/**
* Create a proxy vehicle
*
* @param msg the PV update message
* @return the proxy vehicle
*/
private ProxyVehicleSimView makeProxyVehicle(Real2ProxyPVUpdate msg) {
ProxyVehicleSimView vehicle =
new ProxyVehicle(
msg.position,
msg.heading,
msg.steeringAngle,
msg.velocity,
msg.targetVelocity,
msg.acceleration,
msg.receivedTime);
vehicle.setDriver(new ProxyDriver(vehicle, sim.getMap()));
assert vehicle.getDriver() != null;
return vehicle;
}
/**
* The main function for processing the incoming datagram.
*
* @param dp the datagram.
*/
private void processIncomingDatagram(DatagramPacket dp) {
synchronized (sim) {
SocketAddress sa = dp.getSocketAddress();
Real2ProxyMsg msg = convertDatagramToReal2ProxyMsg(dp);
if (Debug.SHOW_PROXY_VEHICLE_DEBUG_MSG) {
if (Debug.SHOW_PROXY_VEHICLE_PVUPDATE_MSG || !(msg instanceof Real2ProxyPVUpdate)) {
System.err.printf("Proxy vehicle received a Real2Proxy msg: %s\n", msg);
}
}
if (msg == null) {
System.err.println("Error: cannot parse the datagram package.");
return;
}
if (sa2ProxyVehicle.containsKey(sa)) {
// The datagram came from a real vehicle we're already tracking.
// Simply forward the datagram to the corresponding proxy vehicle
sa2ProxyVehicle.get(sa).processReal2ProxyMsg(msg);
} else {
// We haven't seem this SA before. This must be coming from
// a new real vehicle that we're not tracking
// If it is a PV_UPDATE message, instantiate the proxy vehicle and
// associate the socket address to this proxy vehicle.
// If not, ignore the message.
if (msg.messageType == Real2ProxyMsg.Type.PV_UPDATE) {
Real2ProxyPVUpdate pvUpdateMsg = (Real2ProxyPVUpdate) msg;
// create a proxy vehicle for this real vehicle
ProxyVehicleSimView vehicle = makeProxyVehicle(pvUpdateMsg);
// check the VIN number
if (VinRegistry.registerVehicleWithExistingVIN(vehicle, pvUpdateMsg.vin)) {
// update the socket address of the proxy vehicle
// pull out just the IP <xxx.xxx.xxx.xxx> from the address only
String address = sa.toString();
address = address.substring(1, address.indexOf(':'));
vehicle.setSa(new InetSocketAddress(address, DEFAULT_VEHICLE_UDP_PORT));
// record the proxy vehicle
sa2ProxyVehicle.put(sa, vehicle);
// add the proxy vehicle to the simulator
sim.addProxyVehicle(vehicle);
if (Debug.SHOW_PROXY_VEHICLE_DEBUG_MSG) {
System.err.printf(
"A proxy vehicle is created at time %.2f " + "(vin=%d).\n",
sim.getSimulationTime(), vehicle.getVIN());
}
} else {
System.err.println(
"Warning: the VIN of the UPD message has "
+ "already been used by other vehicles.");
// don't add the proxy vehicle to the simulator.
}
} else {
// Ignore the message
if (Debug.SHOW_PROXY_VEHICLE_DEBUG_MSG) {
System.err.println(
"Warning: first message from a new real " + "vehicle must be a PVUpdate.");
}
}
}
}
}
