apollo::cyber::Component< M0, NullType, NullType, NullType > 模板类 参考

#include <component.h>

类 apollo::cyber::Component< M0, NullType, NullType, NullType > 继承关系图:

apollo::cyber::Component< M0, NullType, NullType, NullType > 的协作图:

Public 成员函数
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
bool	Process (const std::shared_ptr< M0 > &msg)
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>
class apollo::cyber::Component< M0, NullType, NullType, NullType >

在文件 component.h 第 103 行定义.

构造及析构函数说明

Component()

template<typename M0 >

apollo::cyber::Component< M0, NullType, NullType, NullType >::Component ( )

inline

在文件 component.h 第 105 行定义.

{}

~Component()

template<typename M0 >

apollo::cyber::Component< M0, NullType, NullType, NullType >::~Component ( )

inlineoverride

在文件 component.h 第 106 行定义.

{}

成员函数说明

Initialize()

template<typename M0 >

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

overridevirtual

重载 apollo::cyber::ComponentBase .

在文件 component.h 第 164 行定义.

                                   {
  node_.reset(new Node(config.name()));
  LoadConfigFiles(config);
 
  if (config.readers_size() < 1) {
    AERROR << "Invalid config file: too few readers.";
    return false;
  }
 
  if (!Init()) {
    AERROR << "Component Init() failed.";
    return false;
  }
 
  bool is_reality_mode = GlobalData::Instance()->IsRealityMode();
 
  ReaderConfig reader_cfg;
  reader_cfg.channel_name = config.readers(0).channel();
  reader_cfg.qos_profile.CopyFrom(config.readers(0).qos_profile());
  reader_cfg.pending_queue_size = config.readers(0).pending_queue_size();
 
  auto role_attr = std::make_shared<proto::RoleAttributes>();
  role_attr->set_node_name(config.name());
  role_attr->set_channel_name(config.readers(0).channel());
 
  std::weak_ptr<Component<M0>> self =
      std::dynamic_pointer_cast<Component<M0>>(shared_from_this());
  auto func = [self, role_attr](const std::shared_ptr<M0>& msg) {
    auto start_time = Time::Now().ToMicrosecond();
    auto ptr = self.lock();
    if (ptr) {
      ptr->Process(msg);
    } else {
      AERROR << "Component object has been destroyed.";
    }
    auto end_time = Time::Now().ToMicrosecond();
    // sampling proc latency and cyber latency in microsecond
    uint64_t process_start_time;
    statistics::Statistics::Instance()->SamplingProcLatency<uint64_t>(
        *role_attr, end_time - start_time);
    if (statistics::Statistics::Instance()->GetProcStatus(
            *role_attr, &process_start_time) &&
        (start_time - process_start_time) > 0) {
      statistics::Statistics::Instance()->SamplingCyberLatency(
          *role_attr, start_time - process_start_time);
    }
  };
 
  std::shared_ptr<Reader<M0>> reader = nullptr;
 
  if (cyber_likely(is_reality_mode)) {
    reader = node_->CreateReader<M0>(reader_cfg);
  } else {
    reader = node_->CreateReader<M0>(reader_cfg, func);
  }
 
  if (reader == nullptr) {
    AERROR << "Component create reader failed.";
    return false;
  }
  readers_.emplace_back(std::move(reader));
 
  if (cyber_unlikely(!is_reality_mode)) {
    return true;
  }
 
  data::VisitorConfig conf = {readers_[0]->ChannelId(),
                              readers_[0]->PendingQueueSize()};
  auto dv = std::make_shared<data::DataVisitor<M0>>(conf);
  croutine::RoutineFactory factory =
      croutine::CreateRoutineFactory<M0>(func, dv);
  auto sched = scheduler::Instance();
  return sched->CreateTask(factory, node_->Name());
}

Process()

template<typename M0 >

bool apollo::cyber::Component< M0, NullType, NullType, NullType >::Process

(

const std::shared_ptr< M0 > &

msg

)

在文件 component.h 第 144 行定义.

                                  {
  if (is_shutdown_.load()) {
    return true;
  }
  return Proc(msg);
}

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该类的文档由以下文件生成:

• cyber/component/component.h