#include <CarlaEngine.h>

Inheritance diagram for FCarlaEngine:

Collaboration diagram for FCarlaEngine:

Public Member Functions
UCarlaEpisode *	GetCurrentEpisode ()

std::shared_ptr< carla::multigpu::Router >	GetSecondaryServer ()

const FCarlaServer &	GetServer () const

FCarlaServer &	GetServer ()

void	NotifyBeginEpisode (UCarlaEpisode &Episode)

void	NotifyEndEpisode ()

void	NotifyInitGame (const UCarlaSettings &Settings)

void	SetRecorder (ACarlaRecorder *InRecorder)

	~FCarlaEngine ()

Static Public Member Functions
static uint64_t	GetFrameCounter ()

static void	ResetFrameCounter (uint64_t Value=0)

static uint64_t	UpdateFrameCounter ()

Static Public Attributes
static uint64_t	FrameCounter = 0

Private Member Functions
void	OnEpisodeSettingsChanged (const FEpisodeSettings &Settings)

void	OnPostTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)

void	OnPreTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)

void	ResetSimulationState ()

Private Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Private Attributes
bool	bIsPrimaryServer = true

bool	bIsRunning = false

bool	bMapChanged = false

bool	bNewConnection = false

bool	bSynchronousMode = false

UCarlaEpisode *	CurrentEpisode = nullptr

FEpisodeSettings	CurrentSettings

std::vector< FFrameData >	FramesToProcess

std::mutex	FrameToProcessMutex

std::unordered_map< uint32_t, uint32_t >	MappedId

FDelegateHandle	OnEpisodeSettingsChangeHandle

FDelegateHandle	OnPostTickHandle

FDelegateHandle	OnPreTickHandle

ACarlaRecorder *	Recorder = nullptr

std::shared_ptr< carla::multigpu::Secondary >	Secondary

std::shared_ptr< carla::multigpu::Router >	SecondaryServer

FCarlaServer	Server

FWorldObserver	WorldObserver

Detailed Description

Definition at line 31 of file CarlaEngine.h.

Constructor & Destructor Documentation

◆ ~FCarlaEngine()

FCarlaEngine::~FCarlaEngine ( )

Definition at line 62 of file CarlaEngine.cpp.

References bIsRunning, carla::ros2::ROS2::GetInstance(), FCarlaStaticDelegates::OnEpisodeSettingsChange, OnEpisodeSettingsChangeHandle, OnPostTickHandle, and OnPreTickHandle.

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Member Function Documentation

◆ GetCurrentEpisode()

UCarlaEpisode* FCarlaEngine::GetCurrentEpisode ( )

inline

Definition at line 55 of file CarlaEngine.h.

References CurrentEpisode.

Referenced by NotifyInitGame(), and OnPostTick().

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◆ GetFrameCounter()

static uint64_t FCarlaEngine::GetFrameCounter ( )

inlinestatic

Definition at line 65 of file CarlaEngine.h.

References FrameCounter.

Referenced by FCarlaServer::FPimpl::BindActions(), FAsyncDataStreamTmpl< T >::FAsyncDataStreamTmpl(), FFrameData::GetFrameCounter(), ACollisionSensor::OnCollisionEvent(), ASceneCaptureCamera::PostPhysTick(), and FPixelReader::SendPixelsInRenderThread().

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◆ GetSecondaryServer()

std::shared_ptr<carla::multigpu::Router> FCarlaEngine::GetSecondaryServer ( )

inline

Definition at line 91 of file CarlaEngine.h.

References OnEpisodeSettingsChanged(), OnPostTick(), OnPreTick(), ResetSimulationState(), and SecondaryServer.

Referenced by UCarlaEpisode::LoadNewEpisode().

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◆ GetServer() [1/2]

const FCarlaServer& FCarlaEngine::GetServer ( ) const

inline

Definition at line 45 of file CarlaEngine.h.

References Server.

◆ GetServer() [2/2]

FCarlaServer& FCarlaEngine::GetServer ( )

inline

Definition at line 50 of file CarlaEngine.h.

References Server.

◆ NotifyBeginEpisode()

void FCarlaEngine::NotifyBeginEpisode ( UCarlaEpisode & Episode )

Definition at line 231 of file CarlaEngine.cpp.

References FEpisodeSettings::ActorActiveDistance, UCarlaEpisode::ApplySettings(), bIsPrimaryServer, UCarlaEpisode::bIsPrimaryServer, FEpisodeSettings::bNoRenderingMode, CarlaReplayer::CheckPlayAfterMapLoaded(), CurrentEpisode, CurrentSettings, UCarlaEpisode::EpisodeSettings, FCarlaEngine_GetFixedDeltaSeconds(), FEpisodeSettings::FixedDeltaSeconds, ALargeMapManager::GetActorStreamingDistance(), UCarlaStatics::GetLargeMapManager(), ALargeMapManager::GetLayerStreamingDistance(), ACarlaRecorder::GetReplayer(), FCarlaServer::NotifyBeginEpisode(), Recorder, ResetFrameCounter(), Server, ACarlaRecorder::SetEpisode(), UCarlaEpisode::SetRecorder(), and FEpisodeSettings::TileStreamingDistance.

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◆ NotifyEndEpisode()

void FCarlaEngine::NotifyEndEpisode ( )

Definition at line 269 of file CarlaEngine.cpp.

References CurrentEpisode, FCarlaServer::NotifyEndEpisode(), and Server.

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◆ NotifyInitGame()

void FCarlaEngine::NotifyInitGame ( const UCarlaSettings & Settings )

Definition at line 77 of file CarlaEngine.cpp.

References FCarlaServer::AsyncRun(), bIsPrimaryServer, bIsRunning, bMapChanged, bNewConnection, bSynchronousMode, CurrentEpisode, carla::multigpu::DISABLE_ROS, carla::streaming::Server::DisableForROS(), carla::multigpu::ENABLE_ROS, carla::streaming::Server::EnableForROS(), FCarlaEngine_GetNumberOfThreadsForRPCServer(), FramesToProcess, FrameToProcessMutex, carla::multigpu::GET_TOKEN, GetCurrentEpisode(), UCarlaEpisode::GetFrameData(), carla::ros2::ROS2::GetInstance(), FCarlaServer::GetSecondaryServer(), FCarlaServer::GetStreamingServer(), carla::streaming::Server::GetToken(), carla::multigpu::IS_ENABLED_ROS, carla::streaming::Server::IsEnabledForROS(), carla::multigpu::LOAD_MAP, carla::log_info(), FCarlaStaticDelegates::OnEpisodeSettingsChange, OnEpisodeSettingsChanged(), OnEpisodeSettingsChangeHandle, OnPostTick(), OnPostTickHandle, OnPreTick(), OnPreTickHandle, UCarlaSettings::PrimaryIP, UCarlaSettings::PrimaryPort, FFrameData::Read(), UCarlaSettings::RPCPort, Secondary, UCarlaSettings::SecondaryPort, SecondaryServer, carla::multigpu::SEND_FRAME, Server, FWorldObserver::SetStream(), FCarlaServer::Start(), UCarlaSettings::StreamingPort, FCarlaServer::Tick(), WorldObserver, and carla::multigpu::YOU_ALIVE.

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◆ OnEpisodeSettingsChanged()

void FCarlaEngine::OnEpisodeSettingsChanged ( const FEpisodeSettings & Settings )

private

Definition at line 380 of file CarlaEngine.cpp.

References FEpisodeSettings::ActorActiveDistance, FEpisodeSettings::bNoRenderingMode, FEpisodeSettings::bSubstepping, FEpisodeSettings::bSynchronousMode, bSynchronousMode, CurrentEpisode, CurrentSettings, FCarlaEngine_SetFixedDeltaSeconds(), FEpisodeSettings::FixedDeltaSeconds, carla::client::detail::Get(), UCarlaStatics::GetLargeMapManager(), FEpisodeSettings::MaxSubstepDeltaTime, FEpisodeSettings::MaxSubsteps, ALargeMapManager::SetActorStreamingDistance(), ALargeMapManager::SetLayerStreamingDistance(), and FEpisodeSettings::TileStreamingDistance.

Referenced by GetSecondaryServer(), NotifyInitGame(), and OnPreTick().

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◆ OnPostTick()

void FCarlaEngine::OnPostTick	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaSeconds
	)

private

Definition at line 331 of file CarlaEngine.cpp.

References bIsPrimaryServer, bMapChanged, bNewConnection, FWorldObserver::BroadcastTick(), FFrameData::Clear(), CurrentEpisode, GetCurrentEpisode(), FFrameData::GetFrameData(), UCarlaEpisode::GetFrameData(), UCarlaEpisode::GetRecorder(), UCarlaEpisode::GetSensorManager(), UCarlaLightSubsystem::IsUpdatePending(), FSensorManager::PostPhysTick(), ResetSimulationState(), SecondaryServer, ACarlaRecorder::Ticking(), WorldObserver, and FFrameData::Write().

Referenced by GetSecondaryServer(), and NotifyInitGame().

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◆ OnPreTick()

void FCarlaEngine::OnPreTick	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaSeconds
	)

private

Definition at line 275 of file CarlaEngine.cpp.

References UCarlaEpisode::ApplySettings(), bIsPrimaryServer, FEpisodeSettings::bSynchronousMode, bSynchronousMode, CurrentEpisode, CurrentSettings, FEpisodeSettings::FixedDeltaSeconds, FramesToProcess, FrameToProcessMutex, MappedId, OnEpisodeSettingsChanged(), FCarlaServer::RunSome(), SecondaryServer, Server, FCarlaServer::TickCueReceived(), UCarlaEpisode::TickTimers(), and UpdateFrameCounter().

Referenced by GetSecondaryServer(), and NotifyInitGame().

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◆ ResetFrameCounter()

static void FCarlaEngine::ResetFrameCounter ( uint64_t Value = 0 )

inlinestatic

Definition at line 81 of file CarlaEngine.h.

References FrameCounter, and carla::ros2::ROS2::GetInstance().

Referenced by NotifyBeginEpisode(), and FFrameData::SetFrameCounter().

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◆ ResetSimulationState()

void FCarlaEngine::ResetSimulationState ( )

private

Definition at line 408 of file CarlaEngine.cpp.

References bMapChanged.

Referenced by GetSecondaryServer(), and OnPostTick().

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◆ SetRecorder()

void FCarlaEngine::SetRecorder ( ACarlaRecorder * InRecorder )

inline

Definition at line 60 of file CarlaEngine.h.

References Recorder.

Referenced by UCarlaGameInstance::UCarlaGameInstance().

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◆ UpdateFrameCounter()

static uint64_t FCarlaEngine::UpdateFrameCounter ( )

inlinestatic

Definition at line 70 of file CarlaEngine.h.

References FrameCounter, and carla::ros2::ROS2::GetInstance().

Referenced by OnPreTick().

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Member Data Documentation

◆ bIsPrimaryServer

bool FCarlaEngine::bIsPrimaryServer = true

private

Definition at line 128 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), NotifyInitGame(), OnPostTick(), and OnPreTick().

◆ bIsRunning

bool FCarlaEngine::bIsRunning = false

private

Definition at line 106 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and ~FCarlaEngine().

◆ bMapChanged

bool FCarlaEngine::bMapChanged = false

private

Definition at line 110 of file CarlaEngine.h.

Referenced by NotifyInitGame(), OnPostTick(), and ResetSimulationState().

◆ bNewConnection

bool FCarlaEngine::bNewConnection = false

private

Definition at line 129 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPostTick().

◆ bSynchronousMode

bool FCarlaEngine::bSynchronousMode = false

private

Definition at line 108 of file CarlaEngine.h.

Referenced by NotifyInitGame(), OnEpisodeSettingsChanged(), and OnPreTick().

◆ CurrentEpisode

UCarlaEpisode* FCarlaEngine::CurrentEpisode = nullptr

private

Definition at line 116 of file CarlaEngine.h.

Referenced by GetCurrentEpisode(), NotifyBeginEpisode(), NotifyEndEpisode(), NotifyInitGame(), OnEpisodeSettingsChanged(), OnPostTick(), and OnPreTick().

◆ CurrentSettings

FEpisodeSettings FCarlaEngine::CurrentSettings

private

Definition at line 118 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), OnEpisodeSettingsChanged(), and OnPreTick().

◆ FrameCounter

uint64_t FCarlaEngine::FrameCounter = 0

static

Definition at line 35 of file CarlaEngine.h.

Referenced by GetFrameCounter(), ResetFrameCounter(), and UpdateFrameCounter().

◆ FramesToProcess

std::vector<FFrameData> FCarlaEngine::FramesToProcess

private

Definition at line 136 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPreTick().

◆ FrameToProcessMutex

std::mutex FCarlaEngine::FrameToProcessMutex

private

Definition at line 137 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPreTick().

◆ MappedId

std::unordered_map<uint32_t, uint32_t> FCarlaEngine::MappedId

private

Definition at line 131 of file CarlaEngine.h.

Referenced by OnPreTick().

◆ OnEpisodeSettingsChangeHandle

FDelegateHandle FCarlaEngine::OnEpisodeSettingsChangeHandle

private

Definition at line 126 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and ~FCarlaEngine().

◆ OnPostTickHandle

FDelegateHandle FCarlaEngine::OnPostTickHandle

private

Definition at line 124 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and ~FCarlaEngine().

◆ OnPreTickHandle

FDelegateHandle FCarlaEngine::OnPreTickHandle

private

Definition at line 122 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and ~FCarlaEngine().

◆ Recorder

ACarlaRecorder* FCarlaEngine::Recorder = nullptr

private

Definition at line 120 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and SetRecorder().

◆ Secondary

std::shared_ptr<carla::multigpu::Secondary> FCarlaEngine::Secondary

private

Definition at line 134 of file CarlaEngine.h.

Referenced by NotifyInitGame().

◆ SecondaryServer

std::shared_ptr<carla::multigpu::Router> FCarlaEngine::SecondaryServer

private

Definition at line 133 of file CarlaEngine.h.

Referenced by GetSecondaryServer(), NotifyInitGame(), OnPostTick(), and OnPreTick().

◆ Server

FCarlaServer FCarlaEngine::Server

private

Definition at line 112 of file CarlaEngine.h.

Referenced by GetServer(), NotifyBeginEpisode(), NotifyEndEpisode(), NotifyInitGame(), and OnPreTick().

◆ WorldObserver

FWorldObserver FCarlaEngine::WorldObserver

private

Definition at line 114 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPostTick().

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~FCarlaEngine()

Member Function Documentation

◆ GetCurrentEpisode()

◆ GetFrameCounter()

◆ GetSecondaryServer()

◆ GetServer() [1/2]

◆ GetServer() [2/2]

◆ NotifyBeginEpisode()

◆ NotifyEndEpisode()

◆ NotifyInitGame()

◆ OnEpisodeSettingsChanged()

◆ OnPostTick()

◆ OnPreTick()

◆ ResetFrameCounter()

◆ ResetSimulationState()

◆ SetRecorder()

◆ UpdateFrameCounter()

Member Data Documentation

◆ bIsPrimaryServer

◆ bIsRunning

◆ bMapChanged

◆ bNewConnection

◆ bSynchronousMode

◆ CurrentEpisode

◆ CurrentSettings

◆ FrameCounter

◆ FramesToProcess

◆ FrameToProcessMutex

◆ MappedId

◆ OnEpisodeSettingsChangeHandle

◆ OnPostTickHandle

◆ OnPreTickHandle

◆ Recorder

◆ Secondary

◆ SecondaryServer

◆ Server

◆ WorldObserver