apollo::dreamview::PerceptionCameraUpdater类 参考

#include <perception_camera_updater.h>

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

apollo::dreamview::PerceptionCameraUpdater 的协作图:

Public 类型
using	DvCallback = std::function< bool(const std::string &string)>

Public 成员函数
	PerceptionCameraUpdater (WebSocketHandler *websocket)
void	Start (DvCallback callback_api)
void	Stop ()
bool	IsEnabled () const
void	GetUpdate (std::string *camera_update)
void	GetChannelMsg (std::vector< std::string > *channels)
	GetChannelMsg
bool	ChangeChannel (std::string channel)
	PerceptionCameraUpdater (WebSocketHandler *websocket)
void	Stop ()
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	GetUpdate (std::string *camera_update, const std::string &channel_name)
void	GetChannelMsg (std::vector< std::string > *channels) override
	GetChannelMsg
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

在文件 perception_camera_updater.h 第 41 行定义.

成员类型定义说明

DvCallback

using apollo::dreamview::PerceptionCameraUpdater::DvCallback = std::function<bool(const std::string &string)>

在文件 perception_camera_updater.h 第 51 行定义.

构造及析构函数说明

PerceptionCameraUpdater() [1/2]

PerceptionCameraUpdater::PerceptionCameraUpdater ( WebSocketHandler *  websocket )

explicit

在文件 perception_camera_updater.cc 第 67 行定义.

    : websocket_(websocket),
      node_(cyber::CreateNode("perception_camera_updater")) {
  InitReaders();
}

PerceptionCameraUpdater() [2/2]

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

explicit

成员函数说明

ChangeChannel()

bool PerceptionCameraUpdater::ChangeChannel

(

std::string

channel

)

在文件 perception_camera_updater.cc 第 313 行定义.

                                                             {
  if (curr_channel_name != "") node_->DeleteReader(curr_channel_name);
  perception_camera_reader_.reset();
  perception_camera_reader_ = node_->CreateReader<drivers::Image>(
      channel,
      [this](const std::shared_ptr<drivers::Image> &image) { OnImage(image); });
  if (perception_camera_reader_ == nullptr) {
    return false;
  }
  curr_channel_name = channel;
  bool update_res = false;
  update_res = callback_api_(channel);
  if (!update_res) {
    AERROR << "update current camera channel fail";
    return false;
  }
  return true;
}

GetChannelMsg() [1/2]

void PerceptionCameraUpdater::GetChannelMsg ( std::vector< std::string > *  channels )

virtual

GetChannelMsg

实现了 apollo::dreamview::UpdaterWithChannelsBase.

在文件 perception_camera_updater.cc 第 294 行定义.

                                    {
  enabled_ = true;
  auto channelManager =
      apollo::cyber::service_discovery::TopologyManager::Instance()
          ->channel_manager();
  std::vector<apollo::cyber::proto::RoleAttributes> role_attr_vec;
  channelManager->GetWriters(&role_attr_vec);
  for (auto &role_attr : role_attr_vec) {
    std::string messageType;
    messageType = role_attr.message_type();
    int index = messageType.rfind("drivers.Image");
    if (index != -1) {
      channels->push_back(role_attr.channel_name());
    }
  }
  channels_.clear();
  channels_ = {channels->begin(), channels->end()};
}

GetChannelMsg() [2/2]

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

overridevirtual

GetChannelMsg

实现了 apollo::dreamview::UpdaterWithChannelsBase.

GetUpdate() [1/2]

void PerceptionCameraUpdater::GetUpdate

(

std::string *

camera_update

)

在文件 perception_camera_updater.cc 第 268 行定义.

                                                                {
  {
    std::lock(image_mutex_, localization_mutex_, obstacle_mutex_);
    std::lock_guard<std::mutex> lock1(image_mutex_, std::adopt_lock);
    std::lock_guard<std::mutex> lock2(localization_mutex_, std::adopt_lock);
    std::lock_guard<std::mutex> lock3(obstacle_mutex_, std::adopt_lock);
    std::vector<double> localization;
    GetImageLocalization(&localization);
    *camera_update_.mutable_localization() = {localization.begin(),
                                              localization.end()};
    std::vector<double> localization2camera_tf;
    GetLocalization2CameraTF(&localization2camera_tf);
    *camera_update_.mutable_localization2camera_tf() = {
        localization2camera_tf.begin(), localization2camera_tf.end()};
    // Concurrently modify protobuf msg can cause ByteSizeConsistencyError
    // when serializing, so we need lock.
    if (perception_obstacle_enable_) {
      *camera_update_.mutable_bbox2d() = {bbox2ds.begin(), bbox2ds.end()};
      *camera_update_.mutable_obstacles_id() = {obstacle_id.begin(),
                                                obstacle_id.end()};
      *camera_update_.mutable_obstacles_sub_type() = {obstacle_sub_type.begin(),
                                                      obstacle_sub_type.end()};
    }
    camera_update_.SerializeToString(camera_update);
  }
}

GetUpdate() [2/2]

void PerceptionCameraUpdater::GetUpdate	(	std::string *	camera_update,
		const std::string &	channel_name
	)

在文件 perception_camera_updater.cc 第 352 行定义.

                                                                       {
  {
    std::vector<double> localization;
    GetImageLocalization(&localization, channel_name);
    CameraChannelUpdater *updater = GetCameraChannelUpdater(channel_name);
    std::lock(updater->image_mutex_, updater->localization_mutex_,
              updater->obstacle_mutex_);
    std::lock_guard<std::mutex> lock1(updater->image_mutex_, std::adopt_lock);
    std::lock_guard<std::mutex> lock2(updater->localization_mutex_,
                                      std::adopt_lock);
    std::lock_guard<std::mutex> lock3(updater->obstacle_mutex_,
                                      std::adopt_lock);
    *(updater->camera_update_).mutable_localization() = {localization.begin(),
                                                         localization.end()};
    std::vector<double> localization2camera_tf;
    GetLocalization2CameraTF(&localization2camera_tf);
    *(updater->camera_update_).mutable_localization2camera_tf() = {
        localization2camera_tf.begin(), localization2camera_tf.end()};
    // Concurrently modify protobuf msg can cause ByteSizeConsistencyError
    // when serializing, so we need lock.
    if (perception_obstacle_enable_) {
      *(updater->camera_update_).mutable_bbox2d() = {updater->bbox2ds.begin(),
                                                     updater->bbox2ds.end()};
      *(updater->camera_update_).mutable_obstacles_id() = {
          updater->obstacle_id.begin(), updater->obstacle_id.end()};
      *(updater->camera_update_).mutable_obstacles_sub_type() = {
          updater->obstacle_sub_type.begin(), updater->obstacle_sub_type.end()};
    }
    updater->camera_update_.SerializeToString(camera_update);
  }
}

IsEnabled()

bool apollo::dreamview::PerceptionCameraUpdater::IsEnabled ( ) const

inline

在文件 perception_camera_updater.h 第 56 行定义.

{ return enabled_; }

OnTimer()

void PerceptionCameraUpdater::OnTimer

(

const std::string &

channel_name = ""

)

在文件 perception_camera_updater.cc 第 138 行定义.

                                                                   {
  PublishMessage(channel_name);
}

PublishMessage()

void PerceptionCameraUpdater::PublishMessage ( const std::string &  channel_name = "" )

overridevirtual

Publish Message to dreamview frontend.

实现了 apollo::dreamview::UpdaterBase.

在文件 perception_camera_updater.cc 第 142 行定义.

                                                                          {
  std::string to_send;
  // the channel has no data input, clear the sending object.
  if (!channel_updaters_[channel_name]
           ->perception_camera_reader_->HasWriter()) {
    CameraChannelUpdater *updater = GetCameraChannelUpdater(channel_name);
    updater->image_buffer_.clear();
    updater->current_image_timestamp_ = 0.0;
    updater->camera_update_.Clear();
    to_send = "";
  } else {
    GetUpdate(&to_send, channel_name);
  }
  StreamData stream_data;
  std::string stream_data_string;
  stream_data.set_action("stream");
  stream_data.set_data_name("camera");
  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("camera");
  stream_data.SerializeToString(&stream_data_string);
  websocket_->BroadcastBinaryData(stream_data_string);
}

Start()

void PerceptionCameraUpdater::Start

(

DvCallback

callback_api

)

在文件 perception_camera_updater.cc 第 73 行定义.

                                                           {
  callback_api_ = callback_api;
  enabled_ = true;
  camera_update_.set_k_image_scale(kImageScale);
}

StartStream()

void PerceptionCameraUpdater::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 perception_camera_updater.cc 第 73 行定义.

                                                                         {
  if (channel_name.empty()) {
    AERROR << "Failed to subscribe channel for channel is empty!";
    return;
  }
  if (std::find(channels_.begin(), channels_.end(), channel_name) ==
      channels_.end()) {
    AERROR << "Failed to subscribe channel: " << channel_name
           << " for channels_ not registered!";
    return;
  }
  if (time_interval_ms > 0) {
    CameraChannelUpdater *updater = GetCameraChannelUpdater(channel_name);
    updater->enabled_ = true;
    updater->timer_.reset(new cyber::Timer(
        time_interval_ms,
        [channel_name, this]() { this->OnTimer(channel_name); }, false));
    updater->timer_->Start();
  } else {
    this->OnTimer(channel_name);
  }
}

Stop() [1/2]

void PerceptionCameraUpdater::Stop

(

)

在文件 perception_camera_updater.cc 第 79 行定义.

                                   {
  if (enabled_) {
    localization_queue_.clear();
    image_buffer_.clear();
    tf_static_.clear();
    current_image_timestamp_ = 0.0;
  }
  enabled_ = false;
}

Stop() [2/2]

void apollo::dreamview::PerceptionCameraUpdater::Stop

(

)

StopStream()

void PerceptionCameraUpdater::StopStream ( const std::string &  channel_name = "" )

overridevirtual

Stop data flow.

实现了 apollo::dreamview::UpdaterBase.

在文件 perception_camera_updater.cc 第 120 行定义.

                                                                      {
  if (channel_name.empty()) {
    AERROR << "Failed to unsubscribe channel for channel is empty!";
    return;
  }
  CameraChannelUpdater *updater = GetCameraChannelUpdater(channel_name);
  if (updater->enabled_) {
    if (updater->timer_) {
      updater->timer_->Stop();
    }
    updater->localization_queue_.clear();
    updater->image_buffer_.clear();
    updater->current_image_timestamp_ = 0.0;
    updater->camera_update_.Clear();
    updater->enabled_ = false;
  }
}

---

该类的文档由以下文件生成:

• modules/dreamview/backend/perception_camera_updater/perception_camera_updater.h
• modules/dreamview_plus/backend/perception_camera_updater/perception_camera_updater.h
• modules/dreamview/backend/perception_camera_updater/perception_camera_updater.cc
• modules/dreamview_plus/backend/perception_camera_updater/perception_camera_updater.cc