apollo::cyber::transport::Subscriber类 参考

#include <subscriber.h>

apollo::cyber::transport::Subscriber 的协作图:

Public 成员函数
	Subscriber (const std::string &name, const proto::QosProfile &qos, eprosima::fastdds::dds::DomainParticipant *participant, const rtps::subsciber_callback &callback)
virtual	~Subscriber ()
bool	Init ()
void	Shutdown ()

详细描述

在文件 subscriber.h 第 45 行定义.

构造及析构函数说明

Subscriber()

apollo::cyber::transport::Subscriber::Subscriber	(	const std::string &	name,
		const proto::QosProfile &	qos,
		eprosima::fastdds::dds::DomainParticipant *	participant,
		const rtps::subsciber_callback &	callback
	)

在文件 subscriber.cc 第 22 行定义.

    : channel_name_(name),
      qos_(qos),
      shutdown_(false),
      callback_(callback),
      subscriber_listener_(nullptr),
      participant_(participant),
      subscriber_(nullptr),
      topic_(nullptr),
      reader_(nullptr) {}

~Subscriber()

apollo::cyber::transport::Subscriber::~Subscriber ( )

virtual

在文件 subscriber.cc 第 35 行定义.

{}

成员函数说明

Init()

bool apollo::cyber::transport::Subscriber::Init

(

)

在文件 subscriber.cc 第 37 行定义.

                      {
  eprosima::fastdds::dds::SubscriberQos sub_qos;
  RETURN_VAL_IF(
      !QosFiller::FillInSubQos(this->channel_name_, this->qos_, &sub_qos),
      false);
  subscriber_ = participant_->create_subscriber(sub_qos);
  if (subscriber_ == nullptr) {
    AINFO << "something went wrong while creating the fastdds subscriber...";
    return false;
  }
 
  if (!EnsureCreateTopic(this->channel_name_)) {
    AINFO << "something went wrong while creating the fastdds topic...";
    return false;
  }
 
  eprosima::fastdds::dds::DataReaderQos reader_qos;
  RETURN_VAL_IF(
      !QosFiller::FillInReaderQos(this->channel_name_, this->qos_, &reader_qos),
      false);
  subscriber_listener_ = new dispatcher::SubscriberListener(this->callback_);
 
  reader_ =
      subscriber_->create_datareader(topic_, reader_qos, subscriber_listener_);
  if (reader_ == nullptr) {
    AINFO << "something went wrong while creating the fastdds datareader...";
    return false;
  }
 
  ADEBUG << "dds reader: " << reader_ << ", subscriber: " << this
         << ", reader guid: " << reader_->guid()
         << ", channel: " << this->channel_name_;
  return true;
}

Shutdown()

void apollo::cyber::transport::Subscriber::Shutdown

(

)

在文件 subscriber.cc 第 72 行定义.

                          {
  RETURN_IF(shutdown_.exchange(true));
 
  if (subscriber_ != nullptr && reader_ != nullptr) {
    subscriber_->delete_datareader(reader_);
    reader_ = nullptr;
  }
  if (participant_ != nullptr && subscriber_ != nullptr) {
    if (participant_->delete_subscriber(subscriber_) ==
        eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK) {
      subscriber_ = nullptr;
    } else {
      AERROR << channel_name_ << ": Failed to delete the subscriber.";
    }
  }
  if (participant_ != nullptr && topic_ != nullptr) {
    participant_->delete_topic(topic_);
    topic_ = nullptr;
  }
 
  if (subscriber_listener_ != nullptr) {
    delete subscriber_listener_;
  }
}

---

该类的文档由以下文件生成:

• cyber/transport/rtps/subscriber.h
• cyber/transport/rtps/subscriber.cc