CyberTopologyMessage类 参考

#include <cyber_topology_message.h>

类 CyberTopologyMessage 继承关系图:

CyberTopologyMessage 的协作图:

Public 成员函数
	CyberTopologyMessage (const std::string &channel)
	~CyberTopologyMessage ()
int	Render (const Screen *s, int key) override
RenderableMessage *	Child (int index) const override
void	TopologyChanged (const apollo::cyber::proto::ChangeMsg &change_msg)
void	AddReaderWriter (const apollo::cyber::proto::RoleAttributes &role, bool isWriter)
Public 成员函数 继承自 RenderableMessage
	RenderableMessage (RenderableMessage *parent=nullptr, int line_no=0)
virtual	~RenderableMessage ()
virtual double	frame_ratio (void)
RenderableMessage *	parent (void) const
void	set_parent (RenderableMessage *parent)
int	page_item_count (void) const

额外继承的成员函数
静态 Public 属性 继承自 RenderableMessage
static constexpr int	FrameRatio_Precision = 2
Protected 成员函数 继承自 RenderableMessage
int *	line_no (void)
void	set_line_no (int line_no)
void	reset_line_page (void)
void	SplitPages (int key)
Protected 属性 继承自 RenderableMessage
int	line_no_
int	pages_
int	page_index_
int	page_item_count_
RenderableMessage *	parent_
double	frame_ratio_

详细描述

在文件 cyber_topology_message.h 第 37 行定义.

构造及析构函数说明

CyberTopologyMessage()

CyberTopologyMessage::CyberTopologyMessage ( const std::string &  channel )

explicit

在文件 cyber_topology_message.cc 第 31 行定义.

    : RenderableMessage(nullptr, 1),
      second_column_(SecondColumnType::MessageFrameRatio),
      pid_(getpid()),
      col1_width_(8),
      specified_channel_(channel),
      all_channels_map_() {}

~CyberTopologyMessage()

CyberTopologyMessage::~CyberTopologyMessage

(

void

)

在文件 cyber_topology_message.cc 第 39 行定义.

                                                {
  for (auto item : all_channels_map_) {
    if (!GeneralChannelMessage::IsErrorCode(item.second)) {
      delete item.second;
    }
  }
}

成员函数说明

AddReaderWriter()

void CyberTopologyMessage::AddReaderWriter	(	const apollo::cyber::proto::RoleAttributes &	role,
		bool	isWriter
	)

在文件 cyber_topology_message.cc 第 119 行定义.

                                                               {
  const std::string& channel_name = role.channel_name();
 
  if (!specified_channel_.empty() && specified_channel_ != channel_name) {
    return;
  }
 
  if (static_cast<int>(channel_name.length()) > col1_width_) {
    col1_width_ = static_cast<int>(channel_name.length());
  }
 
  const std::string& node_name = role.node_name();
  if (IsFromHere(node_name)) {
    return;
  }
 
  GeneralChannelMessage* channel_msg = nullptr;
  const std::string& msgTypeName = role.message_type();
  auto iter = all_channels_map_.find(channel_name);
  if (iter == all_channels_map_.cend()) {
    static int index = 0;
 
    std::ostringstream out_str;
    out_str << "MonitorReader" << pid_ << '-' << index++;
 
    channel_msg = new GeneralChannelMessage(out_str.str(), this);
 
    if (channel_msg != nullptr) {
      if (!GeneralChannelMessage::IsErrorCode(
              channel_msg->OpenChannel(channel_name))) {
        channel_msg->set_message_type(msgTypeName);
        channel_msg->add_reader(channel_msg->NodeName());
      }
    } else {
      channel_msg = GeneralChannelMessage::CastErrorCode2Ptr(
          GeneralChannelMessage::ErrorCode::NewSubClassFailed);
    }
    all_channels_map_[channel_name] = channel_msg;
  } else {
    channel_msg = iter->second;
  }
 
  if (!GeneralChannelMessage::IsErrorCode(channel_msg)) {
    if (isWriter) {
      if (msgTypeName != apollo::cyber::message::MessageType<
                             apollo::cyber::message::RawMessage>()) {
        channel_msg->set_message_type(msgTypeName);
      }
 
      channel_msg->add_writer(node_name);
    } else {
      channel_msg->add_reader(node_name);
    }
  }
}

Child()

RenderableMessage * CyberTopologyMessage::Child ( int  index ) const

overridevirtual

实现了 RenderableMessage.

在文件 cyber_topology_message.cc 第 57 行定义.

                                                                {
  RenderableMessage* ret = nullptr;
  auto iter = FindChild(line_no);
  if (iter != all_channels_map_.cend() &&
      !GeneralChannelMessage::IsErrorCode(iter->second) &&
      iter->second->is_enabled()) {
    ret = iter->second;
  }
  return ret;
}

Render()

int CyberTopologyMessage::Render ( const Screen *  s, int  key  )

overridevirtual

实现了 RenderableMessage.

在文件 cyber_topology_message.cc 第 211 行定义.

                                                         {
  page_item_count_ = s->Height() - 1;
  pages_ = static_cast<int>(all_channels_map_.size()) / page_item_count_ + 1;
  ChangeState(s, key);
  SplitPages(key);
 
  s->AddStr(0, 0, Screen::WHITE_BLACK, "Channels");
  switch (second_column_) {
    case SecondColumnType::MessageType:
      s->AddStr(col1_width_ + SecondColumnOffset, 0, Screen::WHITE_BLACK,
                "TypeName");
      break;
    case SecondColumnType::MessageFrameRatio:
      s->AddStr(col1_width_ + SecondColumnOffset, 0, Screen::WHITE_BLACK,
                "FrameRatio");
      break;
  }
 
  auto iter = all_channels_map_.cbegin();
  register int tmp = page_index_ * page_item_count_;
  register int line = 0;
  while (line < tmp) {
    ++iter;
    ++line;
  }
 
  Screen::ColorPair color;
  std::ostringstream out_str;
 
  tmp = page_item_count_ + 1;
  for (line = 1; iter != all_channels_map_.cend() && line < tmp;
       ++iter, ++line) {
    color = Screen::RED_BLACK;
 
    if (!GeneralChannelMessage::IsErrorCode(iter->second)) {
      if (iter->second->has_message_come()) {
        if (iter->second->is_enabled()) {
          color = Screen::GREEN_BLACK;
        } else {
          color = Screen::YELLOW_BLACK;
        }
      }
    }
 
    s->SetCurrentColor(color);
    s->AddStr(0, line, iter->first.c_str());
 
    if (!GeneralChannelMessage::IsErrorCode(iter->second)) {
      switch (second_column_) {
        case SecondColumnType::MessageType:
          s->AddStr(col1_width_ + SecondColumnOffset, line,
                    iter->second->message_type().c_str());
          break;
        case SecondColumnType::MessageFrameRatio: {
          out_str.str("");
          out_str << std::fixed << std::setprecision(FrameRatio_Precision)
                  << iter->second->frame_ratio();
          s->AddStr(col1_width_ + SecondColumnOffset, line,
                    out_str.str().c_str());
        } break;
      }
    } else {
      GeneralChannelMessage::ErrorCode errcode =
          GeneralChannelMessage::CastPtr2ErrorCode(iter->second);
      s->AddStr(col1_width_ + SecondColumnOffset, line,
                GeneralChannelMessage::ErrCode2Str(errcode));
    }
    s->ClearCurrentColor();
  }
 
  return line;
}

TopologyChanged()

void CyberTopologyMessage::TopologyChanged

(

const apollo::cyber::proto::ChangeMsg &

change_msg

)

在文件 cyber_topology_message.cc 第 95 行定义.

                                                {
  if (::apollo::cyber::proto::OperateType::OPT_JOIN ==
      changeMsg.operate_type()) {
    bool isWriter = true;
    if (::apollo::cyber::proto::RoleType::ROLE_READER == changeMsg.role_type())
      isWriter = false;
    AddReaderWriter(changeMsg.role_attr(), isWriter);
  } else {
    auto iter = all_channels_map_.find(changeMsg.role_attr().channel_name());
 
    if (iter != all_channels_map_.cend() &&
        !GeneralChannelMessage::IsErrorCode(iter->second)) {
      const std::string& node_name = changeMsg.role_attr().node_name();
      if (::apollo::cyber::proto::RoleType::ROLE_WRITER ==
          changeMsg.role_type()) {
        iter->second->del_writer(node_name);
      } else {
        iter->second->del_reader(node_name);
      }
    }
  }
}

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该类的文档由以下文件生成:

• cyber/tools/cyber_monitor/cyber_topology_message.h
• cyber/tools/cyber_monitor/cyber_topology_message.cc