#include <convert_apollo_quadruple.h>

类 apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > > 继承关系图:

apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > > 的协作图:

Public 成员函数
	ApolloRosMessageConverter ()

	~ApolloRosMessageConverter () override

bool	Init () override

Public 成员函数继承自 apollo::cyber::MessageConverter
	MessageConverter ()

virtual	~MessageConverter ()

bool	IsInit () const

Protected 成员函数
virtual bool	ConvertMsg (InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > > &input, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > &output)=0

Protected 成员函数继承自 apollo::cyber::MessageConverter
bool	LoadConfig (ConverterConf *config)

额外继承的成员函数
Protected 属性继承自 apollo::cyber::MessageConverter
std::atomic< bool >	init_

std::unique_ptr< apollo::cyber::Node >	cyber_node_

std::vector< std::shared_ptr< apollo::cyber::proto::RoleAttributes > >	apollo_attrs_

std::vector< std::shared_ptr< apollo::cyber::ReaderBase > >	apollo_readers_

std::vector< std::shared_ptr< apollo::cyber::WriterBase > >	apollo_writers_

const std::string	node_name_ = "converter_base"

ConverterConf	converter_conf_

详细描述

template<typename InType0, typename InType1, typename InType2, typename InType3, typename OutType0, typename OutType1>
class apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

在文件 convert_apollo_quadruple.h 第 138 行定义.

构造及析构函数说明

◆ ApolloRosMessageConverter()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 >

apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >::ApolloRosMessageConverter ( )

inline

在文件 convert_apollo_quadruple.h 第 144 行定义.

144{}

◆ ~ApolloRosMessageConverter()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 >

apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >::~ApolloRosMessageConverter ( )

inlineoverride

在文件 convert_apollo_quadruple.h 第 145 行定义.

145{}

成员函数说明

◆ ConvertMsg()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 >

virtual bool apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >::ConvertMsg	(	InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > > &	input,
		OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > &	output
	)

protectedpure virtual

◆ Init()

template<typename InType0 , typename InType1 , typename InType2 , typename InType3 , typename OutType0 , typename OutType1 >

bool apollo::cyber::ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >::Init ( )

overridevirtual

重载 apollo::cyber::MessageConverter .

在文件 convert_apollo_quadruple.h 第 162 行定义.

                                                                         {
  MessageConverter::Init();
  if (!init_.load()) {
    return false;
  }
  if (!LoadConfig(&converter_conf_)) {
    return false;
  }
 
  apollo::cyber::ReaderConfig reader_cfg_0;
  reader_cfg_0.channel_name = converter_conf_.apollo_channel_name_0();
 
  apollo::cyber::ReaderConfig reader_cfg_1;
  reader_cfg_1.channel_name = converter_conf_.apollo_channel_name_1();
  auto apollo_reader_1 =
      cyber_node_->template CreateReader<InType1>(reader_cfg_1);
 
  apollo::cyber::ReaderConfig reader_cfg_2;
  reader_cfg_2.channel_name = converter_conf_.apollo_channel_name_2();
  auto apollo_reader_2 =
      cyber_node_->template CreateReader<InType2>(reader_cfg_2);
 
  apollo::cyber::ReaderConfig reader_cfg_3;
  reader_cfg_3.channel_name = converter_conf_.apollo_channel_name_3();
  auto apollo_reader_3 =
      cyber_node_->template CreateReader<InType3>(reader_cfg_3);
 
  std::string ros_topic_name_0 = converter_conf_.ros_topic_name_0();
  std::string ros_topic_name_1 = converter_conf_.ros_topic_name_1();
 
  auto apollo_blocker_1 =
      blocker::BlockerManager::Instance()->GetBlocker<InType1>(
          reader_cfg_1.channel_name);
  auto apollo_blocker_2 =
      blocker::BlockerManager::Instance()->GetBlocker<InType2>(
          reader_cfg_2.channel_name);
  auto apollo_blocker_3 =
      blocker::BlockerManager::Instance()->GetBlocker<InType3>(
          reader_cfg_3.channel_name);
 
#ifdef RCLCPP__RCLCPP_HPP_
  auto ros_publisher_0 =
      ros_node_->create_publisher<OutType0>(ros_topic_name_0, 10);
  auto ros_publisher_1 =
      ros_node_->create_publisher<OutType1>(ros_topic_name_1, 10);
  ros_publishers_.push_back(std::move(ros_publisher_0));
  ros_publishers_.push_back(std::move(ros_publisher_1));
  auto func = [this, apollo_blocker_1, apollo_blocker_2, apollo_blocker_3,
               ros_publisher_0,
               ros_publisher_1](const std::shared_ptr<InType0> in) {
#else
  auto func = [this, apollo_blocker_1, apollo_blocker_2,
               apollo_blocker_3](const std::shared_ptr<InType0> in) {
#endif
    if (!apollo_blocker_1->IsPublishedEmpty() &&
        !apollo_blocker_2->IsPublishedEmpty() &&
        !apollo_blocker_3->IsPublishedEmpty()) {
      auto msg1 = apollo_blocker_1->GetLatestPublishedPtr();
      auto msg2 = apollo_blocker_2->GetLatestPublishedPtr();
      auto msg3 = apollo_blocker_3->GetLatestPublishedPtr();
      auto out_0 = std::make_shared<OutType0>();
      auto out_1 = std::make_shared<OutType1>();
      auto in_container =
          InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,
                     std::shared_ptr<InType2>, std::shared_ptr<InType3>>{
              std::make_tuple(in, msg1, msg2, msg3)};
      auto out_container =
          OutputTypes<std::shared_ptr<OutType0>, std::shared_ptr<OutType1>>{
              std::make_tuple(out_0, out_1)};
      this->ConvertMsg(in_container, out_container);
#ifdef RCLCPP__RCLCPP_HPP_
      ros_publisher_0->publish(*out_0);
      ros_publisher_1->publish(*out_1);
#endif
    }
  };
  auto apollo_reader_0 =
      cyber_node_->template CreateReader<InType0>(reader_cfg_0, func);
  apollo_readers_.push_back(std::move(apollo_reader_0));
  apollo_readers_.push_back(std::move(apollo_reader_1));
  apollo_readers_.push_back(std::move(apollo_reader_2));
  apollo_readers_.push_back(std::move(apollo_reader_3));
 
  return true;
}

该类的文档由以下文件生成:

cyber/ros_bridge/converter_base/convert_apollo_quadruple.h

Public 成员函数

Protected 成员函数

额外继承的成员函数

详细描述

构造及析构函数说明

◆ ApolloRosMessageConverter()

◆ ~ApolloRosMessageConverter()

成员函数说明

◆ ConvertMsg()

◆ Init()