#include <recorder.h>

类 apollo::cyber::record::Recorder 继承关系图:

apollo::cyber::record::Recorder 的协作图:

Public 成员函数
	Recorder (const std::string &output, bool all_channels, const std::vector< std::string > &white_channels, const std::vector< std::string > &black_channels)

	Recorder (const std::string &output, bool all_channels, const std::vector< std::string > &white_channels, const std::vector< std::string > &black_channels, const proto::Header &header)

	~Recorder ()

bool	Start ()

bool	Stop ()

详细描述

在文件 recorder.h 第 49 行定义.

构造及析构函数说明

◆ Recorder() [1/2]

apollo::cyber::record::Recorder::Recorder	(	const std::string &	output,
		bool	all_channels,
		const std::vector< std::string > &	white_channels,
		const std::vector< std::string > &	black_channels
	)

在文件 recorder.cc 第 27 行定义.

    : output_(output),
      all_channels_(all_channels),
      white_channels_(white_channels),
      black_channels_(black_channels) {
  header_ = HeaderBuilder::GetHeader();
}

◆ Recorder() [2/2]

apollo::cyber::record::Recorder::Recorder	(	const std::string &	output,
		bool	all_channels,
		const std::vector< std::string > &	white_channels,
		const std::vector< std::string > &	black_channels,
		const proto::Header &	header
	)

在文件 recorder.cc 第 37 行定义.

    : output_(output),
      all_channels_(all_channels),
      white_channels_(white_channels),
      black_channels_(black_channels),
      header_(header) {}

◆ ~Recorder()

apollo::cyber::record::Recorder::~Recorder ( )

在文件 recorder.cc 第 47 行定义.

47{ Stop(); }

apollo::cyber::record::Recorder::Stop

bool Stop()

Definition recorder.cc:108

成员函数说明

◆ Start()

bool apollo::cyber::record::Recorder::Start ( )

在文件 recorder.cc 第 49 行定义.

                     {
  for (const auto& channel_name : white_channels_) {
    if (std::find(black_channels_.begin(), black_channels_.end(),
                  channel_name) != black_channels_.end()) {
      AERROR << "find channel in both of white list and black list, channel: "
             << channel_name;
      return false;
    }
  }
 
  auto get_patterns_func = [](const std::vector<std::string>& channels,
                              std::vector<std::regex>* channel_patterns) {
    for (const auto& channel_name : channels) {
      try {
        std::string name = "";
        /* replace escape character: \ to \\ */
        for (auto& c : channel_name) {
          if (c != '\\') {
            name += c;
          } else {
            name += "\\";
          }
        }
        channel_patterns->emplace_back(name);
      } catch (std::regex_error& e) {
        // ignored if channel name is not a regex string.
      }
    }
  };
  get_patterns_func(white_channels_, &white_channel_patterns_);
  get_patterns_func(black_channels_, &black_channel_patterns_);
 
  writer_.reset(new RecordWriter(header_));
  if (!writer_->Open(output_)) {
    AERROR << "Datafile open file error.";
    return false;
  }
  std::string node_name = "cyber_recorder_record_" + std::to_string(getpid());
  node_ = ::apollo::cyber::CreateNode(node_name);
  if (node_ == nullptr) {
    AERROR << "create node failed, node: " << node_name;
    return false;
  }
  if (!InitReadersImpl()) {
    AERROR << " _init_readers error.";
    return false;
  }
  message_count_ = 0;
  message_time_ = 0;
  is_started_ = true;
  display_thread_ =
      std::make_shared<std::thread>([this]() { this->ShowProgress(); });
  if (display_thread_ == nullptr) {
    AERROR << "init display thread error.";
    return false;
  }
  return true;
}

◆ Stop()

bool apollo::cyber::record::Recorder::Stop ( )

在文件 recorder.cc 第 108 行定义.

                    {
  if (!is_started_ || is_stopping_) {
    return false;
  }
  is_stopping_ = true;
  if (!FreeReadersImpl()) {
    AERROR << " _free_readers error.";
    return false;
  }
  writer_->Close();
  node_.reset();
  if (display_thread_ && display_thread_->joinable()) {
    display_thread_->join();
    display_thread_ = nullptr;
  }
  is_started_ = false;
  is_stopping_ = false;
  return true;
}

该类的文档由以下文件生成:

cyber/tools/cyber_recorder/recorder.h
cyber/tools/cyber_recorder/recorder.cc

Public 成员函数