apollo::dreamview::PointCloudUpdater类 参考

A wrapper around WebSocketHandler to keep pushing PointCloud to frontend via websocket while handling the response from frontend. 更多...

#include <point_cloud_updater.h>

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

apollo::dreamview::PointCloudUpdater 的协作图:

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

Public 成员函数
	PointCloudUpdater (WebSocketHandler *websocket, SimulationWorldUpdater *sim_world_updater)
	Constructor with the websocket handler.
	~PointCloudUpdater ()
void	Start (DvCallback callback_api)
	Starts to push PointCloud to frontend.
void	Stop ()
	PointCloudUpdater (WebSocketHandler *websocket)
	Constructor with the websocket handler.
	~PointCloudUpdater ()
void	Stop ()
	Starts to push PointCloud to frontend.
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) 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 ()

静态 Public 成员函数
static void	LoadLidarHeight (const std::string &file_path)

静态 Public 属性
static float	lidar_height_ = kDefaultLidarHeight
static boost::shared_mutex	mutex_

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 PointCloud to frontend via websocket while handling the response from frontend.

在文件 point_cloud_updater.h 第 53 行定义.

成员类型定义说明

DvCallback

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

在文件 point_cloud_updater.h 第 66 行定义.

构造及析构函数说明

PointCloudUpdater() [1/2]

apollo::dreamview::PointCloudUpdater::PointCloudUpdater	(	WebSocketHandler *	websocket,
		SimulationWorldUpdater *	sim_world_updater
	)

Constructor with the websocket handler.

参数

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

在文件 point_cloud_updater.cc 第 42 行定义.

    : node_(cyber::CreateNode("point_cloud")),
      websocket_(websocket),
      point_cloud_str_(""),
      future_ready_(true),
      simworld_updater_(simworld_updater) {
  RegisterMessageHandlers();
}

~PointCloudUpdater() [1/2]

apollo::dreamview::PointCloudUpdater::~PointCloudUpdater

(

)

在文件 point_cloud_updater.cc 第 52 行定义.

{ Stop(); }

PointCloudUpdater() [2/2]

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

explicit

Constructor with the websocket handler.

参数

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

在文件 point_cloud_updater.cc 第 42 行定义.

    : node_(cyber::CreateNode("point_cloud")),
      websocket_(websocket) {
  localization_reader_ = node_->CreateReader<LocalizationEstimate>(
      FLAGS_localization_topic,
      [this](const std::shared_ptr<LocalizationEstimate> &msg) {
        UpdateLocalizationTime(msg);
      });
}

~PointCloudUpdater() [2/2]

apollo::dreamview::PointCloudUpdater::~PointCloudUpdater

(

)

成员函数说明

GetChannelMsg()

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

overridevirtual

GetChannelMsg

实现了 apollo::dreamview::UpdaterWithChannelsBase.

LoadLidarHeight()

void apollo::dreamview::PointCloudUpdater::LoadLidarHeight ( const std::string &  file_path )

static

在文件 point_cloud_updater.cc 第 54 行定义.

                                                                  {
  if (!cyber::common::PathExists(file_path)) {
    AWARN << "No such file: " << FLAGS_lidar_height_yaml
          << ". Using default lidar height:" << kDefaultLidarHeight;
    boost::unique_lock<boost::shared_mutex> writer_lock(mutex_);
    lidar_height_ = kDefaultLidarHeight;
    return;
  }
 
  YAML::Node config = YAML::LoadFile(file_path);
  if (config["vehicle"] && config["vehicle"]["parameters"]) {
    boost::unique_lock<boost::shared_mutex> writer_lock(mutex_);
    lidar_height_ = config["vehicle"]["parameters"]["height"].as<float>();
    AINFO << "Lidar height is updated to " << lidar_height_;
    return;
  }
 
  AWARN << "Fail to load the lidar height yaml file: "
        << FLAGS_lidar_height_yaml
        << ". Using default lidar height:" << kDefaultLidarHeight;
  boost::unique_lock<boost::shared_mutex> writer_lock(mutex_);
  lidar_height_ = kDefaultLidarHeight;
}

OnTimer()

void apollo::dreamview::PointCloudUpdater::OnTimer

(

const std::string &

channel_name = ""

)

在文件 point_cloud_updater.cc 第 95 行定义.

                                                             {
  PublishMessage(channel_name);
}

PublishMessage()

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

overridevirtual

Publish Message to dreamview frontend.

实现了 apollo::dreamview::UpdaterBase.

在文件 point_cloud_updater.cc 第 112 行定义.

                                                                    {
  PointCloudChannelUpdater *updater = GetPointCloudChannelUpdater(channel_name);
  std::string to_send;
  // the channel has no data input, clear the sending object.
  if (!updater->point_cloud_reader_->HasWriter()) {
    updater->last_point_cloud_time_ = 0.0;
    updater->point_cloud_str_ = "";
    to_send = "";
  } else {
    if (updater->point_cloud_str_ != "" &&
        std::fabs(last_localization_time_ - updater->last_point_cloud_time_) >
            2.0) {
      boost::unique_lock<boost::shared_mutex> writer_lock(mutex_);
      updater->point_cloud_str_ = "";
    }
    {
      boost::shared_lock<boost::shared_mutex> reader_lock(mutex_);
      to_send = updater->point_cloud_str_;
    }
  }
  StreamData stream_data;
  std::string stream_data_string;
  stream_data.set_action("stream");
  stream_data.set_data_name("pointcloud");
  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("pointcloud");
  stream_data.SerializeToString(&stream_data_string);
  websocket_->BroadcastBinaryData(stream_data_string);
}

Start()

void apollo::dreamview::PointCloudUpdater::Start

(

DvCallback

callback_api

)

Starts to push PointCloud to frontend.

在文件 point_cloud_updater.cc 第 205 行定义.

                                                     {
  callback_api_ = callback_api;
  localization_reader_ = node_->CreateReader<LocalizationEstimate>(
      FLAGS_localization_topic,
      [this](const std::shared_ptr<LocalizationEstimate> &msg) {
        UpdateLocalizationTime(msg);
      });
  LoadLidarHeight(FLAGS_lidar_height_yaml);
}

StartStream()

void apollo::dreamview::PointCloudUpdater::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 point_cloud_updater.cc 第 70 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 point cloud updater, for channel: "
           << channel_name << " is invalid.";
    return;
  }
  if (time_interval_ms > 0) {
    PointCloudChannelUpdater *updater =
        GetPointCloudChannelUpdater(channel_name);
    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 apollo::dreamview::PointCloudUpdater::Stop

(

)

在文件 point_cloud_updater.cc 第 215 行定义.

                             {
  if (enabled_) {
    async_future_.wait();
  }
}

Stop() [2/2]

void apollo::dreamview::PointCloudUpdater::Stop

(

)

Starts to push PointCloud to frontend.

StopStream()

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

overridevirtual

Stop data flow.

实现了 apollo::dreamview::UpdaterBase.

在文件 point_cloud_updater.cc 第 98 行定义.

                                                                {
  if (channel_name.empty()) {
    AERROR << "Failed to unsubscribe channel for channel is empty!";
    return;
  }
  PointCloudChannelUpdater *updater = GetPointCloudChannelUpdater(channel_name);
  if (updater->timer_) {
    updater->timer_->Stop();
  }
  // 回到初始值
  updater->last_point_cloud_time_ = 0.0;
  updater->point_cloud_str_ = "";
  updater->future_ready_ = true;
}

类成员变量说明

lidar_height_

static float apollo::dreamview::PointCloudUpdater::lidar_height_ = kDefaultLidarHeight

static

在文件 point_cloud_updater.h 第 75 行定义.

mutex_

static boost::shared_mutex apollo::dreamview::PointCloudUpdater::mutex_

static

在文件 point_cloud_updater.h 第 79 行定义.

---

该类的文档由以下文件生成:

• modules/dreamview/backend/point_cloud/point_cloud_updater.h
• modules/dreamview_plus/backend/point_cloud/point_cloud_updater.h
• modules/dreamview/backend/point_cloud/point_cloud_updater.cc
• modules/dreamview_plus/backend/point_cloud/point_cloud_updater.cc