conti_radar_message_manager.h

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/******************************************************************************
 * Copyright 2017 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/drivers/canbus/can_client/can_client_factory.h"
#include "modules/drivers/canbus/can_comm/can_sender.h"
#include "modules/drivers/canbus/can_comm/message_manager.h"
#include "modules/common_msgs/sensor_msgs/conti_radar.pb.h"
#include "modules/drivers/radar/conti_radar/protocol/radar_config_200.h"
 
namespace apollo {
namespace drivers {
namespace conti_radar {
 
class ContiRadarMessageManager
    : public apollo::drivers::canbus::MessageManager<ContiRadar> {
 public:
  explicit ContiRadarMessageManager(
      const std::shared_ptr<apollo::cyber::Writer<ContiRadar>> &writer);
  virtual ~ContiRadarMessageManager() {}
  void set_radar_conf(RadarConf radar_conf);
  apollo::drivers::canbus::ProtocolData<ContiRadar> *GetMutableProtocolDataById(
      const uint32_t message_id);
  void Parse(const uint32_t message_id, const uint8_t *data, int32_t length);
  void set_can_client(
      std::shared_ptr<apollo::drivers::canbus::CanClient> can_client);
 
 private:
  bool is_configured_ = false;
  RadarConfig200 radar_config_;
  std::shared_ptr<apollo::drivers::canbus::CanClient> can_client_;
  std::shared_ptr<apollo::cyber::Writer<ContiRadar>> conti_radar_writer_;
};
 
}  // namespace conti_radar
}  // namespace drivers
}  // namespace apollo