V2XSensor.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/Sensor/Sensor.h"
 
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Actor/ActorDescription.h"
#include <carla/sensor/data/V2XData.h>
#include "V2X/CaService.h"
#include "V2X/PathLossModel.h"
#include <list>
#include <map>
#include <memory>
#include "V2XSensor.generated.h"
 
UCLASS()
class CARLA_API AV2XSensor : public ASensor
{
    GENERATED_BODY()
 
public:
    AV2XSensor(const FObjectInitializer &ObjectInitializer);
 
    static FActorDefinition GetSensorDefinition();
 
    void Set(const FActorDescription &ActorDescription) override;
 
    void SetCaServiceParams(const float GenCamMin, const float GenCamMax, const bool FixedRate);
    void SetPropagationParams(const float TransmitPower,
                              const float ReceiverSensitivity,
                              const float Frequency,
                              const float combined_antenna_gain,
                              const float path_loss_exponent,
                              const float reference_distance_fspl,
                              const float filter_distance,
                              const bool use_etsi_fading,
                              const float custom_fading_stddev);
    void SetScenario(EScenario scenario);
 
    // CAM params
    void SetAccelerationStandardDeviation(const FVector &Vec);
    void SetGNSSDeviation(const float noise_lat_stddev,
                          const float noise_lon_stddev,
                          const float noise_alt_stddev,
                          const float noise_head_stddev,
                          const float noise_lat_bias,
                          const float noise_lon_bias,
                          const float noise_alt_bias,
                          const float noise_head_bias);
    void SetVelDeviation(const float noise_vel_stddev);
    void SetYawrateDeviation(const float noise_yawrate_stddev, const float noise_yawrate_bias);
    void SetPathLossModel(const EPathLossModel path_loss_model);
 
    virtual void PrePhysTick(float DeltaSeconds) override;
    virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime) override;
    void SetOwner(AActor *Owner) override;
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
private:
    std::unique_ptr<CaService> CaServiceObj;
    std::unique_ptr<PathLossModel> PathLossModelObj;
    void InitModel(AActor *Owner);
 
    // store data
    using ActorV2XDataMap = std::map<AActor *, carla::sensor::data::CAMData>;
    static ActorV2XDataMap mActorV2XDataMap;
};