text: /******************************************************************************
   * Copyright 2020 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/lidar/hesai/driver/hesai_component.h"
  
  namespace apollo {
  namespace drivers {
  namespace hesai {
  
  bool HesaiComponent::Init() {
    if (!GetProtoConfig(&hesai_conf_)) {
      AERROR << "load config error, file:" << config_file_path_;
      return false;
    }
  
    AINFO << "conf:" << hesai_conf_.DebugString();
  
    driver_.reset(new HesaiDriver(node_, hesai_conf_));
  
    if (!driver_->Init()) {
      AERROR << "driver init error";
      return false;
    }
    return true;
  }
  
  }  // namespace hesai
  }  // namespace drivers
  }  // namespace apollo
  