apollo::bridge::UDPBridgeReceiverComponent< T > 模板类 参考

#include <udp_bridge_receiver_component.h>

类 apollo::bridge::UDPBridgeReceiverComponent< T > 继承关系图:

apollo::bridge::UDPBridgeReceiverComponent< T > 的协作图:

Public 成员函数
	UDPBridgeReceiverComponent ()
	~UDPBridgeReceiverComponent ()
bool	Init () override
std::string	Name () const
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

template<typename T>
class apollo::bridge::UDPBridgeReceiverComponent< T >

在文件 udp_bridge_receiver_component.h 第 48 行定义.

构造及析构函数说明

UDPBridgeReceiverComponent()

template<typename T >

apollo::bridge::UDPBridgeReceiverComponent< T >::UDPBridgeReceiverComponent

(

)

在文件 udp_bridge_receiver_component.cc 第 30 行定义.

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

~UDPBridgeReceiverComponent()

template<typename T >

apollo::bridge::UDPBridgeReceiverComponent< T >::~UDPBridgeReceiverComponent

(

)

在文件 udp_bridge_receiver_component.cc 第 34 行定义.

                                                           {
  for (auto proto : proto_list_) {
    FREE_POINTER(proto);
  }
}

成员函数说明

Init()

template<typename T >

bool apollo::bridge::UDPBridgeReceiverComponent< T >::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 udp_bridge_receiver_component.cc 第 41 行定义.

                                         {
  AINFO << "UDP bridge 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();
  proto_name_ = udp_bridge_remote.proto_name();
  topic_name_ = udp_bridge_remote.topic_name();
  enable_timeout_ = udp_bridge_remote.enable_timeout();
  ADEBUG << "UDP Bridge remote port is: " << bind_port_;
  ADEBUG << "UDP Bridge for Proto is: " << proto_name_;
  writer_ = node_->CreateWriter<T>(topic_name_.c_str());
 
  if (!InitSession((uint16_t)bind_port_)) {
    return false;
  }
  ADEBUG << "initialize session successful.";
  MsgDispatcher();
  return true;
}

MsgHandle()

template<typename T >

bool apollo::bridge::UDPBridgeReceiverComponent< T >::MsgHandle

(

int

fd

)

在文件 udp_bridge_receiver_component.cc 第 135 行定义.

                                                    {
  struct sockaddr_in client_addr;
  socklen_t sock_len = static_cast<socklen_t>(sizeof(client_addr));
  int bytes = 0;
  int total_recv = 2 * FRAME_SIZE;
  char total_buf[2 * FRAME_SIZE] = {0};
  bytes =
      static_cast<int>(recvfrom(fd, total_buf, total_recv, 0,
                                (struct sockaddr *)&client_addr, &sock_len));
  ADEBUG << "total recv " << bytes;
  if (bytes <= 0 || bytes > total_recv) {
    return false;
  }
  char header_flag[sizeof(BRIDGE_HEADER_FLAG) + 1] = {0};
  size_t offset = 0;
  memcpy(header_flag, total_buf, HEADER_FLAG_SIZE);
  if (strcmp(header_flag, BRIDGE_HEADER_FLAG) != 0) {
    AINFO << "header flag not match!";
    return false;
  }
  offset += sizeof(BRIDGE_HEADER_FLAG) + 1;
 
  char header_size_buf[sizeof(hsize) + 1] = {0};
  const char *cursor = total_buf + offset;
  memcpy(header_size_buf, cursor, sizeof(hsize));
  hsize header_size = *(reinterpret_cast<hsize *>(header_size_buf));
  offset += sizeof(hsize) + 1;
  if (header_size > FRAME_SIZE || header_size < offset) {
    AINFO << "header size is more than FRAME_SIZE or less than offset!";
    return false;
  }
 
  BridgeHeader header;
  size_t buf_size = header_size - offset;
  cursor = total_buf + offset;
  if (!header.Diserialize(cursor, buf_size)) {
    AINFO << "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_);
  BridgeProtoDiserializedBuf<T> *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()) {
    auto pb_msg = std::make_shared<T>();
    proto_buf->Diserialized(pb_msg);
    writer_->Write(pb_msg);
    RemoveInvalidBuf(proto_buf->GetMsgID());
    RemoveItem(&proto_list_, proto_buf);
  }
  return true;
}

Name()

template<typename T >

std::string apollo::bridge::UDPBridgeReceiverComponent< T >::Name ( ) const

inline

在文件 udp_bridge_receiver_component.h 第 55 行定义.

{ return FLAGS_bridge_module_name; }

---

该类的文档由以下文件生成:

• modules/bridge/udp_bridge_receiver_component.h
• modules/bridge/udp_bridge_receiver_component.cc