apollo::dreamview::MapUpdater类 参考

A wrapper around WebSocketHandler to keep pushing map to frontend via websocket. 更多...

#include <map_updater.h>

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

apollo::dreamview::MapUpdater 的协作图:

Public 成员函数
	MapUpdater (WebSocketHandler *websocket, const MapService *map_service)
	Constructor with the websocket handler.
	~MapUpdater () 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	OnTimer (const std::string &channel_name="")
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 map to frontend via websocket.

在文件 map_updater.h 第 50 行定义.

构造及析构函数说明

MapUpdater()

apollo::dreamview::MapUpdater::MapUpdater	(	WebSocketHandler *	websocket,
		const MapService *	map_service
	)

Constructor with the websocket handler.

参数

websocket	Pointer of the websocket handler that has been attached to the server.
map_service	A service object that handles map data.

在文件 map_updater.cc 第 34 行定义.

    : node_(cyber::CreateNode("map_updater")),
      websocket_(websocket),
      map_service_(map_service) {
  localization_reader_ =
      node_->CreateReader<apollo::localization::LocalizationEstimate>(
          FLAGS_localization_topic,
          [this](
              const std::shared_ptr<apollo::localization::LocalizationEstimate>
                  &msg) { UpdateAdcPosition(msg); });
}

~MapUpdater()

apollo::dreamview::MapUpdater::~MapUpdater ( )

inlineoverride

在文件 map_updater.h 第 59 行定义.

{}

成员函数说明

OnTimer()

void apollo::dreamview::MapUpdater::OnTimer

(

const std::string &

channel_name = ""

)

在文件 map_updater.cc 第 70 行定义.

{ PublishMessage(); }

PublishMessage()

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

overridevirtual

Publish Message to dreamview frontend.

实现了 apollo::dreamview::UpdaterBase.

在文件 map_updater.cc 第 55 行定义.

                                                             {
  auto retrieved = map_service_->RetrieveMapElements(map_element_ids_);
  retrieved.SerializeToString(&retrieved_map_string_);
  StreamData stream_data;
  std::string stream_data_string;
  stream_data.set_action("stream");
  stream_data.set_data_name("map");
  std::vector<uint8_t> byte_data(retrieved_map_string_.begin(),
                                 retrieved_map_string_.end());
  stream_data.set_data(&(byte_data[0]), byte_data.size());
  stream_data.set_type("map");
  stream_data.SerializeToString(&stream_data_string);
  websocket_->BroadcastBinaryData(stream_data_string);
}

StartStream()

void apollo::dreamview::MapUpdater::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 map_updater.cc 第 72 行定义.

                                                            {
  if (subscribe_param == nullptr ||
      !ContainsKey(*subscribe_param, "mapElementIds")) {
    AERROR << "Subscribe map must bring elementIds param";
    return;
  }
  // json to message
  map_element_ids_.Clear();
  nlohmann::json element_ids_json;
  if (!JsonUtil::GetJsonByPath(*subscribe_param, {"mapElementIds"},
                               &element_ids_json)) {
    AERROR << "ElementIds param is wrong type.";
    return;
  }
  if (!JsonStringToMessage(element_ids_json.dump(), &map_element_ids_).ok()) {
    AERROR << "Failed to parse elementIds from json!";
    return;
  }
  if (time_interval_ms > 0) {
    timer_.reset(new cyber::Timer(
        time_interval_ms, [this]() { this->OnTimer(); }, false));
    timer_->Start();
  } else {
    this->OnTimer();
  }
}

StopStream()

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

overridevirtual

Stop data flow.

实现了 apollo::dreamview::UpdaterBase.

在文件 map_updater.cc 第 101 行定义.

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

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该类的文档由以下文件生成:

• modules/dreamview_plus/backend/map/map_updater.h
• modules/dreamview_plus/backend/map/map_updater.cc