client/detail/ActorState.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/NonCopyable.h"
#include "carla/client/World.h"
#include "carla/client/ActorAttribute.h"
#include "carla/client/detail/EpisodeProxy.h"
#include "carla/rpc/Actor.h"
 
#include <optional>
 
namespace carla {
namespace client {
namespace detail {
 
  class ActorFactory;
 
  /// Internal state of an Actor.
  class ActorState : private MovableNonCopyable {
  public:
 
    ActorId GetId() const {
      return _description.id;
    }
 
    const std::string &GetTypeId() const {
      return _description.description.id;
    }
 
    const std::string &GetDisplayId() const {
      return _display_id;
    }
 
    ActorId GetParentId() const {
      return _description.parent_id;
    }
 
    const std::vector<uint8_t> &GetSemanticTags() const {
      return _description.semantic_tags;
    }
 
    SharedPtr<Actor> GetParent() const;
 
    World GetWorld() const {
      return World{_episode};
    }
 
    const std::vector<ActorAttributeValue> &GetAttributes() const
    {
      return _attributes;
    }
 
    /// Whether this handle was returned by a spawn call of this client, as
    /// opposed to being looked up (get_actor, get_actors, parent, spectator).
    /// Only a spawn handle knows that the actor exists without having seen it
    /// in a snapshot; see Simulator::GetActorState.
    bool WasSpawnedByThisClient() const {
      return _spawn_frame.has_value();
    }
 
    /// Frame of the last world snapshot this client had received when the
    /// spawn of this actor was acknowledged by the server; unset for looked-up
    /// handles. No snapshot up to this frame can contain the actor yet.
    uint64_t GetSpawnFrame() const {
      return _spawn_frame.value_or(0u);
    }
 
  protected:
 
    explicit ActorState(rpc::Actor description, EpisodeProxy episode);
 
    const geom::BoundingBox &GetBoundingBox() const {
      return _description.bounding_box;
    }
 
    const rpc::Actor &GetActorDescription() const {
      return _description;
    }
 
    EpisodeProxy &GetEpisode() {
      return _episode;
    }
 
    const EpisodeProxy &GetEpisode() const {
      return _episode;
    }
 
  private:
 
    friend class Simulator;
 
    rpc::Actor _description;
 
    EpisodeProxy _episode;
 
    std::string _display_id;
 
    std::vector<ActorAttributeValue> _attributes;
 
    std::optional<uint64_t> _spawn_frame;
  };
 
} // namespace detail
 
  /// Used to initialize Actor classes. Only the ActorFactory can create this
  /// object, thus only the ActorFactory can create actors.
  class ActorInitializer : public detail::ActorState {
  public:
    ActorInitializer(ActorInitializer &&) = default;
  private:
    friend class detail::ActorFactory;
    using detail::ActorState::ActorState;
  };
 
} // namespace client
} // namespace carla