FCarlaEngine Class Reference

#include <CarlaEngine.h>

Inheritance diagram for FCarlaEngine:

Classes
struct	FPendingFrameTime

Public Member Functions
UCarlaEpisode *	GetCurrentEpisode ()
std::shared_ptr< carla::multigpu::Router >	GetSecondaryServer ()
FCarlaServer &	GetServer ()
const FCarlaServer &	GetServer () const
bool	IsPrimaryServer () const
	False on a Multi-GPU secondary.
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	BindReplayedSensor (uint32_t PrimaryActorId, uint32_t LocalActorId, bool bCreated)
	Secondary only: binds a sensor replayed from the primary to the stream its clients were given (see carla::multigpu::SensorStreamRegistry).
void	DetachFromPrimary (const char *Reason)
	Secondary only: stops mirroring the primary for good (it is gone, or this server cannot load its map).
void	MirrorPrimarySettings (const carla::multigpu::FrameTime &Time)
void	OnBeginFrame ()
	Secondary only (FCoreDelegates::OnBeginFrame, before the engine computes this frame's delta): waits for the primary's next frame and makes its delta this engine frame's time step.
void	OnEpisodeSettingsChanged (const FEpisodeSettings &Settings)
void	OnPostTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)
void	OnPreTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)
void	OnPreWorldInitialization (UWorld *World, const UWorld::InitializationValues IVS)
	Applies FEpisodeSettings::bDeterministicCollisions to the world about to be created.
void	PlayPrimaryFrame (UWorld &World, float DeltaSeconds, FFrameData &Frame)
	Secondary only: plays the primary's frame on the frame OnBeginFrame prepared, with the primary's clocks and settings.
void	ResetSimulationState ()
void	RestorePlayedPoses ()
	Secondary only: puts back any mirror that moved since its frame was played (a local mover the mirror does not stop), right before capture.
void	SendEpisodeReady ()
	Secondary only: tells the primary this episode is ready, which also makes it send a full resync.
void	SendEpisodeReadyWhenContentReady ()
	Sends EPISODE_READY once the world's generated content has finished spawning.
void	WaitForSecondaryEpisodes ()
	Primary only: keeps processing RPC until every secondary sent LOAD_MAP reports its episode ready (bounded by a timeout).
Private Member Functions inherited from NonCopyable
	NonCopyable ()=default
	NonCopyable (const NonCopyable &)=delete
void	operator= (const NonCopyable &)=delete

Private Attributes
bool	bEpisodeReadyPending = false
bool	bFramePlayedThisTick = false
bool	bFramesToProcessBacklogged = false
bool	bIsPrimaryServer = true
bool	bIsRunning = false
std::atomic< bool >	bLoadMapPending {false}
bool	bMapChanged = false
std::atomic< bool >	bNewConnection {false}
std::atomic< bool >	bResyncRequested {false}
bool	bSynchronousMode = false
bool	bTravelFailed = false
bool	bWarnedFrameFormat = false
bool	bWarnedNoSensorTicks = false
bool	bWarnedSensorBindRefused = false
bool	bWarnedUnpairedFrame = false
bool	bWarnedUntimedFrame = false
bool	bWasConnectedToPrimary = false
UCarlaEpisode *	CurrentEpisode = nullptr
FEpisodeSettings	CurrentSettings
uint64_t	DeltaMismatches = 0u
uint64_t	DroppedFrames = 0u
TOptional< int32 >	DynamicTreeBeforeDeterministicCollisions
	Value of p.Chaos.AccelerationStructureUseDynamicTree before deterministic collisions changed it; unset while they are off.
double	EpisodeReadyPendingSince = 0.0
std::vector< FFrameData >	FramesToProcess
std::mutex	FrameToProcessMutex
double	LastOwnClockFrameSeconds = 0.0
std::optional< uint64_t >	LastPlayedFrame
double	LastResyncRequestSeconds = 0.0
carla::multigpu::SensorStreamRegistry::epoch_type	LoadingEpoch = 0u
carla::multigpu::load_map_id_type	LoadingLoadMapId = 0u
FString	LoadingMap
std::unordered_map< uint32_t, uint32_t >	MappedId
FMirrorState	MirrorState
FDelegateHandle	OnBeginFrameHandle
FDelegateHandle	OnEpisodeSettingsChangeHandle
FDelegateHandle	OnPostTickHandle
FDelegateHandle	OnPreTickHandle
FDelegateHandle	OnPreWorldInitializationHandle
FDelegateHandle	OnTravelFailureHandle
std::optional< FPendingFrameTime >	PendingFrameTime
carla::multigpu::SensorStreamRegistry::epoch_type	PendingLoadEpoch = 0u
FString	PendingLoadMap
carla::multigpu::LoadMapExtras	PendingLoadMapExtras
carla::multigpu::load_map_id_type	PendingLoadMapId = 0u
std::optional< uint64_t >	PreparedFrame
std::atomic< size_t >	QueuedFrames {0u}
ACarlaRecorder *	Recorder = nullptr
TSet< FName >	RestoredPoseClasses
uint64_t	RestoredPoses = 0u
std::shared_ptr< carla::multigpu::Secondary >	Secondary
std::shared_ptr< carla::multigpu::Router >	SecondaryServer
carla::multigpu::SensorStreamRegistry	SensorStreams
FCarlaServer	Server
FWorldObserver	WorldObserver

Detailed Description

Definition at line 39 of file CarlaEngine.h.

Constructor & Destructor Documentation

~FCarlaEngine()

FCarlaEngine::~FCarlaEngine

(

)

Definition at line 164 of file CarlaEngine.cpp.

References bIsRunning, carla::ros2::ROS2::GetInstance(), UOpenDrive::GetSavedXODRPath(), OnBeginFrameHandle, FCarlaStaticDelegates::OnEpisodeSettingsChange, OnEpisodeSettingsChangeHandle, OnPostTickHandle, OnPreTickHandle, OnPreWorldInitializationHandle, OnTravelFailureHandle, Secondary, and UOpenDrive::SetSavedXODRDirectory().

Member Function Documentation

BindReplayedSensor()

void FCarlaEngine::BindReplayedSensor ( uint32_t  PrimaryActorId, uint32_t  LocalActorId, bool  bCreated  )

private

Secondary only: binds a sensor replayed from the primary to the stream its clients were given (see carla::multigpu::SensorStreamRegistry).

Definition at line 770 of file CarlaEngine.cpp.

References carla::multigpu::SensorStreamRegistry::Bind(), bWarnedSensorBindRefused, carla::streaming::Server::CloseStream(), CurrentEpisode, UCarlaEpisode::FindCarlaActor(), carla::streaming::detail::token_type::get_stream_id(), FCarlaActor::GetActor(), FCarlaActor::GetActorData(), FCarlaActor::GetActorType(), FCarlaServer::GetStreamingServer(), ASensor::GetToken(), carla::multigpu::SensorStreamRegistry::IsEpisodeOpen(), ASensor::IsStreamReady(), FCarlaActor::Sensor, SensorStreams, Server, and ASensor::SetDataStream().

Referenced by PlayPrimaryFrame().

DetachFromPrimary()

void FCarlaEngine::DetachFromPrimary ( const char *  Reason )

private

Secondary only: stops mirroring the primary for good (it is gone, or this server cannot load its map).

Never call it holding FrameToProcessMutex.

Definition at line 720 of file CarlaEngine.cpp.

References FramesToProcess, FrameToProcessMutex, LastPlayedFrame, carla::log_error(), PreparedFrame, QueuedFrames, and Secondary.

Referenced by NotifyBeginEpisode(), and OnPreTick().

GetCurrentEpisode()

UCarlaEpisode * FCarlaEngine::GetCurrentEpisode ( )

inline

Definition at line 63 of file CarlaEngine.h.

References CurrentEpisode.

Referenced by OnPostTick().

GetFrameCounter()

static uint64_t FCarlaEngine::GetFrameCounter ( )

inlinestatic

Definition at line 73 of file CarlaEngine.h.

References FrameCounter.

Referenced by FCarlaServer::FPimpl::BindActions(), FAsyncDataStreamTmpl< T >::FAsyncDataStreamTmpl(), FFrameData::GetFrameCounter(), ASensor::MakeCaptureContext(), ACollisionSensor::OnCollisionEvent(), OnPostTick(), ADVSCamera::PostPhysTick(), RestorePlayedPoses(), ASensorSpawnerActor::SaveSensorData(), and FPixelReader::SendPixelsInRenderThread().

GetSecondaryServer()

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

inline

Definition at line 99 of file CarlaEngine.h.

References SecondaryServer.

Referenced by UCarlaEpisode::LoadNewEpisode().

GetServer() [1/2]

FCarlaServer & FCarlaEngine::GetServer ( )

inline

Definition at line 58 of file CarlaEngine.h.

References Server.

GetServer() [2/2]

const FCarlaServer & FCarlaEngine::GetServer ( ) const

inline

Definition at line 53 of file CarlaEngine.h.

References Server.

IsPrimaryServer()

bool FCarlaEngine::IsPrimaryServer ( ) const

inline

False on a Multi-GPU secondary.

Known from NotifyInitGame on, before any actor of the first map begins play.

Definition at line 106 of file CarlaEngine.h.

References bIsPrimaryServer.

MirrorPrimarySettings()

void FCarlaEngine::MirrorPrimarySettings ( const carla::multigpu::FrameTime &  Time )

private

Definition at line 1218 of file CarlaEngine.cpp.

References UCarlaEpisode::ApplySettings(), FEpisodeSettings::bAdjustSignsHeightToGround, FEpisodeSettings::bNoRenderingMode, FEpisodeSettings::bSubstepping, FEpisodeSettings::bSynchronousMode, CurrentEpisode, FCarlaEngine_SameSettings(), FEpisodeSettings::FixedDeltaSeconds, UCarlaStatics::GetGameMode(), UCarlaEpisode::GetSettings(), SettingsFromFrameTime(), and FEpisodeSettings::SpectatorAsEgo.

Referenced by PlayPrimaryFrame().

NotifyBeginEpisode()

void FCarlaEngine::NotifyBeginEpisode

(

UCarlaEpisode &

Episode

)

Definition at line 576 of file CarlaEngine.cpp.

References FEpisodeSettings::ActorActiveDistance, UCarlaEpisode::ApplySettings(), FEpisodeSettings::bAdjustSignsHeightToGround, bEpisodeReadyPending, bIsPrimaryServer, UCarlaEpisode::bIsPrimaryServer, FEpisodeSettings::bNoRenderingMode, FEpisodeSettings::bSynchronousMode, bTravelFailed, bWarnedFrameFormat, bWarnedNoSensorTicks, bWarnedSensorBindRefused, bWarnedUnpairedFrame, bWarnedUntimedFrame, CarlaReplayer::CheckPlayAfterMapLoaded(), CurrentEpisode, CurrentSettings, DetachFromPrimary(), DroppedFrames, EpisodeReadyPendingSince, UCarlaEpisode::EpisodeSettings, FCarlaEngine_GetFixedDeltaSeconds(), FEpisodeSettings::FixedDeltaSeconds, FrameToProcessMutex, FCarlaActor::GetActor(), UCarlaEpisode::GetActorRegistry(), ALargeMapManager::GetActorStreamingDistance(), FCarlaActor::GetActorType(), UCarlaStatics::GetGameMode(), UCarlaStatics::GetLargeMapManager(), ALargeMapManager::GetLayerStreamingDistance(), UCarlaEpisode::GetMapName(), ACarlaRecorder::GetReplayer(), ACarlaGameModeBase::GetTrafficLightManager(), FCarlaActor::IsDormant(), LastPlayedFrame, LoadingEpoch, LoadingMap, MappedId, MirrorState, FCarlaServer::NotifyBeginEpisode(), carla::multigpu::SensorStreamRegistry::OpenEpisode(), FCarlaActor::Other, PreparedFrame, Recorder, FMirrorState::Reset(), ResetFrameCounter(), RestoredPoseClasses, RestoredPoses, Secondary, SendEpisodeReadyWhenContentReady(), SensorStreams, Server, ACarlaRecorder::SetEpisode(), UCarlaEpisode::SetRecorder(), and FEpisodeSettings::TileStreamingDistance.

NotifyEndEpisode()

void FCarlaEngine::NotifyEndEpisode

(

)

Definition at line 738 of file CarlaEngine.cpp.

References bFramesToProcessBacklogged, carla::multigpu::SensorStreamRegistry::CloseEpisode(), CurrentEpisode, DeltaMismatches, DroppedFrames, FramesToProcess, FrameToProcessMutex, LastPlayedFrame, carla::log_error(), carla::log_warning(), FCarlaServer::NotifyEndEpisode(), PreparedFrame, QueuedFrames, RestoredPoses, SensorStreams, and Server.

NotifyInitGame()

void FCarlaEngine::NotifyInitGame

(

const UCarlaSettings &

Settings

)

Definition at line 198 of file CarlaEngine.cpp.

References FCarlaServer::AsyncRun(), carla::multigpu::SensorStreamRegistry::BeginEpisodeChange(), bFramesToProcessBacklogged, bIsPrimaryServer, bIsRunning, bLoadMapPending, bMapChanged, bNewConnection, bResyncRequested, bSynchronousMode, bTravelFailed, bWarnedFrameFormat, UCarlaEpisode::ClearGeneratedWorldFiles(), CurrentEpisode, carla::multigpu::DISABLE_ROS, carla::streaming::Server::DisableForROS(), DroppedFrames, carla::multigpu::ENABLE_ROS, carla::streaming::Server::EnableForROS(), carla::multigpu::LoadMapRequest::extras, FCarlaEngine_GetNumberOfThreadsForRPCServer(), carla::streaming::Server::FindStreamAlias(), carla::multigpu::FrameDataReadResult::first_skipped_id, carla::multigpu::FrameDataStatusName(), FramesToProcess, FrameToProcessMutex, UCarlaContentPackManager::Get(), carla::streaming::detail::token_type::get_stream_id(), carla::multigpu::GET_TOKEN, carla::ros2::GetAvailableMiddleware(), FFrameData::GetFrameNumber(), carla::ros2::ROS2::GetInstance(), FCarlaServer::GetSecondaryServer(), FCarlaServer::GetStreamingServer(), FWorldObserver::GetToken(), carla::multigpu::FrameDataReadResult::grown, carla::multigpu::IS_ENABLED_ROS, carla::multigpu::FrameDataReadResult::IsComplete(), carla::streaming::Server::IsEnabledForROS(), carla::ros2::IsValidDomainId(), carla::ros2::kMaxDomainId, carla::ros2::kMinDomainId, carla::multigpu::kTokenNotReadyMarker, carla::ros2::kUnsetDomainId, carla::multigpu::LoadMapRequest::load_id, carla::multigpu::LOAD_MAP, carla::log_error(), carla::log_info(), carla::log_warning(), carla::multigpu::LoadMapRequest::map, carla::ros2::MiddlewareFromString(), carla::multigpu::FrameDataReadResult::offset, OnBeginFrame(), OnBeginFrameHandle, FCarlaStaticDelegates::OnEpisodeSettingsChange, OnEpisodeSettingsChanged(), OnEpisodeSettingsChangeHandle, OnPostTick(), OnPostTickHandle, OnPreTick(), OnPreTickHandle, OnPreWorldInitialization(), OnPreWorldInitializationHandle, OnTravelFailureHandle, carla::multigpu::FrameDataReadResult::packet_id, carla::multigpu::FrameDataReadResult::packet_size, carla::multigpu::ParseLoadMapPayload(), PendingLoadEpoch, PendingLoadMap, PendingLoadMapExtras, PendingLoadMapId, UCarlaSettings::PrimaryIP, UCarlaSettings::PrimaryPort, QueuedFrames, FFrameData::Read(), carla::multigpu::SensorStreamRegistry::Resolve(), UCarlaSettings::RPCPort, Secondary, UCarlaSettings::SecondaryPort, SecondaryServer, carla::multigpu::SEND_FRAME, SensorStreams, Server, FCarlaServer::SetIsSecondaryServer(), carla::streaming::Server::SetROS2TopicVisibilityDefaultEnabled(), UOpenDrive::SetSavedXODRDirectory(), carla::streaming::Server::SetSessionsUseStreamAliases(), FWorldObserver::SetStream(), carla::streaming::Server::SetStreamAlias(), carla::multigpu::FrameDataReadResult::skipped, FCarlaServer::Start(), carla::multigpu::FrameDataReadResult::status, UCarlaSettings::StreamingPort, WorldObserver, and carla::multigpu::YOU_ALIVE.

OnBeginFrame()

void FCarlaEngine::OnBeginFrame ( )

private

Secondary only (FCoreDelegates::OnBeginFrame, before the engine computes this frame's delta): waits for the primary's next frame and makes its delta this engine frame's time step.

Definition at line 987 of file CarlaEngine.cpp.

References bEpisodeReadyPending, bFramePlayedThisTick, bLoadMapPending, bResyncRequested, bWasConnectedToPrimary, carla::multigpu::BeginFrameState::connected, CurrentEpisode, carla::multigpu::DecideBeginFrame(), FCarlaEngine_IsWorldTravelPending(), FramesToProcess, FrameToProcessMutex, carla::multigpu::SensorStreamRegistry::IsEpisodeOpen(), carla::multigpu::IsUsableDelta(), LastOwnClockFrameSeconds, LastResyncRequestSeconds, carla::log_warning(), carla::multigpu::OwnClock, PreparedFrame, QueuedFrames, FCarlaServer::RunSome(), Secondary, SendEpisodeReady(), SendEpisodeReadyWhenContentReady(), SensorStreams, Server, State, and carla::multigpu::Wait.

Referenced by NotifyInitGame().

OnEpisodeSettingsChanged()

void FCarlaEngine::OnEpisodeSettingsChanged ( const FEpisodeSettings &  Settings )

private

Definition at line 1417 of file CarlaEngine.cpp.

References FEpisodeSettings::ActorActiveDistance, bIsPrimaryServer, FEpisodeSettings::bNoRenderingMode, FEpisodeSettings::bSubstepping, bSynchronousMode, FEpisodeSettings::bSynchronousMode, CurrentEpisode, CurrentSettings, FCarlaEngine_SetFixedDeltaSeconds(), FEpisodeSettings::FixedDeltaSeconds, UCarlaStatics::GetLargeMapManager(), FCarlaServer::GetStreamingServer(), FEpisodeSettings::MaxSubstepDeltaTime, FEpisodeSettings::MaxSubsteps, Server, ALargeMapManager::SetActorStreamingDistance(), ALargeMapManager::SetLayerStreamingDistance(), carla::streaming::Server::SetSynchronousMode(), and FEpisodeSettings::TileStreamingDistance.

Referenced by NotifyInitGame(), and OnPreTick().

OnPostTick()

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

private

Definition at line 1249 of file CarlaEngine.cpp.

References bFramePlayedThisTick, bIsPrimaryServer, bMapChanged, bNewConnection, FWorldObserver::BroadcastTick(), FFrameData::Clear(), CurrentEpisode, CVarCarlaMultiGpuVerifyFrames(), carla::multigpu::FrameTime::delta_seconds, carla::multigpu::FrameTime::elapsed_game_time, FCarlaEngine_IsWorldTravelPending(), carla::multigpu::FrameTime::frame, carla::multigpu::FrameDataStatusName(), FrameTimeFromSettings(), carla::multigpu::FrameTime::full_resync, GetCurrentEpisode(), UCarlaEpisode::GetElapsedGameTime(), GetFrameCounter(), UCarlaEpisode::GetFrameData(), FFrameData::GetFrameData(), UCarlaEpisode::GetRecorder(), UCarlaEpisode::GetSensorManager(), UCarlaEpisode::GetVisualGameTime(), carla::multigpu::FrameDataReadResult::grown, carla::multigpu::FrameDataReadResult::IsComplete(), UCarlaLightSubsystem::IsUpdatePending(), carla::multigpu::FrameDataReadResult::offset, carla::multigpu::FrameDataReadResult::packet_id, PendingFrameTime, FSensorManager::PostPhysTick(), FFrameData::Read(), ResetSimulationState(), RestorePlayedPoses(), SecondaryServer, FFrameData::SetFrameTime(), carla::multigpu::FrameDataReadResult::skipped, carla::multigpu::FrameDataReadResult::status, ACarlaRecorder::Ticking(), carla::multigpu::FrameTime::time_dilation, carla::multigpu::FrameTime::visual_game_time, carla::multigpu::FrameTime::world_audio_time_seconds, carla::multigpu::FrameTime::world_real_time_seconds, carla::multigpu::FrameTime::world_time_seconds, carla::multigpu::FrameTime::world_unpaused_time_seconds, WorldObserver, and FFrameData::Write().

Referenced by NotifyInitGame().

OnPreTick()

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

private

Definition at line 856 of file CarlaEngine.cpp.

References UCarlaEpisode::ApplySettings(), FCarlaEngine::FPendingFrameTime::AudioTimeSeconds, bIsPrimaryServer, bLoadMapPending, bSynchronousMode, FEpisodeSettings::bSynchronousMode, bWarnedUnpairedFrame, CurrentEpisode, CurrentSettings, carla::multigpu::DecidePreTick(), FCarlaEngine::FPendingFrameTime::DeltaSeconds, DetachFromPrimary(), FCarlaEngine_IsWorldTravelPending(), FCarlaEngine_PrepareGeneratedWorld(), UCarlaStatics::FindMapPath(), FEpisodeSettings::FixedDeltaSeconds, FramesToProcess, FrameToProcessMutex, FCarlaServer::GetStreamingServer(), LoadingEpoch, LoadingLoadMapId, LoadingMap, OnEpisodeSettingsChanged(), carla::multigpu::OpenLevel, PendingFrameTime, PendingLoadEpoch, PendingLoadMap, PendingLoadMapExtras, PendingLoadMapId, PlayPrimaryFrame(), PreparedFrame, QueuedFrames, FCarlaEngine::FPendingFrameTime::RealTimeSeconds, FCarlaServer::RunSome(), SecondaryServer, Server, carla::streaming::Server::SetSynchronousMode(), carla::multigpu::Skip, FCarlaServer::TickCueReceived(), UCarlaEpisode::TickTimers(), FCarlaEngine::FPendingFrameTime::TimeDilation, FCarlaEngine::FPendingFrameTime::TimeSeconds, FCarlaEngine::FPendingFrameTime::UnpausedTimeSeconds, UpdateFrameCounter(), and WaitForSecondaryEpisodes().

Referenced by NotifyInitGame().

OnPreWorldInitialization()

void FCarlaEngine::OnPreWorldInitialization ( UWorld *  World, const UWorld::InitializationValues  IVS  )

private

Applies FEpisodeSettings::bDeterministicCollisions to the world about to be created.

Definition at line 1383 of file CarlaEngine.cpp.

References FEpisodeSettings::bDeterministicCollisions, CurrentSettings, and DynamicTreeBeforeDeterministicCollisions.

Referenced by NotifyInitGame().

PlayPrimaryFrame()

void FCarlaEngine::PlayPrimaryFrame ( UWorld &  World, float  DeltaSeconds, FFrameData &  Frame  )

private

Secondary only: plays the primary's frame on the frame OnBeginFrame prepared, with the primary's clocks and settings.

Definition at line 1089 of file CarlaEngine.cpp.

References bFramePlayedThisTick, BindReplayedSensor(), bResyncRequested, bWarnedNoSensorTicks, bWarnedUntimedFrame, CurrentEpisode, carla::multigpu::FrameTime::delta_seconds, DeltaMismatches, carla::multigpu::FrameTime::elapsed_game_time, carla::multigpu::FrameTime::full_resync, FFrameData::GetFrameNumber(), FFrameData::GetFrameTime(), FCarlaServer::GetStreamingServer(), FFrameData::HasSensorTicks(), carla::multigpu::IsConsecutive(), LastPlayedFrame, carla::log_warning(), MappedId, MirrorPrimarySettings(), MirrorState, carla::multigpu::NeedsResync(), FFrameData::PlayFrameData(), ResetFrameCounter(), SensorStreams, Server, UCarlaEpisode::SetTimers(), UCarlaEpisode::TickTimers(), carla::multigpu::FrameTime::time_dilation, carla::multigpu::SensorStreamRegistry::Unbind(), carla::multigpu::FrameTime::visual_game_time, carla::multigpu::FrameTime::world_audio_time_seconds, carla::multigpu::FrameTime::world_real_time_seconds, carla::multigpu::FrameTime::world_time_seconds, and carla::multigpu::FrameTime::world_unpaused_time_seconds.

Referenced by OnPreTick().

ResetFrameCounter()

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

inlinestatic

Definition at line 89 of file CarlaEngine.h.

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

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

ResetSimulationState()

void FCarlaEngine::ResetSimulationState ( )

private

Definition at line 1459 of file CarlaEngine.cpp.

References bMapChanged.

Referenced by OnPostTick().

RestorePlayedPoses()

void FCarlaEngine::RestorePlayedPoses ( )

private

Secondary only: puts back any mirror that moved since its frame was played (a local mover the mirror does not stop), right before capture.

Definition at line 1182 of file CarlaEngine.cpp.

References CurrentEpisode, UCarlaEpisode::FindCarlaActor(), FCarlaActor::GetActor(), FCarlaActor::GetActorGlobalTransform(), GetFrameCounter(), FCarlaActor::IsDormant(), MirrorState, FMirrorState::PlayedPoses, RestoredPoseClasses, RestoredPoses, and FCarlaActor::SetActorGlobalTransform().

Referenced by OnPostTick().

SendEpisodeReady()

void FCarlaEngine::SendEpisodeReady ( )

private

Secondary only: tells the primary this episode is ready, which also makes it send a full resync.

Definition at line 714 of file CarlaEngine.cpp.

References LoadingLoadMapId, carla::multigpu::MakeEpisodeReadyMessage(), and Secondary.

Referenced by OnBeginFrame(), and SendEpisodeReadyWhenContentReady().

SendEpisodeReadyWhenContentReady()

void FCarlaEngine::SendEpisodeReadyWhenContentReady ( )

private

Sends EPISODE_READY once the world's generated content has finished spawning.

Definition at line 694 of file CarlaEngine.cpp.

References bEpisodeReadyPending, CurrentEpisode, EpisodeReadyPendingSince, and SendEpisodeReady().

Referenced by NotifyBeginEpisode(), and OnBeginFrame().

SetRecorder()

void FCarlaEngine::SetRecorder ( ACarlaRecorder *  InRecorder )

inline

Definition at line 68 of file CarlaEngine.h.

References Recorder.

Referenced by UCarlaGameInstance::UCarlaGameInstance().

UpdateFrameCounter()

static uint64_t FCarlaEngine::UpdateFrameCounter ( )

inlinestatic

Definition at line 78 of file CarlaEngine.h.

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

Referenced by OnPreTick().

WaitForSecondaryEpisodes()

void FCarlaEngine::WaitForSecondaryEpisodes ( )

private

Primary only: keeps processing RPC until every secondary sent LOAD_MAP reports its episode ready (bounded by a timeout).

Definition at line 824 of file CarlaEngine.cpp.

References CurrentEpisode, FCarlaEngine_IsWorldTravelPending(), FCarlaServer::RunSome(), SecondaryServer, and Server.

Referenced by OnPreTick().

Member Data Documentation

bEpisodeReadyPending

bool FCarlaEngine::bEpisodeReadyPending = false

private

Definition at line 275 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), OnBeginFrame(), and SendEpisodeReadyWhenContentReady().

bFramePlayedThisTick

bool FCarlaEngine::bFramePlayedThisTick = false

private

Definition at line 203 of file CarlaEngine.h.

Referenced by OnBeginFrame(), OnPostTick(), and PlayPrimaryFrame().

bFramesToProcessBacklogged

bool FCarlaEngine::bFramesToProcessBacklogged = false

private

Definition at line 258 of file CarlaEngine.h.

Referenced by NotifyEndEpisode(), and NotifyInitGame().

bIsPrimaryServer

bool FCarlaEngine::bIsPrimaryServer = true

private

Definition at line 228 of file CarlaEngine.h.

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

bIsRunning

bool FCarlaEngine::bIsRunning = false

private

Definition at line 159 of file CarlaEngine.h.

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

bLoadMapPending

std::atomic<bool> FCarlaEngine::bLoadMapPending {false}

private

Definition at line 272 of file CarlaEngine.h.

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

bMapChanged

bool FCarlaEngine::bMapChanged = false

private

Definition at line 163 of file CarlaEngine.h.

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

bNewConnection

std::atomic<bool> FCarlaEngine::bNewConnection {false}

private

Definition at line 232 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPostTick().

bResyncRequested

std::atomic<bool> FCarlaEngine::bResyncRequested {false}

private

Definition at line 214 of file CarlaEngine.h.

Referenced by NotifyInitGame(), OnBeginFrame(), and PlayPrimaryFrame().

bSynchronousMode

bool FCarlaEngine::bSynchronousMode = false

private

Definition at line 161 of file CarlaEngine.h.

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

bTravelFailed

bool FCarlaEngine::bTravelFailed = false

private

Definition at line 220 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and NotifyInitGame().

bWarnedFrameFormat

bool FCarlaEngine::bWarnedFrameFormat = false

private

Definition at line 264 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and NotifyInitGame().

bWarnedNoSensorTicks

bool FCarlaEngine::bWarnedNoSensorTicks = false

private

Definition at line 207 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and PlayPrimaryFrame().

bWarnedSensorBindRefused

bool FCarlaEngine::bWarnedSensorBindRefused = false

private

Definition at line 267 of file CarlaEngine.h.

Referenced by BindReplayedSensor(), and NotifyBeginEpisode().

bWarnedUnpairedFrame

bool FCarlaEngine::bWarnedUnpairedFrame = false

private

Definition at line 206 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and OnPreTick().

bWarnedUntimedFrame

bool FCarlaEngine::bWarnedUntimedFrame = false

private

Definition at line 205 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and PlayPrimaryFrame().

bWasConnectedToPrimary

bool FCarlaEngine::bWasConnectedToPrimary = false

private

Definition at line 204 of file CarlaEngine.h.

Referenced by OnBeginFrame().

CurrentEpisode

UCarlaEpisode* FCarlaEngine::CurrentEpisode = nullptr

private

Definition at line 169 of file CarlaEngine.h.

Referenced by BindReplayedSensor(), GetCurrentEpisode(), MirrorPrimarySettings(), NotifyBeginEpisode(), NotifyEndEpisode(), NotifyInitGame(), OnBeginFrame(), OnEpisodeSettingsChanged(), OnPostTick(), OnPreTick(), PlayPrimaryFrame(), RestorePlayedPoses(), SendEpisodeReadyWhenContentReady(), and WaitForSecondaryEpisodes().

CurrentSettings

FEpisodeSettings FCarlaEngine::CurrentSettings

private

Definition at line 171 of file CarlaEngine.h.

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

DeltaMismatches

uint64_t FCarlaEngine::DeltaMismatches = 0u

private

Definition at line 208 of file CarlaEngine.h.

Referenced by NotifyEndEpisode(), and PlayPrimaryFrame().

DroppedFrames

uint64_t FCarlaEngine::DroppedFrames = 0u

private

Definition at line 263 of file CarlaEngine.h.

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

DynamicTreeBeforeDeterministicCollisions

TOptional<int32> FCarlaEngine::DynamicTreeBeforeDeterministicCollisions

private

Value of p.Chaos.AccelerationStructureUseDynamicTree before deterministic collisions changed it; unset while they are off.

Definition at line 226 of file CarlaEngine.h.

Referenced by OnPreWorldInitialization().

EpisodeReadyPendingSince

double FCarlaEngine::EpisodeReadyPendingSince = 0.0

private

Definition at line 276 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and SendEpisodeReadyWhenContentReady().

FrameCounter

uint64_t FCarlaEngine::FrameCounter = 0

static

Definition at line 43 of file CarlaEngine.h.

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

FramesToProcess

std::vector<FFrameData> FCarlaEngine::FramesToProcess

private

Definition at line 252 of file CarlaEngine.h.

Referenced by DetachFromPrimary(), NotifyEndEpisode(), NotifyInitGame(), OnBeginFrame(), and OnPreTick().

FrameToProcessMutex

std::mutex FCarlaEngine::FrameToProcessMutex

private

Definition at line 253 of file CarlaEngine.h.

Referenced by DetachFromPrimary(), NotifyBeginEpisode(), NotifyEndEpisode(), NotifyInitGame(), OnBeginFrame(), and OnPreTick().

LastOwnClockFrameSeconds

double FCarlaEngine::LastOwnClockFrameSeconds = 0.0

private

Definition at line 209 of file CarlaEngine.h.

Referenced by OnBeginFrame().

LastPlayedFrame

std::optional<uint64_t> FCarlaEngine::LastPlayedFrame

private

Definition at line 202 of file CarlaEngine.h.

Referenced by DetachFromPrimary(), NotifyBeginEpisode(), NotifyEndEpisode(), and PlayPrimaryFrame().

LastResyncRequestSeconds

double FCarlaEngine::LastResyncRequestSeconds = 0.0

private

Definition at line 210 of file CarlaEngine.h.

Referenced by OnBeginFrame().

LoadingEpoch

carla::multigpu::SensorStreamRegistry::epoch_type FCarlaEngine::LoadingEpoch = 0u

private

Definition at line 284 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and OnPreTick().

LoadingLoadMapId

carla::multigpu::load_map_id_type FCarlaEngine::LoadingLoadMapId = 0u

private

Definition at line 289 of file CarlaEngine.h.

Referenced by OnPreTick(), and SendEpisodeReady().

LoadingMap

FString FCarlaEngine::LoadingMap

private

Definition at line 279 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and OnPreTick().

MappedId

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

private

Definition at line 234 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and PlayPrimaryFrame().

MirrorState

FMirrorState FCarlaEngine::MirrorState

private

Definition at line 238 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), PlayPrimaryFrame(), and RestorePlayedPoses().

OnBeginFrameHandle

FDelegateHandle FCarlaEngine::OnBeginFrameHandle

private

Definition at line 181 of file CarlaEngine.h.

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

OnEpisodeSettingsChangeHandle

FDelegateHandle FCarlaEngine::OnEpisodeSettingsChangeHandle

private

Definition at line 179 of file CarlaEngine.h.

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

OnPostTickHandle

FDelegateHandle FCarlaEngine::OnPostTickHandle

private

Definition at line 177 of file CarlaEngine.h.

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

OnPreTickHandle

FDelegateHandle FCarlaEngine::OnPreTickHandle

private

Definition at line 175 of file CarlaEngine.h.

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

OnPreWorldInitializationHandle

FDelegateHandle FCarlaEngine::OnPreWorldInitializationHandle

private

Definition at line 222 of file CarlaEngine.h.

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

OnTravelFailureHandle

FDelegateHandle FCarlaEngine::OnTravelFailureHandle

private

Definition at line 183 of file CarlaEngine.h.

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

PendingFrameTime

std::optional<FPendingFrameTime> FCarlaEngine::PendingFrameTime

private

Definition at line 196 of file CarlaEngine.h.

Referenced by OnPostTick(), and OnPreTick().

PendingLoadEpoch

carla::multigpu::SensorStreamRegistry::epoch_type FCarlaEngine::PendingLoadEpoch = 0u

private

Definition at line 283 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPreTick().

PendingLoadMap

FString FCarlaEngine::PendingLoadMap

private

Definition at line 269 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPreTick().

PendingLoadMapExtras

carla::multigpu::LoadMapExtras FCarlaEngine::PendingLoadMapExtras

private

Definition at line 271 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPreTick().

PendingLoadMapId

carla::multigpu::load_map_id_type FCarlaEngine::PendingLoadMapId = 0u

private

Definition at line 288 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPreTick().

PreparedFrame

std::optional<uint64_t> FCarlaEngine::PreparedFrame

private

Definition at line 201 of file CarlaEngine.h.

Referenced by DetachFromPrimary(), NotifyBeginEpisode(), NotifyEndEpisode(), OnBeginFrame(), and OnPreTick().

QueuedFrames

std::atomic<size_t> FCarlaEngine::QueuedFrames {0u}

private

Definition at line 217 of file CarlaEngine.h.

Referenced by DetachFromPrimary(), NotifyEndEpisode(), NotifyInitGame(), OnBeginFrame(), and OnPreTick().

Recorder

ACarlaRecorder* FCarlaEngine::Recorder = nullptr

private

Definition at line 173 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and SetRecorder().

RestoredPoseClasses

TSet<FName> FCarlaEngine::RestoredPoseClasses

private

Definition at line 243 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), and RestorePlayedPoses().

RestoredPoses

uint64_t FCarlaEngine::RestoredPoses = 0u

private

Definition at line 242 of file CarlaEngine.h.

Referenced by NotifyBeginEpisode(), NotifyEndEpisode(), and RestorePlayedPoses().

Secondary

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

private

Definition at line 250 of file CarlaEngine.h.

Referenced by DetachFromPrimary(), NotifyBeginEpisode(), NotifyInitGame(), OnBeginFrame(), SendEpisodeReady(), and ~FCarlaEngine().

SecondaryServer

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

private

Definition at line 249 of file CarlaEngine.h.

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

SensorStreams

carla::multigpu::SensorStreamRegistry FCarlaEngine::SensorStreams

private

Definition at line 247 of file CarlaEngine.h.

Referenced by BindReplayedSensor(), NotifyBeginEpisode(), NotifyEndEpisode(), NotifyInitGame(), OnBeginFrame(), and PlayPrimaryFrame().

Server

FCarlaServer FCarlaEngine::Server

private

Definition at line 165 of file CarlaEngine.h.

Referenced by BindReplayedSensor(), GetServer(), GetServer(), NotifyBeginEpisode(), NotifyEndEpisode(), NotifyInitGame(), OnBeginFrame(), OnEpisodeSettingsChanged(), OnPreTick(), PlayPrimaryFrame(), and WaitForSecondaryEpisodes().

WorldObserver

FWorldObserver FCarlaEngine::WorldObserver

private

Definition at line 167 of file CarlaEngine.h.

Referenced by NotifyInitGame(), and OnPostTick().

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

• CarlaEngine.h
• CarlaEngine.cpp