Henning/vtd multi agent

Makefile.all

@@ -140,8 +140,9 @@ CONAN_OPTIONS += -o cloe:with_engine=False
 endif
 
 ifeq (${WITH_VTD},1)
-ALL_PKGS := $(filter-out plugins/vtd, ${ALL_PKGS})
 CONAN_OPTIONS += -o cloe:with_vtd=True
+else
+ALL_PKGS := $(filter-out plugins/vtd, ${ALL_PKGS})
 endif
 
 ifeq (${BUILD_TESTS},0)
@@ -249,7 +250,7 @@ help::
 	echo "  Options:"
 	echo "    USE_NPROC=(0|1)    to build $(shell nproc) packages simultaneously (default=0)"
 	echo "    WITH_ENGINE=(0|1)  to build and deploy cloe-engine (default=1)"
-	echo "    WITH_VTD=(0|1)     to build and deploy cloe-plugin-vtd (default=1)"
+	echo "    WITH_VTD=(0|1)     to build and deploy cloe-plugin-vtd (default=0)"
 	echo "    BUILD_TESTS=(0|1)  to build and run unit tests (default=1)"
 	echo
 	echo "  Defines:"

plugins/vtd/src/rdb_codec.cpp

@@ -288,10 +288,6 @@ void RdbCodec::process(RDB_MSG_t* msg, bool& restart, cloe::Duration& sim_time)
 }
 
 void RdbCodec::step(uint64_t frame_number, bool& restart, cloe::Duration& sim_time) {
-  // TODO(ben): For some reason, this loop here goes round and round with zero
-  // messages received. Either we should stop dumping the log message when
-  // there are no messages to process, or we should have the receive function
-  // only return when there are messages?
   while (processing_frame_ || frame_number_ < frame_number || restart) {
     auto messages = rdb_->receive();
     rdb_logger()->trace("RdbCodec: processing {} messages [frame={}]", messages.size(),

plugins/vtd/src/rdb_transceiver_tcp.hpp

@@ -35,6 +35,8 @@
 #include "rdb_transceiver.hpp"  // for RdbTransceiver
 #include "vtd_logger.hpp"       // for rdb_logger
 
+#define VTD_RDB_WAIT_SLEEP_MS 1
+
 namespace vtd {
 
 /**
@@ -50,6 +52,9 @@ class RdbTransceiverTcp : public RdbTransceiver, public cloe::utility::TcpTransc
 
   std::vector<std::shared_ptr<RDB_MSG_t>> receive() override {
     std::vector<std::shared_ptr<RDB_MSG_t>> msgs;
+    while (!this->has()) {
+      std::this_thread::sleep_for(cloe::Milliseconds{VTD_RDB_WAIT_SLEEP_MS});
+    }
     while (this->has()) {
       num_received_++;
       msgs.push_back(this->receive_wait());

plugins/vtd/src/scp_messages.cpp

@@ -34,6 +34,9 @@ const char* Pause = "<SimCtrl><Pause/></SimCtrl>";
 const char* Restart = "<SimCtrl><Restart/></SimCtrl>";
 const char* Apply = "<SimCtrl><Apply/></SimCtrl>";
 const char* Config = "<SimCtrl><Config/></SimCtrl>";
+const char* QueryInit = "<Query entity=\"taskControl\"><Init source=\"cloe\" /></Query>";
+const char* AckInit = "<SimCtrl><InitDone source=\"cloe\" /></SimCtrl>";
+const char* InitOperation = "<SimCtrl><Init mode=\"operation\" /></SimCtrl>";
 
 std::string ParamServerConfig::to_scp() const {
   std::string tc_config = fmt::format(R"SCP(
@@ -64,12 +67,11 @@ std::string ParamServerConfig::to_scp() const {
     )SCP", tc_config);
 }
 
-std::string ScenarioStartConfig::to_scp() const {
+std::string ScenarioConfig::to_scp() const {
   return fmt::format(R"SCP(
     <SimCtrl>
       <UnloadSensors />
       <LoadScenario filename="{}" />
-      <Start mode="operation" />
     </SimCtrl>
     )SCP", filename);
 }
@@ -153,6 +155,15 @@ std::string SensorConfiguration::to_scp() const {
     </Sensor>)SCP", sensor_id, port, player_id);
 }
 
+std::string DynamicsPluginConfig::to_scp() const {
+  return fmt::format(R"SCP(
+    <DynamicsPlugin name="viTrafficDyn_{0}" enable="true">
+      <Load     lib="libModuleTrafficDyn.so" path=""/>
+      <Player   name="{0}" />
+      <Debug    enable="false" />
+    </DynamicsPlugin>)SCP", name);
+}
+
 std::string LabelVehicle::to_scp() const {
   return fmt::format(R"SCP(
   <Symbol name="{0}">
@@ -169,6 +180,13 @@ std::string RecordDat::to_scp() const {
   </Record>)SCP", datfile_path.parent_path().string(), datfile_path.filename().string());
 }
 
+std::string QueryScenario::to_scp() const {
+  return fmt::format(R"SCP(
+    <Query entity="traffic">
+      <GetScenario filename="{0}"/>
+    </Query>)SCP", scenario);
+}
+
 // clang-format on
 }  // namespace scp
 }  // namespace vtd

plugins/vtd/src/scp_messages.hpp

@@ -40,14 +40,17 @@ extern const char* Pause;
 extern const char* Restart;
 extern const char* Apply;
 extern const char* Config;
+extern const char* QueryInit;
+extern const char* AckInit;
+extern const char* InitOperation;
 
 struct ParamServerConfig : public ScpMessage {
   std::string sync_source = "RDB";
   bool no_image_generator = false;
   std::string to_scp() const override;
 };
 
-struct ScenarioStartConfig : public ScpMessage {
+struct ScenarioConfig : public ScpMessage {
   std::string filename;
   std::string to_scp() const override;
 };
@@ -66,6 +69,11 @@ struct SensorConfiguration : public ScpMessage {
   std::string to_scp() const override;
 };
 
+struct DynamicsPluginConfig : public ScpMessage {
+  std::string name;
+  std::string to_scp() const override;
+};
+
 struct LabelVehicle : public ScpMessage {
   std::string tethered_to_player;
   std::string text;
@@ -85,5 +93,10 @@ struct RecordDat : public ScpMessage {
   std::string to_scp() const override;
 };
 
+struct QueryScenario : public ScpMessage {
+  std::string scenario;
+  std::string to_scp() const override;
+};
+
 }  // namespace scp
 }  // namespace vtd