henry/EntityLibrary
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ADD: added comments to entity library and changed drone.yml and removed some specific ide files

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This commit is contained in:
hwinkel
2024-03-15 12:46:03 +01:00
parent 0ec7bb4c66
commit b5eb76771d
5 changed files with 74 additions and 75 deletions
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6
.drone.yml
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@@ -13,9 +13,9 @@ steps:
- name: build
image: kmaster.ti.unibw-hamburg.de:30808/debianbullseye
commands:
# - sed -i 's/ssh\\:..git@/https\\:\\/\\//' .gitmodules
# - sed -i 's/\:12000//' .gitmodules
# - git submodule update --init --recursive --jobs=4
- sed -i 's/ssh\\:..git@/https\\:\\/\\//' .gitmodules
- sed -i 's/\:12000//' .gitmodules
- git submodule update --init --recursive --jobs=4
- mkdir -p build && cd build
- CC=clang-11 CXX=clang++-11 cmake -DCMAKE_BUILD_TYPE=DEBUG ..
- make -j

3
.gitignore vendored
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@@ -1,2 +1,3 @@
build/
.cache
.cache
.vscode

16
.vscode/launch.json vendored
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@@ -1,16 +0,0 @@
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "Debug-SensorManager",
"type": "gdb",
"request": "launch",
"target": "./test_SensorManager",
"cwd": "${workspaceRoot}/build",
"valuesFormatting": "parseText"
}
]
}

91
include/Entities/Entity.hpp
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@@ -1,5 +1,7 @@
#pragma once
#define LOGURU_WITH_STREAMS 1
#include <loguru.hpp>
#include <Entities/Tracklist/Tracklist.hpp>
#include "DirectCommunicationServer.hpp"
@@ -31,24 +33,6 @@
namespace Entities {
// struct SensorClientData
// {
// std::string SensorName;
// bool isActive;
// SimCore::Identifier SensorID;
// // std::shared_ptr<WHISPER::InternalUDPSender> SensorSender;
// };
struct EffectorClientData
{
std::string EffectorName;
bool isActive;
SimCore::Identifier EffectorID;
std::shared_ptr<WHISPER::InternalUDPSender> EffectorSender;
};
class Entity {
public:
Entity(const SimCore::Identifier OwnID,
@@ -64,60 +48,95 @@ namespace Entities {
bool online);
~Entity();
/**
* @brief starts the Entity APP
*/
void start();
/**
* @brief stops the Entity
*/
void stop();
void setPosition(SimCore::Position);
/**
* @brief sets the current entity position
*/
void setPosition(SimCore::Position pos);
/**
* @brief sets the speed of the Entity
* @param speed - double
*/
void setSpeed(double speed);
/**
* @brief set the course of the entity (heading, course over ground) in degree
* @param course - double
*/
void setCourse(double course);
/**
* @brief sets the pitch (climb angle) in degree
* @param pitch - double
*/
void setPitch( double pitch);
protected:
/**
* @brief is the child worker function which is called on every circle
*/
virtual void childWorker() = 0;
/**
* @brief is function whick is called to stop the specific child class
*/
virtual void stopChild() = 0;
protected:
/// @brief shared_ptr of the own track
std::shared_ptr<SimCore::SimTrack> OwnShipTrack = nullptr;
std::unique_ptr<TrackList::TrackList> TrackList_ = nullptr;
/// @brief name of the entity (marking)
std::string EntityName_;
/// @brief Entity Kind var (is enum)
SimCore::Kind::EntityKind EntityKind_;
/// @brief Entity Side (is enum)
SimCore::Side::EntitySide EntitySide_;
/// @brief Radar cross section
double RCS_;
/// @brief port of the movement worker
ushort MovemntWorkerPort_;
/// @brief port which the sensor are connecting to
ushort SensorPort_;
/// @brief shared ptr of the Podcontroller
std::shared_ptr<kubecontrol::PodController> PodController_;
/// @brief unique ptr of the sensor manager
std::unique_ptr<SensorManager> SensorManager_;
/// @brief broadcast server the own ship message is use to send
std::shared_ptr<WHISPER::InternalUDPSender> BroadcastServer_;
/// @brief address of the ground thruth (default = 239.0.0.1)
std::string GroundTruthAddr_;
/// @brief port of the ground thruth
std::uint32_t GroundTruthPort_;
/// @brief port on which commands are received
ushort CommandPort_;
private:
/// @brief indicates if entity is startet in a kubernetes cluster
bool online_;
std::vector<std::thread> threads;
std::atomic<bool> stopMainLoop = false;
/// @brief vector of all startet threads
std::vector<std::thread> threads_;
///
std::atomic_bool stopMainLoop_ = false;
void MainLoop();
void startMovementWorker();
std::atomic<bool> MovementWorkerStarted = false;
std::atomic_bool MovementWorkerStarted_ = false;
std::shared_ptr<DirectCommunication::DirectCommunicationServer> MovemtServer_ = nullptr;
void handleMovement();
std::string MovementPodUUID_;
@@ -125,7 +144,7 @@ namespace Entities {
std::shared_ptr<DirectCommunication::DirectCommunicationServer> CommandCommsServer_ = nullptr;
void handleExternalComms(std::string msg);
void handleExternalComms(const std::string &msg);

33
src/Entities/Entity.cpp
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@@ -1,4 +1,4 @@
#include "DirectCommunicationServer.hpp"
#include <DirectCommunicationServer.hpp>
#include "Entities/Movement.hpp"
#include "Entities/SensorManager.hpp"
#include "Orders/MoveOrder.hpp"
@@ -80,7 +80,6 @@ namespace Entities
// BroadcastServer_ = std::make_shared<WHISPER::InternalUDPSender>("239.0.0.1", 10000);
// TrackList_ = std::make_unique<TrackList::TrackList>();
}
@@ -99,7 +98,7 @@ namespace Entities
Orders::MoveOrder moveorder(OwnShipTrack->getIdentifier());
moveorder.setPosition(pos);
if(MovementWorkerStarted == true)
if(MovementWorkerStarted_ == true)
{
MovemtServer_->sendMessage(moveorder.buildMessage());
LOG_S(INFO)<<"Move Order send";
@@ -110,7 +109,7 @@ namespace Entities
OwnShipTrack->Speed.setValue(val);
Orders::MoveOrder moveorder(OwnShipTrack->getIdentifier());
moveorder.Speed.setValue(val);
if(MovementWorkerStarted == true)
if(MovementWorkerStarted_ == true)
{
MovemtServer_->sendMessage(moveorder.buildMessage());
LOG_S(INFO)<<"Move Order send with Speed";
@@ -121,7 +120,7 @@ namespace Entities
OwnShipTrack->Course.setValue(val);
Orders::MoveOrder moveorder(OwnShipTrack->getIdentifier());
moveorder.Course.setValue(val);
if(MovementWorkerStarted == true)
if(MovementWorkerStarted_ == true)
{
MovemtServer_->sendMessage(moveorder.buildMessage());
LOG_S(INFO)<<"Move Order send with Course";
@@ -136,13 +135,9 @@ namespace Entities
void Entity::start()
{
stopMainLoop = false;
stopMainLoop_ = false;
threads.emplace_back(std::thread(&Entity::MainLoop,this));
threads_.emplace_back(std::thread(&Entity::MainLoop,this));
}
@@ -161,18 +156,18 @@ namespace Entities
SensorManager_->stop();
for (std::vector<std::thread>::iterator it = threads.begin(); it != threads.end();)
for (std::vector<std::thread>::iterator it = threads_.begin(); it != threads_.end();)
{
if (it->joinable())
{
it->join();
it = threads.erase(it);
it = threads_.erase(it);
}
}
LOG_S(ERROR)<< "Remaining Threads: " << threads.size();
LOG_S(ERROR)<< "Remaining Threads: " << threads_.size();
// std::this_thread::sleep_for(std::chrono::milliseconds(30000));
// exit(0);
@@ -208,7 +203,7 @@ namespace Entities
{
LOG_S(INFO)<< "POS: LAT: "<< OwnShipTrack->getPosition().getGeodesicPos()(SimCore::LATITUDE) << " LON: " << OwnShipTrack->getPosition().getGeodesicPos()(SimCore::LONGITUDE);
MovementWorkerStarted = true;
MovementWorkerStarted_ = true;
MovemtServer_->sendMessage(OwnShipTrack->buildMessage());
LOG_S(INFO)<< "Initial Message send to MovementWorker";
}
@@ -218,7 +213,7 @@ namespace Entities
void Entity::handleMovement()
{
if (!MovementWorkerStarted)
if (!MovementWorkerStarted_)
{
startMovementWorker();
}else
@@ -233,14 +228,14 @@ namespace Entities
if (MovemtServer_->countClients() == 0)
{
MovementWorkerStarted = false;
MovementWorkerStarted_ = false;
LOG_S(WARNING)<<"Movementclient lost";
}
// std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
void Entity::handleExternalComms(std::string msg)
void Entity::handleExternalComms(const std::string &msg)
{
try {
@@ -384,7 +379,7 @@ namespace Entities
void Entity::MainLoop()
{
LOG_S(INFO)<< "main loop started";
while (!stopMainLoop)
while (!stopMainLoop_)
{
handleMovement();
childWorker();