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Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
AVehicleStatusSensor Class Reference

Vehicle status sensor ("sensor.other.vehicle_status"): attached to a vehicle, streams a packed kinematic + control state snapshot each tick and forwards it to the ROS2 side, where it feeds the six Autoware /vehicle/status/* report publishers. More...

#include <VehicleStatusSensor.h>

+ Inheritance diagram for AVehicleStatusSensor:

Public Member Functions

 AVehicleStatusSensor (const FObjectInitializer &ObjectInitializer)
 
virtual void PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaSeconds) override
 
virtual void Set (const FActorDescription &ActorDescription) override
 
- Public Member Functions inherited from ASensor
bool AreClientsListening ()
 
 ASensor (const FObjectInitializer &ObjectInitializer)
 
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)
 
virtual void PrePhysTick (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().
 

Protected Member Functions

virtual void BeginPlay () override
 
- 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
 

Protected Attributes

float MaxRateHz = 1000.0f
 
float MinRateHz = 1.0f
 
float TargetRateHz = 30.0f
 
- 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.
 

Private Member Functions

void CheckForParentVehicle ()
 
void CollectAndStream (float DeltaSeconds)
 
TObjectPtr< ACarlaWheeledVehicle > FindAttachmentParentVehicle () const
 
void SetVelocityInfoToLocal (const AActor *VehicleActor)
 

Static Private Member Functions

template<typename T >
static FORCEINLINE T CmpsToMps (const T &v_cmps)
 

Private Attributes

FTimerHandle CheckParentTimerHandle
 
TWeakObjectPtr< ACarlaWheeledVehicle > OwningVehicle
 
FVelocityInfo VelocityInfo
 

Additional Inherited Members

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

Detailed Description

Vehicle status sensor ("sensor.other.vehicle_status"): attached to a vehicle, streams a packed kinematic + control state snapshot each tick and forwards it to the ROS2 side, where it feeds the six Autoware /vehicle/status/* report publishers.

Ported from tier4/autoware-support.

Definition at line 65 of file VehicleStatusSensor.h.

Constructor & Destructor Documentation

◆ AVehicleStatusSensor()

AVehicleStatusSensor::AVehicleStatusSensor ( const FObjectInitializer &  ObjectInitializer)
explicit

Definition at line 26 of file VehicleStatusSensor.cpp.

References MaxRateHz, MinRateHz, and TargetRateHz.

Member Function Documentation

◆ BeginPlay()

void AVehicleStatusSensor::BeginPlay ( )
overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 46 of file VehicleStatusSensor.cpp.

References CheckForParentVehicle(), and CheckParentTimerHandle.

◆ CheckForParentVehicle()

void AVehicleStatusSensor::CheckForParentVehicle ( )
private

Definition at line 59 of file VehicleStatusSensor.cpp.

References CheckParentTimerHandle, FindAttachmentParentVehicle(), and OwningVehicle.

Referenced by BeginPlay().

◆ CmpsToMps()

template<typename T >
static FORCEINLINE T AVehicleStatusSensor::CmpsToMps ( const T &  v_cmps)
inlinestaticprivate

Definition at line 111 of file VehicleStatusSensor.h.

Referenced by SetVelocityInfoToLocal().

◆ CollectAndStream()

void AVehicleStatusSensor::CollectAndStream ( float  DeltaSeconds)
private

Definition at line 80 of file VehicleStatusSensor.cpp.

References FVelocityInfo::AngularVelocity, UCarlaEpisode::bIsPrimaryServer, FindAttachmentParentVehicle(), carla::streaming::detail::token_type::get_stream_id(), UCarlaStatics::GetCurrentEpisode(), ASensor::GetDataStream(), carla::ros2::ROS2::GetInstance(), FVelocityInfo::GetSpeed(), ASensor::GetToken(), IsValid(), OwningVehicle, SetVelocityInfoToLocal(), Vehicle, FVelocityInfo::Velocity, and VelocityInfo.

Referenced by PostPhysTick().

◆ FindAttachmentParentVehicle()

TObjectPtr< ACarlaWheeledVehicle > AVehicleStatusSensor::FindAttachmentParentVehicle ( ) const
private

Definition at line 68 of file VehicleStatusSensor.cpp.

References Vehicle.

Referenced by CheckForParentVehicle(), and CollectAndStream().

◆ GetSensorDefinition()

FActorDefinition AVehicleStatusSensor::GetSensorDefinition ( )
static

Definition at line 36 of file VehicleStatusSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeVehicleStatusDefinition().

◆ PostPhysTick()

void AVehicleStatusSensor::PostPhysTick ( UWorld *  World,
ELevelTick  TickType,
float  DeltaSeconds 
)
overridevirtual

Reimplemented from ASensor.

Definition at line 53 of file VehicleStatusSensor.cpp.

References CollectAndStream().

◆ Set()

void AVehicleStatusSensor::Set ( const FActorDescription &  ActorDescription)
overridevirtual

Reimplemented from ASensor.

Definition at line 41 of file VehicleStatusSensor.cpp.

◆ SetVelocityInfoToLocal()

void AVehicleStatusSensor::SetVelocityInfoToLocal ( const AActor *  VehicleActor)
private

Definition at line 169 of file VehicleStatusSensor.cpp.

References FVelocityInfo::AngularVelocity, CarlaGetActorAngularVelocityInRadians(), CmpsToMps(), FVelocityInfo::RotationRate, FVelocityInfo::Velocity, and VelocityInfo.

Referenced by CollectAndStream().

Member Data Documentation

◆ CheckParentTimerHandle

FTimerHandle AVehicleStatusSensor::CheckParentTimerHandle
private

Definition at line 101 of file VehicleStatusSensor.h.

Referenced by BeginPlay(), and CheckForParentVehicle().

◆ MaxRateHz

float AVehicleStatusSensor::MaxRateHz = 1000.0f
protected

Definition at line 89 of file VehicleStatusSensor.h.

Referenced by AVehicleStatusSensor().

◆ MinRateHz

float AVehicleStatusSensor::MinRateHz = 1.0f
protected

Definition at line 87 of file VehicleStatusSensor.h.

Referenced by AVehicleStatusSensor().

◆ OwningVehicle

TWeakObjectPtr<ACarlaWheeledVehicle> AVehicleStatusSensor::OwningVehicle
private

Definition at line 97 of file VehicleStatusSensor.h.

Referenced by CheckForParentVehicle(), and CollectAndStream().

◆ TargetRateHz

float AVehicleStatusSensor::TargetRateHz = 30.0f
protected

Definition at line 92 of file VehicleStatusSensor.h.

Referenced by AVehicleStatusSensor().

◆ VelocityInfo

FVelocityInfo AVehicleStatusSensor::VelocityInfo
private

Definition at line 98 of file VehicleStatusSensor.h.

Referenced by CollectAndStream(), and SetVelocityInfoToLocal().

The documentation for this class was generated from the following files:
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