apollo::data::TriggerBase类 参考

Base class of triggers that defines interfaces 更多...

#include <trigger_base.h>

类 apollo::data::TriggerBase 继承关系图:

apollo::data::TriggerBase 的协作图:

Public 成员函数
	TriggerBase ()=default
virtual bool	Init (const SmartRecordTrigger &trigger_conf)
virtual void	Pull (const cyber::record::RecordMessage &msg)=0
virtual bool	ShouldRestore (const cyber::record::RecordMessage &msg) const =0
const std::string &	GetTriggerName () const
uint64_t	SecondsToNanoSeconds (const double seconds) const
virtual	~TriggerBase ()=default

Protected 成员函数
void	TriggerIt (const uint64_t msg_time) const
uint64_t	GetValidValueInRange (const double desired_value, const double min_limit, const double max_limit) const

Protected 属性
std::string	trigger_name_
std::unique_ptr< Trigger >	trigger_obj_ = nullptr

详细描述

Base class of triggers that defines interfaces

在文件 trigger_base.h 第 33 行定义.

构造及析构函数说明

TriggerBase()

apollo::data::TriggerBase::TriggerBase ( )

default

~TriggerBase()

virtual apollo::data::TriggerBase::~TriggerBase ( )

virtualdefault

成员函数说明

GetTriggerName()

const std::string & apollo::data::TriggerBase::GetTriggerName ( ) const

inline

在文件 trigger_base.h 第 47 行定义.

{ return trigger_name_; }

GetValidValueInRange()

uint64_t apollo::data::TriggerBase::GetValidValueInRange ( const double  desired_value, const double  min_limit, const double  max_limit  ) const

protected

在文件 trigger_base.cc 第 48 行定义.

                                                                         {
  return SecondsToNanoSeconds(desired_value < min_limit
                                  ? min_limit
                                  : desired_value > max_limit ? max_limit
                                                              : desired_value);
}

Init()

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

virtual

在文件 trigger_base.cc 第 25 行定义.

                                                             {
  LockTrigger(trigger_conf);
  if (trigger_obj_ == nullptr) {
    AERROR << "failed to lock trigger " << GetTriggerName();
    return false;
  }
  return true;
}

Pull()

virtual void apollo::data::TriggerBase::Pull ( const cyber::record::RecordMessage &  msg )

pure virtual

在 apollo::data::BumperCrashTrigger, apollo::data::DriveEventTrigger, apollo::data::EmergencyModeTrigger, apollo::data::HardBrakeTrigger, apollo::data::RegularIntervalTrigger, apollo::data::SmallTopicsTrigger , 以及 apollo::data::SwerveTrigger 内被实现.

SecondsToNanoSeconds()

uint64_t apollo::data::TriggerBase::SecondsToNanoSeconds

(

const double

seconds

)

const

在文件 trigger_base.cc 第 34 行定义.

                                                                     {
  static constexpr uint64_t kSecondsToNanoSecondsFactor = 1000000000UL;
  return static_cast<uint64_t>(kSecondsToNanoSecondsFactor * seconds);
}

ShouldRestore()

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

pure virtual

在 apollo::data::BumperCrashTrigger, apollo::data::DriveEventTrigger, apollo::data::EmergencyModeTrigger, apollo::data::HardBrakeTrigger, apollo::data::RegularIntervalTrigger, apollo::data::SmallTopicsTrigger , 以及 apollo::data::SwerveTrigger 内被实现.

TriggerIt()

void apollo::data::TriggerBase::TriggerIt ( const uint64_t  msg_time ) const

protected

在文件 trigger_base.cc 第 57 行定义.

                                                         {
  static constexpr float kMaxBackwardTime = 80.0;
  static constexpr float kMaxForwardTime = 80.0;
  static constexpr uint64_t kZero = 0.0;
  const uint64_t backward_time = GetValidValueInRange(
      trigger_obj_->backward_time(), kZero, kMaxBackwardTime);
  const uint64_t forward_time = GetValidValueInRange(
      trigger_obj_->forward_time(), kZero, kMaxForwardTime);
  IntervalPool::Instance()->AddInterval(msg_time - backward_time,
                                        msg_time + forward_time);
  IntervalPool::Instance()->LogIntervalEvent(
      trigger_obj_->trigger_name(), trigger_obj_->description(), msg_time,
      backward_time, forward_time);
}

类成员变量说明

trigger_name_

std::string apollo::data::TriggerBase::trigger_name_

protected

在文件 trigger_base.h 第 59 行定义.

trigger_obj_

std::unique_ptr<Trigger> apollo::data::TriggerBase::trigger_obj_ = nullptr

protected

在文件 trigger_base.h 第 60 行定义.

---

该类的文档由以下文件生成:

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