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feat(app): introduce new LiDAR module (#440)
* feat: Added LidarData and LidarUpdates * feat: Added new LidarUpdates interaction to ApplicationAmbassador * feat(module): Added new DefaultLidarSensorModule and interaction functionality Note: to use this, a simulator which produces LiDAR point clouds is required, such as Carla or PHABMACS
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@@ -62,7 +62,7 @@ buildNumber.properties | |
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| # MOSAIC | ||
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| tmp/ | ||
| *.log | ||
| credentials.cached | ||
| *.lcs | ||
| *.lcs | ||
| .tiles | ||
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110 changes: 110 additions & 0 deletions
110
...pse/mosaic/fed/application/ambassador/simulation/perception/DefaultLidarSensorModule.java
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| /* | ||
| * Copyright (c) 2024 Fraunhofer FOKUS and others. All rights reserved. | ||
| * | ||
| * See the NOTICE file(s) distributed with this work for additional | ||
| * information regarding copyright ownership. | ||
| * | ||
| * This program and the accompanying materials are made available under the | ||
| * terms of the Eclipse Public License 2.0 which is available at | ||
| * http://www.eclipse.org/legal/epl-2.0 | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| * | ||
| * Contact: [email protected] | ||
| */ | ||
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| package org.eclipse.mosaic.fed.application.ambassador.simulation.perception; | ||
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| import org.eclipse.mosaic.fed.application.ambassador.SimulationKernel; | ||
| import org.eclipse.mosaic.fed.application.app.api.perception.LidarSensorModule; | ||
| import org.eclipse.mosaic.interactions.vehicle.VehicleSensorActivation; | ||
| import org.eclipse.mosaic.lib.spatial.PointCloud; | ||
| import org.eclipse.mosaic.rti.api.IllegalValueException; | ||
| import org.eclipse.mosaic.rti.api.InternalFederateException; | ||
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| import java.util.ArrayList; | ||
| import java.util.List; | ||
| import java.util.function.Consumer; | ||
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| public class DefaultLidarSensorModule implements LidarSensorModule { | ||
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| private boolean enabled; | ||
| private final String unitId; | ||
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| private PointCloud currentPointcloud; | ||
| private final List<Consumer<PointCloud>> callbacks = new ArrayList<>(); | ||
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| public DefaultLidarSensorModule(String unitId) { | ||
| this.unitId = unitId; | ||
| } | ||
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| @Override | ||
| public void enable(double range) { | ||
| this.enabled = true; | ||
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| // Create a VehicleSensorActivation interaction to be sent to the RTI | ||
| VehicleSensorActivation interaction = new VehicleSensorActivation( | ||
| SimulationKernel.SimulationKernel.getCurrentSimulationTime(), | ||
| unitId, | ||
| range, | ||
| VehicleSensorActivation.SensorType.LIDAR | ||
| ); | ||
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| // Send the interaction to the RTI, thereby enabling the LiDAR sensor | ||
| try { | ||
| SimulationKernel.SimulationKernel.getInteractable().triggerInteraction(interaction); | ||
| } catch (IllegalValueException | InternalFederateException ex) { | ||
| throw new RuntimeException(ex); | ||
| } | ||
| } | ||
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| @Override | ||
| public boolean isEnabled() { | ||
| return enabled; | ||
| } | ||
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| @Override | ||
| public void disable() { | ||
| this.enabled = false; | ||
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| // Create a VehicleSensorActivation interaction to be sent to the RTI that disables the LiDAR sensor | ||
| VehicleSensorActivation interaction = new VehicleSensorActivation( | ||
| SimulationKernel.SimulationKernel.getCurrentSimulationTime(), | ||
| unitId, | ||
| 0, | ||
| VehicleSensorActivation.SensorType.LIDAR | ||
| ); | ||
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| // Send the interaction to the RTI, thereby disabling the LiDAR sensor | ||
| try { | ||
| SimulationKernel.SimulationKernel.getInteractable().triggerInteraction(interaction); | ||
| } catch (IllegalValueException | InternalFederateException ex) { | ||
| throw new RuntimeException(ex); | ||
| } | ||
| } | ||
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| @Override | ||
| public void reactOnSensorUpdate(Consumer<PointCloud> callback) { | ||
| this.callbacks.add(callback); | ||
| } | ||
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| @Override | ||
| public PointCloud getPointCloud() { | ||
| if (!enabled) { | ||
| return null; | ||
| } | ||
| return this.currentPointcloud; | ||
| } | ||
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| /** | ||
| * This method is called by the ApplicationAmbassador when it received new LidarUpdates from the federate. | ||
| * It sets the most current pointcloud to the one received and triggers the callback for every application that set one. | ||
| * @param pointCloud The most current pointcloud. | ||
| */ | ||
| public void updatePointCloud(PointCloud pointCloud) { | ||
| this.currentPointcloud = pointCloud; | ||
| for (Consumer<PointCloud> callback : callbacks) { | ||
| callback.accept(pointCloud); | ||
| } | ||
| } | ||
| } |
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91 changes: 91 additions & 0 deletions
91
...-interactions/src/main/java/org/eclipse/mosaic/interactions/environment/LidarUpdates.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| /* | ||
| * Copyright (c) 2024 Fraunhofer FOKUS and others. All rights reserved. | ||
| * | ||
| * See the NOTICE file(s) distributed with this work for additional | ||
| * information regarding copyright ownership. | ||
| * | ||
| * This program and the accompanying materials are made available under the | ||
| * terms of the Eclipse Public License 2.0 which is available at | ||
| * http://www.eclipse.org/legal/epl-2.0 | ||
| * | ||
| * SPDX-License-Identifier: EPL-2.0 | ||
| * | ||
| * Contact: [email protected] | ||
| */ | ||
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| package org.eclipse.mosaic.interactions.environment; | ||
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| import static org.apache.commons.lang3.builder.ToStringStyle.SHORT_PREFIX_STYLE; | ||
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| import org.eclipse.mosaic.lib.spatial.PointCloud; | ||
| import org.eclipse.mosaic.rti.api.Interaction; | ||
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| import org.apache.commons.lang3.builder.EqualsBuilder; | ||
| import org.apache.commons.lang3.builder.HashCodeBuilder; | ||
| import org.apache.commons.lang3.builder.ToStringBuilder; | ||
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| import java.io.Serializable; | ||
| import java.util.List; | ||
| import java.util.stream.Collectors; | ||
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| public class LidarUpdates extends Interaction implements Serializable { | ||
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| public record LidarUpdate(String unitId, PointCloud pointCloud) implements Serializable {} | ||
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| private static final long serialVersionUID = 1L; | ||
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| /** | ||
| * String identifying the type of this interaction. | ||
| */ | ||
| public final static String TYPE_ID = createTypeIdentifier(LidarUpdates.class); | ||
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| /** | ||
| * List of {@link PointCloud} containing LiDAR data from the simulator. | ||
| */ | ||
| private List<LidarUpdate> updated; | ||
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| public LidarUpdates(long time, List<LidarUpdate> updated) { | ||
| super(time); | ||
| this.updated = updated; | ||
| } | ||
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| public List<LidarUpdate> getUpdated() { | ||
| return this.updated; | ||
| } | ||
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| @Override | ||
| public int hashCode() { | ||
| return new HashCodeBuilder(5, 17) | ||
| .append(updated) | ||
| .toHashCode(); | ||
| } | ||
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| @Override | ||
| public boolean equals(Object obj) { | ||
| if (obj == null) { | ||
| return false; | ||
| } | ||
| if (obj == this) { | ||
| return true; | ||
| } | ||
| if (obj.getClass() != getClass()) { | ||
| return false; | ||
| } | ||
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| LidarUpdates other = (LidarUpdates) obj; | ||
| return new EqualsBuilder() | ||
| .append(this.updated, other.updated) | ||
| .isEquals(); | ||
| } | ||
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| @Override | ||
| public String toString() { | ||
| return new ToStringBuilder(this, SHORT_PREFIX_STYLE) | ||
| .appendSuper(super.toString()) | ||
| .append("updated", "Updated LiDAR data for vehicles [" | ||
| + this.updated.stream().map(LidarUpdate::unitId).collect(Collectors.joining(", ")) + "]") | ||
| .toString(); | ||
| } | ||
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| } | ||
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