A streaming channel for sending sensor data to clients, supports sending data asynchronously. More...

#include <AsyncDataStream.h>

Public Types
using	StreamType = T

Public Member Functions
	FAsyncDataStreamTmpl (FAsyncDataStreamTmpl &&)=default

double	GetSensorTimestamp ()
	return the timestamp of the sensor

FTransform	GetSensorTransform ()
	return the transform of the sensor

uint64_t	GetSensorType ()
	return the type of sensor of this stream

auto	GetToken () const
	Return the token that allows subscribing to this stream.

carla::Buffer	PopBufferFromPool ()
	Pop a Buffer from the pool.

template<typename SensorT , typename... ArgsT>
void	Send (SensorT &Sensor, ArgsT &&... Args)
	Send some data down the stream.

template<typename SensorT , typename... ArgsT>
void	SerializeAndSend (SensorT &Sensor, ArgsT &&... Args)

void	SetFrameNumber (uint64_t FrameNumber)
	allow to change the frame number of the header

void	SetTimestamp (double Timestamp)
	allow to change the timestamp of the header

void	SetTransform (carla::rpc::Transform Transform)
	allow to change the transform of the header

Private Member Functions
template<typename SensorT >
	FAsyncDataStreamTmpl (const SensorT &InSensor, double Timestamp, StreamType InStream)

Private Attributes
carla::Buffer	Header

StreamType	Stream

Friends
class	FDataStreamTmpl< T >

Detailed Description

template<typename T>
class FAsyncDataStreamTmpl< T >

A streaming channel for sending sensor data to clients, supports sending data asynchronously.

Data sent by the "Send" functions is passed to the serializer registered with the sensor at carla::sensor:SensorRegistry before being sent down the stream.

Warning: This is a single-use object, a new one needs to be created for each new message.

FAsyncDataStream also has a pool of carla::Buffer that allows reusing the allocated memory, use it whenever possible.

Definition at line 37 of file AsyncDataStream.h.

Member Typedef Documentation

◆ StreamType

template<typename T >

using FAsyncDataStreamTmpl< T >::StreamType = T

Definition at line 41 of file AsyncDataStream.h.

Constructor & Destructor Documentation

◆ FAsyncDataStreamTmpl() [1/2]

template<typename T >

FAsyncDataStreamTmpl< T >::FAsyncDataStreamTmpl ( FAsyncDataStreamTmpl< T > && )

default

◆ FAsyncDataStreamTmpl() [2/2]

template<typename T >

template<typename SensorT >

FAsyncDataStreamTmpl< T >::FAsyncDataStreamTmpl	(	const SensorT &	InSensor,
		double	Timestamp,
		StreamType	InStream
	)

inlineexplicitprivate

Precondition: This functions needs to be called in the game-thread.

Definition at line 18 of file AsyncDataStreamImpl.h.

References FCarlaEngine::GetFrameCounter().

Member Function Documentation

◆ GetSensorTimestamp()

template<typename T >

double FAsyncDataStreamTmpl< T >::GetSensorTimestamp ( )

inline

return the timestamp of the sensor

Definition at line 136 of file AsyncDataStream.h.

◆ GetSensorTransform()

template<typename T >

FTransform FAsyncDataStreamTmpl< T >::GetSensorTransform ( )

inline

return the transform of the sensor

Definition at line 124 of file AsyncDataStream.h.

References carla::Buffer::data(), FAsyncDataStreamTmpl< T >::Header, and carla::sensor::s11n::SensorHeaderSerializer::Header::sensor_transform.

◆ GetSensorType()

template<typename T >

uint64_t FAsyncDataStreamTmpl< T >::GetSensorType ( )

inline

return the type of sensor of this stream

Definition at line 112 of file AsyncDataStream.h.

References carla::Buffer::data(), FAsyncDataStreamTmpl< T >::Header, and carla::sensor::s11n::SensorHeaderSerializer::Header::sensor_type.

◆ GetToken()

template<typename T >

auto FAsyncDataStreamTmpl< T >::GetToken ( ) const

inline

Return the token that allows subscribing to this stream.

Definition at line 46 of file AsyncDataStream.h.

References FAsyncDataStreamTmpl< T >::Stream.

◆ PopBufferFromPool()

template<typename T >

carla::Buffer FAsyncDataStreamTmpl< T >::PopBufferFromPool ( )

inline

Pop a Buffer from the pool.

Buffers in the pool can reuse the memory allocated by previous messages, significantly improving performance for big messages.

Definition at line 54 of file AsyncDataStream.h.

References FAsyncDataStreamTmpl< T >::Stream.

◆ Send()

template<typename T >

template<typename SensorT , typename... ArgsT>

void FAsyncDataStreamTmpl< T >::Send	(	SensorT &	Sensor,
		ArgsT &&...	Args
	)

inline

Send some data down the stream.

Definition at line 192 of file AsyncDataStream.h.

References carla::BufferView::CreateFrom(), and FDataStreamTmpl< T >::Stream.

◆ SerializeAndSend()

template<typename T >

template<typename SensorT , typename... ArgsT>

void FAsyncDataStreamTmpl< T >::SerializeAndSend	(	SensorT &	Sensor,
		ArgsT &&...	Args
	)

inline

Definition at line 177 of file AsyncDataStream.h.

References carla::BufferView::CreateFrom(), carla::sensor::CompositeSerializer< Items >::Serialize(), and FDataStreamTmpl< T >::Stream.

Referenced by ACollisionSensor::OnCollisionEvent().

◆ SetFrameNumber()

template<typename T >

void FAsyncDataStreamTmpl< T >::SetFrameNumber ( uint64_t FrameNumber )

inline

allow to change the frame number of the header

Definition at line 67 of file AsyncDataStream.h.

References carla::Buffer::data(), carla::sensor::s11n::SensorHeaderSerializer::Header::frame, FAsyncDataStreamTmpl< T >::Header, carla::log_info(), and carla::sensor::s11n::SensorHeaderSerializer::Header::sensor_type.

◆ SetTimestamp()

template<typename T >

void FAsyncDataStreamTmpl< T >::SetTimestamp ( double Timestamp )

inline

allow to change the timestamp of the header

Definition at line 82 of file AsyncDataStream.h.

References carla::Buffer::data(), FAsyncDataStreamTmpl< T >::Header, carla::log_info(), carla::sensor::s11n::SensorHeaderSerializer::Header::sensor_type, and carla::sensor::s11n::SensorHeaderSerializer::Header::timestamp.

◆ SetTransform()

template<typename T >

void FAsyncDataStreamTmpl< T >::SetTransform ( carla::rpc::Transform Transform )

inline

allow to change the transform of the header

Definition at line 97 of file AsyncDataStream.h.

References carla::Buffer::data(), FAsyncDataStreamTmpl< T >::Header, carla::log_info(), carla::sensor::s11n::SensorHeaderSerializer::Header::sensor_transform, and carla::sensor::s11n::SensorHeaderSerializer::Header::sensor_type.

Friends And Related Symbol Documentation

◆ FDataStreamTmpl< T >

template<typename T >

friend class FDataStreamTmpl< T >

friend

Definition at line 136 of file AsyncDataStream.h.

Member Data Documentation

◆ Header

template<typename T >

carla::Buffer FAsyncDataStreamTmpl< T >::Header

private

Definition at line 160 of file AsyncDataStream.h.

Referenced by FAsyncDataStreamTmpl< T >::GetSensorTransform(), FAsyncDataStreamTmpl< T >::GetSensorType(), FAsyncDataStreamTmpl< T >::SetFrameNumber(), FAsyncDataStreamTmpl< T >::SetTimestamp(), and FAsyncDataStreamTmpl< T >::SetTransform().

◆ Stream

template<typename T >

StreamType FAsyncDataStreamTmpl< T >::Stream

private

Definition at line 158 of file AsyncDataStream.h.

Referenced by FAsyncDataStreamTmpl< T >::GetToken(), and FAsyncDataStreamTmpl< T >::PopBufferFromPool().

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ StreamType

Constructor & Destructor Documentation

◆ FAsyncDataStreamTmpl() [1/2]

◆ FAsyncDataStreamTmpl() [2/2]

Member Function Documentation

◆ GetSensorTimestamp()

◆ GetSensorTransform()

◆ GetSensorType()

◆ GetToken()

◆ PopBufferFromPool()

◆ Send()

◆ SerializeAndSend()

◆ SetFrameNumber()

◆ SetTimestamp()

◆ SetTransform()

Friends And Related Symbol Documentation

◆ FDataStreamTmpl< T >

Member Data Documentation

◆ Header

◆ Stream