ultrasonic_radar_canbus_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/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus_component.h"
#include "modules/common/adapters/adapter_gflags.h"
 
namespace apollo {
namespace drivers {
namespace ultrasonic_radar {
 
UltrasonicRadarCanbusComponent::UltrasonicRadarCanbusComponent() {
  writer_ = node_->CreateWriter<Ultrasonic>(FLAGS_ultrasonic_radar_topic);
}
 
bool UltrasonicRadarCanbusComponent::Init() {
  return utralsonic_radar_canbus_.Init(ConfigFilePath(), writer_).ok() &&
         utralsonic_radar_canbus_.Start().ok();
}
 
}  // namespace ultrasonic_radar
}  // namespace drivers
}  // namespace apollo