# Define all coms in DAG streaming.

##################################################
#                   drivers                      #
##################################################

module_config {
    module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/driver/libvelodyne_driver_component.so"

    # 128
    components {
      class_name : "VelodyneDriverComponent"
      config {
        name : "velodyne_128_driver"
        config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
      }
    }

    # 16_up_center
    components {
      class_name : "VelodyneDriverComponent"
      config {
        name : "velodyne_16_up_center_driver"
        config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne16_up_center_conf.pb.txt"
      }
    }
}

##################################################
#                   convert                      #
##################################################

module_config {
    module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/parser/libvelodyne_convert_component.so"

    # 128
    components {
      class_name : "VelodyneConvertComponent"
      config {
        name : "velodyne_128_convert"
        config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne128_conf.pb.txt"
        readers {
          channel: "/apollo/sensor/lidar128/Scan"
        }
      }
    }

    # 16_up_center
    components {
      class_name : "VelodyneConvertComponent"
      config {
        name : "velodyne_16_rear_right_convert"
        config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne16_up_center_conf.pb.txt"
        readers {
          channel: "/apollo/sensor/lidar16/up/center/Scan"
        }
      }
    }
}

##################################################
#                    fusion                      #
##################################################

module_config {
    module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/fusion/libvelodyne_fusion_component.so"

    components {
      class_name : "PriSecFusionComponent"
      config {
        name : "velodyne_fusion"
        config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne_fusion_conf.pb.txt"
        readers {channel: "/apollo/sensor/lidar16/up/center/PointCloud2"}
      }
    }
}


##################################################
#                compensation                    #
##################################################

module_config {
    module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"

    components {
      class_name : "CompensatorComponent"
      config {
        name : "velodyne16_fusion_compensator"
        config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne16_fusion_compensator.pb.txt"
        readers {channel: "/apollo/sensor/lidar16/fusion/PointCloud2"}
      }
    }
}

module_config {
    module_library : "/apollo/bazel-bin/modules/drivers/lidar/velodyne/compensator/libvelodyne_compensator_component.so"

    components {
      class_name : "CompensatorComponent"
      config {
        name : "velodyne128_compensator"
        config_file_path : "/apollo/modules/drivers/lidar/velodyne/conf/velodyne128_fusion_compensator.pb.txt"
        readers {channel: "/apollo/sensor/lidar128/PointCloud2"}
      }
    }
}