teleop.cc 文件参考

#include <termios.h>
#include <cstdio>
#include <iostream>
#include <memory>
#include <thread>
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
#include "cyber/common/log.h"
#include "cyber/common/macros.h"
#include "cyber/cyber.h"
#include "cyber/init.h"
#include "cyber/time/time.h"
#include "modules/canbus/vehicle/vehicle_controller.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/common/util/message_util.h"

teleop.cc 的引用(Include)关系图:

浏览源代码.

函数
	DEFINE_double (throttle_inc_delta, 2.0, "throttle pedal command delta percentage.")
	DEFINE_double (brake_inc_delta, 2.0, "brake pedal delta percentage")
	DEFINE_double (steer_inc_delta, 2.0, "steer delta percentage")
	DEFINE_bool (use_acceleration, false, "switch to use acceleration instead of throttle pedal and brake pedal")
int	main (int32_t argc, char **argv)

函数说明

DEFINE_bool()

DEFINE_bool	(	use_acceleration	,
		false	,
		"switch to use acceleration instead of throttle pedal and brake pedal"
	)

DEFINE_double() [1/3]

DEFINE_double	(	brake_inc_delta	,
		2.	0,
		"brake pedal delta percentage"
	)

DEFINE_double() [2/3]

DEFINE_double	(	steer_inc_delta	,
		2.	0,
		"steer delta percentage"
	)

DEFINE_double() [3/3]

DEFINE_double	(	throttle_inc_delta	,
		2.	0,
		"throttle pedal command delta percentage."
	)

main()

int main	(	int32_t	argc,
		char **	argv
	)

在文件 teleop.cc 第 488 行定义.

                                    {
  apollo::cyber::Init(argv[0]);
  FLAGS_alsologtostderr = true;
  FLAGS_v = 3;
 
  google::ParseCommandLineFlags(&argc, &argv, true);
 
  Teleop teleop;
 
  if (teleop.Start() != 0) {
    AERROR << "Teleop start failed.";
    return -1;
  }
  Teleop::PrintKeycode();
  apollo::cyber::WaitForShutdown();
  teleop.Stop();
  AINFO << "Teleop exit done.";
  return 0;
}