示例#1
0
  /**
   * 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;
  }
示例#2
0
  /**
   * 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.");
          }
        }
      }
    }
  }