canbus_tester.cc 文件参考

#include <thread>
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "cyber/time/rate.h"
#include "gflags/gflags.h"
#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
#include "modules/canbus/common/canbus_gflags.h"
#include "modules/common/adapters/adapter_gflags.h"

canbus_tester.cc 的引用(Include)关系图:

浏览源代码.

函数
int	main (int32_t argc, char **argv)

函数说明

main()

int main	(	int32_t	argc,
		char **	argv
	)

在文件 canbus_tester.cc 第 34 行定义.

                                    {
  google::InitGoogleLogging(argv[0]);
  google::ParseCommandLineFlags(&argc, &argv, true);
  FLAGS_alsologtostderr = true;
 
  // init cyber framework
  apollo::cyber::Init("testing_canbus_tester");
  std::shared_ptr<apollo::cyber::Node> node_(
      apollo::cyber::CreateNode("canbus_tester"));
  std::shared_ptr<Writer<ControlCommand>> control_command_writer_ =
      node_->CreateWriter<ControlCommand>(FLAGS_control_command_topic);
 
  ControlCommand control_cmd;
  if (!apollo::cyber::common::GetProtoFromFile(FLAGS_canbus_test_file,
                                               &control_cmd)) {
    AERROR << "failed to load file: " << FLAGS_canbus_test_file;
    return -1;
  }
 
  Rate rate(1.0);  // frequency
 
  while (apollo::cyber::OK()) {
    // pub.publish(msg);
    control_command_writer_->Write(control_cmd);
    rate.Sleep();
  }
 
  return 0;
}