apollo::data::RecordProcessor类 参考

Process messages and apply the rules based on configured triggers 更多...

#include <record_processor.h>

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

apollo::data::RecordProcessor 的协作图:

Public 成员函数
	RecordProcessor (const std::string &source_record_dir, const std::string &restored_output_dir)
virtual bool	Init (const SmartRecordTrigger &trigger_conf)
virtual bool	Process ()=0
virtual std::string	GetDefaultOutputFile () const =0
virtual	~RecordProcessor ()

Protected 成员函数
bool	InitTriggers (const SmartRecordTrigger &trigger_conf)
bool	ShouldRestore (const cyber::record::RecordMessage &msg) const

Protected 属性
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

Process messages and apply the rules based on configured triggers

在文件 record_processor.h 第 36 行定义.

构造及析构函数说明

RecordProcessor()

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

在文件 record_processor.cc 第 39 行定义.

    : source_record_dir_(source_record_dir),
      restored_output_dir_(restored_output_dir) {}

~RecordProcessor()

virtual apollo::data::RecordProcessor::~RecordProcessor ( )

inlinevirtual

在文件 record_processor.h 第 43 行定义.

{ writer_->Close(); }

成员函数说明

GetDefaultOutputFile()

virtual std::string apollo::data::RecordProcessor::GetDefaultOutputFile ( ) const

pure virtual

在 apollo::data::PostRecordProcessor , 以及 apollo::data::RealtimeRecordProcessor 内被实现.

Init()

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

virtual

被 apollo::data::PostRecordProcessor , 以及 apollo::data::RealtimeRecordProcessor 重载.

在文件 record_processor.cc 第 44 行定义.

                                                                 {
  // Init input/output
  if (!DirectoryExists(source_record_dir_)) {
    AERROR << "source record dir does not exist: " << source_record_dir_;
    return false;
  }
  if (!EnsureDirectory(restored_output_dir_)) {
    AERROR << "unable to open output dir: " << restored_output_dir_;
    return false;
  }
  // Init triggers
  if (!InitTriggers(trigger_conf)) {
    AERROR << "unable to init triggers";
    return false;
  }
  // Init writer
  static constexpr uint64_t kMBToKB = 1024UL;
  writer_.reset(new RecordWriter());
  writer_->SetIntervalOfFileSegmentation(
      trigger_conf.segment_setting().time_segment());
  writer_->SetSizeOfFileSegmentation(
      trigger_conf.segment_setting().size_segment() * kMBToKB);
  const std::string output_file = GetDefaultOutputFile();
  AINFO << "output file path: " << output_file;
  if (!writer_->Open(output_file)) {
    AERROR << "failed to open file for writing: " << output_file;
    return false;
  }
  // Init intervals pool
  IntervalPool::Instance()->Reset();
  IntervalPool::Instance()->SetIntervalEventLogFilePath(
      trigger_conf.trigger_log_file_path(), GetFileName(restored_output_dir_));
  return true;
}

InitTriggers()

bool apollo::data::RecordProcessor::InitTriggers ( const SmartRecordTrigger &  trigger_conf )

protected

在文件 record_processor.cc 第 79 行定义.

                                                                         {
  triggers_.push_back(std::unique_ptr<TriggerBase>(new DriveEventTrigger));
  triggers_.push_back(std::unique_ptr<TriggerBase>(new EmergencyModeTrigger));
  triggers_.push_back(std::unique_ptr<TriggerBase>(new HardBrakeTrigger));
  triggers_.push_back(std::unique_ptr<TriggerBase>(new SmallTopicsTrigger));
  triggers_.push_back(std::unique_ptr<TriggerBase>(new RegularIntervalTrigger));
  triggers_.push_back(std::unique_ptr<TriggerBase>(new SwerveTrigger));
  triggers_.push_back(std::unique_ptr<TriggerBase>(new BumperCrashTrigger));
  for (const auto& trigger : triggers_) {
    if (!trigger->Init(trigger_conf)) {
      AERROR << "unable to initiate trigger and collect channels";
      return false;
    }
  }
  return true;
}

Process()

virtual bool apollo::data::RecordProcessor::Process ( )

pure virtual

在 apollo::data::PostRecordProcessor , 以及 apollo::data::RealtimeRecordProcessor 内被实现.

ShouldRestore()

bool apollo::data::RecordProcessor::ShouldRestore ( const cyber::record::RecordMessage &  msg ) const

protected

在文件 record_processor.cc 第 96 行定义.

                                               {
  for (const auto& trigger : triggers_) {
    if (trigger->ShouldRestore(msg)) {
      return true;
    }
  }
  return false;
}

类成员变量说明

restored_output_dir_

const std::string apollo::data::RecordProcessor::restored_output_dir_

protected

在文件 record_processor.h 第 50 行定义.

source_record_dir_

const std::string apollo::data::RecordProcessor::source_record_dir_

protected

在文件 record_processor.h 第 49 行定义.

triggers_

std::vector<std::unique_ptr<TriggerBase> > apollo::data::RecordProcessor::triggers_

protected

在文件 record_processor.h 第 51 行定义.

writer_

std::unique_ptr<cyber::record::RecordWriter> apollo::data::RecordProcessor::writer_ = nullptr

protected

在文件 record_processor.h 第 52 行定义.

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该类的文档由以下文件生成:

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