public void Register(IBridgePlugin plugin)
{
// here we need to register which types to we support for this bridge, we support all
// simulator default types from Simulator.Bridge.Data namespace that can be published
// we will convert all types to json as C# string that will be written to file
// which means we do not need special converison function
RegPublisher <CanBusData, string>(plugin, null);
RegPublisher <ClockData, string>(plugin, null);
RegPublisher <Detected2DObjectData, string>(plugin, null);
RegPublisher <Detected3DObjectData, string>(plugin, null);
RegPublisher <DetectedRadarObjectData, string>(plugin, null);
RegPublisher <GpsData, string>(plugin, null);
RegPublisher <GpsOdometryData, string>(plugin, null);
RegPublisher <ImageData, string>(plugin, null);
RegPublisher <ImuData, string>(plugin, null);
RegPublisher <CorrectedImuData, string>(plugin, null);
RegPublisher <PointCloudData, string>(plugin, null);
RegPublisher <SignalDataArray, string>(plugin, null);
RegPublisher <VehicleOdometryData, string>(plugin, null);
// what subscribers we support
plugin.AddType <VehicleControlData>(typeof(VehicleControlData).Name);
plugin.AddSubscriberCreator <VehicleControlData>((instance, topic, callback) => { });
}
public void Register(IBridgePlugin plugin)
{
// point cloud is special, as we use special writer for performance reasons
plugin.AddType <PointCloudData>(Ros2Utils.GetMessageType <Ros.PointCloud2>());
plugin.AddPublisherCreator(
(instance, topic) =>
{
var ros2Instance = instance as Ros2BridgeInstance;
ros2Instance.AddPublisher <Ros.PointCloud2>(topic);
var writer = new Ros2PointCloudWriter(ros2Instance, topic);
return(new Publisher <PointCloudData>((data, completed) => writer.Write(data, completed)));
}
);
RegPublisher <ImageData, Ros.CompressedImage>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <Detected3DObjectData, Lgsvl.Detection3DArray>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <Detected2DObjectData, Lgsvl.Detection2DArray>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <SignalDataArray, Lgsvl.SignalArray>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <CanBusData, Lgsvl.CanBusData>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <UltrasonicData, Lgsvl.Ultrasonic>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <GpsData, Ros.NavSatFix>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <GpsOdometryData, Ros.Odometry>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <ImuData, Ros.Imu>(plugin, Ros2Conversions.ConvertFrom);
RegPublisher <ClockData, Ros.Clock>(plugin, Ros2Conversions.ConvertFrom);
RegSubscriber <VehicleStateData, Lgsvl.VehicleStateData>(plugin, Ros2Conversions.ConvertTo);
RegSubscriber <VehicleControlData, Lgsvl.VehicleControlData>(plugin, Ros2Conversions.ConvertTo);
RegSubscriber <Detected2DObjectArray, Lgsvl.Detection2DArray>(plugin, Ros2Conversions.ConvertTo);
RegSubscriber <Detected3DObjectArray, Lgsvl.Detection3DArray>(plugin, Ros2Conversions.ConvertTo);
}
public virtual void Register(IBridgePlugin plugin)
{
// point cloud is special, as we use special writer for performance reasons
plugin.AddType <PointCloudData>(RosUtils.GetMessageType <Ros.PointCloud2>());
plugin.AddPublisherCreator <PointCloudData>(
(instance, topic) =>
{
var rosInstance = instance as RosBridgeInstance;
rosInstance.AddPublisher <Ros.PointCloud2>(topic);
var writer = new RosPointCloudWriter(rosInstance, topic);
return(new Publisher <PointCloudData>((data, completed) => writer.Write(data, completed)));
}
);
RegPublisher <ImageData, Ros.CompressedImage>(plugin, Conversions.ConvertFrom);
RegPublisher <CameraInfoData, Ros.CameraInfo>(plugin, Conversions.ConvertFrom);
RegPublisher <Detected2DObjectData, Lgsvl.Detection2DArray>(plugin, Conversions.ConvertFrom);
RegPublisher <ClockData, Ros.Clock>(plugin, Conversions.ConvertFrom);
RegSubscriber <VehicleStateData, Lgsvl.VehicleStateDataRos>(plugin, Conversions.ConvertTo);
RegSubscriber <Detected2DObjectArray, Lgsvl.Detection2DArray>(plugin, Conversions.ConvertTo);
RegSubscriber <Detected3DObjectArray, Lgsvl.Detection3DArray>(plugin, Conversions.ConvertTo);
// std_srvs/Empty
RegService <EmptySrv, Ros.Empty, EmptySrv, Ros.Empty>(plugin, Conversions.ConvertTo, Conversions.ConvertFrom);
// std_srvs/SetBool
RegService <SetBoolSrv, Ros.SetBool, SetBoolSrv, Ros.SetBoolResponse>(plugin, Conversions.ConvertTo, Conversions.ConvertFrom);
// std_srvs/Trigger
RegService <EmptySrv, Ros.Empty, TriggerSrv, Ros.Trigger>(plugin, Conversions.ConvertTo, Conversions.ConvertFrom);
}
public override void Register(IBridgePlugin plugin)
{
base.Register(plugin);
// gps data is special, because it actually sends two Ros.Sentence messages for each data point from simulator
plugin.AddType <GpsData>(RosUtils.GetMessageType <Ros.Sentence>());
plugin.AddPublisherCreator(
(instance, topic) =>
{
var rosInstance = instance as RosBridgeInstance;
rosInstance.AddPublisher <Ros.Sentence>(topic);
var writer = new RosNmeaWriter(rosInstance, topic);
return(new Publisher <GpsData>((data, completed) => writer.Write(data, completed)));
}
);
RegPublisher <CanBusData, Lgsvl.CanBusDataRos>(plugin, Conversions.RosConvertFrom);
RegPublisher <DetectedRadarObjectData, Lgsvl.DetectedRadarObjectArray>(plugin, Conversions.RosConvertFrom);
RegPublisher <GpsOdometryData, Ros.Odometry>(plugin, Conversions.ConvertFrom);
RegPublisher <ImuData, Ros.Imu>(plugin, Conversions.ConvertFrom);
RegPublisher <Detected3DObjectData, Lgsvl.Detection3DArray>(plugin, Conversions.ConvertFrom);
RegPublisher <SignalDataArray, Lgsvl.SignalArray>(plugin, Conversions.ConvertFrom);
RegPublisher <UltrasonicData, Lgsvl.Ultrasonic>(plugin, Conversions.ConvertFrom);
RegPublisher <VehicleOdometryData, Lgsvl.VehicleOdometry>(plugin, Conversions.ConvertFrom);
RegSubscriber <VehicleControlData, Lgsvl.VehicleControlDataRos>(plugin, Conversions.ConvertTo);
}
public void RegSubscriber <DataType, BridgeType>(IBridgePlugin plugin, Func <BridgeType, DataType> converter)
{
plugin.AddType <DataType>(Ros2Utils.GetMessageType <BridgeType>());
plugin.AddSubscriberCreator <DataType>(
(instance, topic, callback) => (instance as Ros2BridgeInstance).AddSubscriber <BridgeType>(topic,
rawData => callback(converter(Ros2Serialization.Unserialize <BridgeType>(rawData)))
)
);
}
public void RegSubscriber <DataType, BridgeType>(IBridgePlugin plugin, Func <BridgeType, DataType> converter)
{
plugin.AddType <DataType>(typeof(BridgeType).Name);
plugin.AddSubscriberCreator <DataType>(
(instance, topic, callback) => (instance as CyberBridgeInstance).AddSubscriber <BridgeType>(topic,
rawData => callback(converter(CyberSerialization.Unserialize <BridgeType>(rawData)))
)
);
}
public void RegPublisher <DataType, BridgeType>(IBridgePlugin plugin, Func <DataType, BridgeType> converter)
{
plugin.AddType <DataType>(Ros2Utils.GetMessageType <BridgeType>());
plugin.AddPublisherCreator(
(instance, topic) =>
{
var ros2Instance = instance as Ros2BridgeInstance;
ros2Instance.AddPublisher <BridgeType>(topic);
var writer = new Ros2Writer <BridgeType>(ros2Instance, topic);
return(new Publisher <DataType>((data, completed) => writer.Write(converter(data), completed)));
}
);
}
public void RegPublisher <DataType, BridgeType>(IBridgePlugin plugin, Func <DataType, BridgeType> converter)
{
plugin.AddType <DataType>(typeof(BridgeType).Name);
plugin.AddPublisherCreator(
(instance, topic) =>
{
var cyberInstance = instance as CyberBridgeInstance;
cyberInstance.AddPublisher <BridgeType>(topic);
var writer = new CyberWriter <BridgeType>(cyberInstance, topic);
return(new Publisher <DataType>((data, completed) => writer.Write(converter(data), completed)));
}
);
}
public override void Register(IBridgePlugin plugin)
{
base.Register(plugin);
RegPublisher <DetectedRadarObjectData, Apollo.Drivers.ContiRadar>(plugin, Conversions.ConvertFrom);
RegPublisher <CanBusData, Apollo.ChassisMsg>(plugin, Conversions.ConvertFrom);
RegPublisher <GpsData, Apollo.GnssBestPose>(plugin, Conversions.ConvertFrom);
RegPublisher <GpsOdometryData, Apollo.Gps>(plugin, Conversions.ApolloConvertFrom);
RegPublisher <ImuData, Apollo.Imu>(plugin, Conversions.ApolloConvertFrom);
RegPublisher <CorrectedImuData, Apollo.CorrectedImu>(plugin, Conversions.ApolloConvertFrom);
RegPublisher <Detected3DObjectData, Apollo.Perception.PerceptionObstacles>(plugin, Conversions.ApolloConvertFrom);
RegPublisher <SignalDataArray, Apollo.Perception.TrafficLightDetection>(plugin, Conversions.ApolloConvertFrom);
RegSubscriber <VehicleControlData, Apollo.control_command>(plugin, Conversions.ConvertTo);
}
public void Register(IBridgePlugin plugin)
{
RegPublisher <ImageData, apollo.drivers.CompressedImage>(plugin, CyberConversions.ConvertFrom);
RegPublisher <PointCloudData, apollo.drivers.PointCloud>(plugin, CyberConversions.ConvertFrom);
RegPublisher <Detected3DObjectData, apollo.perception.PerceptionObstacles>(plugin, CyberConversions.ConvertFrom);
RegPublisher <Detected2DObjectData, apollo.common.Detection2DArray>(plugin, CyberConversions.ConvertFrom);
RegPublisher <DetectedRadarObjectData, apollo.drivers.ContiRadar>(plugin, CyberConversions.ConvertFrom);
RegPublisher <CanBusData, apollo.canbus.Chassis>(plugin, CyberConversions.ConvertFrom);
RegPublisher <GpsData, apollo.drivers.gnss.GnssBestPose>(plugin, CyberConversions.ConvertFrom);
RegPublisher <GpsOdometryData, apollo.localization.Gps>(plugin, CyberConversions.ConvertFrom);
RegPublisher <GpsInsData, apollo.drivers.gnss.InsStat>(plugin, CyberConversions.ConvertFrom);
RegPublisher <ImuData, apollo.drivers.gnss.Imu>(plugin, CyberConversions.ConvertFrom);
RegPublisher <CorrectedImuData, apollo.localization.CorrectedImu>(plugin, CyberConversions.ConvertFrom);
RegPublisher <SignalDataArray, apollo.perception.TrafficLightDetection>(plugin, CyberConversions.ConvertFrom);
RegPublisher <ClockData, apollo.cyber.proto.Clock>(plugin, CyberConversions.ConvertFrom);
RegSubscriber <VehicleControlData, apollo.control.ControlCommand>(plugin, CyberConversions.ConvertTo);
RegSubscriber <Detected2DObjectArray, apollo.common.Detection2DArray>(plugin, CyberConversions.ConvertTo);
RegSubscriber <Detected3DObjectArray, apollo.common.Detection3DArray>(plugin, CyberConversions.ConvertTo);
}
// this function can be called not only by our "Register" method, but also
// from custom sensor plugins
public void RegPublisher <DataType, BridgeType>(IBridgePlugin plugin, Func <DataType, BridgeType> converter)
{
// register "native name" for data type, we just use name of original tpye
plugin.AddType <DataType>(typeof(DataType).Name);
// then we provide delegate to create publishers on specific topic
// writing functionality is delegated to actual bridge instance
plugin.AddPublisherCreator(
(instance, topic) =>
{
var loggingInstance = instance as LoggingBridgeInstance;
// as we have very simple bridge that does not require "conversion", we'll just call
// serializer directly on simulator data types. For real bridges you would need to convert data
// types (DataType) to something that your native bridge implementation supports (BridgeType)
;
return(new Publisher <DataType>(
(data, completed) => loggingInstance.Write(typeof(DataType).Name, topic, JsonConvert.SerializeObject(data, jsonSettings), completed)));
}
);
}
public void RegService <ArgDataType, ArgBridgeType, ResDataType, ResBridgeType>(IBridgePlugin plugin, Func <ArgBridgeType, ArgDataType> argConverter, Func <ResDataType, ResBridgeType> resConverter)
{
plugin.AddServiceCreator <ArgDataType, ResDataType>(
(instance, topic, service) =>
{
// this callback is called every time sensor registers service on different topic
(instance as RosBridgeInstance).AddService <ArgBridgeType>(topic,
(rawArg, resultCb) =>
{
// this callback is called every time websocket receives message from rosbridge
var arg = RosSerialization.Unserialize <ArgBridgeType>(rawArg);
var argData = argConverter(arg);
service(argData, resData =>
{
// this callback is called from sensor service callback to return result data back to rosbridge
var res = resConverter(resData);
resultCb(res);
});
}
);
}
);
}
// we do not support subscribers
public void RegSubscriber <DataType, BridgeType>(IBridgePlugin plugin, Func <BridgeType, DataType> converter)
{
throw new NotSupportedException("LoggingBridge does not support subscribers");
}
