trigger_base.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 <unordered_map>
 
#include "cyber/record/record_message.h"
#include "modules/data/tools/smart_recorder/proto/smart_recorder_triggers.pb.h"
 
namespace apollo {
namespace data {
 
class TriggerBase {
 public:
  TriggerBase() = default;
 
  // Init the trigger using configuration
  virtual bool Init(const SmartRecordTrigger& trigger_conf);
 
  // Decide if the current trigger needs to be caught by input message,
  // and if yes record the time interval
  virtual void Pull(const cyber::record::RecordMessage& msg) = 0;
 
  // Decide if the current message needs to be restored
  virtual bool ShouldRestore(const cyber::record::RecordMessage& msg) const = 0;
 
  const std::string& GetTriggerName() const { return trigger_name_; }
 
  uint64_t SecondsToNanoSeconds(const double seconds) const;
 
  virtual ~TriggerBase() = default;
 
 protected:
  void TriggerIt(const uint64_t msg_time) const;
  uint64_t GetValidValueInRange(const double desired_value,
                                const double min_limit,
                                const double max_limit) const;
 
  std::string trigger_name_;
  std::unique_ptr<Trigger> trigger_obj_ = nullptr;
 
 private:
  void LockTrigger(const SmartRecordTrigger& trigger_conf);
};
 
}  // namespace data
}  // namespace apollo