CarlaServer.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Carla/Actor/CarlaActor.h"
#include "Carla/Sensor/DataStream.h"
 
#include <util/ue-header-guard-begin.h>
#include "CoreMinimal.h"
#include <util/ue-header-guard-end.h>
 
#include <util/disable-ue4-macros.h>
#include <carla/multigpu/router.h>
#include <carla/streaming/Server.h>
#include <util/enable-ue4-macros.h>
 
 
class UCarlaEpisode;
 
class FCarlaServer
{
public:
 
  FCarlaServer();
 
  ~FCarlaServer();
 
  FDataMultiStream Start(uint16_t RPCPort, uint16_t StreamingPort, uint16_t SecondaryPort);
 
  void NotifyBeginEpisode(UCarlaEpisode &Episode);
 
  void NotifyEndEpisode();
 
  void AsyncRun(uint32 NumberOfWorkerThreads);
 
  void RunSome(uint32 Milliseconds);
 
  void Tick();
  
  bool TickCueReceived();
 
  /// A Multi-GPU secondary refuses every call that would change its world.
  void SetIsSecondaryServer(bool bIsSecondary);
 
  void Stop();
 
  FDataStream OpenStream() const;
 
  std::shared_ptr<carla::multigpu::Router> GetSecondaryServer();
 
  carla::streaming::Server &GetStreamingServer();
 
private:
 
  class FPimpl;
  TUniquePtr<FPimpl> Pimpl;
};