#include <lidar_component_base_impl.h>

类 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType > 继承关系图:

apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType > 的协作图:

Public 成员函数
virtual	~LidarComponentBaseImpl ()=default

bool	Init () override=0

virtual bool	InitBase (const LidarConfigBase &lidar_config_base)=0

virtual void	ReadScanCallback (const std::shared_ptr< ScanType > &scan_message)=0

std::shared_ptr< ScanType >	AcquireScanMessage ()

Public 成员函数继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)

Public 成员函数继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()

virtual bool	Initialize (const TimerComponentConfig &config)

virtual void	Shutdown ()

template<typename T >
bool	GetProtoConfig (T *config) const

Protected 成员函数
bool	InitConverter (const LidarConfigBase &lidar_config_base)

bool	InitPacket (const LidarConfigBase &lidar_config_base)

virtual bool	WriteScan (const std::shared_ptr< ScanType > &scan_message)

virtual std::shared_ptr< PointCloud >	AllocatePointCloud ()

virtual bool	WritePointCloud (const std::shared_ptr< PointCloud > &point_cloud)

virtual std::shared_ptr< apollo::cyber::base::ArenaQueue< PointXYZIT > >	GetPointQueue ()

Protected 成员函数继承自 apollo::cyber::ComponentBase
virtual void	Clear ()

const std::string &	ConfigFilePath () const

void	LoadConfigFiles (const ComponentConfig &config)

void	LoadConfigFiles (const TimerComponentConfig &config)

静态 Protected 成员函数
static void	PcdDefaultCleaner (std::shared_ptr< PointCloud > &unused_pcd_frame)

Protected 属性
std::string	frame_id_

bool	write_scan_

uint32_t	default_reserved_points_num_

Protected 属性继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}

std::shared_ptr< Node >	node_ = nullptr

std::string	config_file_path_ = ""

std::vector< std::shared_ptr< ReaderBase > >	readers_

额外继承的成员函数
Public 类型继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

详细描述

template<typename ScanType, typename ComponentType = apollo::cyber::NullType>
class apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >

在文件 lidar_component_base_impl.h 第 35 行定义.

构造及析构函数说明

◆ ~LidarComponentBaseImpl()

template<typename ScanType , typename ComponentType = apollo::cyber::NullType>

virtual apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::~LidarComponentBaseImpl ( )

virtualdefault

成员函数说明

◆ AcquireScanMessage()

template<typename ScanType , typename ComponentType >

std::shared_ptr< ScanType > apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::AcquireScanMessage ( )

在文件 lidar_component_base_impl.h 第 123 行定义.

                                                                    {
  if (scan_writer_ == nullptr) {
    return std::make_shared<ScanType>();
  }
  return scan_writer_->AcquireMessage();
}

◆ AllocatePointCloud()

template<typename ScanType , typename ComponentType >

std::shared_ptr< PointCloud > apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::AllocatePointCloud ( )

protectedvirtual

被 apollo::drivers::lidar::LidarComponentBase< ScanType >, apollo::drivers::lidar::LidarComponentBase< HesaiUdpFrame >, apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >, apollo::drivers::lidar::LidarComponentBase< LslidarScan >, apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket > , 以及 apollo::drivers::lidar::LidarComponentBase< vanjee::VanjeeScanPacket > 重载.

在文件 lidar_component_base_impl.h 第 164 行定义.

                                                                    {
  std::shared_ptr<PointCloud> new_pcd_object = pcd_writer_->AcquireMessage();
  new_pcd_object->Clear();
  new_pcd_object->mutable_point()->Reserve(default_reserved_points_num_);
  return new_pcd_object;
}

◆ GetPointQueue()

template<typename ScanType , typename ComponentType >

std::shared_ptr< apollo::cyber::base::ArenaQueue< PointXYZIT > > apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::GetPointQueue ( )

protectedvirtual

在文件 lidar_component_base_impl.h 第 141 行定义.

                                                               {
  std::shared_ptr<apollo::cyber::base::ArenaQueue<PointXYZIT>> ret;
  auto channel_id = pcd_writer_->GetChannelId();
 
  auto arena_manager =
      apollo::cyber::transport::ProtobufArenaManager::Instance();
  if (!arena_manager->Enable()) {
    ADEBUG << "arena manager enable failed.";
  } else {
    apollo::cyber::base::ArenaQueue<PointXYZIT>* p;
    arena_manager->RegisterQueue<apollo::drivers::PointXYZIT>(channel_id,
                                                              170000);
    ret = std::shared_ptr<apollo::cyber::base::ArenaQueue<PointXYZIT>>(
        reinterpret_cast<
            apollo::cyber::base::ArenaQueue<apollo::drivers::PointXYZIT>*>(
            arena_manager->GetAvailableBuffer(channel_id)),
        [](apollo::cyber::base::ArenaQueue<PointXYZIT>* ptr) {});
  }
  return ret;
}

◆ Init()

template<typename ScanType , typename ComponentType = apollo::cyber::NullType>

bool apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::Init ( )

overridepure virtual

实现了 apollo::cyber::ComponentBase.

在 apollo::drivers::lidar::HesaiComponent2, apollo::drivers::lidar::LivoxLidarComponent, apollo::drivers::lslidar::LslidarComponent, apollo::drivers::lidar::RslidarComponent, apollo::drivers::lidar::VanjeelidarComponent, apollo::drivers::lidar::LidarComponentBase< ScanType >, apollo::drivers::lidar::LidarComponentBase< HesaiUdpFrame >, apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >, apollo::drivers::lidar::LidarComponentBase< LslidarScan >, apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket > , 以及 apollo::drivers::lidar::LidarComponentBase< vanjee::VanjeeScanPacket > 内被实现.

◆ InitBase()

template<typename ScanType , typename ComponentType = apollo::cyber::NullType>

virtual bool apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::InitBase ( const LidarConfigBase & lidar_config_base )

pure virtual

在 apollo::drivers::lidar::LidarComponentBase< ScanType >, apollo::drivers::lidar::LidarComponentBase< HesaiUdpFrame >, apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >, apollo::drivers::lidar::LidarComponentBase< LslidarScan >, apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket > , 以及 apollo::drivers::lidar::LidarComponentBase< vanjee::VanjeeScanPacket > 内被实现.

◆ InitConverter()

template<typename ScanType , typename ComponentType >

bool apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::InitConverter ( const LidarConfigBase & lidar_config_base )

protected

在文件 lidar_component_base_impl.h 第 78 行定义.

                                              {
  pcd_writer_ = this->node_->template CreateWriter<PointCloud>(
      lidar_config_base.point_cloud_channel());
  RETURN_VAL_IF(pcd_writer_ == nullptr, false);
 
  if (lidar_config_base.source_type() ==
      LidarConfigBase_SourceType_RAW_PACKET) {
    scan_reader_ = this->node_->template CreateReader<ScanType>(
        lidar_config_base.scan_channel(),
        std::bind(&LidarComponentBaseImpl::ReadScanCallback, this,
                  std::placeholders::_1));
    RETURN_VAL_IF(scan_reader_ == nullptr, false);
  }
 
  frame_id_ = lidar_config_base.frame_id();
  write_scan_ = lidar_config_base.write_scan();
  default_reserved_points_num_ =
      lidar_config_base.default_reserved_points_num();
 
  // pcd_buffer_ = std::make_shared<SyncBuffering<PointCloud>>(
  //         [this](){
  //             return LidarComponentBaseImpl::PcdDefaultAllocator(
  //                     this->pcd_writer_);
  //         },
  //         LidarComponentBaseImpl::PcdDefaultCleaner);
  // pcd_buffer_->SetBufferSize(lidar_config_base.buffer_size());
  // pcd_buffer_->Init();
  return true;
}

◆ InitPacket()

template<typename ScanType , typename ComponentType >

bool apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::InitPacket ( const LidarConfigBase & lidar_config_base )

protected

在文件 lidar_component_base_impl.h 第 110 行定义.

                                              {
  if (lidar_config_base.source_type() ==
      LidarConfigBase_SourceType_ONLINE_LIDAR) {
    scan_writer_ = this->node_->template CreateWriter<ScanType>(
        lidar_config_base.scan_channel());
    RETURN_VAL_IF(scan_writer_ == nullptr, false);
  }
  return true;
}

◆ PcdDefaultCleaner()

template<typename ScanType , typename ComponentType >

void apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::PcdDefaultCleaner ( std::shared_ptr< PointCloud > & unused_pcd_frame )

staticprotected

在文件 lidar_component_base_impl.h 第 197 行定义.

                                                 {
  unused_pcd_frame->clear_point();
}

◆ ReadScanCallback()

template<typename ScanType , typename ComponentType = apollo::cyber::NullType>

virtual void apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::ReadScanCallback ( const std::shared_ptr< ScanType > & scan_message )

pure virtual

在 apollo::drivers::lidar::LidarComponentBase< ScanType > 内被实现.

◆ WritePointCloud()

template<typename ScanType , typename ComponentType >

bool apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::WritePointCloud ( const std::shared_ptr< PointCloud > & point_cloud )

protectedvirtual

被 apollo::drivers::lidar::LidarComponentBase< ScanType >, apollo::drivers::lidar::LidarComponentBase< HesaiUdpFrame >, apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >, apollo::drivers::lidar::LidarComponentBase< LslidarScan >, apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket > , 以及 apollo::drivers::lidar::LidarComponentBase< vanjee::VanjeeScanPacket > 重载.

在文件 lidar_component_base_impl.h 第 172 行定义.

                                                  {
  point_cloud->mutable_header()->set_frame_id(frame_id_);
  point_cloud->mutable_header()->set_sequence_num(
      pcd_sequence_num_.fetch_add(1));
  point_cloud->mutable_header()->set_timestamp_sec(
      cyber::Time().Now().ToSecond());
  RETURN_VAL_IF(!pcd_writer_->Write(point_cloud), false);
  return true;
}

◆ WriteScan()

template<typename ScanType , typename ComponentType >

bool apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::WriteScan ( const std::shared_ptr< ScanType > & scan_message )

protectedvirtual

被 apollo::drivers::lidar::LidarComponentBase< ScanType > 重载.

在文件 lidar_component_base_impl.h 第 131 行定义.

                                                 {
  if (write_scan_) {
    return scan_writer_->Write(scan_message);
  }
  return true;
}

类成员变量说明

◆ default_reserved_points_num_

template<typename ScanType , typename ComponentType = apollo::cyber::NullType>

uint32_t apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::default_reserved_points_num_

protected

在文件 lidar_component_base_impl.h 第 66 行定义.

◆ frame_id_

template<typename ScanType , typename ComponentType = apollo::cyber::NullType>

std::string apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::frame_id_

protected

在文件 lidar_component_base_impl.h 第 64 行定义.

◆ write_scan_

template<typename ScanType , typename ComponentType = apollo::cyber::NullType>

bool apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >::write_scan_

protected

在文件 lidar_component_base_impl.h 第 65 行定义.

该类的文档由以下文件生成:

modules/drivers/lidar/common/lidar_component_base_impl.h

Public 成员函数

Protected 成员函数

静态 Protected 成员函数

Protected 属性

额外继承的成员函数

详细描述

构造及析构函数说明

◆ ~LidarComponentBaseImpl()

成员函数说明

◆ AcquireScanMessage()

◆ AllocatePointCloud()

◆ GetPointQueue()

◆ Init()

◆ InitBase()

◆ InitConverter()

◆ InitPacket()

◆ PcdDefaultCleaner()

◆ ReadScanCallback()

◆ WritePointCloud()

◆ WriteScan()

类成员变量说明

◆ default_reserved_points_num_

◆ frame_id_

◆ write_scan_