apollo::dreamview::ChannelsUpdater类 参考

A wrapper around WebSocketHandler to keep pushing specified channels info to frontend via websocket. 更多...

#include <channels_updater.h>

类 apollo::dreamview::ChannelsUpdater 继承关系图:

apollo::dreamview::ChannelsUpdater 的协作图:

Public 类型
using	ReaderMap = std::unordered_map< std::string, ChannelUpdater >

Public 成员函数
	ChannelsUpdater (WebSocketHandler *websocket)
	Constructor with the websocket handler.
	~ChannelsUpdater () override
void	StartStream (const double &time_interval_ms, const std::string &channel_name="", nlohmann::json *subscribe_param=nullptr) override
	Start data flow.
void	StopStream (const std::string &channel_name="") override
	Stop data flow.
void	PublishMessage (const std::string &channel_name="") override
	Publish Message to dreamview frontend.
Public 成员函数 继承自 apollo::dreamview::UpdaterBase
	UpdaterBase ()
	Updaterbase
virtual	~UpdaterBase ()

详细描述

A wrapper around WebSocketHandler to keep pushing specified channels info to frontend via websocket.

在文件 channels_updater.h 第 53 行定义.

成员类型定义说明

ReaderMap

using apollo::dreamview::ChannelsUpdater::ReaderMap = std::unordered_map<std::string, ChannelUpdater>

在文件 channels_updater.h 第 55 行定义.

构造及析构函数说明

ChannelsUpdater()

apollo::dreamview::ChannelsUpdater::ChannelsUpdater ( WebSocketHandler *  websocket )

explicit

Constructor with the websocket handler.

参数

websocket

Pointer of the websocket handler that has been attached to the server.

在文件 channels_updater.cc 第 36 行定义.

    : node_(cyber::CreateNode("channels_info_updater")),
      websocket_(websocket) {}

~ChannelsUpdater()

apollo::dreamview::ChannelsUpdater::~ChannelsUpdater ( )

inlineoverride

在文件 channels_updater.h 第 62 行定义.

                              {
    if (timer_initialized_) {
      timer_->Stop();
    }
  }

成员函数说明

PublishMessage()

void apollo::dreamview::ChannelsUpdater::PublishMessage ( const std::string &  channel_name = "" )

overridevirtual

Publish Message to dreamview frontend.

实现了 apollo::dreamview::UpdaterBase.

在文件 channels_updater.cc 第 40 行定义.

                                                                  {
  if (channel_updaters_.count(channel_name) == 0) {
    AERROR << "Failed to publish channel info for channel has not been "
              "registered!";
    return;
  }
  if (GetThrottleFlag()) {
    // Can continue to send data stream
    return;
  }
  // lock to avoid excessive stream data
  ControlThrottle(true);
  std::string channel_data_str =
      channel_updaters_[channel_name].channel_data_str;
  StreamData stream_data;
  std::string stream_data_string;
  stream_data.set_action("stream");
  stream_data.set_data_name("cyber");
  std::vector<uint8_t> byte_data(channel_data_str.begin(),
                                 channel_data_str.end());
  stream_data.set_data(&(byte_data[0]), byte_data.size());
  stream_data.set_type("cyber");
  stream_data.set_channel_name(channel_name);
  stream_data.SerializeToString(&stream_data_string);
  websocket_->BroadcastBinaryData(stream_data_string);
}

StartStream()

void apollo::dreamview::ChannelsUpdater::StartStream ( const double &  time_interval_ms, const std::string &  channel_name = "", nlohmann::json *  subscribe_param = nullptr  )

overridevirtual

Start data flow.

参数

time_interval_ms	Data stream sending frequency. 0 means single subscribe
subscribe_param	subscribe some updater may need extra params

实现了 apollo::dreamview::UpdaterBase.

在文件 channels_updater.cc 第 79 行定义.

                                                                 {
  if (!timer_initialized_) {
    timer_.reset(new cyber::Timer(
        time_interval_ms, [this]() { this->ControlThrottle(false); }, false));
    timer_->Start();
  }
  SubscribeChannel(channel_name);
}

StopStream()

void apollo::dreamview::ChannelsUpdater::StopStream ( const std::string &  channel_name = "" )

overridevirtual

Stop data flow.

实现了 apollo::dreamview::UpdaterBase.

在文件 channels_updater.cc 第 113 行定义.

                                                              {
  if (channel_name.empty()) {
    AERROR << "Unsubscribe channelsInfo must bring channel param.";
    return;
  }
  if (channel_updaters_.count(channel_name) == 0) {
    AERROR << "This channel is unsubscribed,no need to unsubscribe.";
    return;
  }
  node_->DeleteReader(channel_name);
  channel_updaters_.erase(channel_name);
  return;
}

---

该类的文档由以下文件生成:

• modules/dreamview_plus/backend/channels_updater/channels_updater.h
• modules/dreamview_plus/backend/channels_updater/channels_updater.cc