ServerSideSensor.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/client/Sensor.h"
#include "carla/rpc/CustomV2XBytes.h"
 
#include <bitset>
 
namespace carla {
namespace client {
 
  class ServerSideSensor final : public Sensor {
  public:
 
    using Sensor::Sensor;
 
    ~ServerSideSensor();
 
    /// Register a @a callback to be executed each time a new measurement is
    /// received.
    ///
    /// @warning Calling this function on a sensor that is already listening
    /// steals the data stream from the previously set callback. Note that
    /// several instances of Sensor (even in different processes) may point to
    /// the same sensor in the simulator.
    void Listen(CallbackFunctionType callback) override;
 
    /// Stop listening for new measurements.
    void Stop() override;
 
    /// Return whether this Sensor instance is currently listening to the
    /// associated sensor in the simulator.
    bool IsListening() const override {
      return listening_mask.test(0);
    }
 
    /// Listen fr
    void ListenToGBuffer(uint32_t GBufferId, CallbackFunctionType callback);
 
    /// Stop listening for a specific gbuffer stream.
    void StopGBuffer(uint32_t GBufferId);
 
    inline bool IsListeningGBuffer(uint32_t id) const {
      return listening_mask.test(id + 1);
    }
 
    /// Enable this sensor for ROS2 publishing
    void EnableForROS();
 
    /// Disable this sensor for ROS2 publishing
    void DisableForROS();
 
    /// Return if the sensor is publishing for ROS2
    bool IsEnabledForROS();
 
    /// Send a binary message through this sensor. Only supported on the custom
    /// V2X sensor (sensor.other.v2x_custom).
    void Send(const rpc::CustomV2XBytes &data);
 
    /// @copydoc Actor::Destroy()
    ///
    /// Additionally stop listening.
    bool Destroy() override;
 
  private:
 
    std::bitset<16> listening_mask;
  };
 
} // namespace client
} // namespace carla