ActorDispatcher.h

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// Copyright (c) 2017 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/Actor/ActorDefinition.h"
#include "Carla/Actor/ActorDescription.h"
#include "Carla/Actor/ActorRegistry.h"
#include "Carla/Actor/ActorSpawnResult.h"
 
#include "Containers/Array.h"
#include "Templates/Function.h"
 
#include "ActorDispatcher.generated.h"
 
class ACarlaActorFactory;
 
/// Object in charge of binding ActorDefinitions to spawn functions, as well as
/// keeping the registry of all the actors spawned.
UCLASS()
class CARLA_API UActorDispatcher : public UObject
{
  GENERATED_BODY()
 
public:
 
  using SpawnFunctionType = TFunction<FActorSpawnResult(const FTransform &, const FActorDescription &)>;
 
  /// Bind a definition to a spawn function. When SpawnActor is called with a
  /// matching description @a Functor is called.
  ///
  /// @warning Invalid definitions are ignored.
  void Bind(FActorDefinition Definition, SpawnFunctionType SpawnFunction);
 
  /// Bind all the definitions of @a ActorFactory to its spawn function.
  ///
  /// @warning Invalid definitions are ignored.
  void Bind(ACarlaActorFactory &ActorFactory);
 
  /// Spawns an actor based on @a ActorDescription at @a Transform. To properly
  /// despawn an actor created with this function call DestroyActor.
  ///
  /// @return A pair containing the result of the spawn function and a view over
  /// the actor and its properties. If the status is different of Success the
  /// view is invalid.
  TPair<EActorSpawnResultStatus, FCarlaActor*> SpawnActor(
      const FTransform &Transform,
      FActorDescription ActorDescription,
      FCarlaActor::IdType DesiredId = 0);
 
  /// ReSpawns an actor based on @a ActorDescription at @a Transform. To properly
  /// despawn an actor created with this function call DestroyActor.
  /// Used to respawn dormant actors.
  ///
  /// @return The actor to be respawned
  AActor* ReSpawnActor(
      const FTransform &Transform,
      FActorDescription ActorDescription);
 
  void PutActorToSleep(FCarlaActor::IdType Id, UCarlaEpisode* CarlaEpisode);
 
  void WakeActorUp(FCarlaActor::IdType Id, UCarlaEpisode* CarlaEpisode);
 
  /// Destroys an actor, properly removing it from the registry.
  ///
  /// Return true if the @a Actor is destroyed or already marked for
  /// destruction, false if indestructible or nullptr.
  //bool DestroyActor(AActor *Actor);
 
  bool DestroyActor(FCarlaActor::IdType ActorId);
 
  /// Register an actor that was not created using "SpawnActor" function but
  /// that should be kept in the registry.
  FCarlaActor* RegisterActor(
      AActor &Actor,
      FActorDescription ActorDescription,
      FActorRegistry::IdType DesiredId = 0);
 
  const TArray<FActorDefinition> &GetActorDefinitions() const
  {
    return Definitions;
  }
 
  const FActorRegistry &GetActorRegistry() const
  {
    return Registry;
  }
 
  FActorRegistry &GetActorRegistry()
  {
    return Registry;
  }
 
private:
 
  UFUNCTION()
  void OnActorDestroyed(AActor *Actor);
 
  TArray<FActorDefinition> Definitions;
 
  TArray<SpawnFunctionType> SpawnFunctions;
 
  TArray<TSubclassOf<AActor>> Classes;
 
  FActorRegistry Registry;
 
};