robosense_driver_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 <list>
#include <memory>
#include <string>
#include <thread>

#include "cyber/cyber.h"
#include "modules/drivers/lidar/robosense/driver/driver.h"

namespace apollo {
namespace drivers {
namespace robosense {

using apollo::cyber::Component;

class RobosenseComponent : public Component<> {
 public:
  ~RobosenseComponent() {}
  bool Init() override {
    if (!GetProtoConfig(&conf_)) {
      AERROR << "load config error, file:" << config_file_path_;
      return false;
    }
    driver_.reset(new RobosenseDriver(node_, conf_));
    if (!driver_->Init()) {
      AERROR << "driver init error";
      return false;
    }
    return true;
  }

 private:
  std::shared_ptr<RobosenseDriver> driver_;
  Config conf_;
};

CYBER_REGISTER_COMPONENT(RobosenseComponent)

}  // namespace robosense
}  // namespace drivers
}  // namespace apollo