CarlaSettings.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/Settings/QualityLevelUE.h"
 
#include <util/ue-header-guard-begin.h>
#include "Engine/StaticMesh.h"
#include <util/ue-header-guard-end.h>
 
#include "CarlaSettings.generated.h"
 
/// Global settings for CARLA.
///
/// Setting object used to hold both config settings and editable ones in one
/// place. To ensure the settings are saved to the specified config file make
/// sure to add props using the globalconfig or config meta.
UCLASS(BlueprintType, Blueprintable, config = Game, defaultconfig)
class CARLA_API UCarlaSettings : public UObject
{
  GENERATED_BODY()
 
public:
 
  /// Sets the new quality settings level and make changes in the game related
  /// to it.
  ///
  /// @note This will not apply the quality settings. Use ApplyQualitySettings
  /// functions instead
  /// @param InQualityLevel Store the new quality.
  UFUNCTION(BlueprintCallable, Category = "CARLA Settings")
  void SetQualityLevel(EQualityLevel InQualityLevel)
  {
    QualityLevel = InQualityLevel;
  }
 
  /// @return current quality settings level (could not have been applied yet).
  UFUNCTION(BlueprintCallable, Category = "CARLA Settings")
  EQualityLevel GetQualityLevel() const
  {
    return QualityLevel;
  }
 
  /// Load the settings based on the command-line arguments and the INI file if
  /// provided.
  void LoadSettings();
 
  /// Load the settings from the given string (formatted as INI). CarlaServer
  /// section is ignored.
  void LoadSettingsFromString(const FString &INIFileContents);
 
  /// Log settings values.
  void LogSettings() const;
 
public:
 
  /// CARLA_ROAD name to tag road mesh actors.
  static const FName CARLA_ROAD_TAG;
 
  /// CARLA_SKY name to tag the sky sphere (BPS) actors in the scenes.
  static const FName CARLA_SKY_TAG;
 
private:
 
  void LoadSettingsFromFile(const FString &FilePath, bool bLogOnFailure);
 
  /// File name of the settings file used to load this settings. Empty if none
  /// used.
  UPROPERTY(Category = "CARLA Settings|Debug", VisibleAnywhere)
  FString CurrentFileName;
 
  // ===========================================================================
  /// @name CARLA Server
  // ===========================================================================
  /// @{
 
public:
 
  /// World port to listen for client connections.
  UPROPERTY(Category = "CARLA Server", VisibleAnywhere, meta = (EditCondition = bUseNetworking))
  uint32 RPCPort = 2000u;
 
  /// setting for the streaming port.
  uint32 StreamingPort = 2001u;
 
  /// setting for the secondary servers port.
  uint32 SecondaryPort = 2002u;
 
  /// setting for the IP and Port of the primary server to connect.
  std::string PrimaryIP = "";
  uint32      PrimaryPort = 2002u;
 
  /// In synchronous mode, CARLA waits every tick until the control from the
  /// client is received.
  UPROPERTY(Category = "CARLA Server", VisibleAnywhere, meta = (EditCondition = bUseNetworking))
  bool bSynchronousMode = false;
 
  /// Enable or disable the viewport rendering of the world. Disabled by
  /// default.
  UPROPERTY(Category = "CARLA Server", VisibleAnywhere)
  bool bDisableRendering = false;
 
  // ===========================================================================
  /// @name Quality Settings
  // ===========================================================================
  /// @{
 
private:
 
  /// Quality Settings level.
  UPROPERTY(Category = "Quality Settings", VisibleAnywhere, meta = (AllowPrivateAccess = "true"))
  EQualityLevel QualityLevel = EQualityLevel::Epic;
 
public:
 
  /// EPIC quality Road Materials. Uses slots name to set material for each part
  /// of the road for Epic quality.
  UPROPERTY(Category = "Quality Settings/Epic",
      BlueprintReadOnly,
      EditAnywhere,
      config,
      DisplayName = "Road Materials List for EPIC Quality")
  TArray<FStaticMaterial> EpicRoadMaterials;
 
  /// Enable ROS2
  UPROPERTY(Category = "Quality Settings/ROS2",
      BlueprintReadOnly,
      EditAnywhere,
      config,
      DisplayName = "Enable ROS2")
  bool ROS2 = false;
 
  /// Default ROS2 topic visibility on startup. When true, every topic offered by
  /// the implementation is visible from the beginning; when false, only the
  /// sensors/actors explicitly enabled via EnableForROS calls are visible.
  UPROPERTY(Category = "Quality Settings/ROS2",
      BlueprintReadOnly,
      EditAnywhere,
      config,
      DisplayName = "ROS2 Topics Visible On Startup")
  bool ROS2TopicVisibility = true;
 
  /// DDS middleware (RMW) used by the native ROS2 connector. Accepted values:
  /// "fastdds" (default) and "cyclonedds". Set via the --rmw= command-line
  /// argument. CycloneDDS is only available on Linux.
  UPROPERTY(Category = "Quality Settings/ROS2",
      BlueprintReadOnly,
      EditAnywhere,
      config,
      DisplayName = "ROS2 RMW")
  FString RmwName = TEXT("fastdds");
 
  /// ROS2 domain id. Set via --ros-domain-id=<N> on the command line.
  /// -1 (the default) keeps each middleware's native default domain.
  UPROPERTY(Category = "Quality Settings/ROS2",
      BlueprintReadOnly,
      EditAnywhere,
      config,
      DisplayName = "ROS2 Domain ID")
  int32 ROS2DomainId = -1;
 
  /// @}
};