Namespaces
namespace	detail

Classes
struct	ActorAppearance
	An actor's appearance on the primary that a mirror does not get from its spawn attributes or pose. More...

struct	ActorAppearances
	Frame data packet 30, on change and on every full resync. More...

struct	BeginFrameState

class	BoundedReader
	Reads the fields of one packet (or one record inside it) without ever consuming more than its declared size. More...

struct	CommandHeader

struct	DoorPose
	An open door, which on the primary is a physics body of its own: its pose relative to the vehicle, in UE units, rotation as a quaternion (x, y, z, w). More...

struct	FrameDataReadResult

struct	FrameTime
	Frame data packet 25: the primary's clocks and episode settings for one frame. More...

struct	GetTokenRequest
	GET_TOKEN request payload. More...

struct	ImuHistory
	An IMU's history: its two previous locations (world, cm) and the delta between them; its accelerometer is a second difference over them. More...

class	IncomingMessage
	Helper for reading incoming TCP messages. More...

class	Listener

struct	LoadMapExtras
	What a LOAD_MAP carries besides the map: for a world the primary generated from OpenDRIVE (generate_opendrive_world), the OpenDRIVE and the generation parameters (rpc::OpendriveGenerationParameters, msgpack). More...

struct	LoadMapRequest

struct	MirroredPosition
	One record of frame data packet 34: an actor's world pose as the primary holds it, in UE units, with its rotation as a quaternion (an Euler round trip snaps pitch near +-90 degrees, e.g. More...

struct	MirroredPositions
	Frame data packet 34: every live actor's pose in this frame. More...

struct	MirroredVehicleParts
	Frame data packet 32, every frame: the moving parts of every vehicle. More...

class	Primary
	A TCP server session. More...

class	PrimaryCommands

struct	ReplayedActorPlan

class	Router

class	Secondary

class	SecondaryCommands

struct	SensorState
	One record of frame data packet 27: the runtime state a sensor of the primary starts this frame's tick from. More...

struct	SensorStates
	Frame data packet 27, for the sensors of packet 26 that carry state. More...

class	SensorStreamRegistry
	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...

struct	SensorTick
	One record of frame data packet 26: a sensor of the primary that ticks in this frame, and the delta of that tick. More...

struct	SensorTicks
	Frame data packet 26: every sensor of the primary that ticks in this frame. More...

struct	SessionInfo
	Outcome of a routed request. More...

struct	VehicleParts
	A vehicle's moving parts: every wheel, by wheel index, and the doors open (any other door is closed), and its drivetrain as the primary's simulation has it: what the vehicle's sensors report. More...

struct	WheelPose
	A wheel as the primary draws it: degrees and cm. More...

struct	WorldGlobals
	Frame data packet 28, on every frame: world-wide state a client can change on the primary that changes what sensors see or measure. More...

struct	WorldObjects
	Frame data packet 29, on change and on every full resync: map objects whose state is not part of any actor. More...

Typedefs
using	actor_id = uint32_t

using	load_map_id_type = uint32_t
	Identifies one LOAD_MAP broadcast.

using	MirroredActorMap = std::unordered_map< uint32_t, uint32_t >
	Primary actor id -> id of the local actor a secondary replayed it onto, for the current episode only.

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

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

Enumerations
enum class	BeginFrameAction { OwnClock , DontWait , Wait }
	What a secondary does at the start of an engine frame, before the engine computes the frame's time step. More...

enum class	FrameDataStatus : uint8_t { Ok , TruncatedHeader , TruncatedPayload , ShortPacket , ReaderError , MissingFrameCounter , Inconsistent }

enum	MultiGPUCommand : uint32_t { SEND_FRAME = 0 , LOAD_MAP , GET_TOKEN , ENABLE_ROS , DISABLE_ROS , IS_ENABLED_ROS , YOU_ALIVE }

enum class	PreTickAction { OpenLevel , Play , Skip }
	What a secondary does when its world starts ticking. More...

Functions
std::pair< uint16_t, uint16_t >	ComputeMapLayerDiff (uint16_t current, uint16_t desired)
	The map layers to load and to unload to go from current to desired.

BeginFrameAction	DecideBeginFrame (const BeginFrameState &state)

PreTickAction	DecidePreTick (bool load_map_pending, bool has_episode, bool frame_prepared, bool episode_world)

std::pair< std::vector< uint64_t >, std::vector< uint64_t > >	DiffSortedIds (const std::vector< uint64_t > &current, const std::vector< uint64_t > &desired)
	Ids in desired and not in current (first), and the other way round (second).

void	EnableKeepAlive (boost::asio::ip::tcp::socket &socket)
	Lets either end notice a peer that vanished without closing the connection (a killed host, a cut link): on Linux, after 10 s of silence three probes 5 s apart, so about 25 s.

const char *	FrameDataStatusName (FrameDataStatus status)

uint32_t	GetEngineState (const std::minstd_rand &engine)
	The state of a minstd_rand: the value its next draw is computed from.

bool	IsConsecutive (std::optional< uint64_t > last_played, uint64_t frame)
	Whether frame directly follows the last frame this secondary played.

bool	IsUsableDelta (float delta_seconds)
	Whether a primary's delta can be this engine frame's time step.

std::string	MakeEpisodeReadyMessage (load_map_id_type load_id)
	Episode-ready message: the marker followed by the load id of the LOAD_MAP that started the episode, so the primary can ignore a stale one.

std::string	MakeLoadMapPayload (std::string_view map, load_map_id_type load_id, const LoadMapExtras &extras={})
	LOAD_MAP payload: the NUL-terminated map path, the load id, then the extras as [u8 kind][u32 size][bytes] fields; a reader skips the kinds it does not know.

bool	NeedsResync (std::optional< uint64_t > last_played, uint64_t frame, bool full_resync)
	Whether playing frame shows that this secondary missed primary state (a frame went missing) that only a full resync gives back.

std::vector< uint32_t >	OrderParentsFirst (const std::vector< uint32_t > &ids, const std::unordered_map< uint32_t, uint32_t > &parents)
	Order in which to place actors so that every parent is placed before its children: by attachment depth, keeping the input order within a depth.

std::optional< load_map_id_type >	ParseEpisodeReadyMessage (std::string_view payload)
	Load id of an episode-ready message (0 for a bare marker), or nullopt if payload is not one.

LoadMapRequest	ParseLoadMapPayload (std::string_view payload)

template<typename LocalActors >
ReplayedActorPlan	PlanReplayedActor (const MirroredActorMap &mirrors, uint32_t primary_id, const LocalActors &local)
	Where a secondary replays the add event of primary actor primary_id.

template<typename ReadPacket >
FrameDataReadResult	ReadFrameData (const uint8_t *data, std::size_t size, ReadPacket &&read_packet)
	Walks the packets of one frame.

bool	SetEngineState (std::minstd_rand &engine, uint32_t state)
	Makes engine continue from state, as GetEngineState returned it.

void	WriteField (std::ostream &out, uint8_t kind, const std::string &value)

void	WriteFixedListHeader (std::ostream &out, uint32_t count, uint16_t record_size)
	Header of a list of fixed-size records.

void	WriteFrameDataHeader (std::ostream &out, uint8_t id, uint32_t payload_size)

void	WriteFrameDataPacket (std::ostream &out, uint8_t id, const std::string &payload)
	Writes a packet whose payload was built beforehand.

void	WriteSizedBytes (std::ostream &out, const std::string &bytes)
	One [u32 size][bytes] entry: a variable-size record or, after a kind byte, a TLV value.

Variables
constexpr std::string_view	kEpisodeReadyMarker {"EPISODE_READY"}
	Sent unprompted by a secondary, on the same channel as command responses, to signal that its episode is ready to receive frames (see Router::HandleResponse).

constexpr uint8_t	kFrameCounterPacketId = 18u
	Id of the frame counter packet, the last packet of every complete frame.

constexpr std::size_t	kFrameDataHeaderSize = 5u
	Frame data (the SEND_FRAME payload) is a sequence of packets [uint8 id][uint32 payload size][payload] in host byte order.

constexpr std::size_t	kMaxMultiGpuMessageBytes = (std::size_t{1u} << 30u) + (std::size_t{1u} << 20u)
	Largest message either end accepts: a frame (capped at 1 GiB by the primary) plus room for its headers.

constexpr uint8_t	kMultiGpuProtocolVersion = 1u
	Version of the whole Multi-GPU wire format, carried in every frame.

constexpr std::string_view	kTokenNotReadyMarker {"TOKEN_NOT_READY"}
	GET_TOKEN reply when the secondary cannot resolve the sensor to a stream (or the request is malformed).

static std::atomic_size_t	SESSION_COUNTER {0u}

Typedef Documentation

◆ actor_id

using carla::multigpu::actor_id = typedef uint32_t

Definition at line 28 of file primaryCommands.h.

◆ load_map_id_type

using carla::multigpu::load_map_id_type = typedef uint32_t

Identifies one LOAD_MAP broadcast.

Assigned by the primary starting at 1; 0 means the episode was not started by a LOAD_MAP.

Definition at line 46 of file commands.h.

◆ MirroredActorMap

using carla::multigpu::MirroredActorMap = typedef std::unordered_map<uint32_t, uint32_t>

Primary actor id -> id of the local actor a secondary replayed it onto, for the current episode only.

Definition at line 16 of file mirroredActors.h.

◆ stream_id

using carla::multigpu::stream_id = typedef carla::streaming::detail::stream_id_type

Definition at line 27 of file primaryCommands.h.

◆ token_type

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

Definition at line 26 of file primaryCommands.h.

Enumeration Type Documentation

◆ BeginFrameAction

enum class carla::multigpu::BeginFrameAction

strong

What a secondary does at the start of an engine frame, before the engine computes the frame's time step.

Enumerator
OwnClock	Not connected to a primary: run on this server's own clock.
DontWait	Connected, but this frame must not block (no episode yet, or a map load or travel is under way, during which the primary waits for this server).
Wait	Wait for the primary's next frame and take its time step.

Definition at line 16 of file frameGate.h.

◆ FrameDataStatus

enum class carla::multigpu::FrameDataStatus : uint8_t

strong

Enumerator
Ok
TruncatedHeader
TruncatedPayload
ShortPacket
ReaderError
MissingFrameCounter
Inconsistent	Packets that contradict each other (set by the reader's owner, e.g. a FrameTime for another frame than the FrameCounter).

Definition at line 34 of file frameDataCodec.h.

◆ MultiGPUCommand

enum carla::multigpu::MultiGPUCommand : uint32_t

Enumerator
SEND_FRAME
LOAD_MAP
GET_TOKEN
ENABLE_ROS
DISABLE_ROS
IS_ENABLED_ROS
YOU_ALIVE

Definition at line 19 of file commands.h.

◆ PreTickAction

enum class carla::multigpu::PreTickAction

strong

What a secondary does when its world starts ticking.

Enumerator
OpenLevel	Open the map the primary loaded; nothing else this frame.
Play	Play the primary frame prepared for this engine frame.
Skip	No primary frame: let the frame pass without simulation time.

Definition at line 45 of file frameGate.h.

Function Documentation

◆ ComputeMapLayerDiff()

std::pair< uint16_t, uint16_t > carla::multigpu::ComputeMapLayerDiff	(	uint16_t	current,
		uint16_t	desired
	)

inline

The map layers to load and to unload to go from current to desired.

Definition at line 230 of file worldState.h.

References ComputeMapLayerDiff().

Referenced by ComputeMapLayerDiff(), and FFrameData::PlayMapLayers().

◆ DecideBeginFrame()

BeginFrameAction carla::multigpu::DecideBeginFrame ( const BeginFrameState & state )

inline

Definition at line 34 of file frameGate.h.

References carla::multigpu::BeginFrameState::connected, DecideBeginFrame(), DontWait, carla::multigpu::BeginFrameState::exit_requested, carla::multigpu::BeginFrameState::has_episode, carla::multigpu::BeginFrameState::load_map_pending, OwnClock, carla::multigpu::BeginFrameState::travel_pending, and Wait.

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

◆ DecidePreTick()

PreTickAction carla::multigpu::DecidePreTick	(	bool	load_map_pending,
		bool	has_episode,
		bool	frame_prepared,
		bool	episode_world
	)

inline

Definition at line 54 of file frameGate.h.

References DecidePreTick(), OpenLevel, Play, and Skip.

Referenced by DecidePreTick(), and FCarlaEngine::OnPreTick().

◆ DiffSortedIds()

std::pair< std::vector< uint64_t >, std::vector< uint64_t > > carla::multigpu::DiffSortedIds	(	const std::vector< uint64_t > &	current,
		const std::vector< uint64_t > &	desired
	)

inline

Ids in desired and not in current (first), and the other way round (second).

Both inputs sorted.

Definition at line 236 of file worldState.h.

References DiffSortedIds().

Referenced by DiffSortedIds(), and FFrameData::PlayWorldState().

◆ EnableKeepAlive()

void carla::multigpu::EnableKeepAlive ( boost::asio::ip::tcp::socket & socket )

inline

Lets either end notice a peer that vanished without closing the connection (a killed host, a cut link): on Linux, after 10 s of silence three probes 5 s apart, so about 25 s.

Definition at line 21 of file keepAlive.h.

Referenced by carla::multigpu::Secondary::Connect(), and carla::multigpu::Primary::Open().

◆ FrameDataStatusName()

const char * carla::multigpu::FrameDataStatusName ( FrameDataStatus status )

inline

Definition at line 46 of file frameDataCodec.h.

References Inconsistent, MissingFrameCounter, Ok, ReaderError, ShortPacket, TruncatedHeader, and TruncatedPayload.

Referenced by FCarlaEngine::NotifyInitGame(), and FCarlaEngine::OnPostTick().

◆ GetEngineState()

uint32_t carla::multigpu::GetEngineState ( const std::minstd_rand & engine )

inline

The state of a minstd_rand: the value its next draw is computed from.

Definition at line 254 of file sensorSync.h.

References GetEngineState().

Referenced by GetEngineState(), and URandomEngine::GetState().

◆ IsConsecutive()

bool carla::multigpu::IsConsecutive	(	std::optional< uint64_t >	last_played,
		uint64_t	frame
	)

inline

Whether frame directly follows the last frame this secondary played.

Definition at line 69 of file frameGate.h.

References IsConsecutive().

Referenced by IsConsecutive(), NeedsResync(), and FCarlaEngine::PlayPrimaryFrame().

◆ IsUsableDelta()

bool carla::multigpu::IsUsableDelta ( float delta_seconds )

inline

Whether a primary's delta can be this engine frame's time step.

Definition at line 80 of file frameGate.h.

References IsUsableDelta().

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

◆ MakeEpisodeReadyMessage()

std::string carla::multigpu::MakeEpisodeReadyMessage ( load_map_id_type load_id )

inline

Episode-ready message: the marker followed by the load id of the LOAD_MAP that started the episode, so the primary can ignore a stale one.

Definition at line 124 of file commands.h.

References kEpisodeReadyMarker.

Referenced by FCarlaEngine::SendEpisodeReady(), TEST(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ MakeLoadMapPayload()

std::string carla::multigpu::MakeLoadMapPayload	(	std::string_view	map,
		load_map_id_type	load_id,
		const LoadMapExtras &	extras = `{}`
	)

inline

LOAD_MAP payload: the NUL-terminated map path, the load id, then the extras as [u8 kind][u32 size][bytes] fields; a reader skips the kinds it does not know.

Definition at line 63 of file commands.h.

Referenced by carla::multigpu::Router::SendLoadMap(), TEST(), TEST(), TEST(), and TEST().

◆ NeedsResync()

bool carla::multigpu::NeedsResync	(	std::optional< uint64_t >	last_played,
		uint64_t	frame,
		bool	full_resync
	)

inline

Whether playing frame shows that this secondary missed primary state (a frame went missing) that only a full resync gives back.

Definition at line 75 of file frameGate.h.

References IsConsecutive(), and NeedsResync().

Referenced by NeedsResync(), and FCarlaEngine::PlayPrimaryFrame().

◆ OrderParentsFirst()

std::vector< uint32_t > carla::multigpu::OrderParentsFirst	(	const std::vector< uint32_t > &	ids,
		const std::unordered_map< uint32_t, uint32_t > &	parents
	)

inline

Order in which to place actors so that every parent is placed before its children: by attachment depth, keeping the input order within a depth.

parents maps an id to its parent's id (absent or 0 for a root). A parent that is not among ids counts as a root, and so does every actor of a cycle, so the result always holds every id once.

Definition at line 257 of file mirrorPackets.h.

References OrderParentsFirst().

Referenced by OrderParentsFirst(), and FFrameData::PlayPositions().

◆ ParseEpisodeReadyMessage()

std::optional< load_map_id_type > carla::multigpu::ParseEpisodeReadyMessage ( std::string_view payload )

inline

Load id of an episode-ready message (0 for a bare marker), or nullopt if payload is not one.

Definition at line 132 of file commands.h.

References kEpisodeReadyMarker.

Referenced by carla::multigpu::Router::HandleResponse(), and TEST().

◆ ParseLoadMapPayload()

LoadMapRequest carla::multigpu::ParseLoadMapPayload ( std::string_view payload )

inline

Definition at line 90 of file commands.h.

References carla::multigpu::LoadMapRequest::extras, carla::multigpu::LoadMapExtras::generation_parameters, carla::multigpu::LoadMapRequest::load_id, carla::multigpu::LoadMapRequest::map, and carla::multigpu::LoadMapExtras::opendrive.

Referenced by FCarlaEngine::NotifyInitGame(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST_F(), and TEST_F().

◆ PlanReplayedActor()

template<typename LocalActors >

ReplayedActorPlan carla::multigpu::PlanReplayedActor	(	const MirroredActorMap &	mirrors,
		uint32_t	primary_id,
		const LocalActors &	local
	)

Where a secondary replays the add event of primary actor primary_id.

Local ids follow the secondary's own counter, so a local actor whose id equals primary_id may be another actor, and is only reused if it is a map actor that mirrors no other primary actor. local provides: bool IsSameKind(id): the local actor exists with the replayed blueprint. std::optional<uint32_t> FindMapActor(): the map-registered local actor that is the replayed one (the spectator, a prop at its place), if any. bool IsMapActorLike(id): a map-registered local actor matching the replayed description. bool Contains(id): the id is taken, dormant actors included.

Definition at line 36 of file mirroredActors.h.

Referenced by FFrameData::CreateOrReuseActor().

◆ ReadFrameData()

template<typename ReadPacket >

FrameDataReadResult carla::multigpu::ReadFrameData	(	const uint8_t *	data,
		std::size_t	size,
		ReadPacket &&	read_packet
	)

Walks the packets of one frame.

read_packet(id, payload, size) reads a known packet from payload, a stream that ends where the packet ends, and returns true; for an id it does not know it returns false without reading. The loop always moves on by the declared size, so unknown packets, packets that grew in a newer build and empty packets are skipped, and it never reads outside [data, data + size).

Definition at line 130 of file frameDataCodec.h.

Referenced by FFrameData::Read(), and ReadFrameData().

◆ SetEngineState()

bool carla::multigpu::SetEngineState	(	std::minstd_rand &	engine,
		uint32_t	state
	)

inline

Makes engine continue from state, as GetEngineState returned it.

False for a value no minstd_rand can hold.

Definition at line 264 of file sensorSync.h.

References SetEngineState().

Referenced by SetEngineState(), and URandomEngine::SetState().

◆ WriteField()

void carla::multigpu::WriteField	(	std::ostream &	out,
		uint8_t	kind,
		const std::string &	value
	)

inline

Definition at line 342 of file frameDataCodec.h.

References carla::multigpu::detail::WritePod(), and WriteSizedBytes().

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), carla::multigpu::MirroredVehicleParts::Write(), carla::multigpu::SensorStates::Write(), carla::multigpu::WorldObjects::Write(), and carla::multigpu::ActorAppearances::Write().

◆ WriteFixedListHeader()

void carla::multigpu::WriteFixedListHeader	(	std::ostream &	out,
		uint32_t	count,
		uint16_t	record_size
	)

inline

Header of a list of fixed-size records.

Definition at line 330 of file frameDataCodec.h.

References carla::multigpu::detail::WritePod().

Referenced by carla::multigpu::MirroredPositions::Write(), carla::multigpu::MirroredVehicleParts::Write(), and carla::multigpu::SensorTicks::Write().

◆ WriteFrameDataHeader()

void carla::multigpu::WriteFrameDataHeader	(	std::ostream &	out,
		uint8_t	id,
		uint32_t	payload_size
	)

inline

Definition at line 112 of file frameDataCodec.h.

References WriteFrameDataHeader(), and carla::multigpu::detail::WritePod().

Referenced by carla::multigpu::FrameTime::Write(), carla::multigpu::MirroredPositions::Write(), carla::multigpu::SensorTicks::Write(), carla::multigpu::WorldGlobals::Write(), WriteFrameDataHeader(), and WriteFrameDataPacket().

◆ WriteFrameDataPacket()

void carla::multigpu::WriteFrameDataPacket	(	std::ostream &	out,
		uint8_t	id,
		const std::string &	payload
	)

inline

Writes a packet whose payload was built beforehand.

Definition at line 118 of file frameDataCodec.h.

References WriteFrameDataHeader().

Referenced by carla::multigpu::MirroredVehicleParts::Write(), carla::multigpu::SensorStates::Write(), carla::multigpu::WorldObjects::Write(), and carla::multigpu::ActorAppearances::Write().

◆ WriteSizedBytes()

void carla::multigpu::WriteSizedBytes	(	std::ostream &	out,
		const std::string &	bytes
	)

inline

One [u32 size][bytes] entry: a variable-size record or, after a kind byte, a TLV value.

Definition at line 337 of file frameDataCodec.h.

References carla::multigpu::detail::WritePod().

Referenced by TEST(), TEST(), carla::multigpu::MirroredVehicleParts::Write(), carla::multigpu::SensorStates::Write(), carla::multigpu::ActorAppearances::Write(), and WriteField().

Variable Documentation

◆ kEpisodeReadyMarker

constexpr std::string_view carla::multigpu::kEpisodeReadyMarker {"EPISODE_READY"}

inlineconstexpr

Sent unprompted by a secondary, on the same channel as command responses, to signal that its episode is ready to receive frames (see Router::HandleResponse).

No command reply may ever start with this value.

Definition at line 42 of file commands.h.

Referenced by MakeEpisodeReadyMessage(), ParseEpisodeReadyMessage(), TEST(), TEST(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ kFrameCounterPacketId

constexpr uint8_t carla::multigpu::kFrameCounterPacketId = 18u

constexpr

Id of the frame counter packet, the last packet of every complete frame.

Definition at line 28 of file frameDataCodec.h.

Referenced by ReadFrameData().

◆ kFrameDataHeaderSize

constexpr std::size_t carla::multigpu::kFrameDataHeaderSize = 5u

constexpr

Frame data (the SEND_FRAME payload) is a sequence of packets [uint8 id][uint32 payload size][payload] in host byte order.

Every server runs the same build, so nothing is byte swapped.

Definition at line 25 of file frameDataCodec.h.

Referenced by ReadFrameData(), TEST(), TEST(), TEST(), and TEST().

◆ kMaxMultiGpuMessageBytes

constexpr std::size_t carla::multigpu::kMaxMultiGpuMessageBytes = (std::size_t{1u} << 30u) + (std::size_t{1u} << 20u)

inlineconstexpr

Largest message either end accepts: a frame (capped at 1 GiB by the primary) plus room for its headers.

A larger size prefix can only be a corrupt stream, so the session is closed instead of allocating it.

Definition at line 37 of file commands.h.

Referenced by carla::multigpu::Primary::ReadData(), carla::multigpu::Secondary::ReadData(), TEST(), and TEST().

◆ kMultiGpuProtocolVersion

constexpr uint8_t carla::multigpu::kMultiGpuProtocolVersion = 1u

constexpr

Version of the whole Multi-GPU wire format, carried in every frame.

It is only reported: readers skip what they do not know instead of rejecting it.

Definition at line 32 of file frameDataCodec.h.

Referenced by TEST().

◆ kTokenNotReadyMarker

constexpr std::string_view carla::multigpu::kTokenNotReadyMarker {"TOKEN_NOT_READY"}

inlineconstexpr

GET_TOKEN reply when the secondary cannot resolve the sensor to a stream (or the request is malformed).

Shorter than a token on purpose.

Definition at line 159 of file commands.h.

Referenced by FCarlaEngine::NotifyInitGame(), carla::multigpu::PrimaryCommands::SendGetToken(), TEST(), TEST_F(), and TEST_F().

◆ SESSION_COUNTER

std::atomic_size_t carla::multigpu::SESSION_COUNTER {0u}

static

Definition at line 28 of file primary.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ actor_id

◆ load_map_id_type

◆ MirroredActorMap

◆ stream_id

◆ token_type

Enumeration Type Documentation

◆ BeginFrameAction

◆ FrameDataStatus

◆ MultiGPUCommand

◆ PreTickAction

Function Documentation

◆ ComputeMapLayerDiff()

◆ DecideBeginFrame()

◆ DecidePreTick()

◆ DiffSortedIds()

◆ EnableKeepAlive()

◆ FrameDataStatusName()

◆ GetEngineState()

◆ IsConsecutive()

◆ IsUsableDelta()

◆ MakeEpisodeReadyMessage()

◆ MakeLoadMapPayload()

◆ NeedsResync()

◆ OrderParentsFirst()

◆ ParseEpisodeReadyMessage()

◆ ParseLoadMapPayload()

◆ PlanReplayedActor()

◆ ReadFrameData()

◆ SetEngineState()

◆ WriteField()

◆ WriteFixedListHeader()

◆ WriteFrameDataHeader()

◆ WriteFrameDataPacket()

◆ WriteSizedBytes()

Variable Documentation

◆ kEpisodeReadyMarker

◆ kFrameCounterPacketId

◆ kFrameDataHeaderSize

◆ kMaxMultiGpuMessageBytes

◆ kMultiGpuProtocolVersion

◆ kTokenNotReadyMarker

◆ SESSION_COUNTER