udp_bridge_sender_component.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 <netinet/in.h>
#include <sys/socket.h>
 
#include <cstdlib>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
 
#include "modules/bridge/proto/udp_bridge_remote_info.pb.h"
#include "modules/common_msgs/planning_msgs/planning.pb.h"
 
#include "cyber/class_loader/class_loader.h"
#include "cyber/component/component.h"
#include "cyber/cyber.h"
#include "cyber/init.h"
#include "cyber/io/session.h"
#include "cyber/scheduler/scheduler_factory.h"
#include "modules/bridge/common/bridge_gflags.h"
#include "modules/common/monitor_log/monitor_log_buffer.h"
#include "modules/common/util/util.h"
 
namespace apollo {
namespace bridge {
 
#define BRIDGE_COMPONENT_REGISTER(pb_msg) \
  CYBER_REGISTER_COMPONENT(UDPBridgeSenderComponent<pb_msg>)
 
template <typename T>
class UDPBridgeSenderComponent final : public cyber::Component<T> {
 public:
  UDPBridgeSenderComponent()
      : monitor_logger_buffer_(common::monitor::MonitorMessageItem::CONTROL) {}
 
  bool Init() override;
  bool Proc(const std::shared_ptr<T> &pb_msg) override;
 
  std::string Name() const { return FLAGS_bridge_module_name; }
 
 private:
  common::monitor::MonitorLogBuffer monitor_logger_buffer_;
  unsigned int remote_port_ = 0;
  std::string remote_ip_ = "";
  std::string proto_name_ = "";
  std::mutex mutex_;
};
 
BRIDGE_COMPONENT_REGISTER(planning::ADCTrajectory)
BRIDGE_COMPONENT_REGISTER(localization::LocalizationEstimate)
 
}  // namespace bridge
}  // namespace apollo