ActorRegistry.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/Actor/CarlaActor.h"
 
#include <util/ue-header-guard-begin.h>
#include "Containers/Map.h"
#include <util/ue-header-guard-end.h>
 
#include <unordered_map>
 
/// A registry of all the Carla actors.
class FActorRegistry
{
public:
 
  using IdType = FCarlaActor::IdType;
  using ValueType = TSharedPtr<FCarlaActor>;
 
private:
 
  // using DatabaseType = std::unordered_map<IdType, FCarlaActor>;
  using DatabaseType = TMap<IdType, TSharedPtr<FCarlaActor>>;
 
  // ===========================================================================
  /// @name Actor registry functions
  // ===========================================================================
  /// @{
public:
 
  /// Register the @a Actor in the database. A new ID will be assign to this
  /// actor.
  ///
  /// @warning Undefined if an actor is registered more than once.
  FCarlaActor* Register(AActor &Actor, FActorDescription Description, IdType DesiredId = 0);
 
  void Deregister(IdType Id);
 
  void Deregister(AActor *Actor);
 
  /// @}
  // ===========================================================================
  /// @name Look up functions
  // ===========================================================================
  /// @{
 
  int32 Num() const
  {
    return Actors.Num();
  }
 
  bool IsEmpty() const
  {
    return Num() == 0;
  }
 
  bool Contains(uint32 Id) const
  {
    return ActorDatabase.Find(Id) != nullptr;
  }
 
  FCarlaActor* FindCarlaActor(IdType Id)
  {
    ValueType* CarlaActorPtr = ActorDatabase.Find(Id);
    return CarlaActorPtr ? CarlaActorPtr->Get() : nullptr;
  }
 
  const FCarlaActor* FindCarlaActor(IdType Id) const
  {
    const ValueType* CarlaActorPtr = ActorDatabase.Find(Id);
    return CarlaActorPtr ? CarlaActorPtr->Get() : nullptr;
  }
 
  FCarlaActor* FindCarlaActor(const AActor *Actor)
  {
    IdType* PtrToId = Ids.Find(Actor);
    return PtrToId ? FindCarlaActor(*PtrToId) : nullptr;
  }
 
  const FCarlaActor* FindCarlaActor(const AActor *Actor) const
  {
    const IdType* PtrToId = Ids.Find(Actor);
    return PtrToId ? FindCarlaActor(*PtrToId) : nullptr;
  }
 
  /// Returns the sensor whose data stream has id @a Id, or nullptr.
  FCarlaActor* FindCarlaActorFromStream(carla::streaming::detail::stream_id_type Id);
 
  FString GetDescriptionFromStream(carla::streaming::detail::stream_id_type Id);
 
  void PutActorToSleep(IdType Id, UCarlaEpisode* CarlaEpisode);
 
  void WakeActorUp(IdType Id, UCarlaEpisode* CarlaEpisode);
 
  /// @}
  // ===========================================================================
  /// @name Range iteration support
  // ===========================================================================
  /// @{
public:
 
  auto begin() const noexcept
  {
    return ActorDatabase.begin();
  }
 
  auto end() const noexcept
  {
    return ActorDatabase.end();
  }
 
  /// @}
private:
 
  TSharedPtr<FCarlaActor> MakeCarlaActor(
    IdType Id,
    AActor &Actor,
    FActorDescription Description,
    carla::rpc::ActorState InState) const;
 
  FCarlaActor MakeFakeActor(
    AActor &Actor) const;
 
  TMap<IdType, AActor *> Actors;
 
  TMap<AActor *, IdType> Ids;
 
  DatabaseType ActorDatabase;
 
  static IdType ID_COUNTER;
};