#include <V2XSensor.h>

Inheritance diagram for AV2XSensor:

Public Member Functions
	AV2XSensor (const FObjectInitializer &ObjectInitializer)

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaTime) override

virtual void	PrePhysTick (float DeltaSeconds) override

void	Set (const FActorDescription &ActorDescription) override

void	SetAccelerationStandardDeviation (const FVector &Vec)

void	SetCaServiceParams (const float GenCamMin, const float GenCamMax, const bool FixedRate)

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	SetOwner (AActor *Owner) override

void	SetPathLossModel (const EPathLossModel path_loss_model)

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)

void	SetVelDeviation (const float noise_vel_stddev)

void	SetYawrateDeviation (const float noise_yawrate_stddev, const float noise_yawrate_bias)

Public Member Functions inherited from ASensor
bool	AreClientsListening ()

	ASensor (const FObjectInitializer &ObjectInitializer)

virtual void	BeginPlay ()

void	ClearReadyToTick ()

std::optional< FActorAttribute >	GetAttribute (const FString Name)

const UCarlaEpisode &	GetEpisode () const

virtual void	GetMirrorState (carla::multigpu::SensorState &State) const
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

URandomEngine *	GetRandomEngine ()

float	GetReadyToTickDeltaSeconds () const

int32	GetSeed () const

auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream.

bool	IsReadyToTick () const

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)

void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor.

void	SetEpisode (const UCarlaEpisode &InEpisode)

virtual void	SetMirrorState (const carla::multigpu::SensorState &State)

void	SetPrimaryTick (float DeltaSeconds)
	Multi-GPU secondary: tick in this engine frame, with the primary's delta.

void	SetSavingDataToDisk (bool bSavingData)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()

Static Public Member Functions inherited from ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

Private Types
using	ActorV2XDataMap = std::map< AActor *, carla::sensor::data::CAMData >

Private Member Functions
void	InitModel (AActor *Owner)

Private Attributes
std::unique_ptr< CaService >	CaServiceObj

std::unique_ptr< PathLossModel >	PathLossModelObj

Static Private Attributes
static ActorV2XDataMap	mActorV2XDataMap

Additional Inherited Members
Protected Member Functions inherited from ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override

template<typename SensorType >
FAsyncDataStream	GetDataStream (SensorType &&Self)
	Return the FDataStream associated with this sensor.

void	PostActorCreated () override

Static Protected Member Functions inherited from ASensor
template<typename SensorType , typename ElementType >
static void	SendDataToClient (SensorType &&Sensor, TArrayView< ElementType > SensorData, const FSensorCaptureContext &CaptureContext)

Protected Attributes inherited from ASensor
bool	bIsActive = false

bool	bSavingDataToDisk = false

URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output.

int32	Seed = 123456789
	Seed of the pseudo-random engine.

Detailed Description

Definition at line 22 of file V2XSensor.h.

Member Typedef Documentation

◆ ActorV2XDataMap

using AV2XSensor::ActorV2XDataMap = std::map<AActor *, carla::sensor::data::CAMData>

private

Definition at line 70 of file V2XSensor.h.

Constructor & Destructor Documentation

◆ AV2XSensor()

AV2XSensor::AV2XSensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 23 of file V2XSensor.cpp.

References CaServiceObj, PathLossModelObj, and ASensor::RandomEngine.

Member Function Documentation

◆ EndPlay()

void AV2XSensor::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overridevirtual

Definition at line 53 of file V2XSensor.cpp.

References mActorV2XDataMap.

◆ GetSensorDefinition()

FActorDefinition AV2XSensor::GetSensorDefinition ( )

static

Definition at line 66 of file V2XSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeV2XDefinition().

◆ InitModel()

void AV2XSensor::InitModel ( AActor * Owner )

private

Definition at line 36 of file V2XSensor.cpp.

References CaServiceObj.

Referenced by PrePhysTick(), and SetOwner().

◆ PostPhysTick()

void AV2XSensor::PostPhysTick	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaTime
	)

overridevirtual

Reimplemented from ASensor.

Definition at line 178 of file V2XSensor.cpp.

References UCarlaEpisode::GetActorRegistry(), UCarlaStatics::GetCurrentEpisode(), ASensor::GetDataStream(), carla::sensor::data::CAMDataS::GetMessageCount(), mActorV2XDataMap, carla::sensor::data::CAMData::Message, PathLossModelObj, PostPhysTick(), carla::sensor::data::CAMData::Power, and carla::sensor::data::CAMDataS::WriteMessage().

Referenced by PostPhysTick().

◆ PrePhysTick()

void AV2XSensor::PrePhysTick ( float DeltaSeconds )

overridevirtual

Reimplemented from ASensor.

Definition at line 113 of file V2XSensor.cpp.

References CaServiceObj, InitModel(), mActorV2XDataMap, carla::sensor::data::CAMData::Message, PathLossModelObj, and carla::sensor::data::CAMData::Power.

◆ Set()

void AV2XSensor::Set ( const FActorDescription & ActorDescription )

overridevirtual

Reimplemented from ASensor.

Definition at line 72 of file V2XSensor.cpp.

References UActorBlueprintFunctionLibrary::SetV2X().

◆ SetAccelerationStandardDeviation()

void AV2XSensor::SetAccelerationStandardDeviation ( const FVector & Vec )

Definition at line 139 of file V2XSensor.cpp.

References CaServiceObj.

Referenced by UActorBlueprintFunctionLibrary::SetV2X().

◆ SetCaServiceParams()

void AV2XSensor::SetCaServiceParams	(	const float	GenCamMin,
		const float	GenCamMax,
		const bool	FixedRate
	)

Definition at line 78 of file V2XSensor.cpp.

References CaServiceObj.

Referenced by UActorBlueprintFunctionLibrary::SetV2X().

◆ SetGNSSDeviation()

void AV2XSensor::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
	)

Definition at line 144 of file V2XSensor.cpp.

References CaServiceObj.

Referenced by UActorBlueprintFunctionLibrary::SetV2X().

◆ SetOwner()

void AV2XSensor::SetOwner ( AActor * Owner )

override

Definition at line 47 of file V2XSensor.cpp.

References InitModel().

◆ SetPathLossModel()

void AV2XSensor::SetPathLossModel ( const EPathLossModel path_loss_model )

Definition at line 98 of file V2XSensor.cpp.

References PathLossModelObj.

Referenced by UActorBlueprintFunctionLibrary::SetV2X().

◆ SetPropagationParams()

void AV2XSensor::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
	)