32 {
34 return;
35 }
36 if (msg.channel_name == FLAGS_chassis_topic) {
38 chassis_msg.ParseFromString(msg.content);
39 bool is_front_bumper_trigger = false;
40 bool is_back_bumper_trigger = false;
41
42 if (chassis_msg.has_front_bumper_event()) {
44 is_front_bumper_trigger = true;
45 }
46 }
47 if (chassis_msg.has_back_bumper_event()) {
49 is_back_bumper_trigger = true;
50 }
51 }
52 bool check_event_trigger
53 = is_front_bumper_trigger || is_back_bumper_trigger;
54
55 if (check_event_trigger && (!previous_check_event_trigger_)) {
56 AINFO <<
"Chassis has crash event.";
57 AINFO <<
"crash bumper trigger is pulled: " << msg.time <<
" - "
58 << msg.channel_name;
60 }
61 previous_check_event_trigger_ = check_event_trigger;
62 }
63}
std::unique_ptr< Trigger > trigger_obj_
void TriggerIt(const uint64_t msg_time) const
optional BumperEvent front_bumper_event
optional BumperEvent back_bumper_event