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
virtual void	GetChannelMsg (std::vector< std::string > *channels)=0
	GetChannelMsg
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 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_

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.

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,
		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

参数

channels	output channel list
filter_message_type	message type to filter channels
filter_channel	channel field to filter channels
reverse_filter_channel	whether to filter out the channel,default to false,if ture,filter out the channel list that contains filter_channel else,filter out the channel list that not contains filter_channel

在文件 updater_with_channels_base.cc 第 27 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();
    int index = 0;
    if (!filter_message_type.empty()) {
      index = messageType.rfind(filter_message_type);
    }
    int index_channel = 0;
    bool select_current_channel = filter_channel.empty();
    if (!filter_channel.empty()) {
      index_channel = role_attr.channel_name().rfind(filter_channel);
      select_current_channel = reverse_filter_channel ? (index_channel == -1)
                                                      : (index_channel != -1);
    }
    if (index != -1 && select_current_channel) {
      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());
}

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 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