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@dan-du-car
dan-du-car committed May 9, 2024
1 parent ced9ff0 commit 7c95158
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Showing 4 changed files with 61 additions and 36 deletions.
10 changes: 6 additions & 4 deletions src/cc/ws/CtrlTiles.java
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Original file line number Diff line number Diff line change
Expand Up @@ -449,7 +449,8 @@ private void addControl(HttpServletRequest oReq, HttpServletResponse oRes)
{
try
{
long lNow = System.currentTimeMillis() - 10;
TimeSource timeSrc = (TimeSource) this.getServletContext().getAttribute(TimeSource.class.getName());
long lNow = timeSrc.currentTimeMillis();
int nType = Integer.parseInt(oReq.getParameter("type"));
String[] sVtypes = oReq.getParameterValues("vtypes[]");
ArrayList<Integer> nVtypes = new ArrayList(sVtypes.length);
Expand Down Expand Up @@ -518,7 +519,7 @@ private void addControl(HttpServletRequest oReq, HttpServletResponse oRes)
dCenter = Arrays.add(dCenter, dW);
}
CtrlLineArcs oCla = new CtrlLineArcs(-1, -1, -1, -1, XodrUtil.getLaneType("driving"), dCenter, 0.1);
TrafCtrl oCtrl = new TrafCtrl(TrafCtrlEnums.CTRLS[nType][0], nControlValue, nVtypes, 0L, 0L, oCla.m_dLineArcs, sLabel, bReg, ProcCtrl.CC);
TrafCtrl oCtrl = new TrafCtrl(TrafCtrlEnums.CTRLS[nType][0], nControlValue, nVtypes, lNow, lNow, oCla.m_dLineArcs, sLabel, bReg, ProcCtrl.CC);
oCtrl.write(ProcCtrl.g_sTrafCtrlDir, ProcCtrl.g_dExplodeStep, ProcCtrl.g_nDefaultZoom, ProcCtrl.CC);
ArrayList<TrafCtrl> oCtrls = new ArrayList();
oCtrls.add(oCtrl);
Expand Down Expand Up @@ -561,7 +562,8 @@ private void saveEdit(HttpServletRequest oReq, HttpServletResponse oRes)
{
try
{
long lNow = System.currentTimeMillis();
TimeSource timeSrc = (TimeSource) this.getServletContext().getAttribute(TimeSource.class.getName());
long lNow = timeSrc.currentTimeMillis();
int nType = Integer.parseInt(oReq.getParameter("type"));
String[] sVtypes = oReq.getParameterValues("vtypes[]");
ArrayList<Integer> nVtypes = new ArrayList(sVtypes.length);
Expand Down Expand Up @@ -624,7 +626,7 @@ private void saveEdit(HttpServletRequest oReq, HttpServletResponse oRes)
}
else
{
TrafCtrl oNewCtrl = new TrafCtrl(sType, nControlValue, nVtypes, 0L, 0L, oOriginalCtrl, sLabel, bReg, ProcCtrl.CC);
TrafCtrl oNewCtrl = new TrafCtrl(sType, nControlValue, nVtypes, lNow, lNow, oOriginalCtrl, sLabel, bReg, ProcCtrl.CC);
oCtrlToWrite = oNewCtrl;
oNewCtrl.write(ProcCtrl.g_sTrafCtrlDir, ProcCtrl.g_dExplodeStep, ProcCtrl.g_nDefaultZoom, ProcCtrl.CC);
ArrayList<TrafCtrl> oCtrls = new ArrayList(1);
Expand Down
65 changes: 34 additions & 31 deletions src/cc/ws/SimFederate.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,15 @@
import java.io.BufferedInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.InetAddress;
import java.net.InetSocketAddress;
import java.net.Socket;

import javax.servlet.ServletConfig;
import javax.servlet.ServletException;
import javax.servlet.http.HttpServlet;
import javax.servlet.http.HttpServletRequest;
import javax.servlet.http.HttpServletResponse;

import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
import org.json.JSONObject;
Expand All @@ -22,9 +23,13 @@ public class SimFederate extends HttpServlet implements Runnable
protected static final Logger LOGGER = LogManager.getRootLogger();

private long m_lRetryInterval = 60000L; // registration retry 60 seconds
private static final Integer M_TIMEOUT = 10000;
private String m_sAmbassadorAddress;
private Integer m_sAmbassadorPort;
private String m_sCarmaCloudUrl = "";
private TimeSource m_oTs;
private boolean m_simulationMode = false;
private String m_carmaCloudId = "";


public SimFederate()
Expand All @@ -41,53 +46,45 @@ public void init()
if (sRetry != null)
m_lRetryInterval = Integer.parseInt(sRetry) * 1000L;

String sAddress = oConf.getInitParameter("ambassador");
if (sAddress != null)
m_sAmbassadorAddress = oConf.getInitParameter("ambassador");
m_sAmbassadorPort = Integer.parseInt(oConf.getInitParameter("ambassadorPort"));
m_simulationMode = Boolean.parseBoolean(oConf.getInitParameter("simulationMode"));
m_sCarmaCloudUrl = oConf.getInitParameter("url");
m_carmaCloudId = oConf.getInitParameter("carmaCloudId");
m_oTs = new TimeSource(m_simulationMode);
if (m_simulationMode)
{
try
{
InetAddress.getByName(sAddress); // validate network address
m_sAmbassadorAddress = sAddress;
m_oTs = new TimeSource(true);

String sUrl = oConf.getInitParameter("url");
if (sUrl != null)
m_sCarmaCloudUrl = sUrl;

new Thread(this).start(); // begin registration cycle
}
catch (Exception oEx)
{
}
LOGGER.debug("Run in simulation mode.");
new Thread(this).start(); // begin registration cycle
}

if (m_oTs == null) // simulation time source not created
m_oTs = new TimeSource(false);
}


@Override
public void doPost(HttpServletRequest oReq, HttpServletResponse oRes)
throws ServletException, IOException
{
JSONObject oJson;
JSONObject simTimeJson;
try (BufferedInputStream oIn = new BufferedInputStream(oReq.getInputStream()))
{
oJson = new JSONObject(new JSONTokener(oIn));
simTimeJson = new JSONObject(new JSONTokener(oIn));
}

long lSeq = -1L;
long lStep = -1L;
if (oJson.has("seq") && oJson.has("timestep"))
if (simTimeJson.has("seq") && simTimeJson.has("timestep"))
{
lSeq = oJson.getLong("seq");
lStep = oJson.getLong("timestep");
lSeq = simTimeJson.getLong("seq");
lStep = simTimeJson.getLong("timestep");
m_oTs.m_lSimTime = lStep;
}
LOGGER.debug(String.format("seq: %d timestep: %d timesource: %d", lSeq, lStep, m_oTs.currentTimeMillis()));
this.getServletContext().setAttribute(TimeSource.class.getName(), m_oTs);
LOGGER.debug("seq: {} timestep: {} timesource: {}", lSeq, lStep, m_oTs.currentTimeMillis());
}


/***
* @brief A new thread to send registration request to simulation ambassador
*/
@Override
public void run()
{
Expand All @@ -96,9 +93,13 @@ public void run()
{
try (Socket oSock = new Socket())
{
oSock.connect(new InetSocketAddress(m_sAmbassadorAddress, 1617), 10000);
oSock.connect(new InetSocketAddress(m_sAmbassadorAddress, m_sAmbassadorPort), M_TIMEOUT);
DataOutputStream oOut = new DataOutputStream(oSock.getOutputStream());
oOut.writeUTF(String.format("{\"id\":\"carma-cloud\", \"url\":\"%s\"}", m_sCarmaCloudUrl));
JSONObject json = new JSONObject();
json.put("id", m_carmaCloudId);
json.put("url", m_sCarmaCloudUrl);
LOGGER.debug("Ambassador registration request: {}", json);
oOut.writeUTF(json.toString());
bRegistered = true;
}
catch (Exception oEx)
Expand All @@ -112,8 +113,10 @@ public void run()
{
Thread.sleep(m_lRetryInterval);
}
catch (Exception oEx)
catch (InterruptedException oEx)
{
LOGGER.error("Ambassador registration task is interrupted.");
Thread.currentThread().interrupt();
}
}
}
Expand Down
4 changes: 3 additions & 1 deletion src/cc/ws/TcmReqServlet.java
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
import javax.servlet.http.HttpServletResponse;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
import org.json.JSONObject;


/**
Expand Down Expand Up @@ -108,7 +109,8 @@ public void run()
{
try
{
long lNow = System.currentTimeMillis();
TimeSource timeSrc = (TimeSource) this.getServletContext().getAttribute(TimeSource.class.getName());
long lNow = timeSrc.currentTimeMillis();
String sReq = Thread.currentThread().getName();
int nPos = sReq.indexOf('<');
String sHost = sReq.substring(0, nPos);
Expand Down
18 changes: 18 additions & 0 deletions web/WEB-INF/web.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -315,12 +315,30 @@
<param-name>ambassador</param-name>
<param-value>ambassador-address</param-value>
</init-param>

<init-param>
<description>OPTIONAL: Network port for simulation ambassador. Leave undefined for normal time operation.</description>
<param-name>ambassadorPort</param-name>
<param-value>1617</param-value>
</init-param>

<init-param>
<description>REQUIRED: Only needed if ambassador address is defined. URL where ambassador sends time sync messages.</description>
<param-name>url</param-name>
<param-value>simulation-url</param-value>
</init-param>

<init-param>
<description>REQUIRED: Indicator to signify whether carma-cloud is running in simulation mode.</description>
<param-name>simulationMode</param-name>
<param-value>true</param-value>
</init-param>

<init-param>
<description>REQUIRED: Indicator to uniquely identifer car cloud entity.</description>
<param-name>carmaCloudId</param-name>
<param-value>carma-cloud</param-value>
</init-param>

<load-on-startup>3</load-on-startup>
</servlet>
Expand Down

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