UZmqSensorBroadcaster

Attribute	Value
Kind	Class
UE Macro	UCLASS
Inherits	UMjZmqComponent
Blueprint Spawnable	✅ Yes

Properties Functions

Properties

Public Properties

Property	Type	Description
ZmqEndpoint	FString

ZmqEndpoint

• Type: FString
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: ZMQ

Private Properties

Property	Type	Description
CachedRecords	TArray<FArticulationBroadcastRecord>	Populated once on the game thread. bCacheBuilt (with acquire/release

CachedRecords

Populated once on the game thread. bCacheBuilt (with acquire/release

• Type: TArray

Functions

Public Functions

General

Function	Returns	Description
TickComponent()	void	Game-thread tick: builds the broadcast cache lazily.
UMjZmqComponent()		Default constructor.
InitZmq()	void	Called to initialize ZMQ sockets/contexts. Runs on Async thread.
ShutdownZmq()	void	Called to shutdown ZMQ resources. Runs on Async thread.
PreStep()	void	Executed before mj_step().
PostStep()	void	Executed after mj_step().

TickComponent

Game-thread tick: builds the broadcast cache lazily.

• Signature: TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)

UMjZmqComponent

Default constructor.

• Signature: UMjZmqComponent()

InitZmq

Called to initialize ZMQ sockets/contexts. Runs on Async thread.

• Signature: InitZmq()

ShutdownZmq

Called to shutdown ZMQ resources. Runs on Async thread.

• Signature: ShutdownZmq()

PreStep

Executed before mj_step().

• Signature: PreStep(mjModel* m, mjData* d)

PostStep

Executed after mj_step().

• Signature: PostStep(mjModel* m, mjData* d)

Private Functions

General

Function	Returns	Description
BuildBroadcastCacheGameThread()	void	Game-thread-only: enumerate articulations + components into CachedRecords.

BuildBroadcastCacheGameThread

Game-thread-only: enumerate articulations + components into CachedRecords.

• Signature: BuildBroadcastCacheGameThread()