#include <preprocessor_submodule.h>

类 apollo::control::PreprocessorSubmodule 继承关系图:

apollo::control::PreprocessorSubmodule 的协作图:

Public 成员函数
	PreprocessorSubmodule ()
	Construct a new Preprocessor Submodule object

	~PreprocessorSubmodule ()
	Destructor

std::string	Name () const
	Get name of the node

bool	Init () override
	Initialize the submodule

bool	Proc (const std::shared_ptr< LocalView > &local_view) override

Public 成员函数继承自 apollo::cyber::Component< LocalView >
	Component ()

	~Component () override

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

bool	Process (const std::shared_ptr< LocalView > &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 preprocessor_submodule.h 第 40 行定义.

构造及析构函数说明

◆ PreprocessorSubmodule()

apollo::control::PreprocessorSubmodule::PreprocessorSubmodule ( )

Construct a new Preprocessor Submodule object

在文件 preprocessor_submodule.cc 第 42 行定义.

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

apollo::common::monitor::MonitorMessageItem::CONTROL

@ CONTROL

Definition monitor_log.proto:11

◆ ~PreprocessorSubmodule()

apollo::control::PreprocessorSubmodule::~PreprocessorSubmodule ( )

Destructor

在文件 preprocessor_submodule.cc 第 45 行定义.

45{}

成员函数说明

◆ Init()

bool apollo::control::PreprocessorSubmodule::Init ( )

overridevirtual

Initialize the submodule

返回: If initialized

实现了 apollo::cyber::ComponentBase.

在文件 preprocessor_submodule.cc 第 51 行定义.

                                 {
  injector_ = std::make_shared<DependencyInjector>();
 
  // Preprocessor writer
  preprocessor_writer_ =
      node_->CreateWriter<Preprocessor>(FLAGS_control_preprocessor_topic);
 
  ACHECK(preprocessor_writer_ != nullptr);
  return true;
}

◆ Name()

std::string apollo::control::PreprocessorSubmodule::Name ( ) const

Get name of the node

返回: Name of the node

在文件 preprocessor_submodule.cc 第 47 行定义.

                                            {
  return FLAGS_preprocessor_submodule_name;
}

◆ Proc()

bool apollo::control::PreprocessorSubmodule::Proc ( const std::shared_ptr< LocalView > & local_view )

override

在文件 preprocessor_submodule.cc 第 62 行定义.

                                                                           {
  ADEBUG << "Preprocessor started ....";
  const auto start_time = Clock::Now();
 
  Preprocessor control_preprocessor;
  // handling estop
  auto *preprocessor_status =
      control_preprocessor.mutable_header()->mutable_status();
 
  control_preprocessor.mutable_local_view()->CopyFrom(*local_view);
 
  Status status = ProducePreprocessorStatus(&control_preprocessor);
  AERROR_IF(!status.ok()) << "Failed to produce control preprocessor:"
                          << status.error_message();
 
  if (status.ok() && !estop_) {
    preprocessor_status->set_error_code(ErrorCode::OK);
  } else {
    estop_ = true;
    preprocessor_status->set_error_code(status.code());
    preprocessor_status->set_msg(status.error_message());
  }
 
  if (control_preprocessor.local_view().has_pad_msg()) {
    const auto &pad_message = control_preprocessor.local_view().pad_msg();
    if (pad_message.action() == DrivingAction::RESET) {
      AINFO << "Control received RESET action!";
      estop_ = false;
      preprocessor_status->set_error_code(ErrorCode::OK);
      preprocessor_status->set_msg("");
    }
    control_preprocessor.set_received_pad_msg(true);
  }
 
  control_preprocessor.mutable_header()->set_lidar_timestamp(
      local_view->header().lidar_timestamp());
  control_preprocessor.mutable_header()->set_camera_timestamp(
      local_view->trajectory().header().camera_timestamp());
  control_preprocessor.mutable_header()->set_radar_timestamp(
      local_view->trajectory().header().radar_timestamp());
  common::util::FillHeader(Name(), &control_preprocessor);
 
  const auto end_time = Clock::Now();
 
  static apollo::common::LatencyRecorder latency_recorder(
      FLAGS_control_preprocessor_topic);
  latency_recorder.AppendLatencyRecord(
      control_preprocessor.header().lidar_timestamp(), start_time, end_time);
 
  preprocessor_writer_->Write(control_preprocessor);
  ADEBUG << "Preprocessor finished.";
 
  return true;
}

该类的文档由以下文件生成:

modules/control/control_component/submodules/preprocessor_submodule.h
modules/control/control_component/submodules/preprocessor_submodule.cc

Public 成员函数

额外继承的成员函数