apollo::cyber::PyChannelUtils类 参考

#include <py_cyber.h>

apollo::cyber::PyChannelUtils 的协作图:

静态 Public 成员函数
static std::string	get_debugstring_by_msgtype_rawmsgdata (const std::string &msg_type, const std::string &rawmsgdata)
static std::string	get_msgtype_by_channelname (const std::string &channel_name, uint8_t sleep_s=0)
static std::vector< std::string >	get_active_channels (uint8_t sleep_s=2)
static std::unordered_map< std::string, std::vector< std::string > >	get_channels_info (uint8_t sleep_s=2)

详细描述

在文件 py_cyber.h 第 339 行定义.

成员函数说明

get_active_channels()

static std::vector< std::string > apollo::cyber::PyChannelUtils::get_active_channels ( uint8_t  sleep_s = 2 )

inlinestatic

在文件 py_cyber.h 第 387 行定义.

                                                                       {
    auto topology = service_discovery::TopologyManager::Instance();
    sleep(sleep_s);
    auto channel_manager = topology->channel_manager();
    std::vector<std::string> channels;
    channel_manager->GetChannelNames(&channels);
    return channels;
  }

get_channels_info()

static std::unordered_map< std::string, std::vector< std::string > > apollo::cyber::PyChannelUtils::get_channels_info ( uint8_t  sleep_s = 2 )

inlinestatic

在文件 py_cyber.h 第 397 行定义.

                                         {
    auto topology = service_discovery::TopologyManager::Instance();
    sleep(sleep_s);
    std::vector<proto::RoleAttributes> tmpVec;
    topology->channel_manager()->GetWriters(&tmpVec);
    std::unordered_map<std::string, std::vector<std::string>> roles_info;
 
    for (auto& attr : tmpVec) {
      std::string channel_name = attr.channel_name();
      std::string msgdata;
      attr.SerializeToString(&msgdata);
      roles_info[channel_name].emplace_back(msgdata);
    }
 
    tmpVec.clear();
    topology->channel_manager()->GetReaders(&tmpVec);
    for (auto& attr : tmpVec) {
      std::string channel_name = attr.channel_name();
      std::string msgdata;
      attr.SerializeToString(&msgdata);
      roles_info[channel_name].emplace_back(msgdata);
    }
    return roles_info;
  }

get_debugstring_by_msgtype_rawmsgdata()

static std::string apollo::cyber::PyChannelUtils::get_debugstring_by_msgtype_rawmsgdata ( const std::string &  msg_type, const std::string &  rawmsgdata  )

inlinestatic

在文件 py_cyber.h 第 344 行定义.

                                                              {
    if (msg_type.empty()) {
      AERROR << "parse rawmessage the msg_type is null";
      return "";
    }
    if (rawmsgdata.empty()) {
      AERROR << "parse rawmessage the rawmsgdata is null";
      return "";
    }
 
    if (raw_msg_class_ == nullptr) {
      auto rawFactory = message::ProtobufFactory::Instance();
      raw_msg_class_ = rawFactory->GenerateMessageByType(msg_type);
    }
 
    if (raw_msg_class_ == nullptr) {
      AERROR << "raw_msg_class_  is null";
      return "";
    }
 
    if (!raw_msg_class_->ParseFromString(rawmsgdata)) {
      AERROR << "Cannot parse the msg [ " << msg_type << " ]";
      return "";
    }
 
    return raw_msg_class_->DebugString();
  }

get_msgtype_by_channelname()

static std::string apollo::cyber::PyChannelUtils::get_msgtype_by_channelname ( const std::string &  channel_name, uint8_t  sleep_s = 0  )

inlinestatic

在文件 py_cyber.h 第 373 行定义.

                                                                     {
    if (channel_name.empty()) {
      AERROR << "channel_name is null";
      return "";
    }
    auto topology = service_discovery::TopologyManager::Instance();
    sleep(sleep_s);
    auto channel_manager = topology->channel_manager();
    std::string msg_type("");
    channel_manager->GetMsgType(channel_name, &msg_type);
    return msg_type;
  }

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该类的文档由以下文件生成:

• cyber/python/internal/py_cyber.h
• cyber/python/internal/py_cyber.cc