry::token_type = carla::streaming::detail::token_type

Definition at line 29 of file sensorStreamRegistry.h.

Member Function Documentation

◆ BeginEpisodeChange()

SensorStreamRegistry::epoch_type carla::multigpu::SensorStreamRegistry::BeginEpisodeChange ( carla::streaming::Server & server )

The primary switched episode: forgets every actor and returns the epoch the secondary must pass to OpenEpisode() once it runs the new episode.

Definition at line 112 of file sensorStreamRegistry.cpp.

References _bindable, _entries, _epoch, _mutex, and Forget().

Referenced by FCarlaEngine::NotifyInitGame().

◆ Bind()

std::optional< carla::streaming::Stream > carla::multigpu::SensorStreamRegistry::Bind	(	carla::streaming::Server &	server,
		actor_id_type	actor_id,
		stream_id_type	sensor_stream_id,
		bool	can_adopt
	)

Returns the stream reserved for actor_id if can_adopt (the sensor has never ticked) and the sensor must adopt it; otherwise the alias is retargeted to sensor_stream_id.

A stream bound to another actor is refused.

Definition at line 54 of file sensorStreamRegistry.cpp.

References _bindable, _entries, _mutex, carla::streaming::Server::CloseStream(), carla::log_warning(), and carla::streaming::Server::SetStreamAlias().

Referenced by FCarlaEngine::BindReplayedSensor().

◆ CloseEpisode()

void carla::multigpu::SensorStreamRegistry::CloseEpisode ( )

Definition at line 127 of file sensorStreamRegistry.cpp.

References _bindable, and _mutex.

Referenced by FCarlaEngine::NotifyEndEpisode().

◆ Forget()

void carla::multigpu::SensorStreamRegistry::Forget	(	carla::streaming::Server &	server,
		const Entry &	entry
	)

staticprivate

Definition at line 137 of file sensorStreamRegistry.cpp.

References carla::streaming::Server::CloseStream(), carla::multigpu::SensorStreamRegistry::Entry::primary_stream_id, carla::streaming::Server::RemoveStreamAlias(), carla::multigpu::SensorStreamRegistry::Entry::reserved, and carla::multigpu::SensorStreamRegistry::Entry::stream_id.

Referenced by BeginEpisodeChange(), Resolve(), and Unbind().

◆ IsEpisodeOpen()

bool carla::multigpu::SensorStreamRegistry::IsEpisodeOpen ( )

Whether Bind()/Unbind() are accepted, i.e.

the episode of the latest BeginEpisodeChange() is open.

Definition at line 132 of file sensorStreamRegistry.cpp.

References _bindable, and _mutex.

Referenced by FCarlaEngine::BindReplayedSensor(), and FCarlaEngine::OnBeginFrame().

◆ OpenEpisode()

void carla::multigpu::SensorStreamRegistry::OpenEpisode ( epoch_type epoch )

Accepts binding if epoch is the latest one BeginEpisodeChange() issued.

Definition at line 122 of file sensorStreamRegistry.cpp.

References _bindable, _epoch, and _mutex.

Referenced by FCarlaEngine::NotifyBeginEpisode().

◆ Resolve()

std::optional< SensorStreamRegistry::token_type > carla::multigpu::SensorStreamRegistry::Resolve	(	carla::streaming::Server &	server,
		actor_id_type	actor_id,
		stream_id_type	primary_stream_id
	)

Token that serves primary actor actor_id under primary_stream_id, reserving a local stream if the sensor has not spawned here yet.

Definition at line 14 of file sensorStreamRegistry.cpp.

References _entries, _mutex, carla::streaming::Server::FindToken(), first, Forget(), carla::streaming::detail::token_type::get_stream_id(), carla::log_info(), carla::log_warning(), carla::streaming::Server::MakeStream(), carla::streaming::Server::RemoveStreamAlias(), and carla::streaming::Server::SetStreamAlias().

Referenced by FCarlaEngine::NotifyInitGame().

◆ Unbind()

void carla::multigpu::SensorStreamRegistry::Unbind	(	carla::streaming::Server &	server,
		actor_id_type	actor_id
	)

Forgets actor_id, closing its reserved stream if no sensor adopted it.

Definition at line 97 of file sensorStreamRegistry.cpp.

References _bindable, _entries, _mutex, and Forget().

Referenced by FCarlaEngine::PlayPrimaryFrame().

Member Data Documentation

◆ _bindable

bool carla::multigpu::SensorStreamRegistry::_bindable = false

private

Definition at line 78 of file sensorStreamRegistry.h.

Referenced by BeginEpisodeChange(), Bind(), CloseEpisode(), IsEpisodeOpen(), OpenEpisode(), and Unbind().

◆ _entries

std::unordered_map<actor_id_type, Entry> carla::multigpu::SensorStreamRegistry::_entries

private

Definition at line 79 of file sensorStreamRegistry.h.

Referenced by BeginEpisodeChange(), Bind(), Resolve(), and Unbind().

◆ _epoch

epoch_type carla::multigpu::SensorStreamRegistry::_epoch = 0u

private

Definition at line 77 of file sensorStreamRegistry.h.

Referenced by BeginEpisodeChange(), and OpenEpisode().

◆ _mutex

std::mutex carla::multigpu::SensorStreamRegistry::_mutex

private

Definition at line 76 of file sensorStreamRegistry.h.

Referenced by BeginEpisodeChange(), Bind(), CloseEpisode(), IsEpisodeOpen(), OpenEpisode(), Resolve(), and Unbind().

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

Classes

Public Types

Public Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ actor_id_type

◆ epoch_type

◆ stream_id_type

◆ token_type

Member Function Documentation

◆ BeginEpisodeChange()

◆ Bind()

◆ CloseEpisode()

◆ Forget()

◆ IsEpisodeOpen()

◆ OpenEpisode()

◆ Resolve()

◆ Unbind()

Member Data Documentation

◆ _bindable

◆ _entries

◆ _epoch

◆ _mutex