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Bridge Server

The bridge server for the reference Carla-Apollo bridge runs inside the Baidu Apollo Docker environment.

apolloBridgeServer.py

src.ads.apolloBridgeServer.Server(host, port)

Main bridge server class file with host and port definitions

Parameters:

  • host (string) –

    IP of the bridge server, typically '127.0.0.1' (but if Carla is running on another machine, give an IP on the same subnet)

  • port (int) –

    Port of the bridge server, typically 9999

src.ads.apolloBridgeServer.Server.start()

Start the server, accept connections from clients and assign them to handlers (each on a different process)

src.ads.apolloBridgeServer.ccHandler(server, conn, addr, prID)

Handler for control command messages to be published to the simulator

src.ads.apolloBridgeServer.connHandler(server, conn, addr, prID, initmsgType)

Connection handler for subscribed messages from the simulator

cyberWriter.py

src.ads.cyberWriter.CyberWriter(nodeName, msgDict)

Initialize CyberWriter object

Parameters:

  • nodeName (string) –

    Name of the CyberRT node to write the message into

  • msgDict (dict) –

    Dictionary containing the message channel and type of message

src.ads.cyberWriter.CyberWriter.makeWriter()

Create a CyberRT node and create a writer to it

src.ads.cyberWriter.CyberWriter.writeMessage(binMsg, msgType, msgLen)

Write the binary message into the CyberRT node using the previously created writer

Parameters:

  • binMsg (bytestring) –

    Bytestring message received from the simulator

  • msgType –

    Message type from the dictionary which stores all message channels and types

  • msgLen (int) –

    Length of the message

cyberReader.py

src.ads.cyberReader.cReader()

Initialize CyberReader object

src.ads.cyberReader.cReader.callback(data)

Callback function to get control command messages from CyberRT

src.ads.cyberReader.cReader.encodeBinMsg(msg)

Function to encode the control commands to binary for sending to the simulator

Parameters:

  • msg –

    Control command message

src.ads.cyberReader.cReader.makeReader()

Function to create a CyberRT reader and assign the previously defined callback function to it

src.ads.cyberReader.cReader.readMsgList(clearFlag=True)

Thread locked function to read the control commands and control command list before sending to the simulator

Parameters:

  • clearFlag (bool, default: True ) –

    Flag to indicate if the backlog of contol commands have been cleared or not