hard_brake_trigger.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 <deque>
 
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/data/tools/smart_recorder/proto/smart_recorder_triggers.pb.h"
#include "modules/data/tools/smart_recorder/trigger_base.h"
 
namespace apollo {
namespace data {
 
class HardBrakeTrigger : public TriggerBase {
 public:
  HardBrakeTrigger();
 
  void Pull(const cyber::record::RecordMessage& msg) override;
  bool ShouldRestore(const cyber::record::RecordMessage& msg) const override {
    return false;
  };
 
  virtual ~HardBrakeTrigger() = default;
 
 private:
  bool IsHardBrake() const;
  bool IsNoisy(const float speed) const;
  void EnqueueMessage(const float speed);
 
 private:
  const size_t queue_size_ = 10;
  const float max_delta_ = 10.0f;
  const float noisy_diff_ = 20.0f;
  std::deque<float> history_speed_queue_;
  std::deque<float> current_speed_queue_;
  float history_total_;
  float current_total_;
};
 
}  // namespace data
}  // namespace apollo