apollo::bridge::UDPBridgeMultiReceiverComponent类 参考

#include <udp_bridge_multi_receiver_component.h>

类 apollo::bridge::UDPBridgeMultiReceiverComponent 继承关系图:

apollo::bridge::UDPBridgeMultiReceiverComponent 的协作图:

Public 成员函数
	UDPBridgeMultiReceiverComponent ()
	~UDPBridgeMultiReceiverComponent ()=default
bool	Init () override
std::string	Name () const
std::shared_ptr< ProtoDiserializedBufBase >	CreateBridgeProtoBuf (const BridgeHeader &header)
bool	IsProtoExist (const BridgeHeader &header)
bool	IsTimeout (double time_stamp)
void	MsgDispatcher ()
bool	InitSession (uint16_t port)
bool	MsgHandle (int fd)
Public 成员函数 继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &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 udp_bridge_multi_receiver_component.h 第 43 行定义.

构造及析构函数说明

UDPBridgeMultiReceiverComponent()

apollo::bridge::UDPBridgeMultiReceiverComponent::UDPBridgeMultiReceiverComponent

(

)

在文件 udp_bridge_multi_receiver_component.cc 第 26 行定义.

    : monitor_logger_buffer_(common::monitor::MonitorMessageItem::CONTROL) {}

~UDPBridgeMultiReceiverComponent()

apollo::bridge::UDPBridgeMultiReceiverComponent::~UDPBridgeMultiReceiverComponent ( )

default

成员函数说明

CreateBridgeProtoBuf()

std::shared_ptr< ProtoDiserializedBufBase > apollo::bridge::UDPBridgeMultiReceiverComponent::CreateBridgeProtoBuf

(

const BridgeHeader &

header

)

在文件 udp_bridge_multi_receiver_component.cc 第 59 行定义.

                                {
  std::shared_ptr<ProtoDiserializedBufBase> proto_buf;
  if (IsTimeout(header.GetTimeStamp())) {
    std::vector<std::shared_ptr<ProtoDiserializedBufBase>>::iterator itor =
        proto_list_.begin();
    for (; itor != proto_list_.end();) {
      if ((*itor)->IsTheProto(header)) {
        itor = proto_list_.erase(itor);
        break;
      }
      ++itor;
    }
    return proto_buf;
  }
 
  for (auto proto : proto_list_) {
    if (proto->IsTheProto(header)) {
      return proto;
    }
  }
 
  proto_buf = ProtoDiserializedBufBaseFactory::CreateObj(header);
  if (!proto_buf) {
    return proto_buf;
  }
  proto_buf->Initialize(header, node_);
  proto_list_.push_back(proto_buf);
  return proto_buf;
}

Init()

bool apollo::bridge::UDPBridgeMultiReceiverComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 udp_bridge_multi_receiver_component.cc 第 29 行定义.

                                           {
  AINFO << "UDP bridge multi :receiver init, startin...";
  apollo::bridge::UDPBridgeReceiverRemoteInfo udp_bridge_remote;
  if (!this->GetProtoConfig(&udp_bridge_remote)) {
    AINFO << "load udp bridge component proto param failed";
    return false;
  }
  bind_port_ = udp_bridge_remote.bind_port();
  enable_timeout_ = udp_bridge_remote.enable_timeout();
  ADEBUG << "UDP Bridge remote port is: " << bind_port_;
 
  if (!InitSession((uint16_t)bind_port_)) {
    return false;
  }
  ADEBUG << "initialize session successful.";
  MsgDispatcher();
  return true;
}

InitSession()

bool apollo::bridge::UDPBridgeMultiReceiverComponent::InitSession

(

uint16_t

port

)

在文件 udp_bridge_multi_receiver_component.cc 第 48 行定义.

                                                               {
  return listener_->Initialize(
      this, &UDPBridgeMultiReceiverComponent::MsgHandle, port);
}

IsProtoExist()

bool apollo::bridge::UDPBridgeMultiReceiverComponent::IsProtoExist

(

const BridgeHeader &

header

)

在文件 udp_bridge_multi_receiver_component.cc 第 90 行定义.

                                                                             {
  for (auto proto : proto_list_) {
    if (proto->IsTheProto(header)) {
      return true;
    }
  }
  return false;
}

IsTimeout()

bool apollo::bridge::UDPBridgeMultiReceiverComponent::IsTimeout

(

double

time_stamp

)

在文件 udp_bridge_multi_receiver_component.cc 第 99 行定义.

                                                                 {
  if (enable_timeout_ == false) {
    return false;
  }
  double cur_time = apollo::cyber::Clock::NowInSeconds();
  if (cur_time < time_stamp) {
    return true;
  }
  if (FLAGS_timeout < cur_time - time_stamp) {
    return true;
  }
  return false;
}

MsgDispatcher()

void apollo::bridge::UDPBridgeMultiReceiverComponent::MsgDispatcher

(

)

在文件 udp_bridge_multi_receiver_component.cc 第 53 行定义.

                                                    {
  ADEBUG << "msg dispatcher start successful.";
  listener_->Listen();
}

MsgHandle()

bool apollo::bridge::UDPBridgeMultiReceiverComponent::MsgHandle

(

int

fd

)

在文件 udp_bridge_multi_receiver_component.cc 第 113 行定义.

                                                      {
  struct sockaddr_in client_addr;
  socklen_t sock_len = static_cast<socklen_t>(sizeof(client_addr));
  int total_recv = 2 * FRAME_SIZE;
  char total_buf[2 * FRAME_SIZE] = {0};
  int bytes =
      static_cast<int>(recvfrom(fd, total_buf, total_recv, 0,
                                (struct sockaddr *)&client_addr, &sock_len));
  if (bytes <= 0 || bytes > total_recv) {
    return false;
  }
 
  if (strncmp(total_buf, BRIDGE_HEADER_FLAG, HEADER_FLAG_SIZE) != 0) {
    AERROR << "Header flag didn't match!";
    return false;
  }
  size_t offset = HEADER_FLAG_SIZE + 1;
 
  const char *cursor = total_buf + offset;
  hsize header_size = *(reinterpret_cast<const hsize *>(cursor));
  offset += sizeof(hsize) + 1;
 
  if (header_size < offset || header_size > FRAME_SIZE) {
    AERROR << "header size is more than FRAME_SIZE!";
    return false;
  }
 
  cursor = total_buf + offset;
  size_t buf_size = header_size - offset;
  BridgeHeader header;
  if (!header.Diserialize(cursor, buf_size)) {
    AERROR << "header diserialize failed!";
    return false;
  }
 
  ADEBUG << "proto name : " << header.GetMsgName().c_str();
  ADEBUG << "proto sequence num: " << header.GetMsgID();
  ADEBUG << "proto total frames: " << header.GetTotalFrames();
  ADEBUG << "proto frame index: " << header.GetIndex();
 
  std::lock_guard<std::mutex> lock(mutex_);
  std::shared_ptr<ProtoDiserializedBufBase> proto_buf =
      CreateBridgeProtoBuf(header);
  if (!proto_buf) {
    return false;
  }
 
  cursor = total_buf + header_size;
  if (header.GetFramePos() > header.GetMsgSize()) {
    return false;
  }
  char *buf = proto_buf->GetBuf(header.GetFramePos());
  // check cursor size
  if (header.GetFrameSize() < 0 ||
    header.GetFrameSize() > (total_recv - header_size)) {
    return false;
  }
  // check buf size
  if (header.GetFrameSize() > (header.GetMsgSize() - header.GetFramePos())) {
    return false;
  }
  memcpy(buf, cursor, header.GetFrameSize());
  proto_buf->UpdateStatus(header.GetIndex());
  if (proto_buf->IsReadyDiserialize()) {
    proto_buf->DiserializedAndPub();
    RemoveInvalidBuf(proto_buf->GetMsgID(), proto_buf->GetMsgName());
    RemoveItem(&proto_list_, proto_buf);
  }
  return true;
}

Name()

std::string apollo::bridge::UDPBridgeMultiReceiverComponent::Name ( ) const

inline

在文件 udp_bridge_multi_receiver_component.h 第 49 行定义.

{ return FLAGS_bridge_module_name; }

---

该类的文档由以下文件生成:

• modules/bridge/udp_bridge_multi_receiver_component.h
• modules/bridge/udp_bridge_multi_receiver_component.cc