apollo::dreamview::ObstacleUpdater类 参考

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

#include <obstacle_updater.h>

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

apollo::dreamview::ObstacleUpdater 的协作图:

Public 成员函数
	ObstacleUpdater (WebSocketHandler *websocket)
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.
void	GetChannelMsg (std::vector< std::string > *channels)
	GetChannelMsg
void	Stop ()
void	Init ()
Public 成员函数 继承自 apollo::dreamview::UpdaterWithChannelsBase
void	GetChannelMsgWithFilter (std::vector< std::string > *channels, const std::string &filter_message_type, const std::string &filter_channel, bool reverse_filter_channel=false)
	GetChannelMsgWithFilter:by msg type and channel filter field to filter channels for DataUpdater
Public 成员函数 继承自 apollo::dreamview::UpdaterBase
	UpdaterBase ()
	Updaterbase
virtual	~UpdaterBase ()

额外继承的成员函数
Public 属性 继承自 apollo::dreamview::UpdaterWithChannelsBase
std::vector< std::string >	channels_

详细描述

A wrapper around WebSocketHandler to keep pushing obstalcles to frontend via websocket.

在文件 obstacle_updater.h 第 59 行定义.

构造及析构函数说明

ObstacleUpdater()

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

explicit

在文件 obstacle_updater.cc 第 35 行定义.

    : websocket_(websocket), node_(cyber::CreateNode("obstacle_updater")) {
  Init();
}

成员函数说明

GetChannelMsg()

void apollo::dreamview::ObstacleUpdater::GetChannelMsg ( std::vector< std::string > *  channels )

virtual

GetChannelMsg

实现了 apollo::dreamview::UpdaterWithChannelsBase.

在文件 obstacle_updater.cc 第 130 行定义.

                                                                  {
  enabled_ = true;
  GetChannelMsgWithFilter(channels, "perception.PerceptionObstacles", "");
}

Init()

void apollo::dreamview::ObstacleUpdater::Init

(

)

在文件 obstacle_updater.cc 第 40 行定义.

                           {
  localization_reader_ = node_->CreateReader<LocalizationEstimate>(
      FLAGS_localization_topic,
      [this](const std::shared_ptr<LocalizationEstimate>& localization) {
        OnLocalization(localization);
      });
}

OnTimer()

void apollo::dreamview::ObstacleUpdater::OnTimer

(

const std::string &

channel_name = ""

)

在文件 obstacle_updater.cc 第 111 行定义.

                                                           {
  PublishMessage(channel_name);
}

PublishMessage()

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

overridevirtual

Publish Message to dreamview frontend.

实现了 apollo::dreamview::UpdaterBase.

在文件 obstacle_updater.cc 第 115 行定义.

                                                                  {
  std::string to_send = "";
  GetObjects(&to_send, channel_name);
  StreamData stream_data;
  std::string stream_data_string;
  stream_data.set_action("stream");
  stream_data.set_data_name("obstacle");
  stream_data.set_channel_name(channel_name);
  std::vector<uint8_t> byte_data(to_send.begin(), to_send.end());
  stream_data.set_data(&(byte_data[0]), byte_data.size());
  stream_data.set_type("obstacle");
  stream_data.SerializeToString(&stream_data_string);
  websocket_->BroadcastBinaryData(stream_data_string);
}

StartStream()

void apollo::dreamview::ObstacleUpdater::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 obstacle_updater.cc 第 63 行定义.

                                                                 {
  if (channel_name.empty()) {
    AERROR << "Failed to subscribe channel for channel is empty";
    return;
  }
  if (time_interval_ms > 0) {
    ObstacleChannelUpdater* channel_updater =
        GetObstacleChannelUpdater(channel_name);
    if (channel_updater == nullptr) {
      AERROR << "Failed to subscribe channel: " << channel_name
             << "for channel updater not registered!";
      return;
    }
    channel_updater->timer_.reset(new cyber::Timer(
        time_interval_ms,
        [channel_name, this]() { this->OnTimer(channel_name); }, false));
    channel_updater->timer_->Start();
  } else {
    this->OnTimer(channel_name);
  }
}

Stop()

void apollo::dreamview::ObstacleUpdater::Stop

(

)

在文件 obstacle_updater.cc 第 104 行定义.

                           {
  if (enabled_) {
    obstacle_channel_updater_map_.clear();
  }
  enabled_ = false;
}

StopStream()

void apollo::dreamview::ObstacleUpdater::StopStream ( const std::string &  channel_name )

overridevirtual

Stop data flow.

实现了 apollo::dreamview::UpdaterBase.

在文件 obstacle_updater.cc 第 87 行定义.

                                                              {
  if (channel_name.empty()) {
    AERROR << "Failed to unsubscribe channel for channel is empty";
    return;
  }
  if (enabled_) {
    ObstacleChannelUpdater* channel_updater =
        GetObstacleChannelUpdater(channel_name);
    if (channel_updater->timer_) {
      channel_updater->timer_->Stop();
    }
    channel_updater->obj_map_.clear();
    channel_updater->obstacle_objects_.Clear();
    channel_updater->obstacles_.clear();
  }
}

---

该类的文档由以下文件生成:

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