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

#include <simulation_world_updater.h>

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

apollo::dreamview::SimulationWorldUpdater 的协作图:

Public 成员函数
	SimulationWorldUpdater (WebSocketHandler websocket, WebSocketHandler map_ws, WebSocketHandler camera_ws, WebSocketHandler plugin_ws, const MapService map_service, PerceptionCameraUpdater perception_camera_updater, PluginManager *plugin_manager, bool routing_from_file=false)
	Constructor with the websocket handler.

void	Start ()
	Starts to push simulation_world to frontend.

double	LastAdcTimestampSec ()

	SimulationWorldUpdater (WebSocketHandler websocket, WebSocketHandler map_ws, WebSocketHandler plugin_ws, const MapService map_service, PluginManager plugin_manager, WebSocketHandler sim_world_ws, HMI *hmi, bool routing_from_file=false)
	Constructor with the websocket handler.

void	StartStream (const double &time_interval_ms, const std::string &channel_name="", nlohmann::json *subscribe_param=nullptr) override
	Starts to push simulation_world to frontend.

void	StopStream (const std::string &channel_name="") override
	Stop data flow.

void	PublishMessage (const std::string &channel_name="") override
	Publish Message to dreamview frontend.

double	LastAdcTimestampSec ()

Public 成员函数继承自 apollo::dreamview::UpdaterBase
	UpdaterBase ()
	Updaterbase

virtual	~UpdaterBase ()

Public 属性
double	time_interval_ms_

静态 Public 属性
static constexpr double	kSimWorldTimeIntervalMs = 100

详细描述

A wrapper around SimulationWorldService and WebSocketHandler to keep pushing SimulationWorld to frontend via websocket while handling the response from frontend.

在文件 simulation_world_updater.h 第 59 行定义.

构造及析构函数说明

◆ SimulationWorldUpdater() [1/2]

apollo::dreamview::SimulationWorldUpdater::SimulationWorldUpdater	(	WebSocketHandler *	websocket,
		WebSocketHandler *	map_ws,
		WebSocketHandler *	camera_ws,
		WebSocketHandler *	plugin_ws,
		const MapService *	map_service,
		PerceptionCameraUpdater *	perception_camera_updater,
		PluginManager *	plugin_manager,
		bool	routing_from_file = `false`
	)

Constructor with the websocket handler.

参数

websocket	Pointer of the websocket handler that has been attached to the server.
sim_control	Pointer of sim control.
map_service	Pointer of the map service to provide a high-level API of hdmap.
routing_from_file	whether to read initial routing from file.

在文件 simulation_world_updater.cc 第 56 行定义.

    : sim_world_service_(map_service, routing_from_file),
      map_service_(map_service),
      websocket_(websocket),
      map_ws_(map_ws),
      camera_ws_(camera_ws),
      plugin_ws_(plugin_ws),
      perception_camera_updater_(perception_camera_updater),
      plugin_manager_(plugin_manager),
      command_id_(0) {
  RegisterMessageHandlers();
}

◆ SimulationWorldUpdater() [2/2]

apollo::dreamview::SimulationWorldUpdater::SimulationWorldUpdater	(	WebSocketHandler *	websocket,
		WebSocketHandler *	map_ws,
		WebSocketHandler *	plugin_ws,
		const MapService *	map_service,
		PluginManager *	plugin_manager,
		WebSocketHandler *	sim_world_ws,
		HMI *	hmi,
		bool	routing_from_file = `false`
	)

Constructor with the websocket handler.

参数

websocket	Pointer of the websocket handler that has been attached to the server.
sim_control	Pointer of sim control.
map_service	Pointer of the map service to provide a high-level API of hdmap.
routing_from_file	whether to read initial routing from file.

在文件 simulation_world_updater.cc 第 57 行定义.

    : sim_world_service_(map_service, routing_from_file),
      map_service_(map_service),
      websocket_(websocket),
      map_ws_(map_ws),
      plugin_ws_(plugin_ws),
      // perception_camera_updater_(perception_camera_updater),
      plugin_manager_(plugin_manager),
      sim_world_ws_(sim_world_ws),
      hmi_(hmi),
      command_id_(0) {
  RegisterRoutingMessageHandlers();
  RegisterMessageHandlers();
}

成员函数说明

◆ LastAdcTimestampSec() [1/2]

double apollo::dreamview::SimulationWorldUpdater::LastAdcTimestampSec ( )

inline

在文件 simulation_world_updater.h 第 87 行定义.

87{ return last_pushed_adc_timestamp_sec_; }

◆ LastAdcTimestampSec() [2/2]

double apollo::dreamview::SimulationWorldUpdater::LastAdcTimestampSec ( )

inline

在文件 simulation_world_updater.h 第 91 行定义.

91{ return last_pushed_adc_timestamp_sec_; }

◆ PublishMessage()

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

overridevirtual

Publish Message to dreamview frontend.

实现了 apollo::dreamview::UpdaterBase.

在文件 simulation_world_updater.cc 第 1142 行定义.

                                                                         {
  if (!sim_world_service_.ReadyToPush()) {
    AWARN_EVERY(time_interval_ms_);
    return;
  }
  std::string to_send;
  {
    boost::shared_lock<boost::shared_mutex> writer_lock(mutex_);
    to_send = simulation_world_with_planning_data_;
  }
  StreamData stream_data;
  std::string stream_data_string;
  stream_data.set_action("stream");
  stream_data.set_data_name("simworld");
  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("simworld");
  stream_data.SerializeToString(&stream_data_string);
  sim_world_ws_->BroadcastBinaryData(stream_data_string);
}

◆ Start()

void apollo::dreamview::SimulationWorldUpdater::Start ( )

Starts to push simulation_world to frontend.

在文件 simulation_world_updater.cc 第 709 行定义.

                                   {
  timer_.reset(new cyber::Timer(
      kSimWorldTimeIntervalMs, [this]() { this->OnTimer(); }, false));
  timer_->Start();
}

◆ StartStream()

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

overridevirtual

Starts to push simulation_world to frontend.

实现了 apollo::dreamview::UpdaterBase.

在文件 simulation_world_updater.cc 第 1106 行定义.

                                                                        {
  AINFO << "Start SimulationWorld updater with data sending frequency: "
        << time_interval_ms;
  time_interval_ms_ = time_interval_ms;
  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::SimulationWorldUpdater::StopStream ( const std::string & channel_name = "" )

overridevirtual

Stop data flow.

实现了 apollo::dreamview::UpdaterBase.

在文件 simulation_world_updater.cc 第 1121 行定义.

                                                                     {
  AINFO << "SimulationWorld updater has been stopped";
  if (timer_) {
    timer_->Stop();
  }
}

类成员变量说明

◆ kSimWorldTimeIntervalMs

constexpr double apollo::dreamview::SimulationWorldUpdater::kSimWorldTimeIntervalMs = 100

staticconstexpr

在文件 simulation_world_updater.h 第 85 行定义.

◆ time_interval_ms_

double apollo::dreamview::SimulationWorldUpdater::time_interval_ms_

在文件 simulation_world_updater.h 第 89 行定义.

该类的文档由以下文件生成:

modules/dreamview/backend/simulation_world/simulation_world_updater.h
modules/dreamview_plus/backend/simulation_world/simulation_world_updater.h
modules/dreamview/backend/simulation_world/simulation_world_updater.cc
modules/dreamview_plus/backend/simulation_world/simulation_world_updater.cc

Public 成员函数

Public 属性

静态 Public 属性

详细描述

构造及析构函数说明

◆ SimulationWorldUpdater() [1/2]

◆ SimulationWorldUpdater() [2/2]

成员函数说明

◆ LastAdcTimestampSec() [1/2]

◆ LastAdcTimestampSec() [2/2]

◆ PublishMessage()

◆ Start()

◆ StartStream()

◆ StopStream()

类成员变量说明

◆ kSimWorldTimeIntervalMs

◆ time_interval_ms_