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channel_pool.cc
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2 * Copyright 2019 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#include "modules/data/tools/smart_recorder/channel_pool.h"
18
19#include <algorithm>
20
21#include "modules/common/adapters/adapter_gflags.h"
22
23namespace apollo {
24namespace data {
25
26ChannelPool::ChannelPool() {
27 small_channels_ = {FLAGS_chassis_topic,
28 FLAGS_chassis_detail_topic,
29 FLAGS_control_command_topic,
30 FLAGS_pad_topic,
31 FLAGS_drive_event_topic,
32 FLAGS_guardian_topic,
33 FLAGS_hmi_status_topic,
34 FLAGS_localization_topic,
35 FLAGS_localization_gnss_topic,
36 FLAGS_localization_lidar_topic,
37 FLAGS_localization_msf_status,
38 FLAGS_monitor_topic,
39 FLAGS_system_status_topic,
40 FLAGS_navigation_topic,
41 FLAGS_perception_obstacle_topic,
42 FLAGS_traffic_light_detection_topic,
43 FLAGS_planning_trajectory_topic,
44 FLAGS_prediction_topic,
45 FLAGS_relative_map_topic,
46 FLAGS_routing_response_history_topic,
47 FLAGS_gnss_best_pose_topic,
48 FLAGS_imu_topic,
49 FLAGS_gnss_status_topic,
50 FLAGS_raw_imu_topic,
51 FLAGS_ins_stat_topic,
52 FLAGS_gps_topic,
53 FLAGS_gnss_raw_data_topic,
54 FLAGS_gnss_rtk_eph_topic,
55 FLAGS_gnss_rtk_obs_topic,
56 FLAGS_heading_topic,
57 FLAGS_tf_topic,
58 FLAGS_tf_static_topic,
59 FLAGS_recorder_status_topic,
60 FLAGS_latency_recording_topic,
61 FLAGS_latency_reporting_topic};
62 large_channels_ = {FLAGS_camera_front_12mm_compressed_topic,
63 FLAGS_camera_front_6mm_compressed_topic,
64 FLAGS_camera_left_fisheye_compressed_topic,
65 FLAGS_camera_right_fisheye_compressed_topic,
66 FLAGS_camera_rear_6mm_compressed_topic,
67 FLAGS_camera_front_12mm_video_compressed_topic,
68 FLAGS_camera_front_6mm_video_compressed_topic,
69 FLAGS_camera_left_fisheye_video_compressed_topic,
70 FLAGS_camera_right_fisheye_video_compressed_topic,
71 FLAGS_camera_rear_6mm_video_compressed_topic,
72 FLAGS_front_radar_topic,
73 FLAGS_rear_radar_topic,
74 FLAGS_pointcloud_16_topic,
75 FLAGS_pointcloud_16_raw_topic,
76 FLAGS_pointcloud_16_front_left_raw_topic,
77 FLAGS_pointcloud_16_front_right_raw_topic,
78 FLAGS_lidar_16_front_center_topic,
79 FLAGS_lidar_16_front_up_topic,
80 FLAGS_lidar_16_rear_left_topic,
81 FLAGS_lidar_16_rear_right_topic,
82 FLAGS_lidar_16_fusion_topic,
83 FLAGS_lidar_16_fusion_compensator_topic,
84 FLAGS_pointcloud_64_topic,
85 FLAGS_lidar_128_topic,
86 FLAGS_pointcloud_128_topic,
87 FLAGS_mobileye_topic,
88 FLAGS_conti_radar_topic,
89 FLAGS_delphi_esr_topic};
90 std::set_union(std::begin(small_channels_), std::end(small_channels_),
91 std::begin(large_channels_), std::end(large_channels_),
92 std::inserter(all_channels_, std::begin(all_channels_)));
93}
94
95} // namespace data
96} // namespace apollo
adapter_gflags.h
channel_pool.h
apollo
class register implement
Definition arena_queue.h:37