text: /******************************************************************************
   * 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.
   *****************************************************************************/
  
  /**
   * @file
   */
  
  #pragma once
  
  #include <memory>
  
  #include "cyber/common/macros.h"
  #include "cyber/component/timer_component.h"
  #include "cyber/cyber.h"
  
  #include "modules/canbus/proto/chassis.pb.h"
  #include "modules/control/proto/control_cmd.pb.h"
  #include "modules/guardian/proto/guardian.pb.h"
  #include "modules/guardian/proto/guardian_conf.pb.h"
  #include "modules/monitor/proto/system_status.pb.h"
  
  /**
   * @namespace apollo::guardian
   * @brief apollo::guardian
   */
  namespace apollo {
  namespace guardian {
  
  class GuardianComponent : public apollo::cyber::TimerComponent {
   public:
    bool Init() override;
    bool Proc() override;
  
   private:
    void PassThroughControlCommand();
    void TriggerSafetyMode();
  
    apollo::guardian::GuardianConf guardian_conf_;
    apollo::canbus::Chassis chassis_;
    apollo::monitor::SystemStatus system_status_;
    apollo::control::ControlCommand control_cmd_;
    apollo::guardian::GuardianCommand guardian_cmd_;
  
    std::shared_ptr<apollo::cyber::Reader<apollo::canbus::Chassis>>
        chassis_reader_;
    std::shared_ptr<apollo::cyber::Reader<apollo::control::ControlCommand>>
        control_cmd_reader_;
    std::shared_ptr<apollo::cyber::Reader<apollo::monitor::SystemStatus>>
        system_status_reader_;
    std::shared_ptr<apollo::cyber::Writer<apollo::guardian::GuardianCommand>>
        guardian_writer_;
  
    std::mutex mutex_;
  };
  
  CYBER_REGISTER_COMPONENT(GuardianComponent)
  
  }  // namespace guardian
  }  // namespace apollo
  