audio_component.h

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/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include <memory>
#include <string>

#include "cyber/component/component.h"
#include "modules/audio/common/message_process.h"
#include "modules/localization/proto/localization.pb.h"

namespace apollo {
namespace audio {

class AudioComponent
    : public cyber::Component<apollo::drivers::microphone::config::AudioData> {
 public:
  ~AudioComponent();

  std::string Name() const;

  bool Init() override;

  bool Proc(
      const std::shared_ptr<apollo::drivers::microphone::config::AudioData>&)
      override;

 private:
  std::shared_ptr<cyber::Reader<localization::LocalizationEstimate>>
      localization_reader_;

  std::shared_ptr<cyber::Writer<AudioDetection>> audio_writer_;

  AudioInfo audio_info_;

  DirectionDetection direction_detection_;
  MovingDetection moving_detection_;
  SirenDetection siren_detection_;
  std::string respeaker_extrinsics_file_;
};

CYBER_REGISTER_COMPONENT(AudioComponent)

}  // namespace audio
}  // namespace apollo