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 > > > 模板类 参考

#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 > > > 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 > > > 的协作图:

Public 成员函数
	ApolloRosMessageConverter ()
	~ApolloRosMessageConverter () override
bool	Init ()
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 > > &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>
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 > > >

在文件 convert_apollo_quadruple.h 第 35 行定义.

构造及析构函数说明

ApolloRosMessageConverter()

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

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 > > >::ApolloRosMessageConverter ( )

inline

在文件 convert_apollo_quadruple.h 第 40 行定义.

{}

~ApolloRosMessageConverter()

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

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 > > >::~ApolloRosMessageConverter ( )

inlineoverride

在文件 convert_apollo_quadruple.h 第 41 行定义.

{}

成员函数说明

ConvertMsg()

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

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 > > >::ConvertMsg ( InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > > &  input, OutputTypes< std::shared_ptr< OutType0 > > &  output  )

protectedpure virtual

Init()

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

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 > > >::Init ( )

inlinevirtual

重载 apollo::cyber::MessageConverter .

在文件 convert_apollo_quadruple.h 第 43 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();
 
    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);
    ros_publishers_.push_back(std::move(ros_publisher_0));
    auto func = [this, ros_publisher_0, apollo_blocker_1, apollo_blocker_2,
                 apollo_blocker_3](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
      auto out = std::make_shared<OutType0>();
      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 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::make_tuple(out)};
        this->ConvertMsg(in_container, out_container);
#ifdef RCLCPP__RCLCPP_HPP_
        ros_publisher_0->publish(*out);
#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;
  }

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该类的文档由以下文件生成:

• cyber/ros_bridge/converter_base/convert_apollo_quadruple.h