apollo::cyber::PyNodeUtils类 参考

#include <py_cyber.h>

apollo::cyber::PyNodeUtils 的协作图:

静态 Public 成员函数
static std::vector< std::string >	get_active_nodes (uint8_t sleep_s=2)
static std::string	get_node_attr (const std::string &node_name, uint8_t sleep_s=2)
static std::vector< std::string >	get_readersofnode (const std::string &node_name, uint8_t sleep_s=2)
static std::vector< std::string >	get_writersofnode (const std::string &node_name, uint8_t sleep_s=2)

详细描述

在文件 py_cyber.h 第 426 行定义.

成员函数说明

get_active_nodes()

static std::vector< std::string > apollo::cyber::PyNodeUtils::get_active_nodes ( uint8_t  sleep_s = 2 )

inlinestatic

在文件 py_cyber.h 第 428 行定义.

                                                                    {
    auto topology = service_discovery::TopologyManager::Instance();
    sleep(sleep_s);
    std::vector<std::string> node_names;
    std::vector<RoleAttributes> nodes;
    topology->node_manager()->GetNodes(&nodes);
    if (nodes.empty()) {
      AERROR << "no node found.";
      return node_names;
    }
 
    std::sort(nodes.begin(), nodes.end(),
              [](const RoleAttributes& na, const RoleAttributes& nb) -> bool {
                return na.node_name().compare(nb.node_name()) <= 0;
              });
    for (auto& node : nodes) {
      node_names.emplace_back(node.node_name());
    }
    return node_names;
  }

get_node_attr()

static std::string apollo::cyber::PyNodeUtils::get_node_attr ( const std::string &  node_name, uint8_t  sleep_s = 2  )

inlinestatic

在文件 py_cyber.h 第 449 行定义.

                                                        {
    auto topology = service_discovery::TopologyManager::Instance();
    sleep(sleep_s);
 
    if (!topology->node_manager()->HasNode(node_name)) {
      AERROR << "no node named: " << node_name;
      return "";
    }
 
    std::vector<RoleAttributes> nodes;
    topology->node_manager()->GetNodes(&nodes);
    std::string msgdata;
    for (auto& node_attr : nodes) {
      if (node_attr.node_name() == node_name) {
        node_attr.SerializeToString(&msgdata);
        return msgdata;
      }
    }
    return "";
  }

get_readersofnode()

static std::vector< std::string > apollo::cyber::PyNodeUtils::get_readersofnode ( const std::string &  node_name, uint8_t  sleep_s = 2  )

inlinestatic

在文件 py_cyber.h 第 471 行定义.

                                                       {
    std::vector<std::string> reader_channels;
    auto topology = service_discovery::TopologyManager::Instance();
    sleep(sleep_s);
    if (!topology->node_manager()->HasNode(node_name)) {
      AERROR << "no node named: " << node_name;
      return reader_channels;
    }
 
    std::vector<RoleAttributes> readers;
    auto channel_mgr = topology->channel_manager();
    channel_mgr->GetReadersOfNode(node_name, &readers);
    for (auto& reader : readers) {
      if (reader.channel_name() == "param_event") {
        continue;
      }
      reader_channels.emplace_back(reader.channel_name());
    }
    return reader_channels;
  }

get_writersofnode()

static std::vector< std::string > apollo::cyber::PyNodeUtils::get_writersofnode ( const std::string &  node_name, uint8_t  sleep_s = 2  )

inlinestatic

在文件 py_cyber.h 第 493 行定义.

                                                       {
    std::vector<std::string> writer_channels;
    auto topology = service_discovery::TopologyManager::Instance();
    sleep(sleep_s);
    if (!topology->node_manager()->HasNode(node_name)) {
      AERROR << "no node named: " << node_name;
      return writer_channels;
    }
 
    std::vector<RoleAttributes> writers;
    auto channel_mgr = topology->channel_manager();
    channel_mgr->GetWritersOfNode(node_name, &writers);
    for (auto& writer : writers) {
      if (writer.channel_name() == "param_event") {
        continue;
      }
      writer_channels.emplace_back(writer.channel_name());
    }
    return writer_channels;
  }

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该类的文档由以下文件生成:

• cyber/python/internal/py_cyber.h