Merge branch 'mai/ue4-extend-ros2-step1-v2x-sensor' into mai/ue4-extend-ros2-step3-base

Author: berndgassmann

CHANGELOG.md

@@ -9,6 +9,7 @@
    Be aware: some existing code using master/slave sync mechanism might need rework. See also generate_traffic.py.
  * Introduced geom::AngularVelocity, geom::Velocity, geom::Acceleration, geom::Quaternion types
  * Fixed geom::Rotation::RotateVector() rotation directions of pitch and roll
+ * Improved V2X sensor capabilities: send complex custom user-defined data, support V2I sensors not attached to a vehicle
 
 ## CARLA 0.9.16
 

Docs/bp_library.md

@@ -258,6 +258,63 @@ Check out the [introduction to blueprints](core_actors.md).
 - **<font color="#498efc">sensor.other.rss</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+- **<font color="#498efc">sensor.other.v2x</font>**  
+    - **Attributes:**
+        - `channel_id` (_String_) <sub>_- Modifiable_</sub>
+        - `combined_antenna_gain` (_Float_) <sub>_- Modifiable_</sub>
+        - `custom_fading_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `d_ref` (_Float_) <sub>_- Modifiable_</sub>
+        - `filter_distance` (_Float_) <sub>_- Modifiable_</sub>
+        - `fixed_rate` (_Bool_) <sub>_- Modifiable_</sub>
+        - `frequency_ghz` (_Float_) <sub>_- Modifiable_</sub>
+        - `gen_cam_max` (_Float_) <sub>_- Modifiable_</sub>
+        - `gen_cam_min` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_accel_stddev_x` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_accel_stddev_y` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_accel_stddev_z` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_alt_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_alt_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_head_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_head_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lat_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lat_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lon_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_lon_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_seed` (_Int_) <sub>_- Modifiable_</sub>
+        - `noise_vel_stddev_x` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_yawrate_bias` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_yawrate_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `path_loss_exponent` (_Float_) <sub>_- Modifiable_</sub>
+        - `path_loss_model` (_String_) <sub>_- Modifiable_</sub>
+        - `receiver_sensitivity` (_Float_) <sub>_- Modifiable_</sub>
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_frame_id` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_publish_tf` (_Bool_) <sub>_- Modifiable_</sub>
+        - `scenario` (_String_) <sub>_- Modifiable_</sub>
+        - `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
+        - `transmit_power` (_Float_) <sub>_- Modifiable_</sub>
+        - `use_etsi_fading` (_Bool_) <sub>_- Modifiable_</sub>
+- **<font color="#498efc">sensor.other.v2x_custom</font>**  
+    - **Attributes:**
+        - `channel_id` (_String_) <sub>_- Modifiable_</sub>
+        - `combined_antenna_gain` (_Float_) <sub>_- Modifiable_</sub>
+        - `custom_fading_stddev` (_Float_) <sub>_- Modifiable_</sub>
+        - `d_ref` (_Float_) <sub>_- Modifiable_</sub>
+        - `filter_distance` (_Float_) <sub>_- Modifiable_</sub>
+        - `frequency_ghz` (_Float_) <sub>_- Modifiable_</sub>
+        - `noise_seed` (_Int_) <sub>_- Modifiable_</sub>
+        - `path_loss_exponent` (_Float_) <sub>_- Modifiable_</sub>
+        - `path_loss_model` (_String_) <sub>_- Modifiable_</sub>
+        - `receiver_sensitivity` (_Float_) <sub>_- Modifiable_</sub>
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_frame_id` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_name` (_String_) <sub>_- Modifiable_</sub>
+        - `ros_publish_tf` (_Bool_) <sub>_- Modifiable_</sub>
+        - `scenario` (_String_) <sub>_- Modifiable_</sub>
+        - `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
+        - `transmit_power` (_Float_) <sub>_- Modifiable_</sub>
+        - `use_etsi_fading` (_Bool_) <sub>_- Modifiable_</sub>
 
 ### static
 - **<font color="#498efc">static.prop.advertisement</font>**  

Docs/python_api.md

@@ -723,6 +723,48 @@ No changes applied to the image. Used by the [RGB camera](ref_sensors.md#rgb-cam
 
 ---
 
+## carla.CustomV2XBytes<a name="carla.CustomV2XBytes"></a>
+This is the data type defining the bytes of a custom V2X message. Sent by the method `[carla.Sensor.send](#carla.Sensor.send)` and received as part of a [CustomV2XEvent](#carlacustomv2xevent).  
+
+### Instance Variables
+- <a name="carla.CustomV2XBytes.data_size"></a>**<font color="#f8805a">data_size</font>** (_int_)  
+The actual number of bytes of the message.  
+
+### Methods
+- <a name="carla.CustomV2XBytes.get"></a>**<font color="#7fb800">get</font>**(<font color="#00a6ed">**self**</font>)  
+Get the custom bytes. Returns a nested dictionary containing the message. It has three primary keys: - `DataSize` : int - `MaxDataSize`: int - `Bytes`: memory view containing the bytes.  
+    - **Return:** _dict_  
+- <a name="carla.CustomV2XBytes.max_data_size"></a>**<font color="#7fb800">max_data_size</font>**(<font color="#00a6ed">**self**</font>)  
+Get the maximum data size that a single message is able to transport.  
+    - **Return:** _int_  
+
+##### Getters
+- <a name="carla.CustomV2XBytes.get_bytes"></a>**<font color="#7fb800">get_bytes</font>**(<font color="#00a6ed">**self**</font>)  
+Get the custom bytes.  
+    - **Return:** _bytes_  
+    - **Setter:** _[carla.CustomV2XBytes.set_bytes](#carla.CustomV2XBytes.set_bytes)_  
+- <a name="carla.CustomV2XBytes.get_string"></a>**<font color="#7fb800">get_string</font>**(<font color="#00a6ed">**self**</font>)  
+Get the custom bytes as string. Be aware: this is a convenience method for quick tests, no coding/decoding is performed.  
+    - **Return:** _str_  
+    - **Setter:** _[carla.CustomV2XBytes.set_string](#carla.CustomV2XBytes.set_string)_  
+
+##### Setters
+- <a name="carla.CustomV2XBytes.set_bytes"></a>**<font color="#7fb800">set_bytes</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**bytes**</font>)  
+Set the custom bytes from a bytearray. Be aware that only up to `MaxDataSize` bytes are considered. If you have larger data, you need to split it manually.  
+    - **Parameters:**
+        - `bytes` (_bytes_)  
+    - **Getter:** _[carla.CustomV2XBytes.get_bytes](#carla.CustomV2XBytes.get_bytes)_  
+- <a name="carla.CustomV2XBytes.set_string"></a>**<font color="#7fb800">set_string</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**string**</font>)  
+Set the custom bytes directly from a string. The null termination is not transmitted. Be aware that only up to `MaxDataSize` bytes are considered. If you have larger data, you need to split it manually. Be aware: this is a convenience method for quick tests, no coding/decoding is performed.  
+    - **Parameters:**
+        - `string` (_str_)  
+    - **Getter:** _[carla.CustomV2XBytes.get_string](#carla.CustomV2XBytes.get_string)_  
+
+##### Dunder methods
+- <a name="carla.CustomV2XBytes.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)  
+
+---
+
 ## carla.CustomV2XData<a name="carla.CustomV2XData"></a>
 <small style="display:block;margin-top:-20px;">Inherited from _[carla.SensorData](#carla.SensorData)_</small></br>
 This is the data type defining a custom V2X message. Received as part of a [CustomV2XEvent](#carlacustomv2xevent).  
@@ -733,7 +775,7 @@ Received power.
 
 ### Methods
 - <a name="carla.CustomV2XData.get"></a>**<font color="#7fb800">get</font>**(<font color="#00a6ed">**self**</font>)  
-Get the custom message. Returns a nested dictionary containing the message. It has two primary keys: - `Header` : dict - `Message`: str.  
+Get the custom message. Returns a nested dictionary containing the message. It has two primary keys: - `Header` : dict - `Message`: dict.  
     - **Return:** _dict_  
 
 ##### Dunder methods
@@ -2493,9 +2535,9 @@ The function the sensor will be calling to every time the desired GBuffer textur
         - `gbuffer_id` (_[carla.GBufferTextureID](#carla.GBufferTextureID)_) - The ID of the target Unreal Engine GBuffer texture.  
         - `callback` (_function_) - The called function with one argument containing the received GBuffer texture.  
 - <a name="carla.Sensor.send"></a>**<font color="#7fb800">send</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**message**</font>)  
-Instructs the sensor to send the string given by `message` to all other CustomV2XSensors on the next tick.  
+Instructs the sensor to send the bytes given by `message` to all other CustomV2XSensors on the next tick.  
     - **Parameters:**
-        - `message` (_string_) - The data to send. Note: maximum string length is 100 chars.  
+        - `message` (_[carla.CustomV2XBytes](#carla.CustomV2XBytes)_) - The data to send. Note: There is a maximum data size for a single message see [carla.CustomV2XBytes](#carla.CustomV2XBytes) for more information.  
 - <a name="carla.Sensor.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)  
 Commands the sensor to stop listening for data.  
 - <a name="carla.Sensor.stop_gbuffer"></a>**<font color="#7fb800">stop_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>)  

Docs/ref_sensors.md

@@ -1087,18 +1087,21 @@ The function the user has to call every time to send a message. This function ne
     - **Parameters:**
         - `data` (_function_) - The called function with one argument containing the sensor data.  
 
-The custom V2X message sensor works a little bit different than other sensors, because it has the *send* function in addition to the *listen* function, that needs to be called, before another sensor of this type will receive anything. The transmission of a custom message is only triggered, when *send* is called. Each message given to the *send* function is only transmitted once to all Custom V2X Message sensors currently spawned.
+The custom V2X message sensor works a little bit different than other sensors, because it has the *send* function in addition to the *listen* function, that needs to be called, before another sensor of this type will receive anything. The transmission of a custom message is only triggered, when *send* is called. Each message given to the *send* function is only transmitted once to all Custom V2X Message sensors currently spawned. Independent communcation channels can be created by the sensors 'channel_id' attribute. Only sensors having the same 'channel_id' are communicating with each other. This allows to create different sender/receiver groups within the system.
 
 Example:
 
     bp = world.get_blueprint_library().find('sensor.other.v2x_custom')
     sensor = world.spawn_actor(bp, carla.Transform(), attach_to=parent)
-    sensor.send("Hello CARLA")
+    message = carla.CustomV2XBytes()
+    message.set_bytes(bytearray("Hello CARLA", 'utf-8'))
+    sensor.send(message)
 
 ### V2X sensors blueprint attributes
 
 | Blueprint attribute     | Type   | Default | Description                        |
 |-------------------------|--------|-------------------------|------------------------------------|
+| channel\_id             | string  | ''       | Only Sender/Receiver with the same channel_id are communicating with each other    |
 | transmit\_power         | float  | 21.5       | Sender transmission power in dBm                         |
 | receiver\_sensitivity   | float  | -99        | Receiver sensitivity in dBm                                |
 | frequency\_ghz          | float  | 5.9 | Transmission frequency in GHz. 5.9 GHz is standard for several physical channels.                 |

LibCarla/source/carla/client/ServerSideSensor.cpp

@@ -55,14 +55,14 @@ namespace client {
     listening_mask.reset(0);
   }
 
-  void ServerSideSensor::Send(std::string message) {
+  void ServerSideSensor::Send(const rpc::CustomV2XBytes &data) {
     log_debug("calling sensor Send() ", GetDisplayId());
     if (GetActorDescription().description.id != "sensor.other.v2x_custom")
     {
       log_warning("Send methods are not supported on non-V2x sensors (sensor.other.v2x_custom).");
       return;
     }
-    GetEpisode().Lock()->Send(*this,message);
+    GetEpisode().Lock()->Send(*this,data);
   }
 
   void ServerSideSensor::EnableGBuffers(bool bEnabled) {

LibCarla/source/carla/client/ServerSideSensor.h

@@ -6,9 +6,11 @@
 
 #pragma once
 
-#include "carla/client/Sensor.h"
 #include <bitset>
 
+#include "carla/client/Sensor.h"
+#include "carla/rpc/CustomV2XBytes.h"
+
 namespace carla {
 namespace client {
 
@@ -51,7 +53,7 @@ namespace client {
     }
 
     /// Send data via this sensor
-    void Send(std::string message);
+    void Send(const rpc::CustomV2XBytes &data);
 
     /// @copydoc Actor::Destroy()
     ///

LibCarla/source/carla/client/detail/Client.cpp

@@ -724,8 +724,8 @@ namespace detail {
     return _pimpl->CallAndWait<bool>("is_actor_enabled_for_ros", actor);
   }
 
-  void Client::Send(rpc::ActorId ActorId, std::string message) {
-    _pimpl->AsyncCall("send", ActorId, message);
+  void Client::Send(rpc::ActorId ActorId, const rpc::CustomV2XBytes &data) {
+    _pimpl->AsyncCall("send", ActorId, data);
   }
 
   void Client::SetIgnoredVehicles(rpc::ActorId ActorId, const std::vector<rpc::ActorId>& vehicle_ids) {

LibCarla/source/carla/client/detail/Client.h

@@ -16,6 +16,7 @@
 #include "carla/rpc/AttachmentType.h"
 #include "carla/rpc/Command.h"
 #include "carla/rpc/CommandResponse.h"
+#include "carla/rpc/CustomV2XBytes.h"
 #include "carla/rpc/EnvironmentObject.h"
 #include "carla/rpc/EpisodeInfo.h"
 #include "carla/rpc/EpisodeSettings.h"
@@ -467,7 +468,7 @@ namespace detail {
         rpc::ActorId ActorId,
         uint32_t GBufferId);
 
-    void Send(rpc::ActorId ActorId, std::string message);
+    void Send(rpc::ActorId ActorId, const rpc::CustomV2XBytes &data);
 
     void SetIgnoredVehicles(rpc::ActorId ActorId, const std::vector<rpc::ActorId>& vehicle_ids);
 

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -453,8 +453,8 @@ EpisodeProxy Simulator::GetCurrentEpisode() {
     _client.FreezeAllTrafficLights(frozen);
   }
 
-  void Simulator::Send(const Sensor &sensor, std::string message) {
-    _client.Send(sensor.GetId(), message);
+  void Simulator::Send(const Sensor &sensor, const carla::rpc::CustomV2XBytes &data) {
+    _client.Send(sensor.GetId(), data);
   }
 
   void Simulator::SetIgnoredVehicles(const Sensor &sensor, const std::vector<ActorId>& vehicle_ids) {

LibCarla/source/carla/client/detail/Simulator.h

@@ -22,6 +22,7 @@
 #include "carla/client/detail/Episode.h"
 #include "carla/client/detail/EpisodeProxy.h"
 #include "carla/profiler/LifetimeProfiled.h"
+#include "carla/rpc/CustomV2XBytes.h"
 #include "carla/rpc/TrafficLightState.h"
 #include "carla/rpc/VehicleLightStateList.h"
 #include "carla/rpc/LabelledPoint.h"
@@ -731,7 +732,7 @@ namespace detail {
         Actor & sensor,
         uint32_t gbuffer_id);
 
-    void Send(const Sensor &sensor, std::string message);
+    void Send(const Sensor &sensor, const carla::rpc::CustomV2XBytes &data);
 
     void SetIgnoredVehicles(const Sensor &sensor, const std::vector<ActorId>& vehicle_ids);