worker_cyber_node.h

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/******************************************************************************
 * Copyright 2019 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 "cyber/cyber.h"
#include "modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h"
 
namespace apollo {
namespace hdmap {
 
class MapDataCheckerAgent;
 
class MapDataCheckerCyberNode
    : public std::enable_shared_from_this<MapDataCheckerCyberNode> {
 public:
  using GnssBestPose_t = apollo::drivers::gnss::GnssBestPose;
 
 public:
  MapDataCheckerCyberNode(std::shared_ptr<MapDataCheckerAgent> agent,
                          bool *init_success);
 
  inline std::shared_ptr<MapDataCheckerCyberNode> GetWorkerCyberNode() {
    return shared_from_this();
  }
 
 private:
  int CreateChannelSubscriber();
 
 private:
  std::shared_ptr<apollo::cyber::Node> node_ = nullptr;
  std::shared_ptr<apollo::cyber::Reader<GnssBestPose_t>> bestgnsspos_reader_ =
      nullptr;
  std::shared_ptr<MapDataCheckerAgent> agent_ = nullptr;
};
 
}  // namespace hdmap
}  // namespace apollo