Connecting gsclient to gss

[mchlswyr]

Goal

• To get GSClient connected to, and communicating with, GSServer
• By the end of this PR, the server and client will probably not be running as intended (that is, on the same map, seeing the same simulation)
• But, the logs should indicate that there is communication of the right information (the state of the vehicles) between the server and client

Changes

• Added and used SHM_SIZE "constant" for the shared memory size
• Since there are different types of ActorState (like VehicleState) and Actor uses ActorState (when setting self.state in __init__()), there was no way for Vehicle, for example, to use VehicleState without having to (re)set self.state
• Now, Actor's constructor takes an optional state argument; if present, then it will use that as its self.state; otherwise it creates and uses an instance of ActorState
• One issue occured in Vehicle.get_full_state_for_client():

  return self.id, type, position, velocity, self.state.angle, self.state.steer

• Here, type was interpreted as the class (because there was no variable declared named type), and so <class 'type'> was returned
• However, when a variable is declared named type it "shadows" (source) the built-in class -- something we should watch out for, but not currently an issue
• Replaced remote with type in the GSClient class: it looks like a vehicle used to be either "remote" (simulated in unreal) or "not remote" (simulated in gss); now it looks like there are different types of vehicles
• Fixed issue where vehicles in the server all had a yaw of 0 degrees; now the server uses the correct yaw
• Ignoring collisions (active) for now; vehicles seem to collide because they are lagging; we will have to address this lag and collisions in a different PR

Test 1

• In SimConfig.py set WRITE_TRAJECTORIES = False and CLIENT_SHM = True
• Run bash ~/anm_unreal_sim/submodules/base_unreal_project/package.sh
• Run bash ~/anm_unreal_test_suite/scripts/anm_sim_switch.bash dev
• Run the following script, which will launch both the simulator (ring_road_ccw) and GSServer.py (gs_ringroad_stress_loop):

  
  #!/bin/bash

GSS="${HOME}/anm_unreal_sim/submodules/geoscenarioserver" SIM="${HOME}/anm_unreal_sim/src/anm_sim_platform/"

cleanup_and_exit() { killall python3.8 killall roslaunch

# Cleanup Shared Memory
ipcrm -M 0x0001e240 # 123456
ipcrm -M 0x00051877 # 333943

# Cleanup Semaphores
ipcrm -S 0x000549c5 # 346565
ipcrm -S 0x000e3e39 # 933433

exit 0

}

keyboard_int() { echo "" echo "Press ENTER to exit." }

trap keyboard_int SIGINT

source "${GSS}/catkin_ws/install/devel/setup.bash" python3.8 "${GSS}/GSServer.py" -s 'scenarios/test_scenarios/gs_ringroad_stress_loop.osm' > gsslog.log & bash "${SIM}/scripts/launch.bash" 'ring_road_ccw' > simlog.log &

read -p "Press ENTER to exit." cleanup_and_exit

- The ego should turn left at the stop sign, onto ringroad; after going around the first bend you should see all of the vehicles (from gss) driving in the other lane; their movement will probably look very laggy

### Test 2
- We can test that `GSServer.py` can still run all of the test scenarios with this script (make sure you're in `geoscenarioserver`):
```sh
#!/bin/bash
scenarios=$(ls scenarios/test_scenarios)

source "catkin_ws/devel/setup.bash"

kill_python38()
{
    killall python3.8
}

for scenario in $scenarios; do
    read -p "Press ENTER to run next scenario:"
    trap kill_python38 SIGINT
    python3.8 GSServer.py -s "scenarios/test_scenarios/${scenario}"
    trap - SIGINT
done

• All should run except for README.md, of course