63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
// 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/Buffer.h"
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#include "carla/Debug.h"
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#include "carla/Memory.h"
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#include "carla/geom/Transform.h"
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#include "carla/geom/Vector3DInt.h"
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#include "carla/sensor/RawData.h"
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#include "carla/sensor/data/ActorDynamicState.h"
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#include <cstdint>
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namespace carla {
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namespace sensor {
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class SensorData;
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namespace s11n {
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/// Serializes the current state of the whole episode.
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class EpisodeStateSerializer {
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public:
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enum SimulationState {
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None = (0x0 << 0),
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MapChange = (0x1 << 0),
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PendingLightUpdate = (0x1 << 1)
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};
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#pragma pack(push, 1)
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struct Header {
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uint64_t episode_id;
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double platform_timestamp;
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float delta_seconds;
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geom::Vector3DInt map_origin;
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SimulationState simulation_state = SimulationState::None;
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};
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#pragma pack(pop)
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constexpr static auto header_offset = sizeof(Header);
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static const Header &DeserializeHeader(const RawData &message) {
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return *reinterpret_cast<const Header *>(message.begin());
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}
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template <typename SensorT>
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static Buffer Serialize(const SensorT &, Buffer &&buffer) {
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return std::move(buffer);
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}
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static SharedPtr<SensorData> Deserialize(RawData &&data);
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};
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} // namespace s11n
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} // namespace sensor
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} // namespace carla
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