traffic_lights_detector.hpp

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// Copyright 2015 TIER IV, Inc. 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.
 
#ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_DETECTOR_HPP_
#define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_DETECTOR_HPP_
 
#include <rclcpp/rclcpp.hpp>
#include <simulation_interface/conversions.hpp>
#include <string>
#include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
#include <traffic_simulator/traffic_lights/traffic_light_publisher.hpp>
 
namespace simple_sensor_simulator
{
namespace traffic_lights
{
class TrafficLightsDetector
{
  const std::shared_ptr<traffic_simulator::TrafficLightPublisherBase> publisher_;
 
public:
  explicit TrafficLightsDetector(
    const std::shared_ptr<traffic_simulator::TrafficLightPublisherBase> & publisher)
  : publisher_(publisher)
  {
  }
 
  auto updateFrame(
    const rclcpp::Time & current_ros_time,
    const simulation_api_schema::UpdateTrafficLightsRequest & request) -> void
  {
    publisher_->publish(current_ros_time, request);
  }
};
}  // namespace traffic_lights
}  // namespace simple_sensor_simulator
 
#endif  // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_DETECTOR_HPP_