frame_manager.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 <string>
 
#include "cyber/common/macros.h"
#include "modules/common/monitor_log/monitor_log_buffer.h"
 
namespace apollo {
namespace storytelling {
 
class FrameManager {
 public:
  FrameManager() = delete;
  explicit FrameManager(const std::shared_ptr<cyber::Node>& node);
 
  void StartFrame();
  void EndFrame();
 
  // Getters.
  apollo::common::monitor::MonitorLogBuffer& LogBuffer() { return log_buffer_; }
 
  // Cyber reader / writer creator.
  template <class T>
  std::shared_ptr<cyber::Reader<T>> CreateOrGetReader(
      const std::string& channel) {
    auto reader = node_->GetReader<T>(channel);
    return reader != nullptr ? reader : node_->CreateReader<T>(channel);
  }
 
  template <class T>
  std::shared_ptr<cyber::Writer<T>> CreateWriter(const std::string& channel) {
    return node_->CreateWriter<T>(channel);
  }
 
 private:
  apollo::common::monitor::MonitorLogBuffer log_buffer_;
  std::shared_ptr<cyber::Node> node_;
};
 
}  // namespace storytelling
}  // namespace apollo