rpc json test

tested json can be passed to java side
usdot-fhwa-stol · Aug 31, 2023 · 42b75d1 · 42b75d1
1 parent fd9a778
commit 42b75d1
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Showing 2 changed files with 27 additions and 4 deletions.
diff --git a/...c-carla/src/main/java/org/eclipse/mosaic/fed/carla/carlaconnect/CarlaMessageReceiver.java b/...c-carla/src/main/java/org/eclipse/mosaic/fed/carla/carlaconnect/CarlaMessageReceiver.java
@@ -18,6 +18,7 @@
 import org.apache.xmlrpc.XmlRpcException;
 import org.apache.xmlrpc.client.XmlRpcClient;
 import org.apache.xmlrpc.client.XmlRpcClientConfigImpl;
+import java.util.*;
 
 public class CarlaMessageReceiver implements Runnable {
 
@@ -30,14 +31,20 @@ public void run(){
         XmlRpcClientConfigImpl config = new XmlRpcClientConfigImpl();
 
         try{
+            //set up address for server
             config.setServerURL(new URL("http://127.0.0.1:8090/RPC2"));
             XmlRpcClient client = new XmlRpcClient();
             client.setConfig(config);
+
             while(true)
             {
+                //used to pass arguments to python side, can be in any format
                 Object[] params = new Object[]{new String("Test " + java.time.LocalDateTime.now())};
-                String result = (String) client.execute("test.echo", params);
-                System.out.println(result);
+
+                //result is the return object from python side
+                Object result = (Object) client.execute("test.echo", params);
+
+                //pause the loop for 10 sec, change as needed
                 Thread.sleep(10000);
             }
         }

diff --git a/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/python/server.py b/co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/python/server.py
@@ -1,5 +1,6 @@
 from xmlrpc.server import SimpleXMLRPCServer
 from xmlrpc.server import SimpleXMLRPCRequestHandler
+import json
 
 # Restrict to a particular path.
 class RequestHandler(SimpleXMLRPCRequestHandler):
@@ -12,10 +13,25 @@ class RequestHandler(SimpleXMLRPCRequestHandler):
 
     # Register a function under a different name
     def echo(text):
-        print(text)
-        return text + " processed!"
+        print(text)       
+
+        json_strings = [
+        "{\"carla_actor\": null, \"id\": 0, \"object_type\": \"Vehicles\", \"timestamp\": 0, \"bounding_box_in_world_coordinate_frame\": [], \"position\": [20.0, 34.64101791381836, 0.0], \"velocity\": [100.0, 1.0, 0.0], \"rotation\": [[0.9983314336437902, -0.02072298021475338, 0.05389718628791056], [0.02439869428620028, 0.9973554635114954, -0.06846008414323508], [-0.05233595624294384, 0.06966087492121549, 0.9961969233988568]], \"angular_velocity\": [0.0, 0.0, 8.726646064915904e-05], \"position_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"velocity_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"confidence\": 1.0}",
+        "{\"carla_actor\": null, \"id\": 1, \"object_type\": \"Pedestrians\", \"timestamp\": 0, \"bounding_box_in_world_coordinate_frame\": [], \"position\": [20.0, 34.64101791381836, 0.0], \"velocity\": [100.0, 1.0, 0.0], \"rotation\": [[0.9983314336437902, -0.02072298021475338, 0.05389718628791056], [0.02439869428620028, 0.9973554635114954, -0.06846008414323508], [-0.05233595624294384, 0.06966087492121549, 0.9961969233988568]], \"angular_velocity\": [0.0, 0.0, 8.726646064915904e-05], \"position_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"velocity_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"confidence\": 1.0}",
+        "{\"carla_actor\": null, \"id\": 2, \"object_type\": \"Pedestrians\", \"timestamp\": 0, \"bounding_box_in_world_coordinate_frame\": [], \"position\": [20.0, 34.64101791381836, 0.0], \"velocity\": [100.0, 1.0, 0.0], \"rotation\": [[0.9983314336437902, -0.02072298021475338, 0.05389718628791056], [0.02439869428620028, 0.9973554635114954, -0.06846008414323508], [-0.05233595624294384, 0.06966087492121549, 0.9961969233988568]], \"angular_velocity\": [0.0, 0.0, 8.726646064915904e-05], \"position_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"velocity_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"confidence\": 1.0}",
+        "{\"carla_actor\": null, \"id\": 3, \"object_type\": \"Pedestrians\", \"timestamp\": 0, \"bounding_box_in_world_coordinate_frame\": [], \"position\": [20.0, 34.64101791381836, 0.0], \"velocity\": [100.0, 1.0, 0.0], \"rotation\": [[0.9983314336437902, -0.02072298021475338, 0.05389718628791056], [0.02439869428620028, 0.9973554635114954, -0.06846008414323508], [-0.05233595624294384, 0.06966087492121549, 0.9961969233988568]], \"angular_velocity\": [0.0, 0.0, 8.726646064915904e-05], \"position_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"velocity_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"confidence\": 1.0}",
+        "{\"carla_actor\": null, \"id\": 4, \"object_type\": \"Vehicles\", \"timestamp\": 0, \"bounding_box_in_world_coordinate_frame\": [], \"position\": [20.0, 34.64101791381836, 0.0], \"velocity\": [100.0, 1.0, 0.0], \"rotation\": [[0.9983314336437902, -0.02072298021475338, 0.05389718628791056], [0.02439869428620028, 0.9973554635114954, -0.06846008414323508], [-0.05233595624294384, 0.06966087492121549, 0.9961969233988568]], \"angular_velocity\": [0.0, 0.0, 8.726646064915904e-05], \"position_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"velocity_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"confidence\": 1.0}",
+        "{\"carla_actor\": null, \"id\": 5, \"object_type\": \"Vehicles\", \"timestamp\": 0, \"bounding_box_in_world_coordinate_frame\": [], \"position\": [20.0, 34.64101791381836, 0.0], \"velocity\": [100.0, 1.0, 0.0], \"rotation\": [[0.9983314336437902, -0.02072298021475338, 0.05389718628791056], [0.02439869428620028, 0.9973554635114954, -0.06846008414323508], [-0.05233595624294384, 0.06966087492121549, 0.9961969233988568]], \"angular_velocity\": [0.0, 0.0, 8.726646064915904e-05], \"position_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"velocity_covariance\": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], \"confidence\": 1.0}"
+        ]
 
+        json_array = [json.loads(json_str) for json_str in json_strings]
+        json_array_string = json.dumps(json_array, indent=2)
+
+
+        return json_array_string
+
     server.register_function(echo, 'test.echo')
 
     # Run the server's main loop
+
     server.serve_forever()