apollo::dreamview::UpdaterWithChannelsBase类 参考

Base Class for data updater with multiply channels. 更多...

#include <updater_with_channels_base.h>

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

apollo::dreamview::UpdaterWithChannelsBase 的协作图:

Public 成员函数
	UpdaterWithChannelsBase (const std::vector< std::string > &filter_message_types, const std::vector< std::string > &filter_channels)
virtual void	GetChannelMsg (std::vector< std::string > *channels)=0
	GetChannelMsg
void	GetChannelMsgWithFilter (std::vector< std::string > *channels)
bool	IsChannelInUpdater (const std::string &message_type, const std::string &channel_name)
	Check if the channel belongs to current updater.
Public 成员函数 继承自 apollo::dreamview::UpdaterBase
	UpdaterBase ()
	Updaterbase
virtual void	StartStream (const double &time_interval_ms, const std::string &channel_name="", nlohmann::json *subscribe_param=nullptr)=0
	Start data flow.
virtual void	StopStream (const std::string &channel_name="")=0
	Stop data flow.
virtual void	PublishMessage (const std::string &channel_name="")=0
	Publish Message to dreamview frontend.
virtual	~UpdaterBase ()

Public 属性
std::vector< std::string >	channels_
std::vector< std::string >	filter_message_types_
std::vector< std::string >	filter_channels_

详细描述

Base Class for data updater with multiply channels.

The updater is responsible for maintaining and updating a data type used by the dreamview module, such as simulation_world, pointcloud, camera, pointcloud etc. Each type of data is a data stream that supports front-end and back-end communication of dreamview.

在文件 updater_with_channels_base.h 第 40 行定义.

构造及析构函数说明

UpdaterWithChannelsBase()

apollo::dreamview::UpdaterWithChannelsBase::UpdaterWithChannelsBase	(	const std::vector< std::string > &	filter_message_types,
		const std::vector< std::string > &	filter_channels
	)

在文件 updater_with_channels_base.cc 第 27 行定义.

    : filter_message_types_(filter_message_types),
      filter_channels_(filter_channels) {}

成员函数说明

GetChannelMsg()

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

pure virtual

GetChannelMsg

在 apollo::dreamview::PerceptionCameraUpdater, apollo::dreamview::ObstacleUpdater, apollo::dreamview::PerceptionCameraUpdater , 以及 apollo::dreamview::PointCloudUpdater 内被实现.

GetChannelMsgWithFilter()

void apollo::dreamview::UpdaterWithChannelsBase::GetChannelMsgWithFilter

(

std::vector< std::string > *

channels

)

在文件 updater_with_channels_base.cc 第 47 行定义.

                                    {
  auto channelManager =
      apollo::cyber::service_discovery::TopologyManager::Instance()
          ->channel_manager();
  std::vector<apollo::cyber::proto::RoleAttributes> role_attr_vec;
  channelManager->GetWriters(&role_attr_vec);
  std::vector<std::string> records;
  std::vector<std::string> other_record_node_name;
  auto *record_player_factory = RecordPlayerFactory::Instance();
  record_player_factory->GetAllRecords(&records);
  const std::string current_record = record_player_factory->GetCurrentRecord();
  for (auto iter = records.begin(); iter != records.end(); iter++) {
    if (current_record.empty() || *iter != current_record) {
      std::string other_node_name = "record_player_factory_" + *iter;
      other_record_node_name.push_back(other_node_name);
    }
  }
  std::vector<std::string> tmp_channels;
  for (auto &role_attr : role_attr_vec) {
    std::string messageType;
    std::string node_name;
    messageType = role_attr.message_type();
    node_name = role_attr.node_name();
    if (IsChannelInUpdater(messageType, role_attr.channel_name())) {
      if (current_record.empty() ||
          std::find(other_record_node_name.begin(),
                    other_record_node_name.end(),
                    node_name) == other_record_node_name.end()) {
        tmp_channels.push_back(role_attr.channel_name());
      }
    }
  }
  std::set<std::string> s(tmp_channels.begin(), tmp_channels.end());
  channels->assign(tmp_channels.begin(), tmp_channels.end());
  channels_.clear();
  channels_.assign(s.begin(), s.end());
}

IsChannelInUpdater()

bool apollo::dreamview::UpdaterWithChannelsBase::IsChannelInUpdater	(	const std::string &	message_type,
		const std::string &	channel_name
	)

Check if the channel belongs to current updater.

参数

message_type	The type of message in channel.
channel_name	The name of channel.

在文件 updater_with_channels_base.cc 第 33 行定义.

                                                                  {
  if (filter_message_types_.size() == 0 && filter_channels_.size() == 0) {
    return true;
  }
  for (size_t i = 0; i < filter_message_types_.size(); ++i) {
    if (message_type.rfind(filter_message_types_[i]) != std::string::npos &&
        channel_name.rfind(filter_channels_[i]) != std::string::npos) {
      return true;
    }
  }
  return false;
}

类成员变量说明

channels_

std::vector<std::string> apollo::dreamview::UpdaterWithChannelsBase::channels_

在文件 updater_with_channels_base.h 第 58 行定义.

filter_channels_

std::vector<std::string> apollo::dreamview::UpdaterWithChannelsBase::filter_channels_

在文件 updater_with_channels_base.h 第 60 行定义.

filter_message_types_

std::vector<std::string> apollo::dreamview::UpdaterWithChannelsBase::filter_message_types_

在文件 updater_with_channels_base.h 第 59 行定义.

---

该类的文档由以下文件生成:

• modules/dreamview_plus/backend/updater/updater_with_channels_base.h
• modules/dreamview_plus/backend/updater/updater_with_channels_base.cc