apollo::data::PostRecordProcessor类 参考

Post processor against recorded tasks that have been completed 更多...

#include <post_record_processor.h>

类 apollo::data::PostRecordProcessor 继承关系图:

apollo::data::PostRecordProcessor 的协作图:

Public 成员函数
	PostRecordProcessor (const std::string &source_record_dir, const std::string &restored_output_dir)
bool	Init (const SmartRecordTrigger &trigger_conf) override
bool	Process () override
std::string	GetDefaultOutputFile () const override
virtual	~PostRecordProcessor ()=default
Public 成员函数 继承自 apollo::data::RecordProcessor
	RecordProcessor (const std::string &source_record_dir, const std::string &restored_output_dir)
virtual	~RecordProcessor ()

额外继承的成员函数
Protected 成员函数 继承自 apollo::data::RecordProcessor
bool	InitTriggers (const SmartRecordTrigger &trigger_conf)
bool	ShouldRestore (const cyber::record::RecordMessage &msg) const
Protected 属性 继承自 apollo::data::RecordProcessor
const std::string	source_record_dir_
const std::string	restored_output_dir_
std::vector< std::unique_ptr< TriggerBase > >	triggers_
std::unique_ptr< cyber::record::RecordWriter >	writer_ = nullptr

详细描述

Post processor against recorded tasks that have been completed

在文件 post_record_processor.h 第 32 行定义.

构造及析构函数说明

PostRecordProcessor()

apollo::data::PostRecordProcessor::PostRecordProcessor ( const std::string &  source_record_dir, const std::string &  restored_output_dir  )

inline

在文件 post_record_processor.h 第 34 行定义.

      : RecordProcessor(source_record_dir, restored_output_dir) {}

~PostRecordProcessor()

virtual apollo::data::PostRecordProcessor::~PostRecordProcessor ( )

virtualdefault

成员函数说明

GetDefaultOutputFile()

std::string apollo::data::PostRecordProcessor::GetDefaultOutputFile ( ) const

overridevirtual

实现了 apollo::data::RecordProcessor.

在文件 post_record_processor.cc 第 99 行定义.

                                                          {
  std::string src_file_name = source_record_files_.front();
  const std::string record_flag(".record");
  src_file_name.resize(src_file_name.size() - src_file_name.find(record_flag) +
                       record_flag.size() + 1);
  return absl::StrCat(restored_output_dir_, "/", src_file_name);
}

Init()

bool apollo::data::PostRecordProcessor::Init ( const SmartRecordTrigger &  trigger_conf )

overridevirtual

重载 apollo::data::RecordProcessor .

在文件 post_record_processor.cc 第 42 行定义.

                                                                     {
  if (!DirectoryExists(source_record_dir_)) {
    AERROR << "source record dir does not exist: " << source_record_dir_;
    return false;
  }
  LoadSourceRecords();
  if (source_record_files_.empty()) {
    AERROR << "source record dir does not have any records: "
           << source_record_dir_;
    return false;
  }
  if (!RecordProcessor::Init(trigger_conf)) {
    AERROR << "base init failed";
    return false;
  }
  return true;
}

Process()

bool apollo::data::PostRecordProcessor::Process ( )

overridevirtual

实现了 apollo::data::RecordProcessor.

在文件 post_record_processor.cc 第 60 行定义.

                                  {
  // First scan, get intervals
  for (const std::string& record : source_record_files_) {
    const auto reader = std::make_shared<RecordReader>(
        absl::StrCat(source_record_dir_, "/", record));
    RecordViewer viewer(reader, 0,
                        std::numeric_limits<uint64_t>::max(),
                        ChannelPool::Instance()->GetAllChannels());
    AINFO << record << ":" << viewer.begin_time() << " - " << viewer.end_time();
    for (const auto& msg : viewer) {
      for (const auto& trigger : triggers_) {
        trigger->Pull(msg);
      }
    }
  }
  // Second scan, restore messages based on intervals in the first scan
  IntervalPool::Instance()->ReorgIntervals();
  IntervalPool::Instance()->PrintIntervals();
  for (const std::string& record : source_record_files_) {
    const auto reader = std::make_shared<RecordReader>(
        absl::StrCat(source_record_dir_, "/", record));
    RecordViewer viewer(reader, 0,
                        std::numeric_limits<uint64_t>::max(),
                        ChannelPool::Instance()->GetAllChannels());
    for (const auto& msg : viewer) {
      // If the message fall into generated intervals,
      // or required by any triggers, restore it
      if (IntervalPool::Instance()->MessageFallIntoRange(msg.time) ||
          ShouldRestore(msg)) {
        writer_->WriteChannel(msg.channel_name,
                              reader->GetMessageType(msg.channel_name),
                              reader->GetProtoDesc(msg.channel_name));
        writer_->WriteMessage(msg.channel_name, msg.content, msg.time);
      }
    }
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/data/tools/smart_recorder/post_record_processor.h
• modules/data/tools/smart_recorder/post_record_processor.cc