chrono::vehicle::ChExternalDriver Class Reference
Description
Driver.
#include <ChExternalDriver.h>
Inheritance diagram for chrono::vehicle::ChExternalDriver:
Collaboration diagram for chrono::vehicle::ChExternalDriver:
Public Member Functions | |
| ChExternalDriver (ChVehicle &vehicle, int port) | |
| virtual void | Synchronize (double time) override |
| Update the state of this driver system at the current time. | |
| void | AddDataGenerator (std::shared_ptr< DataGeneratorFunctor > functor, float updateRate=-1) |
| Add a data generator that is used to send data. More... | |
| void | AddDataParser (std::shared_ptr< DataParserFunctor > functor) |
| Add a data parser that is used when receiving data. More... | |
 Public Member Functions inherited from chrono::vehicle::ChDriver | |
| ChDriver (ChVehicle &vehicle) | |
| Construct a driver subsystem associated with the given vehicle. | |
| double | GetThrottle () const |
| Get the driver throttle input (in the range [0,1]) | |
| double | GetSteering () const |
| Get the driver steering input (in the range [-1,+1]) | |
| double | GetBraking () const |
| Get the driver braking input (in the range [0,1]) | |
| DriverInputs | GetInputs () const |
| Get all current inputs at once. | |
| virtual void | Initialize () |
| Initialize this driver system. | |
| virtual void | Advance (double step) |
| Advance the state of this driver system by the specified time step. | |
| bool | LogInit (const std::string &filename) |
| Initialize output file for recording driver inputs. | |
| bool | Log (double time) |
| Record the current driver inputs to the log file. | |
| void | SetSteering (double val, double min_val=-1, double max_val=1) |
| Overwrite the value for the driver steering input. | |
| void | SetThrottle (double val, double min_val=0, double max_val=1) |
| Overwrite the value for the driver throttle input. | |
| void | SetBraking (double val, double min_val=0, double max_val=1) |
| Overwrite the value for the driver braking input. | |
Protected Member Functions | |
| bool | SendData (double time) |
| Exchange data with the client, by sending a vector of floating point values over TCP socket connection (values are double precision, little endian, 4 bytes each) Simulator actual time is also passed as first value. | |
| bool | ReceiveData () |
| Exchange data with the client, by receiving a vector of floating point values over TCP socket connection (values are double precision, little endian, 4 bytes each) External time is also received as first value. | |
| bool | WaitConnection (int port) |
| Wait for a client to connect to the interface, on a given port, and wait until not connected. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from chrono::vehicle::ChDriver | |
| ChVehicle & | m_vehicle |
| reference to associated vehicle | |
| double | m_throttle |
| current value of throttle input | |
| double | m_steering |
| current value of steering input | |
| double | m_braking |
| current value of braking input | |
Member Function Documentation
◆ AddDataGenerator()
| void chrono::vehicle::ChExternalDriver::AddDataGenerator | ( | std::shared_ptr< DataGeneratorFunctor > | functor, |
| float | updateRate = -1 |
||
| ) |
Add a data generator that is used to send data.
On each Synchronize, generators are invoked based on their update rate, and data is sent to the client (external control stack).
◆ AddDataParser()
| void chrono::vehicle::ChExternalDriver::AddDataParser | ( | std::shared_ptr< DataParserFunctor > | functor | ) |
Add a data parser that is used when receiving data.
On each Synchronize, parser are invoked based on the messages that are received
◆ WaitConnection()
|
protected |
Wait for a client to connect to the interface, on a given port, and wait until not connected.
port is a free port number, for example 50009.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChExternalDriver.h
- /builds/uwsbel/chrono/src/chrono_vehicle/driver/ChExternalDriver.cpp
