CustomV2XSensor.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/Sensor/Sensor.h"
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Actor/ActorDescription.h"
#include <carla/sensor/data/V2XData.h>
#include "V2X/PathLossModel.h"
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include "CustomV2XSensor.generated.h"
 
 
UCLASS()
class CARLA_API ACustomV2XSensor : public ASensor
{
    GENERATED_BODY()
 
    using FV2XData = carla::sensor::data::CustomV2XDataS;
    using V2XDataList = std::list<carla::sensor::data::CustomV2XData>;
    struct SenderId {
        AActor * Actor;
        std::string ChannelId;
 
        bool operator < (const SenderId & other) const { 
            if ( Actor != other.Actor ) {
                return Actor < other.Actor;
            }
            else {
                return ChannelId < other.ChannelId;
            }
        }
    };
    using ActorV2XDataMap = std::map<SenderId, V2XDataList>;
 
public:
    ACustomV2XSensor(const FObjectInitializer &ObjectInitializer);
 
    static FActorDefinition GetSensorDefinition();
 
    void Set(const FActorDescription &ActorDescription) override;
    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);
    void SetPathLossModel(const EPathLossModel path_loss_model);
    
    virtual void PrePhysTick(float DeltaSeconds) override;
    virtual void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime) override;
    void SetOwner(AActor *Owner) override;
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
    void Send(const carla::rpc::CustomV2XBytes &data);
 
private:
    SenderId GetSenderId() { return {this, mChannelId}; }
    
    // infrastructure stationID cannot be dermined before sending data, because on construction time the CARLA Actor is not yet created
    void UpdateStationId();
    // global data
    static std::mutex v2xDataLock;
    static ActorV2XDataMap gActorV2XDataMapNextFrame;
    static ActorV2XDataMap gActorV2XDataMap;
 
    std::unique_ptr<PathLossModel> PathLossModelObj;
 
    const long mProtocolVersion = 2;
    const long mMessageId = ITSContainer::messageID_custom;
    long mStationId {0};
    std::string mChannelId;
};