ultrasonic_radar_canbus.h

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/******************************************************************************
 * Copyright 2018 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 <utility>
#include <vector>

#include "cyber/common/macros.h"

#include "cyber/time/time.h"
#include "modules/common/monitor_log/monitor_log_buffer.h"
#include "modules/common/status/status.h"
#include "modules/drivers/canbus/can_client/can_client.h"
#include "modules/drivers/canbus/can_client/can_client_factory.h"
#include "modules/drivers/canbus/can_comm/can_receiver.h"
#include "modules/drivers/canbus/can_comm/can_sender.h"
#include "modules/drivers/canbus/can_comm/message_manager.h"
#include "modules/drivers/canbus/proto/can_card_parameter.pb.h"
#include "modules/drivers/canbus/proto/sensor_canbus_conf.pb.h"
#include "modules/drivers/canbus/sensor_gflags.h"
#include "modules/drivers/proto/ultrasonic_radar.pb.h"
#include "modules/drivers/radar/ultrasonic_radar/proto/ultrasonic_radar_conf.pb.h"
#include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_message_manager.h"

namespace apollo {
namespace drivers {
namespace ultrasonic_radar {

using apollo::common::ErrorCode;
using apollo::common::Status;
using apollo::common::monitor::MonitorMessageItem;
using apollo::cyber::Time;
using apollo::drivers::canbus::CanClient;
using apollo::drivers::canbus::CanClientFactory;
using apollo::drivers::canbus::CanReceiver;
using apollo::drivers::canbus::SenderMessage;
using apollo::drivers::canbus::SensorCanbusConf;

class UltrasonicRadarCanbus {
 public:
  UltrasonicRadarCanbus();
  ~UltrasonicRadarCanbus();

  std::string Name() const;

  apollo::common::Status Init(
      const std::string& config_path,
      const std::shared_ptr<::apollo::cyber::Writer<Ultrasonic>>& writer);

  apollo::common::Status Start();

 private:
  Status OnError(const std::string& error_msg);
  void RegisterCanClients();

  UltrasonicRadarConf ultrasonic_radar_conf_;
  std::shared_ptr<CanClient> can_client_;
  CanReceiver<Ultrasonic> can_receiver_;
  std::unique_ptr<UltrasonicRadarMessageManager> sensor_message_manager_;

  int64_t last_timestamp_ = 0;
  apollo::common::monitor::MonitorLogBuffer monitor_logger_buffer_;
};

}  // namespace ultrasonic_radar
}  // namespace drivers
}  // namespace apollo