71 lines
1.8 KiB
C
71 lines
1.8 KiB
C
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// Copyright (c) 2017 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/Sensor.h"
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#include <bitset>
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namespace carla {
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namespace client {
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class ServerSideSensor final : public Sensor {
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public:
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using Sensor::Sensor;
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~ServerSideSensor();
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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 listening_mask.test(0);
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}
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/// Listen fr
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void ListenToGBuffer(uint32_t GBufferId, CallbackFunctionType callback);
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/// Stop listening for a specific gbuffer stream.
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void StopGBuffer(uint32_t GBufferId);
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inline bool IsListeningGBuffer(uint32_t id) const {
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return listening_mask.test(id + 1);
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}
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/// Enable this sensor for ROS2 publishing
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void EnableForROS();
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/// Disable this sensor for ROS2 publishing
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void DisableForROS();
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/// Return if the sensor is publishing for ROS2
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bool IsEnabledForROS();
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/// @copydoc Actor::Destroy()
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///
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/// Additionally stop listening.
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bool Destroy() override;
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private:
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std::bitset<16> listening_mask;
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};
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} // namespace client
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} // namespace carla
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