Node is the fundamental building block of Cyber RT. 更多...

#include <node.h>

apollo::cyber::Node 的协作图:

Public 成员函数
virtual	~Node ()

const std::string &	Name () const
	Get node's name.

template<typename MessageT >
auto	CreateWriter (const proto::RoleAttributes &role_attr) -> std::shared_ptr< Writer< MessageT > >
	Create a Writer with specific message type.

template<typename MessageT >
auto	CreateWriter (const std::string &channel_name) -> std::shared_ptr< Writer< MessageT > >
	Create a Writer with specific message type.

template<typename MessageT >
auto	CreateReader (const std::string &channel_name, const CallbackFunc< MessageT > &reader_func=nullptr) -> std::shared_ptr< cyber::Reader< MessageT > >
	Create a Reader with specific message type with channel name qos and other configs used will be default

template<typename MessageT >
auto	CreateReader (const ReaderConfig &config, const CallbackFunc< MessageT > &reader_func=nullptr) -> std::shared_ptr< cyber::Reader< MessageT > >
	Create a Reader with specific message type with reader config

template<typename MessageT >
auto	CreateReader (const proto::RoleAttributes &role_attr, const CallbackFunc< MessageT > &reader_func=nullptr) -> std::shared_ptr< cyber::Reader< MessageT > >
	Create a Reader object with `RoleAttributes`

template<typename Request , typename Response >
auto	CreateService (const std::string &service_name, const typename Service< Request, Response >::ServiceCallback &service_callback) -> std::shared_ptr< Service< Request, Response > >
	Create a Service object with specific `service_name`

template<typename Request , typename Response >
auto	CreateClient (const std::string &service_name) -> std::shared_ptr< Client< Request, Response > >
	Create a Client object to request Service with `service_name`

bool	DeleteReader (const std::string &channel_name)

bool	DeleteReader (const ReaderConfig &config)

bool	DeleteReader (const proto::RoleAttributes &role_attr)

void	Observe ()
	Observe all readers' data

void	ClearData ()
	clear all readers' data

template<typename MessageT >
auto	GetReader (const std::string &channel_name) -> std::shared_ptr< Reader< MessageT > >
	Get the Reader object that subscribe `channel_name`

友元
template<typename M0 , typename M1 , typename M2 , typename M3 >
class	Component

class	TimerComponent

bool	Init (const char *, const std::string &)

std::unique_ptr< Node >	CreateNode (const std::string &, const std::string &)

详细描述

Node is the fundamental building block of Cyber RT.

every module contains and communicates through the node. A module can have different types of communication by defining read/write and/or service/client in a node.

警告: Duplicate name is not allowed in topo objects, such as node, reader/writer, service/clinet in the topo.

在文件 node.h 第 44 行定义.

构造及析构函数说明

◆ ~Node()

Node::~Node ( )

virtual

在文件 node.cc 第 33 行定义.

33{}

成员函数说明

◆ ClearData()

void Node::ClearData ( )

clear all readers' data

在文件 node.cc 第 43 行定义.

                     {
  for (auto& reader : readers_) {
    reader.second->ClearData();
  }
}

◆ CreateClient()

template<typename Request , typename Response >

auto Node::CreateClient ( const std::string & service_name ) -> std::shared_ptr<Client<Request, Response>>

Create a Client object to request Service with service_name

模板参数

Request	Message Type of the Request
Response	Message Type of the Response

参数

service_name specific service name to a Service

返回: std::shared_ptr<Client<Request, Response>> result Client

在文件 node.h 第 267 行定义.

                                                {
  return node_service_impl_->template CreateClient<Request, Response>(
      service_name);
}

◆ CreateReader() [1/3]

template<typename MessageT >

auto Node::CreateReader	(	const proto::RoleAttributes &	role_attr,
		const CallbackFunc< MessageT > &	reader_func = `nullptr`
	)		-> std::shared_ptr<cyber::Reader<MessageT>>

Create a Reader object with RoleAttributes

模板参数

MessageT Message Type

参数

role_attr	instance of `RoleAttributes`, includes channel name, qos, etc.
reader_func	invoked when message receive

返回: std::shared_ptr<cyber::Reader<MessageT>> result Reader Object

在文件 node.h 第 204 行定义.

                                       {
  std::lock_guard<std::mutex> lg(readers_mutex_);
  if (readers_.find(role_attr.channel_name()) != readers_.end()) {
    AWARN << "Failed to create reader: reader with the same channel already "
             "exists.";
    return nullptr;
  }
  auto reader = node_channel_impl_->template CreateReader<MessageT>(
      role_attr, reader_func);
  if (reader != nullptr) {
    readers_.emplace(std::make_pair(role_attr.channel_name(), reader));
  }
  return reader;
}

◆ CreateReader() [2/3]

template<typename MessageT >

auto Node::CreateReader	(	const ReaderConfig &	config,
		const CallbackFunc< MessageT > &	reader_func = `nullptr`
	)		-> std::shared_ptr<cyber::Reader<MessageT>>

Create a Reader with specific message type with reader config

模板参数

MessageT Message Type

参数

config	instance of `ReaderConfig`, include channel name, qos and pending queue size
reader_func	invoked when message receive

返回: std::shared_ptr<cyber::Reader<MessageT>> result Reader Object

在文件 node.h 第 222 行定义.

                                            {
  std::lock_guard<std::mutex> lg(readers_mutex_);
  if (readers_.find(config.channel_name) != readers_.end()) {
    AWARN << "Failed to create reader: reader with the same channel already "
             "exists.";
    return nullptr;
  }
  auto reader =
      node_channel_impl_->template CreateReader<MessageT>(config, reader_func);
  if (reader != nullptr) {
    readers_.emplace(std::make_pair(config.channel_name, reader));
  }
  return reader;
}

◆ CreateReader() [3/3]

template<typename MessageT >

auto Node::CreateReader	(	const std::string &	channel_name,
		const CallbackFunc< MessageT > &	reader_func = `nullptr`
	)		-> std::shared_ptr<cyber::Reader<MessageT>>

Create a Reader with specific message type with channel name qos and other configs used will be default

模板参数

MessageT Message Type

参数

channel_name	the channel of the reader subscribed.
reader_func	invoked when message receive invoked when the message is received.

返回: std::shared_ptr<cyber::Reader<MessageT>> result Reader Object

在文件 node.h 第 240 行定义.

                                       {
  std::lock_guard<std::mutex> lg(readers_mutex_);
  if (readers_.find(channel_name) != readers_.end()) {
    AWARN << "Failed to create reader: reader with the same channel already "
             "exists.";
    return nullptr;
  }
  auto reader = node_channel_impl_->template CreateReader<MessageT>(
      channel_name, reader_func);
  if (reader != nullptr) {
    readers_.emplace(std::make_pair(channel_name, reader));
  }
  return reader;
}

◆ CreateService()

template<typename Request , typename Response >

auto Node::CreateService	(	const std::string &	service_name,
		const typename Service< Request, Response >::ServiceCallback &	service_callback
	)		-> std::shared_ptr<Service<Request, Response>>

Create a Service object with specific service_name

模板参数

Request	Message Type of the Request
Response	Message Type of the Response

参数

service_name	specific service name to a serve
service_callback	invoked when a service is called

返回: std::shared_ptr<Service<Request, Response>> result Service

在文件 node.h 第 258 行定义.

                                                                       {
  return node_service_impl_->template CreateService<Request, Response>(
      service_name, service_callback);
}

◆ CreateWriter() [1/2]

template<typename MessageT >

auto Node::CreateWriter ( const proto::RoleAttributes & role_attr ) -> std::shared_ptr<Writer<MessageT>>

Create a Writer with specific message type.

模板参数

MessageT Message Type

参数

role_attr is a protobuf message RoleAttributes, which includes the channel name and other info.

返回: std::shared_ptr<Writer<MessageT>> result Writer Object

在文件 node.h 第 192 行定义.

                                       {
  return node_channel_impl_->template CreateWriter<MessageT>(role_attr);
}

◆ CreateWriter() [2/2]

template<typename MessageT >

auto Node::CreateWriter ( const std::string & channel_name ) -> std::shared_ptr<Writer<MessageT>>

Create a Writer with specific message type.

模板参数

MessageT Message Type

参数

channel_name the channel name to be published.

返回: std::shared_ptr<Writer<MessageT>> result Writer Object

在文件 node.h 第 198 行定义.

                                       {
  return node_channel_impl_->template CreateWriter<MessageT>(channel_name);
}

◆ DeleteReader() [1/3]

bool Node::DeleteReader ( const proto::RoleAttributes & role_attr )

在文件 node.cc 第 56 行定义.

                                                            {
  std::lock_guard<std::mutex> lg(readers_mutex_);
  int result = readers_.erase(role_attr.channel_name());
  if (1 == result) return true;
  return false;
}

◆ DeleteReader() [2/3]

bool Node::DeleteReader ( const ReaderConfig & config )

在文件 node.cc 第 63 行定义.

                                                  {
  std::lock_guard<std::mutex> lg(readers_mutex_);
  int result = readers_.erase(config.channel_name);
  if (1 == result) return true;
  return false;
}

◆ DeleteReader() [3/3]

bool Node::DeleteReader ( const std::string & channel_name )

在文件 node.cc 第 49 行定义.

                                                     {
  std::lock_guard<std::mutex> lg(readers_mutex_);
  int result = readers_.erase(channel_name);
  if (1 == result) return true;
  return false;
}

◆ GetReader()

template<typename MessageT >

auto Node::GetReader ( const std::string & channel_name ) -> std::shared_ptr<Reader<MessageT>>

Get the Reader object that subscribe channel_name

模板参数

MessageT Message Type

参数

channel_name channel name

返回: std::shared_ptr<Reader<MessageT>> result reader

在文件 node.h 第 274 行定义.

                                       {
  std::lock_guard<std::mutex> lg(readers_mutex_);
  auto it = readers_.find(name);
  if (it != readers_.end()) {
    return std::dynamic_pointer_cast<Reader<MessageT>>(it->second);
  }
  return nullptr;
}

◆ Name()

const std::string & Node::Name ( ) const

Get node's name.

警告: duplicate node name is not allowed in the topo.

在文件 node.cc 第 35 行定义.

35{ return node_name_; }

◆ Observe()

void Node::Observe ( )

Observe all readers' data

在文件 node.cc 第 37 行定义.

                   {
  for (auto& reader : readers_) {
    reader.second->Observe();
  }
}

友元及相关函数文档

◆ Component

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

friend class Component

friend

在文件 node.h 第 47 行定义.

◆ CreateNode

std::unique_ptr< Node > CreateNode	(	const std::string &	,
		const std::string &
	)

friend

在文件 cyber.cc 第 33 行定义.

                                                              {
  bool is_reality_mode = GlobalData::Instance()->IsRealityMode();
  if (is_reality_mode && !OK()) {
    // add some hint log
    AERROR << "please initialize cyber firstly.";
    return nullptr;
  }
  return std::unique_ptr<Node>(new Node(node_name, name_space));
}

◆ Init

bool Init	(	const char *	,
		const std::string &
	)

friend

在文件 init.cc 第 99 行定义.

                                                              {
  std::lock_guard<std::mutex> lg(g_mutex);
  if (GetState() != STATE_UNINITIALIZED) {
    return false;
  }
 
  InitLogger(binary_name);
  auto thread = const_cast<std::thread*>(async_logger->LogThread());
  scheduler::Instance()->SetInnerThreadAttr("async_log", thread);
  SysMo::Instance();
  std::signal(SIGINT, OnShutdown);
  // Register exit handlers
  if (!g_atexit_registered) {
    if (std::atexit(ExitHandle) != 0) {
      AERROR << "Register exit handle failed";
      return false;
    }
    AINFO << "Register exit handle succ.";
    g_atexit_registered = true;
  }
  SetState(STATE_INITIALIZED);
 
  auto global_data = GlobalData::Instance();
  if (global_data->IsMockTimeMode()) {
    auto node_name = kClockNode + std::to_string(getpid());
    clock_node = std::unique_ptr<Node>(new Node(node_name));
    auto cb =
        [](const std::shared_ptr<const apollo::cyber::proto::Clock>& msg) {
          if (msg->has_clock()) {
            Clock::Instance()->SetNow(Time(msg->clock()));
          }
        };
    clock_node->CreateReader<apollo::cyber::proto::Clock>(kClockChannel, cb);
  }
 
  if (dag_info != "") {
    std::string dump_path;
    if (dag_info.length() > 200) {
      std::string truncated = dag_info.substr(0, 200);
      dump_path = common::GetEnv(
        "APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" + truncated;
    } else {
      dump_path = \
        common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" + dag_info;
    }
    google::SetCommandLineOption("bvar_dump_file", dump_path.c_str());
  } else {
    statistics::Statistics::Instance()->DisableChanVar();
  }
  google::SetCommandLineOption("bvar_dump_exclude", "*qps");
  google::SetCommandLineOption("bvar_dump", "true");
 
  return true;
}

◆ TimerComponent

friend class TimerComponent

friend

在文件 node.h 第 48 行定义.

该类的文档由以下文件生成:

cyber/node/node.h
cyber/node/node.cc

Public 成员函数

友元

详细描述

构造及析构函数说明

◆ ~Node()

成员函数说明

◆ ClearData()

◆ CreateClient()

◆ CreateReader() [1/3]

◆ CreateReader() [2/3]

◆ CreateReader() [3/3]

◆ CreateService()

◆ CreateWriter() [1/2]

◆ CreateWriter() [2/2]

◆ DeleteReader() [1/3]

◆ DeleteReader() [2/3]

◆ DeleteReader() [3/3]

◆ GetReader()

◆ Name()

◆ Observe()

友元及相关函数文档

◆ Component

◆ CreateNode

◆ Init

◆ TimerComponent