carla Namespace Reference

This file contains definitions of common data structures used in traffic manager. More...

Namespaces
namespace	agents
namespace	client
namespace	detail
namespace	geom
namespace	image
namespace	iterator
namespace	learning
namespace	logging
namespace	multigpu
namespace	nav
namespace	opendrive
namespace	pointcloud
namespace	profiler
namespace	road
namespace	ros2
namespace	rpc
namespace	rss
namespace	sensor
namespace	streaming
namespace	traffic_manager

Classes
struct	are_same
struct	are_same< T0, T1 >
struct	are_same< T0, T1, Ts... >
class	AtomicSharedPtr
	A very simple atomic shared ptr with release-acquire memory order. More...
class	Buffer
	A piece of raw data. More...
class	BufferPool
	A pool of Buffer. More...
class	BufferView
	Creating a constant view from an existing buffer. More...
class	FileSystem
	Static functions for accessing the file system. More...
class	Functional
class	ListView
	A view over a range of elements in a container. More...
class	MovableNonCopyable
	Inherit (privately) to suppress copy construction and assignment. More...
class	MsgPack
class	NonCopyable
	Inherit (privately) to suppress copy/move construction and assignment. More...
class	RecurrentSharedFuture
	This class is meant to be used similar to a shared future, but the value can be set any number of times. More...
class	StringUtil
class	ThreadGroup
class	ThreadPool
	A thread pool based on Boost.Asio's io context. More...
class	time_duration
	Positive time duration up to milliseconds resolution. More...

Typedefs
using	ActorId = rpc::ActorId
template<typename T >
using	EnableSharedFromThis = std::enable_shared_from_this< T >
using	SharedBufferView = std::shared_ptr< BufferView >
template<typename T >
using	SharedPtr = std::shared_ptr< T >
using	StopWatch = detail::StopWatchTmpl< std::chrono::steady_clock >
using	TM = traffic_manager::TrafficManager
template<typename T >
using	WeakPtr = std::weak_ptr< T >

Functions
template<typename ... Args>
static void	log_critical (Args &&... args)
template<typename ... Args>
static void	log_debug (Args &&... args)
template<typename ... Args>
static void	log_error (Args &&... args)
template<typename ... Args>
static void	log_info (Args &&... args)
template<typename ... Args>
static void	log_warning (Args &&... args)
template<typename Container >
static auto	MakeListView (Container &c)
template<typename Iterator >
static auto	MakeListView (Iterator begin, Iterator end)
template<typename T , typename... Args>
static auto	MakeShared (Args &&... args)
template<typename FunctorT >
auto	MoveHandler (FunctorT &&func)
	Hack to trick asio into accepting move-only handlers, if the handler were actually copied it would result in a link error.
static bool	operator!= (const Buffer &lhs, const Buffer &rhs)
static std::ostream &	operator<< (std::ostream &out, const Buffer &buf)
static bool	operator== (const Buffer &lhs, const Buffer &rhs)
void	SetCloseOnExecForListeningPort (uint16_t Port)
	Fallback for listening sockets we have no direct handle to (e.g.
template<typename NativeHandle >
void	SetSocketCloseOnExec (NativeHandle fd)
	Marks a socket file descriptor close-on-exec, so it is not inherited by child processes started via fork+exec (e.g.
template<typename ExceptionT >
void	throw_exception (const ExceptionT &e)
	Templated on the static type so the thrown object keeps its dynamic type: taking a const std::exception & and throw e; would slice every carla::client error down to a bare std::exception (what() == "std::exception"), losing the server's message.

Detailed Description

This file contains definitions of common data structures used in traffic manager.

This file has functionality for motion planning based on information from localization, collision avoidance and traffic light response.

Todo:

This shouldn't be exposed in this namespace.

Typedef Documentation

ActorId

using carla::ActorId = typedef rpc::ActorId

Definition at line 18 of file ActorId.h.

EnableSharedFromThis

template<typename T >

using carla::EnableSharedFromThis = typedef std::enable_shared_from_this<T>

Definition at line 21 of file Memory.h.

SharedBufferView

using carla::SharedBufferView = typedef std::shared_ptr<BufferView>

Definition at line 151 of file BufferView.h.

SharedPtr

template<typename T >

using carla::SharedPtr = typedef std::shared_ptr<T>

Definition at line 15 of file Memory.h.

StopWatch

using carla::StopWatch = typedef detail::StopWatchTmpl<std::chrono::steady_clock>

Definition at line 58 of file StopWatch.h.

TM

using carla::TM = typedef traffic_manager::TrafficManager

Definition at line 19 of file Vehicle.cpp.

WeakPtr

template<typename T >

using carla::WeakPtr = typedef std::weak_ptr<T>

Definition at line 18 of file Memory.h.

Function Documentation

log_critical()

template<typename ... Args>

static void carla::log_critical ( Args &&...  args )

inlinestatic

Definition at line 124 of file Logging.h.

References carla::logging::write_to_stream().

Referenced by carla::client::detail::GarbageCollector::operator()().

log_debug()

template<typename ... Args>

static void carla::log_debug ( Args &&...  args )

inlinestatic

Definition at line 68 of file Logging.h.

References carla::logging::write_to_stream().

Referenced by carla::road::MapBuilder::CheckSignalsOnRoads(), carla::streaming::detail::MultiStreamState::ClearSessions(), carla::multigpu::Primary::CloseNow(), carla::streaming::detail::tcp::ServerSession::CloseNow(), carla::streaming::detail::Dispatcher::CloseStream(), carla::streaming::detail::tcp::Client::Connect(), carla::streaming::detail::MultiStreamState::ConnectSession(), carla::streaming::detail::Dispatcher::DeregisterSession(), carla::client::Actor::Destroy(), carla::client::ServerSideSensor::Destroy(), carla::client::detail::Simulator::DestroyActor(), carla::streaming::detail::MultiStreamState::DisconnectSession(), carla::multigpu::PrimaryCommands::GetToken(), carla::streaming::detail::Dispatcher::GetToken(), carla::client::ServerSideSensor::Listen(), carla::client::RssSensor::Listen(), carla::client::ServerSideSensor::ListenToGBuffer(), carla::streaming::detail::Dispatcher::MakeStream(), carla::streaming::detail::tcp::ServerSession::Open(), carla::opendrive::parser::ControllerParser::Parse(), carla::opendrive::parser::SignalParser::Parse(), carla::image::io::detail::io_resolver::read_image(), carla::streaming::detail::tcp::Client::ReadData(), carla::streaming::detail::Dispatcher::RegisterSession(), carla::Buffer::reset(), carla::client::ServerSideSensor::Send(), carla::client::detail::Simulator::SpawnActor(), carla::streaming::low_level::Server< T >::StartServer(), carla::multigpu::Primary::StartTimer(), carla::streaming::detail::tcp::ServerSession::StartTimer(), carla::client::ServerSideSensor::Stop(), carla::client::RssSensor::Stop(), carla::client::ServerSideSensor::StopGBuffer(), carla::streaming::low_level::Client< T >::UnSubscribe(), carla::traffic_manager::ALSM::UpdateRegisteredActorsData(), carla::streaming::detail::MultiStreamState::Write(), carla::streaming::detail::tcp::ServerSession::Write(), and carla::image::io::detail::io_resolver::write_view().

log_error()

template<typename ... Args>

static void carla::log_error ( Args &&...  args )

inlinestatic

Definition at line 110 of file Logging.h.

References carla::logging::write_to_stream().

Referenced by carla::ros2::AckermannControlSubscriber::AckermannControlSubscriber(), carla::ros2::FastDDSSharedParticipant::acquire(), carla::client::ActorAttributeValueAccess::As< sensor::data::Color >(), carla::client::RssSensor::AppendRoutingTarget(), carla::ros2::AutowareControlSubscriber::AutowareControlSubscriber(), carla::ros2::AutowareGNSSPublisher::AutowareGNSSPublisher(), carla::ros2::AutowareVehicleStatusPublisher::AutowareVehicleStatusPublisher(), carla::ros2::CarlaCameraPublisher::CarlaCameraPublisher(), carla::ros2::CarlaClockPublisher::CarlaClockPublisher(), carla::ros2::CarlaCollisionPublisher::CarlaCollisionPublisher(), carla::ros2::CarlaEgoVehicleControlSubscriber::CarlaEgoVehicleControlSubscriber(), carla::ros2::CarlaGNSSPublisher::CarlaGNSSPublisher(), carla::ros2::CarlaIMUPublisher::CarlaIMUPublisher(), carla::ros2::CarlaPointCloudPublisher::CarlaPointCloudPublisher(), carla::ros2::CarlaTransformPublisher::CarlaTransformPublisher(), carla::ros2::MiddlewareFactory::CreatePublisher(), carla::ros2::MiddlewareFactory::CreateSubscriber(), carla::client::detail::Client::DestroyActor(), FCarlaEngine::DetachFromPrimary(), carla::ros2::ROS2::Enable(), carla::multigpu::PrimaryCommands::EnableForROS(), carla::ros2::PublisherImpl< Traits >::EnsureMiddleware(), carla::ros2::SubscriberImpl< Traits >::EnsureMiddleware(), carla::client::RssSensor::GetEgoVehicleDynamics(), carla::ros2::ROS2::GetOrCreateCameraSensor(), carla::ros2::ROS2::GetOrCreateSensor(), carla::client::RssSensor::GetOtherVehicleDynamics(), carla::client::RssSensor::GetPedestrianDynamics(), carla::client::RssSensor::GetRoadBoundariesMode(), carla::client::RssSensor::GetRoutingTargets(), carla::ros2::FastDDSPublisherMiddleware< T >::InitImpl(), carla::ros2::FastDDSSubscriberMiddleware< S >::InitImpl(), carla::client::detail::Episode::Listen(), carla::client::LaneInvasionSensor::Listen(), carla::client::RssSensor::Listen(), carla::opendrive::OpenDriveParser::Load(), FCarlaEngine::NotifyEndEpisode(), FCarlaEngine::NotifyInitGame(), carla::ros2::FastDDSSubscriberMiddleware< S >::on_data_available(), carla::client::detail::Episode::OnEpisodeChanged(), carla::streaming::detail::tcp::ServerSession::Open(), carla::multigpu::Listener::OpenSession(), carla::streaming::detail::tcp::Server::OpenSession(), carla::client::detail::GarbageCollector::operator()(), carla::multigpu::SecondaryCommands::process_command(), carla::ros2::ROS2::ProcessDataFromAutowareGNSS(), carla::ros2::ROS2::ProcessDataFromStatusSensor(), carla::ros2::PublisherImpl< Traits >::Publish(), carla::ros2::FastDDSPublisherMiddleware< T >::Publish(), carla::multigpu::Primary::ReadData(), carla::multigpu::Secondary::ReadData(), carla::streaming::detail::tcp::Client::ReadData(), carla::client::RssSensor::RegisterActorConstellationCallback(), carla::streaming::detail::Dispatcher::RegisterSession(), carla::multigpu::Router::RejectPromise(), carla::ros2::FastDDSSharedParticipant::release(), carla::client::RssSensor::ResetRoutingTargets(), carla::traffic_manager::InMemoryMap::Save(), carla::multigpu::PrimaryCommands::SendDisableForROS(), carla::multigpu::PrimaryCommands::SendEnableForROS(), carla::multigpu::PrimaryCommands::SendGetToken(), carla::multigpu::PrimaryCommands::SendIsAlive(), carla::multigpu::PrimaryCommands::SendIsEnabledForROS(), carla::client::RssSensor::SetEgoVehicleDynamics(), carla::client::RssSensor::SetLogLevel(), carla::client::RssSensor::SetMapLogLevel(), carla::client::RssSensor::SetOtherVehicleDynamics(), carla::client::RssSensor::SetPedestrianDynamics(), carla::client::RssSensor::SetRoadBoundariesMode(), carla::traffic_manager::TrafficManagerLocal::SetSynchronousMode(), carla::multigpu::Primary::StartTimer(), carla::client::RssSensor::Stop(), carla::multigpu::Primary::WriteNext(), carla::multigpu::Secondary::WriteNext(), carla::streaming::detail::Dispatcher::~Dispatcher(), carla::client::detail::Episode::~Episode(), carla::client::LightManager::~LightManager(), and carla::client::ServerSideSensor::~ServerSideSensor().

log_info()

template<typename ... Args>

static void carla::log_info ( Args &&...  args )

inlinestatic

Definition at line 82 of file Logging.h.

References carla::logging::write_to_stream().

Referenced by carla::multigpu::Router::ClearSessions(), carla::multigpu::Secondary::Connect(), carla::streaming::detail::tcp::Client::Connect(), carla::multigpu::Router::ConnectSession(), carla::multigpu::Router::DisconnectSession(), carla::ros2::ROS2::Enable(), carla::client::detail::Client::GetRequiredFiles(), carla::multigpu::Router::HandleResponse(), FCarlaEngine::NotifyInitGame(), carla::ros2::ROS2::ProcessDataFromCamera(), carla::ros2::ROS2::ProcessDataFromObstacleDetection(), carla::multigpu::PrimaryCommands::RerouteLostSensors(), carla::multigpu::SensorStreamRegistry::Resolve(), carla::multigpu::PrimaryCommands::SendGetToken(), carla::multigpu::PrimaryCommands::SendIsAlive(), carla::multigpu::Router::SetCallbacks(), FAsyncDataStreamTmpl< T >::SetFrameNumber(), FAsyncDataStreamTmpl< T >::SetTimestamp(), FAsyncDataStreamTmpl< T >::SetTransform(), TEST(), and carla::streaming::detail::tcp::ServerSession::Write().

log_warning()

template<typename ... Args>

static void carla::log_warning ( Args &&...  args )

inlinestatic

Definition at line 96 of file Logging.h.

References carla::logging::write_to_stream().

Referenced by carla::client::World::ApplySettings(), UCarSimManagerComponent::BeginPlay(), carla::multigpu::SensorStreamRegistry::Bind(), UChronoMovementComponent::DisableChronoPhysics(), UBaseCarlaMovementComponent::EnableUE4VehiclePhysics(), AOpenDriveGenerator::GenerateLaneMarkings(), AOpenDriveGenerator::GenerateRoadMesh(), carla::multigpu::PrimaryCommands::GetToken(), carla::client::WalkerAIController::GoToLocation(), carla::multigpu::Router::HandleResponse(), ATrafficLightManager::InitializeTrafficLights(), carla::client::ServerSideSensor::ListenToGBuffer(), carla::traffic_manager::InMemoryMap::Load(), carla::client::detail::Simulator::LoadEpisode(), UCarlaEpisode::LoadNewOpendriveEpisode(), ATrafficLightManager::MatchTrafficLightActorsWithOpenDriveSignals(), FCarlaEngine::NotifyEndEpisode(), FCarlaEngine::NotifyInitGame(), FCarlaEngine::OnBeginFrame(), UCarSimManagerComponent::OnCarSimHit(), UCarSimManagerComponent::OnCarSimOverlap(), FCarlaEngine::PlayPrimaryFrame(), carla::multigpu::SecondaryCommands::process_command(), carla::ros2::ROS2::ProcessDataFromStatusSensor(), carla::multigpu::PrimaryCommands::RerouteLostSensors(), carla::multigpu::SensorStreamRegistry::Resolve(), carla::multigpu::PrimaryCommands::RestoreRosAfterReroute(), carla::client::LightManager::RetrieveLightState(), Benchmark::Run(), carla::client::ServerSideSensor::Send(), carla::multigpu::PrimaryCommands::SendGetToken(), carla::client::detail::Simulator::SetEpisodeSettings(), carla::client::WalkerAIController::SetMaxSpeed(), carla::traffic_manager::TrafficManagerLocal::SetupLocalMap(), ATrafficLightManager::SpawnSignals(), ATrafficLightManager::SpawnTrafficLights(), carla::client::WalkerAIController::Start(), carla::client::WalkerAIController::Stop(), carla::client::ServerSideSensor::Stop(), carla::client::ServerSideSensor::StopGBuffer(), carla::client::detail::ValidateVersions(), and carla::client::ServerSideSensor::~ServerSideSensor().

MakeListView() [1/2]

template<typename Container >

static auto carla::MakeListView ( Container &  c )

inlinestatic

Definition at line 83 of file LibCarla/source/carla/ListView.h.

References MakeListView().

MakeListView() [2/2]

template<typename Iterator >

static auto carla::MakeListView ( Iterator  begin, Iterator  end  )

inlinestatic

Definition at line 78 of file LibCarla/source/carla/ListView.h.

References MakeListView().

Referenced by MakeListView(), and MakeListView().

MakeShared()

template<typename T , typename... Args>

static auto carla::MakeShared ( Args &&...  args )

inlinestatic

Definition at line 24 of file Memory.h.

MoveHandler()

template<typename FunctorT >

auto carla::MoveHandler

(

FunctorT &&

func

)

Hack to trick asio into accepting move-only handlers, if the handler were actually copied it would result in a link error.

See also

https://stackoverflow.com/a/22891509.

Definition at line 33 of file MoveHandler.h.

Referenced by carla::ThreadPool::Post(), and carla::rpc::detail::FunctionWrapper< R(*)(Args...)>::WrapSyncCall().

operator!=()

static bool carla::operator!= ( const Buffer &  lhs, const Buffer &  rhs  )

inlinestatic

Definition at line 59 of file test/Buffer.h.

operator<<()

static std::ostream & carla::operator<< ( std::ostream &  out, const Buffer &  buf  )

inlinestatic

Definition at line 48 of file test/Buffer.h.

References carla::Buffer::size(), and util::buffer::to_hex_string().

operator==()

static bool carla::operator== ( const Buffer &  lhs, const Buffer &  rhs  )

inlinestatic

Definition at line 53 of file test/Buffer.h.

References carla::Buffer::begin(), carla::Buffer::end(), and carla::Buffer::size().

SetCloseOnExecForListeningPort()

void carla::SetCloseOnExecForListeningPort ( uint16_t  Port )

inline

Fallback for listening sockets we have no direct handle to (e.g.

the vendored rpclib server's acceptor, hidden behind a PIMPL with no accessor). Walks this process's open file descriptors and marks close-on-exec any socket bound to Port, on any address family. Linux-only (relies on /proc/self/fd); intentionally not declared on Windows.

Definition at line 60 of file Sockets.h.

References SetSocketCloseOnExec().

Referenced by FCarlaServer::Start().

SetSocketCloseOnExec()

template<typename NativeHandle >

void carla::SetSocketCloseOnExec ( NativeHandle  fd )

inline

Marks a socket file descriptor close-on-exec, so it is not inherited by child processes started via fork+exec (e.g.

RecastBuilder, launched by UCarlaEpisode::LoadNewOpendriveEpisode through FPlatformProcess::CreateProc). Without this, a forked child that outlives the CARLA process keeps the listen socket bound and the next server boot fails in asio's bind(). No-op on Windows, where CreateProcess only inherits handles explicitly marked inheritable (bInheritHandles), which UE's process-spawning calls already leave off.

Definition at line 37 of file Sockets.h.

References fd, and SOCK_INVALID_INDEX.

Referenced by carla::multigpu::Listener::Listener(), carla::streaming::detail::tcp::Server::Server(), and SetCloseOnExecForListeningPort().

throw_exception()

template<typename ExceptionT >

void carla::throw_exception ( const ExceptionT &  e )

inline

Templated on the static type so the thrown object keeps its dynamic type: taking a const std::exception & and throw e; would slice every carla::client error down to a bare std::exception (what() == "std::exception"), losing the server's message.

Definition at line 44 of file Exception.h.

Referenced by carla::client::BlueprintLibrary::at(), carla::sensor::data::Array< T >::at(), carla::client::BlueprintLibrary::at(), carla::sensor::data::Array< T >::at(), carla::Buffer::Buffer(), carla::Buffer::Buffer(), carla::client::detail::Client::Pimpl::CallAndWait(), carla::streaming::detail::tcp::Client::Client(), carla::sensor::s11n::NoopSerializer::Deserialize(), carla::sensor::data::LaneInvasionEvent::GetActor(), carla::client::ActorBlueprint::GetAttribute(), carla::road::Road::GetElevationOn(), carla::road::Road::GetLaneByDistance(), carla::client::RssSensor::Listen(), carla::FileSystem::ListFolder(), carla::client::detail::Simulator::LoadEpisode(), carla::client::detail::EpisodeProxyImpl< PointerT >::Lock(), carla::client::MakeMap(), carla::streaming::detail::Dispatcher::MakeStream(), clmdep_msgpack::MSGPACK_API_VERSION_NAMESPACE(), carla::client::detail::Client::Pimpl::RawCall(), carla::client::detail::Simulator::RegisterAIController(), carla::Buffer::reset(), carla::streaming::detail::token_type::set_address(), carla::client::WalkerAIController::Start(), carla::client::WalkerAIController::Stop(), carla::client::detail::Simulator::Tick(), carla::traffic_manager::TrafficManagerServer::TrafficManagerServer(), carla::client::detail::Simulator::UnregisterAIController(), carla::RecurrentSharedFuture< T >::WaitFor(), and carla::client::detail::Simulator::WaitForTick().