MockCameraDriver.h

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/*
 * Copyright (C) 2020-2021 LEIDOS.
 *
 * 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 "rosbag_mock_drivers/MockDriver.h"
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <autoware_msgs/ProjectionMatrix.h>
 
namespace mock_drivers
{
class MockCameraDriver : public MockDriver
{
private:
  const std::string camera_info_topic_ = "camera/camera_info";
  const std::string image_raw_topic_ = "camera/image_raw";
  const std::string image_rects_topic_ = "camera/image_rect";
  const std::string projection_matrix_topic_ = "camera/projection_matrix";
 
protected:
  int onRun() override;
public:
  MockCameraDriver(bool dummy = false);
  ~MockCameraDriver() {};
  std::vector<DriverType> getDriverTypes() override;
  uint8_t getDriverStatus() override;
  unsigned int getRate() override;
 
};
 
}  // namespace mock_drivers