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/common_msgs/localization_msgs/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