51 lines
1.3 KiB
C
51 lines
1.3 KiB
C
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// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/client/ClientSideSensor.h"
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#include <atomic>
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namespace carla {
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namespace client {
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class Map;
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class Vehicle;
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class LaneInvasionSensor final : public ClientSideSensor {
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public:
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using ClientSideSensor::ClientSideSensor;
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~LaneInvasionSensor();
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/// Register a @a callback to be executed each time a new measurement is
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/// received.
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///
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/// @warning Calling this function on a sensor that is already listening
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/// steals the data stream from the previously set callback. Note that
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/// several instances of Sensor (even in different processes) may point to
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/// the same sensor in the simulator.
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void Listen(CallbackFunctionType callback) override;
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/// Stop listening for new measurements.
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void Stop() override;
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/// Return whether this Sensor instance is currently listening to the
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/// associated sensor in the simulator.
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bool IsListening() const override {
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return _callback_id != 0u;
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}
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private:
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std::atomic_size_t _callback_id{0u};
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};
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} // namespace client
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} // namespace carla
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