SensorManager.cpp

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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>.
 
#include "SensorManager.h"
#include "Carla/Sensor/CarlaLidarSubsystem.h"
#include "Engine/World.h"
#include "Sensor.h"
#include "Carla/Sensor/ImageUtil.h"
 
void FSensorManager::RegisterSensor(ASensor* Sensor)
{
  SensorList.Emplace(Sensor);
}
 
void FSensorManager::DeRegisterSensor(ASensor* Sensor)
{
  SensorList.Remove(Sensor);
}
 
void FSensorManager::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
{
  TRACE_CPUPROFILER_EVENT_SCOPE(FSensorManager::PostPhysTick);
 
  UCarlaLidarSubsystem* LidarSubsystem = World ? World->GetSubsystem<UCarlaLidarSubsystem>() : nullptr;
  if (LidarSubsystem != nullptr) 
  {
    LidarSubsystem->StartLidarSimulations(World, DeltaSeconds);
  }
 
  for (ASensor * Sensor : SensorList) 
  {
    Sensor->PostPhysTickInternal(World, TickType, DeltaSeconds);
  }
  // Every camera above only recorded its GPU copy; synchronize the GPU once
  // and deliver the whole batch (one pipeline drain per tick instead of one
  // per camera).
  ImageUtil::FlushBatchedReadbacks();
 
  if (LidarSubsystem != nullptr) 
  {
    LidarSubsystem->FinishLidarSimulations(World, DeltaSeconds);
  }
}