CarlaLidarSubsystem.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 <util/ue-header-guard-begin.h>
#include "CoreMinimal.h"
#include "Subsystems/WorldSubsystem.h"
#include "Async/TaskGraphInterfaces.h"
#include <util/ue-header-guard-end.h>
 
#include "CarlaLidarSubsystem.generated.h"
 
class ARayCastSemanticLidar;
 
/// Subsystem responsible for simulating all ray-cast LiDARs of a world.
///
/// Registered LiDARs are simulated asynchronously via TaskGraph high-priority
/// worker tasks while the Game Thread processes remaining sensors (cameras, etc.).
/// FSensorManager::PostPhysTick calls StartLidarSimulations() at the beginning of
/// the post-physics tick, and FinishLidarSimulations() after other sensors finish.
UCLASS()
class CARLA_API UCarlaLidarSubsystem : public UWorldSubsystem
{
  GENERATED_BODY()
 
public:
 
  virtual void Deinitialize() override;
 
  void RegisterLidar(ARayCastSemanticLidar *Lidar);
 
  void UnregisterLidar(ARayCastSemanticLidar *Lidar);
 
  bool HasActiveLidars() const
  {
    return ActiveLidars.Num() > 0;
  }
 
  int32 GetActiveLidarCount() const
  {
    return ActiveLidars.Num();
  }
 
  void StartLidarSimulations(UWorld *World, float DeltaSeconds);
 
  void FinishLidarSimulations(UWorld *World, float DeltaSeconds);
 
private:
 
  TArray<TWeakObjectPtr<ARayCastSemanticLidar>> ActiveLidars;
 
  /// LiDARs due this frame, snapshotted on the game thread for the simulation task.
  TArray<TObjectPtr<ARayCastSemanticLidar>> LidarsToSimulate;
 
  FGraphEventRef LidarSimulationTask;
};