#include <component.h>

类 apollo::cyber::Component< M0, M1, M2, M3 > 继承关系图:

apollo::cyber::Component< M0, M1, M2, M3 > 的协作图:

Public 成员函数
	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 bool	Init ()=0

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 M0 = NullType, typename M1 = NullType, typename M2 = NullType, typename M3 = NullType>
class apollo::cyber::Component< M0, M1, M2, M3 >

The Component can process up to four channels of messages. The message type is specified when the component is created. The Component is inherited from ComponentBase. Your component can inherit from Component, and implement Init() & Proc(...), They are picked up by the CyberRT. There are 4 specialization implementations.

模板参数

M0	the first message.
M1	the second message.
M2	the third message.
M3	the fourth message.

警告: The Init & Proc functions need to be overloaded, but don't want to be called. They are called by the CyberRT Frame.

在文件 component.h 第 60 行定义.

构造及析构函数说明

◆ Component()

template<typename M0 = NullType, typename M1 = NullType, typename M2 = NullType, typename M3 = NullType>

apollo::cyber::Component< M0, M1, M2, M3 >::Component ( )

inline

在文件 component.h 第 62 行定义.

62{}

◆ ~Component()

template<typename M0 = NullType, typename M1 = NullType, typename M2 = NullType, typename M3 = NullType>

apollo::cyber::Component< M0, M1, M2, M3 >::~Component ( )

inlineoverride

在文件 component.h 第 63 行定义.

63{}

成员函数说明

◆ Initialize()

template<typename M0 , typename M1 , typename M2 , typename M3 >

bool apollo::cyber::Component< M0, M1, M2, M3 >::Initialize ( const ComponentConfig & config )

inlineoverridevirtual

init the component by protobuf object.

参数

config which is defined in 'cyber/proto/component_conf.proto'

返回: returns true if successful, otherwise returns false

重载 apollo::cyber::ComponentBase .

在文件 component.h 第 152 行定义.

                                   {
  node_.reset(new Node(config.name()));
  LoadConfigFiles(config);
  if (!Init()) {
    AERROR << "Component Init() failed." << std::endl;
    return false;
  }
  return true;
}

◆ Process()

template<typename M0 , typename M1 , typename M2 , typename M3 >

bool apollo::cyber::Component< M0, M1, M2, M3 >::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
	)

在文件 component.h 第 505 行定义.

                                                                       {
  if (is_shutdown_.load()) {
    return true;
  }
  return Proc(msg0, msg1, msg2, msg3);
}

该类的文档由以下文件生成:

cyber/component/component.h

Public 成员函数