lidar_output_component.h

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/******************************************************************************
 * Copyright 2023 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 <atomic>
#include <limits>
#include <memory>
#include <string>
#include <queue>
 
#include <boost/filesystem.hpp>
 
#include "modules/common_msgs/perception_msgs/perception_benchmark.pb.h"
#include "modules/perception/lidar_output/proto/lidar_output_component_config.pb.h"
 
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "cyber/component/component.h"
#include "modules/perception/common/onboard/inner_component_messages/lidar_inner_component_messages.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
using onboard::LidarFrameMessage;
using onboard::SensorFrameMessage;
 
class LidarOutputComponent : public cyber::Component<SensorFrameMessage> {
 public:
  LidarOutputComponent() {}
  virtual ~LidarOutputComponent();
  bool Init() override;
  bool Proc(const std::shared_ptr<SensorFrameMessage>& message) override;
 
  bool SaveBenchmarkFrame(const std::shared_ptr<SensorFrameMessage>& message);
 
  bool SaveBenchmarkLidarFrame(
      const std::shared_ptr<LidarFrameMessage>& message);
 
  void BenchmarkThreadFunc();
 
 private:
  std::string output_channel_name_;
  std::shared_ptr<apollo::cyber::Writer<PerceptionObstacles>> writer_;
  // for saving benchmark frame
  bool save_benchmark_frame_ = false;
  std::string benchmark_frame_output_dir_;
  std::mutex benchmark_mutex_;
  std::atomic<bool> is_terminate_;
  std::queue<std::shared_ptr<SensorFrameMessage>> message_buffer_;
  std::unique_ptr<std::thread> benchmark_thread_;
 
  std::string lidar_frame_output_dir_;
  std::shared_ptr<apollo::cyber::Reader<LidarFrameMessage>> lidar_frame_reader_;
  bool use_lidar_cooridinate_ = false;
  bool timestamp_two_decimal_format_ = false;
};
 
CYBER_REGISTER_COMPONENT(LidarOutputComponent);
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo