#include <audio_component.h>

类 apollo::audio::AudioComponent 继承关系图:

apollo::audio::AudioComponent 的协作图:

Public 成员函数
	~AudioComponent ()

std::string	Name () const

bool	Init () override

bool	Proc (const std::shared_ptr< apollo::drivers::microphone::config::AudioData > &) override

Public 成员函数继承自 apollo::cyber::Component< apollo::drivers::microphone::config::AudioData >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< apollo::drivers::microphone::config::AudioData > &msg0, const std::shared_ptr< NullType > &msg1, const std::shared_ptr< NullType > &msg2, const std::shared_ptr< NullType > &msg3)

Public 成员函数继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()

virtual bool	Initialize (const TimerComponentConfig &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
virtual void	Clear ()

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 audio_component.h 第 37 行定义.

构造及析构函数说明

◆ ~AudioComponent()

apollo::audio::AudioComponent::~AudioComponent ( )

在文件 audio_component.cc 第 29 行定义.

29{}

成员函数说明

◆ Init()

bool apollo::audio::AudioComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 audio_component.cc 第 36 行定义.

                          {
  AudioConf audio_conf;
  if (!ComponentBase::GetProtoConfig(&audio_conf)) {
    AERROR << "Unable to load audio conf file: "
           << ComponentBase::ConfigFilePath();
    return false;
  }
  localization_reader_ =
      node_->CreateReader<localization::LocalizationEstimate>(
          audio_conf.topic_conf().localization_topic_name(), nullptr);
  audio_writer_ = node_->CreateWriter<AudioDetection>(
      audio_conf.topic_conf().audio_detection_topic_name());
  respeaker_extrinsics_file_ = audio_conf.respeaker_extrinsics_path();
  return true;
}

◆ Name()

std::string apollo::audio::AudioComponent::Name ( ) const

在文件 audio_component.cc 第 31 行定义.

                                     {
  // TODO(all) implement
  return "";
}

◆ Proc()

bool apollo::audio::AudioComponent::Proc ( const std::shared_ptr< apollo::drivers::microphone::config::AudioData > & )

override

在文件 audio_component.cc 第 52 行定义.

                                                                    {
  // TODO(all) remove GetSignals() multiple calls
  AudioDetection audio_detection;
  MessageProcess::OnMicrophone(*audio_data, respeaker_extrinsics_file_,
      &audio_info_, &direction_detection_, &moving_detection_,
      &siren_detection_, &audio_detection);
 
  FillHeader(node_->Name(), &audio_detection);
  audio_writer_->Write(audio_detection);
  return true;
}

该类的文档由以下文件生成:

modules/audio/audio_component.h
modules/audio/audio_component.cc

Public 成员函数