oculii_radar_component.h

浏览该文件的文档.

/******************************************************************************
 * 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 <future>
#include <memory>
#include <vector>
 
#include "cyber/cyber.h"
#include "modules/common_msgs/sensor_msgs/oculii_radar.pb.h"
#include "modules/drivers/radar/oculii_radar/proto/oculii_radar_conf.pb.h"
#include "modules/drivers/radar/oculii_radar/parser/oculii_radar_udp_parser.h"
 
namespace apollo {
namespace drivers {
namespace radar {
 
using apollo::cyber::Component;
using apollo::cyber::Writer;
using apollo::drivers::OculiiPointCloud;
using apollo::drivers::oculii_radar::OculiiRadarConf;
 
class OculiiRadarComponent : public Component<> {
 public:
  bool Init() override;
  ~OculiiRadarComponent();
 
 private:
  void run();
 
  std::shared_ptr<Writer<OculiiPointCloud>> writer_ = nullptr;
  std::unique_ptr<OculiiRadarUdpParser> parser_;
  std::shared_ptr<OculiiRadarConf> config_;
 
  std::future<void> async_result_;
  std::atomic<bool> running_ = {false};
 
  float frame_drop_interval_;
  uint64_t last_process_time_;
};
 
CYBER_REGISTER_COMPONENT(OculiiRadarComponent)
}  // namespace radar
}  // namespace drivers
}  // namespace apollo