ManualTrafficLight类 参考

类 ManualTrafficLight 继承关系图:

ManualTrafficLight 的协作图:

Public 成员函数
bool	Init ()
bool	Proc ()
	The Proc logic of the component, which called by the CyberRT frame.
Public 成员函数 继承自 apollo::cyber::TimerComponent
	TimerComponent ()
	~TimerComponent () override
bool	Initialize (const TimerComponentConfig &config) override
	init the component by protobuf object.
void	Clear () override
bool	Process ()
uint32_t	GetInterval () const
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const ComponentConfig &config)
virtual void	Shutdown ()
template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >
Protected 成员函数 继承自 apollo::cyber::ComponentBase
const std::string &	ConfigFilePath () const
void	LoadConfigFiles (const ComponentConfig &config)
void	LoadConfigFiles (const TimerComponentConfig &config)
Protected 属性 继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}
std::shared_ptr< Node >	node_ = nullptr
std::string	config_file_path_ = ""
std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 manual_traffic_light.cc 第 44 行定义.

成员函数说明

Init()

bool ManualTrafficLight::Init ( )

inlinevirtual

实现了 apollo::cyber::ComponentBase.

在文件 manual_traffic_light.cc 第 46 行定义.

              {
    localization_reader_ = node_->CreateReader<LocalizationEstimate>(
        FLAGS_localization_topic,
        [this](const std::shared_ptr<LocalizationEstimate> &localization) {
          ADEBUG << "Received chassis data: run chassis callback.";
          OnLocalization(localization);
        });
 
    traffic_light_detection_writer_ =
        node_->CreateWriter<TrafficLightDetection>(
            FLAGS_traffic_light_detection_topic);
 
    return true;
  }

Proc()

bool ManualTrafficLight::Proc ( )

inlinevirtual

The Proc logic of the component, which called by the CyberRT frame.

返回

returns true if successful, otherwise returns false

实现了 apollo::cyber::TimerComponent.

在文件 manual_traffic_light.cc 第 61 行定义.

              {
    std::vector<SignalInfoConstPtr> signals;
    bool result = false;
    if (FLAGS_all_lights) {
      result = GetAllTrafficLights(&signals);
    } else {
      result = GetTrafficLightsWithinDistance(&signals);
    }
    if (!result) {
      ADEBUG << "Failed to get traffic signals from current location on map";
    } else {
      ADEBUG << "Received " << signals.size() << " traffic lights";
    }
    std::vector<std::string> signal_ids;
    for (const auto &ptr : signals) {
      signal_ids.emplace_back(ptr->id().id());
    }
    if (IsDifferent(prev_traffic_lights_, signal_ids)) {
      prev_traffic_lights_ =
          std::unordered_set<std::string>(signal_ids.begin(), signal_ids.end());
      updated_ = true;
    }
    TrafficLightDetection traffic_light_detection;
    TrafficLight::Color color = GetKeyBoardColorInput();
    ADEBUG << "Color: " << TrafficLight::Color_Name(color);
    if (updated_) {
      updated_ = false;
      const char *print_color = is_green_ ? ANSI_GREEN : ANSI_RED;
      std::cout << print_color
                << "Current Light: " << (is_green_ ? "GREEN" : "RED");
      if (signal_ids.empty()) {
        if (FLAGS_all_lights) {
          std::cout << " No lights in the map";
        } else {
          std::cout << " No lights in the next " << FLAGS_traffic_light_distance
                    << " meters";
        }
      } else {
        if (signal_ids.size() < 5) {
          std::cout << " IDs: " << absl::StrJoin(signal_ids, " ");
        } else {
          std::cout << " IDs: "
                    << absl::StrJoin(signal_ids.begin(), signal_ids.begin() + 4,
                                     " ")
                    << " ...";
        }
      }
      std::cout << std::endl
                << ANSI_RESET << "Press 'c' to change" << std::endl
                << std::endl;
    }
    CreateTrafficLightDetection(signals, color, &traffic_light_detection);
    traffic_light_detection_writer_->Write(traffic_light_detection);
    return true;
  }

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该类的文档由以下文件生成:

• modules/tools/manual_traffic_light/manual_traffic_light.cc