CarlaRecorderAnimVehicle.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 "CarlaRecorderAnimVehicle.h"
#include "CarlaRecorder.h"
#include "CarlaRecorderHelpers.h"
 
#include <algorithm>
#include <limits>
 
void CarlaRecorderAnimVehicle::Write(std::ostream &OutFile)
{
  // database id
  WriteValue<uint32_t>(OutFile, this->DatabaseId);
  WriteValue<float>(OutFile, this->Steering);
  WriteValue<float>(OutFile, this->Throttle);
  WriteValue<float>(OutFile, this->Brake);
  WriteValue<bool>(OutFile, this->bHandbrake);
  WriteValue<int32_t>(OutFile, this->Gear);
}
void CarlaRecorderAnimVehicle::Read(std::istream &InFile)
{
  // database id
  ReadValue<uint32_t>(InFile, this->DatabaseId);
  ReadValue<float>(InFile, this->Steering);
  ReadValue<float>(InFile, this->Throttle);
  ReadValue<float>(InFile, this->Brake);
  ReadValue<bool>(InFile, this->bHandbrake);
  ReadValue<int32_t>(InFile, this->Gear);
}
 
// ---------------------------------------------
 
void CarlaRecorderAnimVehicles::Clear(void)
{
  Vehicles.clear();
}
 
void CarlaRecorderAnimVehicles::Add(const CarlaRecorderAnimVehicle &Vehicle)
{
  Vehicles.push_back(Vehicle);
}
 
void CarlaRecorderAnimVehicles::Write(std::ostream &OutFile)
{
  // write the packet id
  WriteValue<char>(OutFile, static_cast<char>(CarlaRecorderPacketId::AnimVehicle));
 
  std::streampos PosStart = OutFile.tellp();
 
  // write a dummy packet size
  uint32_t Total = 0;
  WriteValue<uint32_t>(OutFile, Total);
 
  // write total records
  Total = std::min<size_t>(Vehicles.size(), std::numeric_limits<uint16_t>::max());
  WriteValue<uint16_t>(OutFile, Total);
 
  for (uint16_t i=0; i<Total; ++i)
    Vehicles[i].Write(OutFile);
 
  // write the real packet size
  std::streampos PosEnd = OutFile.tellp();
  Total = PosEnd - PosStart - sizeof(uint32_t);
  OutFile.seekp(PosStart, std::ios::beg);
  WriteValue<uint32_t>(OutFile, Total);
  OutFile.seekp(PosEnd, std::ios::beg);
}
 
void CarlaRecorderAnimVehicles::Read(std::istream &InFile)
{
  uint16_t i, Total = 0;
  CarlaRecorderAnimVehicle Vehicle;
 
  // read Total Vehicles
  ReadValue<uint16_t>(InFile, Total);
  for (i = 0; (i < Total) && InFile; ++i)
  {
    Vehicle.Read(InFile);
    Add(Vehicle);
  }
}
 
const std::vector<CarlaRecorderAnimVehicle>& CarlaRecorderAnimVehicles::GetVehicles()
{
  return Vehicles;
}