client/detail/Client.h

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/Memory.h"
#include "carla/NonCopyable.h"
#include "carla/Time.h"
#include "carla/geom/Transform.h"
#include "carla/geom/Location.h"
#include "carla/rpc/Actor.h"
#include "carla/rpc/ActorDefinition.h"
#include "carla/rpc/AttachmentType.h"
#include "carla/rpc/Command.h"
#include "carla/rpc/CommandResponse.h"
#include "carla/rpc/EnvironmentObject.h"
#include "carla/rpc/EpisodeInfo.h"
#include "carla/rpc/EpisodeSettings.h"
#include "carla/rpc/LabelledPoint.h"
#include "carla/rpc/LightState.h"
#include "carla/rpc/MapInfo.h"
#include "carla/rpc/MapLayer.h"
#include "carla/rpc/OpendriveGenerationParameters.h"
#include "carla/rpc/TrafficLightState.h"
#include "carla/rpc/VehicleDoor.h"
#include "carla/rpc/VehicleLightStateList.h"
#include "carla/rpc/VehicleLightState.h"
#include "carla/rpc/VehiclePhysicsControl.h"
#include "carla/rpc/VehicleTelemetryData.h"
#include "carla/rpc/VehicleWheels.h"
#include "carla/rpc/WeatherParameters.h"
#include "carla/rpc/Texture.h"
#include "carla/rpc/MaterialParameter.h"
 
#include <functional>
#include <memory>
#include <string>
#include <vector>
 
// 前置声明，用于在声明某个实体（通常是类、函数、变量等）的名称而无需提供其详细定义。
// 前置声明的目的是为了告诉编译器某个实体的存在，以便在稍后的代码中引用它，而不必在声明的地方提供完整的定义。
// 这可以提高编译速度和减少编译依赖性。
namespace carla {
  class Buffer;
namespace rpc {
  class AckermannControllerSettings;
  class ActorDescription;
  class DebugShape;
  class VehicleAckermannControl;
  class VehicleControl;
  class WalkerControl;
  class WalkerBoneControlIn;
  class WalkerBoneControlOut;
}
namespace sensor {
  class SensorData;
}
namespace streaming {
  class Token;
}
}
 
namespace carla {
namespace client {
namespace detail {
 
  /// 提供与 CARLA 模拟器的 rpc 和流媒体服务器的通信。
  class Client : private NonCopyable {
  public:
 
    explicit Client(
        const std::string &host,
        uint16_t port,
        size_t worker_threads = 0u);
 
    ~Client();
 
    /// 查询交通管理器是否正在端口上运行
    bool IsTrafficManagerRunning(uint16_t port) const;
 
    /// 获取一个填充了在端口上运行的交通管理器的 <IP, 端口> 的对。
    /// 如果没有正在运行的交通管理器，则该对将为 ("", 0) 
    std::pair<std::string, uint16_t> GetTrafficManagerRunning(uint16_t port) const;
 
    /// 通知正在 <IP, 端口> 上运行的交通管理器服务
    bool AddTrafficManagerRunning(std::pair<std::string, uint16_t> trafficManagerInfo) const;
 
    void DestroyTrafficManager(uint16_t port) const;
 
    void SetTimeout(time_duration timeout);
 
    time_duration GetTimeout() const;
 
    const std::string GetEndpoint() const;
 
    std::string GetClientVersion();
 
    std::string GetServerVersion();
 
    void LoadEpisode(std::string map_name, bool reset_settings = true, rpc::MapLayer map_layer = rpc::MapLayer::All);
 
    void LoadLevelLayer(rpc::MapLayer map_layer) const;
 
    void UnloadLevelLayer(rpc::MapLayer map_layer) const;
 
    void CopyOpenDriveToServer(
        std::string opendrive, const rpc::OpendriveGenerationParameters & params);
 
    void ApplyColorTextureToObjects(
        const std::vector<std::string> &objects_name,
        const rpc::MaterialParameter& parameter,
        const rpc::TextureColor& Texture);
 
    void ApplyColorTextureToObjects(
        const std::vector<std::string> &objects_name,
        const rpc::MaterialParameter& parameter,
        const rpc::TextureFloatColor& Texture);
 
    std::vector<std::string> GetNamesOfAllObjects() const;
 
    rpc::EpisodeInfo GetEpisodeInfo();
 
    rpc::MapInfo GetMapInfo();
 
    std::vector<uint8_t> GetNavigationMesh() const;
 
    bool SetFilesBaseFolder(const std::string &path);
 
    std::vector<std::string> GetRequiredFiles(const std::string &folder = "", const bool download = true) const;
 
    std::string GetMapData() const;
 
    void RequestFile(const std::string &name) const;
 
    std::vector<uint8_t> GetCacheFile(const std::string &name, const bool request_otherwise = true) const;
 
    std::vector<std::string> GetAvailableMaps();
 
    std::vector<rpc::ActorDefinition> GetActorDefinitions();
 
    rpc::Actor GetSpectator();
 
    rpc::EpisodeSettings GetEpisodeSettings();
 
    uint64_t SetEpisodeSettings(const rpc::EpisodeSettings &settings);
 
    rpc::WeatherParameters GetWeatherParameters();
 
    void SetWeatherParameters(const rpc::WeatherParameters &weather);
 
    float GetIMUISensorGravity() const;
 
    void SetIMUISensorGravity( float NewIMUISensorGravity );
 
    std::vector<rpc::Actor> GetActorsById(const std::vector<ActorId> &ids);
 
    rpc::VehiclePhysicsControl GetVehiclePhysicsControl(rpc::ActorId vehicle) const;
 
    rpc::VehicleLightState GetVehicleLightState(rpc::ActorId vehicle) const;
 
    void ApplyPhysicsControlToVehicle(
        rpc::ActorId vehicle,
        const rpc::VehiclePhysicsControl &physics_control);
 
    void SetLightStateToVehicle(
        rpc::ActorId vehicle,
        const rpc::VehicleLightState &light_state);
 
    void OpenVehicleDoor(
        rpc::ActorId vehicle,
        const rpc::VehicleDoor door_idx);
 
    void CloseVehicleDoor(
        rpc::ActorId vehicle,
        const rpc::VehicleDoor door_idx);
 
    rpc::Actor SpawnActor(
        const rpc::ActorDescription &description,
        const geom::Transform &transform);
 
    rpc::Actor SpawnActorWithParent(
        const rpc::ActorDescription &description,
        const geom::Transform &transform,
        rpc::ActorId parent,
        rpc::AttachmentType attachment_type,
        const std::string& socket_name = "");
 
    bool DestroyActor(rpc::ActorId actor);
 
    void SetActorLocation(
        rpc::ActorId actor,
        const geom::Location &location);
 
    void SetActorTransform(
        rpc::ActorId actor,
        const geom::Transform &transform);
 
    void SetActorTargetVelocity(
        rpc::ActorId actor,
        const geom::Vector3D &vector);
 
    void SetActorTargetAngularVelocity(
        rpc::ActorId actor,
        const geom::Vector3D &vector);
 
    void EnableActorConstantVelocity(
        rpc::ActorId actor,
        const geom::Vector3D &vector);
 
    void DisableActorConstantVelocity(
        rpc::ActorId actor);
 
    void AddActorImpulse(
        rpc::ActorId actor,
        const geom::Vector3D &impulse);
 
    void AddActorImpulse(
        rpc::ActorId actor,
        const geom::Vector3D &impulse,
        const geom::Vector3D &location);
 
    void AddActorForce(
        rpc::ActorId actor,
        const geom::Vector3D &force);
 
    void AddActorForce(
        rpc::ActorId actor,
        const geom::Vector3D &force,
        const geom::Vector3D &location);
 
    void AddActorAngularImpulse(
        rpc::ActorId actor,
        const geom::Vector3D &vector);
 
    void AddActorTorque(
        rpc::ActorId actor,
        const geom::Vector3D &vector);
 
    geom::Transform GetActorComponentWorldTransform(
        rpc::ActorId actor,
        const std::string componentName);
 
    geom::Transform GetActorComponentRelativeTransform(
        rpc::ActorId actor,
        const std::string componentName);
 
    std::vector<geom::Transform> GetActorBoneWorldTransforms(
        rpc::ActorId actor);
 
    std::vector<geom::Transform> GetActorBoneRelativeTransforms(
        rpc::ActorId actor);
 
    std::vector<std::string> GetActorComponentNames(
        rpc::ActorId actor);
 
    std::vector<std::string> GetActorBoneNames(
        rpc::ActorId actor);
 
    std::vector<geom::Transform> GetActorSocketWorldTransforms(
        rpc::ActorId actor);
 
    std::vector<geom::Transform> GetActorSocketRelativeTransforms(
        rpc::ActorId actor);
 
    std::vector<std::string> GetActorSocketNames(
        rpc::ActorId actor);
 
    void SetActorSimulatePhysics(
        rpc::ActorId actor,
        bool enabled);
 
    void SetActorCollisions(
        rpc::ActorId actor,
        bool enabled);
 
    void SetActorDead(
        rpc::ActorId actor);
 
    void SetActorEnableGravity(
        rpc::ActorId actor,
        bool enabled);
 
    void SetActorAutopilot(
        rpc::ActorId vehicle,
        bool enabled);
 
    rpc::VehicleTelemetryData GetVehicleTelemetryData(rpc::ActorId vehicle) const;
 
    void ShowVehicleDebugTelemetry(
        rpc::ActorId vehicle,
        bool enabled);
 
    void ApplyControlToVehicle(
        rpc::ActorId vehicle,
        const rpc::VehicleControl &control);
 
    void ApplyAckermannControlToVehicle(
        rpc::ActorId vehicle,
        const rpc::VehicleAckermannControl &control);
 
    rpc::AckermannControllerSettings GetAckermannControllerSettings(rpc::ActorId vehicle) const;
 
    void ApplyAckermannControllerSettings(
        rpc::ActorId vehicle,
        const rpc::AckermannControllerSettings &settings);
 
    void EnableCarSim(
        rpc::ActorId vehicle,
        std::string simfile_path);
 
    void UseCarSimRoad(
        rpc::ActorId vehicle,
        bool enabled);
 
    void SetWheelSteerDirection(
        rpc::ActorId vehicle,
        rpc::VehicleWheelLocation vehicle_wheel,
        float angle_in_deg
    );
 
    float GetWheelSteerAngle(
        rpc::ActorId vehicle,
        rpc::VehicleWheelLocation wheel_location
    );
 
    void EnableChronoPhysics(
        rpc::ActorId vehicle,
        uint64_t MaxSubsteps,
        float MaxSubstepDeltaTime,
        std::string VehicleJSON,
        std::string PowertrainJSON,
        std::string TireJSON,
        std::string BaseJSONPath);
 
    void RestorePhysXPhysics(rpc::ActorId vehicle);
 
    void ApplyControlToWalker(
        rpc::ActorId walker,
        const rpc::WalkerControl &control);
 
    rpc::WalkerBoneControlOut GetBonesTransform(
        rpc::ActorId walker);
 
    void SetBonesTransform(
        rpc::ActorId walker,
        const rpc::WalkerBoneControlIn &bones);
 
    void BlendPose(
        rpc::ActorId walker,
        float blend);
 
    void GetPoseFromAnimation(
        rpc::ActorId walker);
 
    void SetTrafficLightState(
        rpc::ActorId traffic_light,
        const rpc::TrafficLightState trafficLightState);
 
    void SetTrafficLightGreenTime(
        rpc::ActorId traffic_light,
        float green_time);
 
    void SetTrafficLightYellowTime(
        rpc::ActorId traffic_light,
        float yellow_time);
 
    void SetTrafficLightRedTime(
        rpc::ActorId traffic_light,
        float red_time);
 
    void FreezeTrafficLight(
        rpc::ActorId traffic_light,
        bool freeze);
 
    void ResetTrafficLightGroup(
        rpc::ActorId traffic_light);
 
    void ResetAllTrafficLights();
 
    void FreezeAllTrafficLights(bool frozen);
 
    std::vector<geom::BoundingBox> GetLightBoxes(
        rpc::ActorId traffic_light) const;
 
    /// 返回第一个元素表示交通工具ID，第二个元素表示信号灯状态的键值对
    rpc::VehicleLightStateList GetVehiclesLightStates();
 
    std::vector<ActorId> GetGroupTrafficLights(
        rpc::ActorId traffic_light);
 
    std::string StartRecorder(std::string name, bool additional_data);
 
    void StopRecorder();
 
    std::string ShowRecorderFileInfo(std::string name, bool show_all);
 
    std::string ShowRecorderCollisions(std::string name, char type1, char type2);
 
    std::string ShowRecorderActorsBlocked(std::string name, double min_time, double min_distance);
 
    std::string ReplayFile(std::string name, double start, double duration,
        uint32_t follow_id, bool replay_sensors);
 
    void SetReplayerTimeFactor(double time_factor);
 
    void SetReplayerIgnoreHero(bool ignore_hero);
 
    void SetReplayerIgnoreSpectator(bool ignore_spectator);
 
    void StopReplayer(bool keep_actors);
 
    void SubscribeToStream(
        const streaming::Token &token,
        std::function<void(Buffer)> callback);
 
    void SubscribeToGBuffer(
        rpc::ActorId ActorId,
        uint32_t GBufferId,
        std::function<void(Buffer)> callback);
 
    void UnSubscribeFromStream(const streaming::Token &token);
 
    void EnableForROS(const streaming::Token &token);
 
    void DisableForROS(const streaming::Token &token);
 
    bool IsEnabledForROS(const streaming::Token &token);
 
    void UnSubscribeFromGBuffer(
        rpc::ActorId ActorId,
        uint32_t GBufferId);
 
    void Send(rpc::ActorId ActorId, std::string message);
 
    void DrawDebugShape(const rpc::DebugShape &shape);
 
    void ApplyBatch(
        std::vector<rpc::Command> commands,
        bool do_tick_cue);
 
    std::vector<rpc::CommandResponse> ApplyBatchSync(
        std::vector<rpc::Command> commands,
        bool do_tick_cue);
 
    uint64_t SendTickCue();
 
    std::vector<rpc::LightState> QueryLightsStateToServer() const;
 
    void UpdateServerLightsState(
        std::vector<rpc::LightState>& lights,
        bool discard_client = false) const;
 
    void UpdateDayNightCycle(const bool active) const;
 
    /// Returns all the BBs of all the elements of the level
    std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
 
    std::vector<rpc::EnvironmentObject> GetEnvironmentObjects(uint8_t queried_tag) const;
 
    void EnableEnvironmentObjects(
      std::vector<uint64_t> env_objects_ids,
      bool enable) const;
 
    std::pair<bool,rpc::LabelledPoint> ProjectPoint(
        geom::Location location, geom::Vector3D direction, float search_distance) const;
 
    std::vector<rpc::LabelledPoint> CastRay(
        geom::Location start_location, geom::Location end_location) const;
 
  private:
 
    class Pimpl;
    const std::unique_ptr<Pimpl> _pimpl;
  };
 
} // namespace detail
} // namespace client
} // namespace carla