apollo::dreamview::util::HMIUtil类 参考

#include <hmi_util.h>

apollo::dreamview::util::HMIUtil 的协作图:

静态 Public 成员函数
static apollo::dreamview::HMIConfig	LoadConfig (const std::string config_path="")
	Load HMIConfig.
static apollo::dreamview::HMIMode	LoadMode (const std::string &mode_config_path)
	Load HMIMode.
static void	TranslateCyberModules (HMIMode *mode)
	transfer the mode's cyber modules to modules.
static std::string	TitleCase (std::string_view origin)
	Convert a string to be title-like.
static google::protobuf::Map< std::string, std::string >	ListDirAsDict (const std::string &dir)
	List all directory as a dict in a directory.

详细描述

在文件 hmi_util.h 第 30 行定义.

成员函数说明

ListDirAsDict()

Map< std::string, std::string > apollo::dreamview::util::HMIUtil::ListDirAsDict ( const std::string &  dir )

static

List all directory as a dict in a directory.

参数

dir	the directory to be listed.

返回

the listed result.

在文件 hmi_util.cc 第 64 行定义.

                                                                     {
  Map<std::string, std::string> result;
  const auto subdirs = cyber::common::ListSubPaths(dir);
  for (const auto &subdir : subdirs) {
    const auto subdir_title = HMIUtil::TitleCase(subdir);
    const auto subdir_path = absl::StrCat(dir, "/", subdir);
    result.insert({subdir_title, subdir_path});
  }
  return result;
}

LoadConfig()

HMIConfig apollo::dreamview::util::HMIUtil::LoadConfig ( const std::string  config_path = "" )

static

Load HMIConfig.

参数

config_path

the hmi modes conf path.

返回

HMIConfig.

在文件 hmi_util.cc 第 75 行定义.

                                                   {
  HMIConfig config;
  if (config_path.empty()) {
    *config.mutable_modes() =
        ListFilesAsDict(FLAGS_dv_hmi_modes_config_path, ".pb.txt");
    Map<std::string, std::string> dv_plus_modes =
        ListFilesAsDict(FLAGS_dv_plus_hmi_modes_config_path, ".pb.txt");
    for (auto iter = dv_plus_modes.begin(); iter != dv_plus_modes.end();
         iter++) {
    config.mutable_modes()->insert({iter->first, iter->second});
    }
  } else {
    // Get available modes, maps and vehicles by listing data directory.
    *config.mutable_modes() =
        ListFilesAsDict(config_path, ".pb.txt");
  }
  ACHECK(!config.modes().empty())
      << "No modes config loaded";
 
  *config.mutable_maps() = ListDirAsDict(FLAGS_maps_data_path);
  *config.mutable_vehicles() = ListDirAsDict(FLAGS_vehicles_config_path);
  AINFO << "Loaded HMI config: " << config.DebugString();
  return config;
}

LoadMode()

HMIMode apollo::dreamview::util::HMIUtil::LoadMode ( const std::string &  mode_config_path )

static

Load HMIMode.

返回

HMIMode.

在文件 hmi_util.cc 第 100 行定义.

                                                           {
  HMIMode mode;
  ACHECK(cyber::common::GetProtoFromFile(mode_config_path, &mode))
      << "Unable to parse HMIMode from file " << mode_config_path;
  TranslateCyberModules(&mode);
  // For global components.
  HMIMode mode_temp;
  ACHECK(cyber::common::GetProtoFromFile(FLAGS_global_components_config_path,
                                         &mode_temp))
      << "Unable to parse HMIMode from file "
      << FLAGS_global_components_config_path;
  for (const auto &iter : mode_temp.global_components()) {
    (*mode.mutable_global_components())[iter.first] = iter.second;
  }
  AINFO << "Loaded HMI mode: " << mode.DebugString();
  return mode;
}

TitleCase()

std::string apollo::dreamview::util::HMIUtil::TitleCase ( std::string_view  origin )

static

Convert a string to be title-like.

E.g.: "hello_world" -> "Hello World".

参数

origin

the origin string to be convert

返回

the string after convert

在文件 hmi_util.cc 第 36 行定义.

                                                  {
  std::vector<std::string> parts = absl::StrSplit(origin, '_');
  for (auto &part : parts) {
    if (!part.empty()) {
      // Upper case the first char.
      part[0] = static_cast<char>(toupper(part[0]));
    }
  }
 
  return absl::StrJoin(parts, " ");
}

TranslateCyberModules()

void apollo::dreamview::util::HMIUtil::TranslateCyberModules ( HMIMode *  mode )

static

transfer the mode's cyber modules to modules.

参数

mode	the mode to be transfered.

在文件 hmi_util.cc 第 118 行定义.

                                                 {
  // Translate cyber_modules to regular modules.
  for (const auto &iter : mode->cyber_modules()) {
    const std::string &module_name = iter.first;
    const CyberModule &cyber_module = iter.second;
    // Each cyber module should have at least one dag file.
    ACHECK(!cyber_module.dag_files().empty())
        << "None dag file is provided for " << module_name;
 
    Module &module = LookupOrInsert(mode->mutable_modules(), module_name, {});
    module.set_required_for_safety(cyber_module.required_for_safety());
 
    // Construct start_command:
    //     nohup mainboard -p <process_group> -d <dag> ... &
    module.set_start_command("nohup mainboard");
    const auto &process_group = cyber_module.process_group();
    if (!process_group.empty()) {
      absl::StrAppend(module.mutable_start_command(), " -p ", process_group);
    }
    for (const std::string &dag : cyber_module.dag_files()) {
      absl::StrAppend(module.mutable_start_command(), " -d ", dag);
    }
    absl::StrAppend(module.mutable_start_command(), " &");
 
    // Construct stop_command: pkill -f '<dag[0]>'
    const std::string &first_dag = cyber_module.dag_files(0);
    module.set_stop_command(absl::StrCat("pkill -f \"", first_dag, "\""));
    // Construct process_monitor_config.
    module.mutable_process_monitor_config()->add_command_keywords("mainboard");
    module.mutable_process_monitor_config()->add_command_keywords(first_dag);
  }
  mode->clear_cyber_modules();
}

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该类的文档由以下文件生成:

• modules/dreamview/backend/common/util/hmi_util.h
• modules/dreamview/backend/common/util/hmi_util.cc