third_party_perception_component.cc

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/******************************************************************************
 * Copyright 2018 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.
 *****************************************************************************/
 
#include "modules/third_party_perception/third_party_perception_component.h"
 
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/third_party_perception/proto/third_party_perception_component.pb.h"
 
DECLARE_string(flagfile);
 
namespace apollo {
namespace third_party_perception {
 
bool ThirdPartyPerceptionComponent::Init() {
  apollo::third_party_perception::ThirdPartyPerceptionDevice
      third_party_perception_param;
  if (!GetProtoConfig(&third_party_perception_param)) {
    AINFO << "load third party perception param failed";
    return false;
  }
 
  ThirdPartyPerceptionDeviceType device_type =
      third_party_perception_param.device_type();
 
  if (device_type == ThirdPartyPerceptionDeviceType::SMARTEREYE) {
    perception_ = std::make_shared<ThirdPartyPerceptionSmartereye>(node_.get());
  } else if (device_type == ThirdPartyPerceptionDeviceType::MOBILEYE) {
    perception_ = std::make_shared<ThirdPartyPerceptionMobileye>(node_.get());
  } else {
    perception_ = std::make_shared<ThirdPartyPerception>(node_.get());
  }
 
  if (!perception_->Init().ok()) {
    return false;
  }
 
  writer_ = node_->CreateWriter<apollo::perception::PerceptionObstacles>(
      FLAGS_perception_obstacle_topic);
 
  return perception_->Start().ok();
}
 
bool ThirdPartyPerceptionComponent::Proc() {
  auto response = std::make_shared<apollo::perception::PerceptionObstacles>();
  if (!perception_->Process(response.get())) {
    return false;
  }
  writer_->Write(response);
  return true;
}
 
}  // namespace third_party_perception
}  // namespace apollo