ACustomV2XSensor Class Reference

#include <CustomV2XSensor.h>

Inheritance diagram for ACustomV2XSensor:

Classes
struct	SenderId

Public Member Functions
	ACustomV2XSensor (const FObjectInitializer &ObjectInitializer)
virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override
virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaTime) override
virtual void	PrePhysTick (float DeltaSeconds) override
void	Send (const carla::rpc::CustomV2XBytes &data)
void	Set (const FActorDescription &ActorDescription) override
void	SetOwner (AActor *Owner) override
void	SetPathLossModel (const EPathLossModel path_loss_model)
void	SetPropagationParams (const float TransmitPower, const float ReceiverSensitivity, const float Frequency, const float combined_antenna_gain, const float path_loss_exponent, const float reference_distance_fspl, const float filter_distance, const bool use_etsi_fading, const float custom_fading_stddev)
void	SetScenario (EScenario scenario)
Public Member Functions inherited from ASensor
bool	AreClientsListening ()
	ASensor (const FObjectInitializer &ObjectInitializer)
virtual void	BeginPlay ()
void	ClearReadyToTick ()
std::optional< FActorAttribute >	GetAttribute (const FString Name)
const UCarlaEpisode &	GetEpisode () const
virtual void	GetMirrorState (carla::multigpu::SensorState &State) const
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).
URandomEngine *	GetRandomEngine ()
float	GetReadyToTickDeltaSeconds () const
int32	GetSeed () const
auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream.
bool	IsReadyToTick () const
bool	IsStreamReady ()
FDataStream	MoveDataStream ()
virtual void	OnFirstClientConnected ()
virtual void	OnLastClientDisconnected ()
void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)
void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor.
void	SetEpisode (const UCarlaEpisode &InEpisode)
virtual void	SetMirrorState (const carla::multigpu::SensorState &State)
void	SetPrimaryTick (float DeltaSeconds)
	Multi-GPU secondary: tick in this engine frame, with the primary's delta.
void	SetSavingDataToDisk (bool bSavingData)
void	SetSeed (int32 InSeed)
void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()
Static Public Member Functions inherited from ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

Private Types
using	ActorV2XDataMap = std::map< SenderId, V2XDataList >
using	FV2XData = carla::sensor::data::CustomV2XDataS
using	V2XDataList = std::list< carla::sensor::data::CustomV2XData >

Private Member Functions
SenderId	GetSenderId ()
void	UpdateStationId ()

Private Attributes
std::string	mChannelId
const long	mMessageId = ITSContainer::messageID_custom
const long	mProtocolVersion = 2
long	mStationId {0}
std::unique_ptr< PathLossModel >	PathLossModelObj

Static Private Attributes
static ActorV2XDataMap	gActorV2XDataMap
static ActorV2XDataMap	gActorV2XDataMapNextFrame
static std::mutex	v2xDataLock

Additional Inherited Members
Protected Member Functions inherited from ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override
template<typename SensorType >
FAsyncDataStream	GetDataStream (SensorType &&Self)
	Return the FDataStream associated with this sensor.
void	PostActorCreated () override
Static Protected Member Functions inherited from ASensor
template<typename SensorType , typename ElementType >
static void	SendDataToClient (SensorType &&Sensor, TArrayView< ElementType > SensorData, const FSensorCaptureContext &CaptureContext)
Protected Attributes inherited from ASensor
bool	bIsActive = false
bool	bSavingDataToDisk = false
URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output.
int32	Seed = 123456789
	Seed of the pseudo-random engine.

Detailed Description

Definition at line 22 of file CustomV2XSensor.h.

Member Typedef Documentation

ActorV2XDataMap

using ACustomV2XSensor::ActorV2XDataMap = std::map<SenderId, V2XDataList>

private

Definition at line 41 of file CustomV2XSensor.h.

FV2XData

using ACustomV2XSensor::FV2XData = carla::sensor::data::CustomV2XDataS

private

Definition at line 26 of file CustomV2XSensor.h.

V2XDataList

using ACustomV2XSensor::V2XDataList = std::list<carla::sensor::data::CustomV2XData>

private

Definition at line 27 of file CustomV2XSensor.h.

Constructor & Destructor Documentation

ACustomV2XSensor()

ACustomV2XSensor::ACustomV2XSensor

(

const FObjectInitializer &

ObjectInitializer

)

Definition at line 24 of file CustomV2XSensor.cpp.

References PathLossModelObj, and ASensor::RandomEngine.

Member Function Documentation

EndPlay()

void ACustomV2XSensor::EndPlay ( const EEndPlayReason::Type  EndPlayReason )

overridevirtual

Definition at line 47 of file CustomV2XSensor.cpp.

References gActorV2XDataMap, gActorV2XDataMapNextFrame, GetSenderId(), and v2xDataLock.

GetSenderId()

SenderId ACustomV2XSensor::GetSenderId ( )

inlineprivate

Definition at line 69 of file CustomV2XSensor.h.

Referenced by EndPlay(), PrePhysTick(), and Send().

GetSensorDefinition()

FActorDefinition ACustomV2XSensor::GetSensorDefinition ( )

static

Definition at line 73 of file CustomV2XSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeCustomV2XDefinition().

PostPhysTick()

void ACustomV2XSensor::PostPhysTick ( UWorld *  World, ELevelTick  TickType, float  DeltaTime  )

overridevirtual

Reimplemented from ASensor.

Definition at line 155 of file CustomV2XSensor.cpp.

References gActorV2XDataMap, UCarlaStatics::GetCurrentEpisode(), ASensor::GetDataStream(), carla::sensor::data::CustomV2XDataS::GetMessageCount(), mChannelId, carla::sensor::data::CustomV2XData::Message, PathLossModelObj, PostPhysTick(), carla::sensor::data::CustomV2XData::Power, v2xDataLock, and carla::sensor::data::CustomV2XDataS::WriteMessage().

Referenced by PostPhysTick().

PrePhysTick()

void ACustomV2XSensor::PrePhysTick ( float  DeltaSeconds )

overridevirtual

Reimplemented from ASensor.

Definition at line 119 of file CustomV2XSensor.cpp.

References first, gActorV2XDataMap, gActorV2XDataMapNextFrame, GetSenderId(), and v2xDataLock.

Send()

void ACustomV2XSensor::Send

(

const carla::rpc::CustomV2XBytes &

data

)

Definition at line 224 of file CustomV2XSensor.cpp.

References CustomV2XM::data, first, gActorV2XDataMapNextFrame, GetSenderId(), CustomV2XM::header, carla::sensor::data::CustomV2XData::Message, ITSContainer::ItsPduHeader::messageID, mMessageId, mProtocolVersion, mStationId, PathLossModelObj, carla::sensor::data::CustomV2XData::Power, ITSContainer::ItsPduHeader::protocolVersion, ITSContainer::ItsPduHeader::stationID, UpdateStationId(), and v2xDataLock.

Referenced by FCarlaServer::FPimpl::BindActions().

Set()

void ACustomV2XSensor::Set ( const FActorDescription &  ActorDescription )

overridevirtual

Reimplemented from ASensor.

Definition at line 79 of file CustomV2XSensor.cpp.

References mChannelId, UActorBlueprintFunctionLibrary::SetCustomV2X(), and FActorDescription::Variations.

SetOwner()

void ACustomV2XSensor::SetOwner ( AActor *  Owner )

override

Definition at line 34 of file CustomV2XSensor.cpp.

References UCarlaEpisode::FindCarlaActor(), FCarlaActor::GetActorId(), UCarlaStatics::GetCurrentEpisode(), and mStationId.

SetPathLossModel()

void ACustomV2XSensor::SetPathLossModel

(

const EPathLossModel

path_loss_model

)

Definition at line 105 of file CustomV2XSensor.cpp.

References PathLossModelObj.

Referenced by UActorBlueprintFunctionLibrary::SetCustomV2X().

SetPropagationParams()

void ACustomV2XSensor::SetPropagationParams	(	const float	TransmitPower,
		const float	ReceiverSensitivity,
		const float	Frequency,
		const float	combined_antenna_gain,
		const float	path_loss_exponent,
		const float	reference_distance_fspl,
		const float	filter_distance,
		const bool	use_etsi_fading,
		const float	custom_fading_stddev
	)

Definition at line 91 of file CustomV2XSensor.cpp.

References PathLossModelObj.

Referenced by UActorBlueprintFunctionLibrary::SetCustomV2X().

SetScenario()

void ACustomV2XSensor::SetScenario

(

EScenario

scenario

)

Definition at line 109 of file CustomV2XSensor.cpp.

References PathLossModelObj.

Referenced by UActorBlueprintFunctionLibrary::SetCustomV2X().

UpdateStationId()

void ACustomV2XSensor::UpdateStationId ( )

private

Definition at line 62 of file CustomV2XSensor.cpp.

References UCarlaEpisode::FindCarlaActor(), FCarlaActor::GetActorId(), UCarlaStatics::GetCurrentEpisode(), and mStationId.

Referenced by Send().

Member Data Documentation

gActorV2XDataMap

ACustomV2XSensor::ActorV2XDataMap ACustomV2XSensor::gActorV2XDataMap

staticprivate

Definition at line 76 of file CustomV2XSensor.h.

Referenced by EndPlay(), PostPhysTick(), and PrePhysTick().

gActorV2XDataMapNextFrame

ACustomV2XSensor::ActorV2XDataMap ACustomV2XSensor::gActorV2XDataMapNextFrame

staticprivate

Definition at line 75 of file CustomV2XSensor.h.

Referenced by EndPlay(), PrePhysTick(), and Send().

mChannelId

std::string ACustomV2XSensor::mChannelId

private

Definition at line 83 of file CustomV2XSensor.h.

Referenced by PostPhysTick(), and Set().

mMessageId

const long ACustomV2XSensor::mMessageId = ITSContainer::messageID_custom

private

Definition at line 81 of file CustomV2XSensor.h.

Referenced by Send().

mProtocolVersion

const long ACustomV2XSensor::mProtocolVersion = 2

private

Definition at line 80 of file CustomV2XSensor.h.

Referenced by Send().

mStationId

long ACustomV2XSensor::mStationId {0}

private

Definition at line 82 of file CustomV2XSensor.h.

Referenced by Send(), SetOwner(), and UpdateStationId().

PathLossModelObj

std::unique_ptr<PathLossModel> ACustomV2XSensor::PathLossModelObj

private

Definition at line 78 of file CustomV2XSensor.h.

Referenced by ACustomV2XSensor(), PostPhysTick(), Send(), SetPathLossModel(), SetPropagationParams(), and SetScenario().

v2xDataLock

std::mutex ACustomV2XSensor::v2xDataLock

staticprivate

Definition at line 74 of file CustomV2XSensor.h.

Referenced by EndPlay(), PostPhysTick(), PrePhysTick(), and Send().

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

• CustomV2XSensor.h
• CustomV2XSensor.cpp