apollo::drivers::microphone::MicrophoneComponent类 参考

#include <microphone_component.h>

类 apollo::drivers::microphone::MicrophoneComponent 继承关系图:

apollo::drivers::microphone::MicrophoneComponent 的协作图:

Public 成员函数
bool	Init () override
	~MicrophoneComponent ()
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

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 >
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)
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_

详细描述

在文件 microphone_component.h 第 44 行定义.

构造及析构函数说明

~MicrophoneComponent()

apollo::drivers::microphone::MicrophoneComponent::~MicrophoneComponent

(

)

在文件 microphone_component.cc 第 102 行定义.

                                          {
  free(buffer_);
  if (running_.load()) {
    running_.exchange(false);
    async_result_.wait();
  }
}

成员函数说明

Init()

bool apollo::drivers::microphone::MicrophoneComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 microphone_component.cc 第 23 行定义.

                               {
  microphone_config_ptr_ = std::make_shared<MicrophoneConfig>();
  if (!apollo::cyber::common::GetProtoFromFile(config_file_path_,
                                               microphone_config_ptr_.get())) {
    return false;
  }
  AINFO << "Microphone config: " << microphone_config_ptr_->DebugString();
 
  // new microphone device
  microphone_device_ptr_.reset(new Respeaker());
  microphone_device_ptr_->init(microphone_config_ptr_);
 
  // dump config, calculate size and reserve buffer for audio
  n_channels_ = microphone_config_ptr_->channel_type_size();
  sample_width_ = microphone_config_ptr_->sample_width();
  // chunk_: number of frames per chunk; chunk_size_: number of bytes per chunk
  chunk_ = microphone_config_ptr_->chunk();
  n_chunk_ = static_cast<int>(
      std::ceil(microphone_config_ptr_->sample_rate() *
                microphone_config_ptr_->record_seconds() / chunk_));
  chunk_size_ = chunk_ * n_channels_ * sample_width_;
  buffer_ = new char[chunk_size_];
  if (buffer_ == nullptr) {
    AERROR << "System new memory error, size:" << chunk_size_;
    return false;
  }
 
  // assemble AudioData -- fill microphone_config, allocate memory for
  // channel_data
  audio_data_ptr_.reset(new AudioData());
  std::string config;
  microphone_config_ptr_->SerializeToString(&config);
  audio_data_ptr_->mutable_microphone_config()->ParseFromString(config);
  audio_data_ptr_->mutable_header()->set_frame_id(
      microphone_config_ptr_->frame_id());
 
  ChannelData *channel_data = nullptr;
  int channel_size = n_chunk_ * chunk_ * sample_width_;
  for (int i = 0; i < n_channels_; ++i) {
    channel_data = audio_data_ptr_->add_channel_data();
    channel_data->set_channel_type(microphone_config_ptr_->channel_type(i));
    channel_data->mutable_data()->resize(channel_size);
    channel_data_ptrs_.push_back(channel_data->mutable_data());
  }
 
  writer_ptr_ =
      node_->CreateWriter<AudioData>(microphone_config_ptr_->channel_name());
  async_result_ = cyber::Async(&MicrophoneComponent::run, this);
  return true;
}

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该类的文档由以下文件生成:

• modules/drivers/microphone/microphone_component.h
• modules/drivers/microphone/microphone_component.cc