yoloseg/yolo_seg_mqtt_async.h

#pragma once

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

#include "pahoc/mqtt_async.h"
#include "tool/log.hpp"
#include "net_message_trans.h"

#ifdef ENABLE_TENSORRT_DETECT
#include "detect/tensorrt_detect/wheel-detector.h"
#else
#include "detect/onnx_detect/wheel-detector.h"
#endif

#include "communication/data_buf_lable.hpp"

class YoloSegmentMqttAsyncClient : public MqttAsyncClient {
    friend class MqttAsyncClient;
public:
    static YoloSegmentMqttAsyncClient *iter() {
        static YoloSegmentMqttAsyncClient *instance = nullptr;
        if (instance == nullptr) {
            instance = new YoloSegmentMqttAsyncClient();
        }
        return instance;
    }

    void init(const std::string &file);

protected:

private:
    YoloSegmentMqttAsyncClient() = default;

    static int CloudDataArrived(void *client, char *topicName, int topicLen, MQTTAsync_message *message);

public:
    TensorrtWheelDetector *detector = nullptr;

private:

};