apollo::cyber::TimerComponent类 参考

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#include <timer_component.h>

类 apollo::cyber::TimerComponent 继承关系图:

apollo::cyber::TimerComponent 的协作图:

Public 成员函数
	TimerComponent ()
	~TimerComponent () override
bool	Initialize (const TimerComponentConfig &config) override
	init the component by protobuf object.
void	Clear () override
bool	Process ()
uint32_t	GetInterval () const
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const ComponentConfig &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
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

TimerComponent is a timer component. Your component can inherit from Component, and implement Init() & Proc(), They are called by the CyberRT frame.

在文件 timer_component.h 第 35 行定义.

构造及析构函数说明

TimerComponent()

apollo::cyber::TimerComponent::TimerComponent

(

)

在文件 timer_component.cc 第 25 行定义.

{}

~TimerComponent()

apollo::cyber::TimerComponent::~TimerComponent ( )

override

在文件 timer_component.cc 第 27 行定义.

{}

成员函数说明

Clear()

void apollo::cyber::TimerComponent::Clear ( )

overridevirtual

重载 apollo::cyber::ComponentBase .

在文件 timer_component.cc 第 68 行定义.

{ timer_.reset(); }

GetInterval()

uint32_t apollo::cyber::TimerComponent::GetInterval

(

)

const

在文件 timer_component.cc 第 70 行定义.

{ return interval_; }

Initialize()

bool apollo::cyber::TimerComponent::Initialize ( const TimerComponentConfig &  config )

overridevirtual

init the component by protobuf object.

参数

config

which is define in 'cyber/proto/component_conf.proto'

返回

returns true if successful, otherwise returns false

重载 apollo::cyber::ComponentBase .

在文件 timer_component.cc 第 36 行定义.

                                                                  {
  if (!config.has_name() || !config.has_interval()) {
    AERROR << "Missing required field in config file.";
    return false;
  }
  node_.reset(new Node(config.name()));
  LoadConfigFiles(config);
  if (!Init()) {
    return false;
  }
  interval_ = config.interval();
 
  auto role_attr = std::make_shared<proto::RoleAttributes>();
  role_attr->set_node_name(config.name());
  role_attr->set_channel_name(statistics::TIMER_COMPONENT_CHAN_NAME);
  statistics::Statistics::Instance()->RegisterChanVar(*role_attr);
 
  std::shared_ptr<TimerComponent> self =
      std::dynamic_pointer_cast<TimerComponent>(shared_from_this());
  auto func = [self, role_attr]() {
    auto start_time = Time::Now().ToNanosecond();
    self->Process();
    auto end_time = Time::Now().ToNanosecond();
    // sampling proc latency in microsecond
    statistics::Statistics::Instance()->SamplingProcLatency<
                  uint64_t>(*role_attr, (end_time-start_time)/1000);
  };
  timer_.reset(new Timer(config.interval(), func, false));
  timer_->Start();
  return true;
}

Process()

bool apollo::cyber::TimerComponent::Process

(

)

在文件 timer_component.cc 第 29 行定义.

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

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该类的文档由以下文件生成:

• cyber/component/timer_component.h
• cyber/component/timer_component.cc