hesai_convert_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
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#pragma once

#include <memory>
#include <string>

#include "modules/drivers/lidar/proto/hesai.pb.h"
#include "modules/drivers/lidar/proto/hesai_config.pb.h"

#include "cyber/cyber.h"
#include "modules/drivers/lidar/hesai/parser/parser_factory.h"

namespace apollo {
namespace drivers {
namespace hesai {

class HesaiConvertComponent : public ::apollo::cyber::Component<HesaiScan> {
 public:
  virtual ~HesaiConvertComponent() = default;
  bool Init() override;

  bool Proc(const std::shared_ptr<HesaiScan>& scan) override;

 private:
  std::shared_ptr<Parser> parser_;
  Config conf_;
};

CYBER_REGISTER_COMPONENT(HesaiConvertComponent)

}  // namespace hesai
}  // namespace drivers
}  // namespace apollo