Update CARLA Ambassador to use XMLRPC Client

co-simulation/NOTICE-THIRD-PARTY.md

@@ -69,6 +69,30 @@ Apache Commons Text (1.6)
  * Source: https://git-wip-us.apache.org/repos/asf?p=commons-text
 
 
+Apache WebServices Common Utilities (1.0.2)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `org.apache.ws.commons.util:ws-commons-util:1.0.2`
+ * Project: http://ws.apache.org/commons/util
+ * Source: https://svn.apache.org/viewcvs.cgi/webservices/commons/trunk/util
+
+
+Apache XML-RPC Client Library (3.1.3)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `org.apache.xmlrpc:xmlrpc-client:3.1.3`
+ * Project: http://ws.apache.org/xmlrpc/xmlrpc-client/
+ * Source: https://svn.apache.org/viewvc/webservices/xmlrpc/tags/xmlrpc-3.1.3/xmlrpc-client
+
+
+Apache XML-RPC Common Library (3.1.3)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `org.apache.xmlrpc:xmlrpc-common:3.1.3`
+ * Project: http://ws.apache.org/xmlrpc/xmlrpc-common/
+ * Source: https://svn.apache.org/viewvc/webservices/xmlrpc/tags/xmlrpc-3.1.3/xmlrpc-common
+
+
 Commons Compiler (2.7.5)
 
  * License: New BSD License
@@ -355,3 +379,13 @@ Woodstox (5.1.0)
  * Maven artifact: `com.fasterxml.woodstox:woodstox-core:5.1.0`
  * Project: https://github.com/FasterXML/woodstox
  * Source: https://github.com/FasterXML/woodstox
+
+
+XML Commons External Components XML APIs (1.0.b2)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `xml-apis:xml-apis:1.0.b2`
+ * Project: http://xml.apache.org/commons/#external
+ * Source: https://svn.apache.org/viewvc/xml/commons/tags/xml-commons-1_0_b2
+
+

co-simulation/bundle/src/assembly/resources/scenarios/Town04/carla/carla_config.json

@@ -2,5 +2,7 @@
     "updateInterval": 100,
     "carlaUE4Path": "/opt/carla/",
     "bridgePath": "/opt/carma-simulation/scenarios/Town04/carla; bridge.sh",
-    "carlaConnectionPort": 8913
+    "carlaConnectionPort": 8913,
+    "carlaCDASimAdapterUrl":"http://127.0.0.1:8090/RPC2"
+
 }

co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/carla_config.json

@@ -2,5 +2,6 @@
     "updateInterval": 100,
     "carlaUE4Path": "/opt/carla/",
     "bridgePath": "/opt/carma-simulation/scenarios/Town04_test/carla; bridge.sh",
-    "carlaConnectionPort": 8913
+    "carlaConnectionPort": 8913,
+    "carlaCDASimAdapterUrl":"http://127.0.0.1:8090/RPC2"
 }

co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java

@@ -16,13 +16,17 @@
 import com.google.common.collect.Lists;
 import org.apache.commons.codec.binary.Hex;
 import org.apache.commons.lang3.StringUtils;
+import org.apache.xmlrpc.XmlRpcException;
 import org.eclipse.mosaic.fed.carla.carlaconnect.CarlaConnection;
 import org.eclipse.mosaic.fed.carla.carlaconnect.CarlaXmlRpcClient;
 import org.eclipse.mosaic.fed.carla.config.CarlaConfiguration;
 import org.eclipse.mosaic.fed.sumo.traci.constants.CommandSimulationControl;
 import org.eclipse.mosaic.fed.sumo.traci.writer.ListTraciWriter;
 import org.eclipse.mosaic.fed.sumo.traci.writer.StringTraciWriter;
 import org.eclipse.mosaic.interactions.application.*;
+import org.eclipse.mosaic.interactions.detector.DetectedObjectInteraction;
+import org.eclipse.mosaic.interactions.detector.DetectorRegistration;
+import org.eclipse.mosaic.lib.objects.detector.DetectedObject;
 import org.eclipse.mosaic.lib.util.ProcessLoggingThread;
 import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation;
 import org.eclipse.mosaic.rti.TIME;
@@ -110,6 +114,8 @@ public class CarlaAmbassador extends AbstractFederateAmbassador {
      */
     private final PriorityBlockingQueue<CarlaV2xMessageReception> carlaV2xInteractionQueue = new PriorityBlockingQueue<>();
 
+    private List<DetectorRegistration> registeredDetectors = new ArrayList<>();
+
     /**
      * Creates a new {@link CarlaAmbassador} object.
      *
@@ -210,13 +216,13 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce
         //initialize CarlaXmlRpcClient
         //set the connected server URL
         try{
-            URL xmlRpcServerUrl = new URL("http://127.0.0.1:8090/RPC2");
+            URL xmlRpcServerUrl = new URL(carlaConfig.carlaCDASimAdapterUrl);
             carlaXmlRpcClient = new CarlaXmlRpcClient(xmlRpcServerUrl);
+            carlaXmlRpcClient.initialize();
         }
         catch (MalformedURLException m) 
         {
             log.error("Errors occurred with {}", m.getMessage());
-            carlaXmlRpcClient.closeConnection();
         }
         // Start the CARLA simulator
         startCarlaLocal();
@@ -351,15 +357,29 @@ public synchronized void processTimeAdvanceGrant(long time) throws InternalFeder
                 nextTimeStep += carlaConfig.updateInterval * TIME.MILLI_SECOND;
                 isSimulationStep = false;
             }
+            // TODO: What is this. Why are we request a time advance based on this counter and 
+            // what is it counting. It is labeled as counting the times we attempt to connect to 
+            // CARLA but it seems to increment every time processTimeAdvanceGrant is called
             rti.requestAdvanceTime(nextTimeStep + this.executedTimes, 0, (byte) 2);
             this.executedTimes++;
-
-            //call CarlaXmlRpcClient to ask for data whenever time advances
-            carlaXmlRpcClient.requestCarlaList();
-
+            List<DetectedObjectInteraction> detectedObjectInteractions = new ArrayList<DetectedObjectInteraction>();
+            // Get all detections from all currently registered detectors.
+            for (DetectorRegistration registration: registeredDetectors ) {
+                DetectedObject[] detections = carlaXmlRpcClient.getDetectedObjects( registration.getInfrastructureId() , registration.getDetector().getSensorId());
+                for (DetectedObject detected: detections) {
+                    detectedObjectInteractions.add(new DetectedObjectInteraction(time, detected));
+                }
+            }
+            // trigger all detection interactions
+            for (DetectedObjectInteraction detectionInteraction: detectedObjectInteractions) {
+                this.rti.triggerInteraction(detectionInteraction);
+            }
         } catch (IllegalValueException e) {
             log.error("Error during advanceTime(" + time + ")", e);
-            throw new InternalFederateException(e);
+        }
+        catch (XmlRpcException e) {
+            log.error("Failed to connect to CARLA Adapter : ", e);
+            carlaXmlRpcClient.closeConnection();
         }
     }
 
@@ -494,6 +514,25 @@ public void processInteraction(Interaction interaction) {
         } else if (interaction.getTypeId().equals(CarlaV2xMessageReception.TYPE_ID)) {
             this.receiveInteraction((CarlaV2xMessageReception) interaction);
         }
+        else if (interaction.getTypeId().equals(DetectorRegistration.TYPE_ID)) {
+            this.receiveInteraction((DetectorRegistration) interaction);
+        }
+    }
+
+    /**
+     * Method to call XMLRPC method to create sensor on reception of DetectionRegistration interactions. 
+     * @param interaction Interaction triggered by Ambassadors attempting to create sensors in CARLA.
+     */
+    private void receiveInteraction(DetectorRegistration interaction) {
+        try {
+            carlaXmlRpcClient.createSensor(interaction);
+            registeredDetectors.add(interaction);
+        }
+        catch(XmlRpcException e) {
+            log.error("Error occurred attempting to create sensor : {}\n{}", interaction.getDetector(), e);
+            carlaXmlRpcClient.closeConnection();
+        }
+
     }
 
     /**
@@ -508,7 +547,7 @@ private void receiveInteraction(CarlaTraciResponse interaction) {
                 carlaConnection.getDataOutputStream().write(interaction.getResult());
             }
         } catch (Exception e) {
-            log.error("error occurs during process carla traci response interaction: " + e.getMessage());
+            log.error("error occurs during process carla traci response interaction: {} ", e.getMessage());
         }
     }
 
@@ -526,7 +565,7 @@ private void receiveInteraction(SimulationStepResponse interaction) {
             }
 
         } catch (Exception e) {
-            log.error("error occurs during process simulation step response interaction: " + e.getMessage());
+            log.error("error occurs during process simulation step response interaction: {}", e.getMessage());
         }
     }
 
@@ -536,7 +575,7 @@ private void receiveInteraction(SimulationStepResponse interaction) {
      * @param interaction CarlaV2xMessageReception interaction
      */
     private void receiveInteraction(CarlaV2xMessageReception interaction) {
-        log.info("{} received V2x message: {}.", interaction.getReceiverID(), interaction.getMessage().toString());
+        log.info("{} received V2x message: {}.", interaction.getReceiverID(), interaction.getMessage());
 
         interactionQueue.add(interaction);
     }

co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/carlaconnect/CarlaXmlRpcClient.java

@@ -16,44 +16,44 @@
 package org.eclipse.mosaic.fed.carla.carlaconnect;
 
 import java.net.URL;
+import java.util.Arrays;
+import java.util.List;
 
 import org.apache.xmlrpc.XmlRpcException;
 import org.apache.xmlrpc.client.XmlRpcClient;
 import org.apache.xmlrpc.client.XmlRpcClientConfigImpl;
+import org.eclipse.mosaic.interactions.detector.DetectorRegistration;
+import org.eclipse.mosaic.lib.objects.detector.DetectedObject;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
+import com.google.gson.Gson;
+
 /**
- * This is a class uses xmlrpc to connect with CARLA CDASim adapter service
+ * This is a class that uses xmlrpc to connect with CARLA CDASim Adapter. It includes calls 
+ * to dynamically create sensors and get detected objects from created sensors.
  */
 public class CarlaXmlRpcClient{
 
-    boolean isConnected;
-    private String registeredFunction = "test.echo";
+    private boolean isConnected;
+    private static final String CREATE_SENSOR = "create_simulated_semantic_lidar_sensor";
+    private static final String GET_DETECTED_OBJECTS = "get_detected_objects";
+
     private XmlRpcClient client;
+    private URL xmlRpcServerUrl;
     private final Logger log = LoggerFactory.getLogger(this.getClass());
 
 
     public CarlaXmlRpcClient(URL xmlRpcServerUrl) {
-        initialize(xmlRpcServerUrl);
+        this.xmlRpcServerUrl = xmlRpcServerUrl;
     }
 
-    /**
-     * This method is used to send a stop message to the python server side to shut down server from there
-     */
-    public void closeConnection()
-    {
-        log.info("carla connection server closing");
-        isConnected = false;      
-    }
-
-
 
     /**
-     * need to getting a URL to connect to from ambassador
+     * Initialize XmlRpcClient.
      * @param xmlRpcServerUrl
      */
-    public void initialize(URL xmlRpcServerUrl)
+    public void initialize()
     {
         XmlRpcClientConfigImpl config = new XmlRpcClientConfigImpl();   
         config.setServerURL(xmlRpcServerUrl);
@@ -62,34 +62,53 @@ public void initialize(URL xmlRpcServerUrl)
         isConnected = true;
     }
 
+    /**
+     * Calls CARLA CDA Sim Adapter create_sensor XMLRPC method and logs sensor ID of created sensor.
+     * @param registration DetectorRegistration interaction used to create sensor.
+     * @throws XmlRpcException if XMLRPC call fails or connection is lost.
+     */
+    public void createSensor(DetectorRegistration registration) throws XmlRpcException{
+        List<Double> location = Arrays.asList(registration.getDetector().getLocation().getX(), registration.getDetector().getLocation().getY(), registration.getDetector().getLocation().getZ());
+        List<Double> orientation = Arrays.asList(registration.getDetector().getOrientation().getPitch(), registration.getDetector().getOrientation().getRoll(), registration.getDetector().getOrientation().getYaw());
 
+        if (isConnected) {
+            Object[] params = new Object[]{registration.getInfrastructureId(), registration.getDetector().getSensorId(), location, orientation};
+            Object result = client.execute(CREATE_SENSOR, params);
+            log.info((String)result);
+        }
+        else {
+            log.warn("XMLRpcClient is not connected to CARLA Adapter!");
+        }
+    }
     /**
-    * This method uses xmlrpc to connect with CARLA CDASim adapter service
-     * @throws XmlRpcException
-    */
-    public void requestCarlaList()
-    {
-        if(!isConnected)
-        {
-
-            try {
-                throw new XmlRpcException("Server is not connected!");
-            } 
-            catch (XmlRpcException e) 
-            {
-                log.error("Server is not connected! {}", e.getMessage());
-            }
+     * Calls CARLA CDA Sim Adapter get_detected_objects XMLRPC method and returns an array of DetectedObject.
+     * @param infrastructureId String infrastructure ID of sensor to get detections from.
+     * @param sensorId String sensor ID of sensor to get detections from
+     * @return DetectedObject[] from given sensor.
+     * @throws XmlRpcException if XMLRPC call fails or connection is lost.
+     */
+    public DetectedObject[] getDetectedObjects(String infrastructureId ,String sensorId) throws XmlRpcException{
+        if (isConnected) {
+            Object[] params = new Object[]{infrastructureId, sensorId};
+            Object result = client.execute(GET_DETECTED_OBJECTS, params);
+            log.debug("Detections from infrastructure {} sensor {} : {}", infrastructureId, sensorId, result);
+            String jsonResult = (String)result;
+            Gson gson = new Gson();
+            DetectedObject[] parsedMessage = gson.fromJson(jsonResult,
+                    DetectedObject[].class);
+            return parsedMessage;
         }
-        try{          
-            Object[] params = new Object[]{"Test " + java.time.LocalDateTime.now()};
-            Object result = client.execute(registeredFunction, params);
-            log.info((String)result);
+        else {
+            throw new XmlRpcException("XMLRpcClient is not connected to CARLA Adapter!");
+
         }
-        catch (XmlRpcException x) 
-        {
-            log.error("Errors occurred with xmlrpc connection {}", x.getMessage());
-            closeConnection();
-        } 
-
+    }
+    /**
+     * Method to set isConnected field to false. Does not actually close the underlying http connection session but
+     * is used to avoid repeated timeouts/exceptions on misconfiguration of XMLRPC client.
+     */
+    public void closeConnection() {
+        log.warn("Closing XML RPC Client connection in CARLA Ambassador!");
+        isConnected = false;
     }
 }

co-simulation/fed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/config/CarlaConfiguration.java

@@ -48,5 +48,10 @@ public class CarlaConfiguration implements Serializable {
      * Carla connection port
      */
     public int carlaConnectionPort;
+    /**
+     * URL where CARLACDASimAdapter XMLRPC Server is hosted
+     */
+    public String carlaCDASimAdapterUrl;
+
 
 }