apollo::external_command::ActionCommandProcessor类 参考

#include <action_command_processor.h>

类 apollo::external_command::ActionCommandProcessor 继承关系图:

apollo::external_command::ActionCommandProcessor 的协作图:

Public 成员函数
bool	Init (const std::shared_ptr< cyber::Node > &node) override
bool	GetCommandStatus (int64_t command_id, CommandStatus *status) const override
	Get the command status.
Public 成员函数 继承自 apollo::external_command::CommandProcessorBase
	CommandProcessorBase ()
virtual	~CommandProcessorBase ()=default

额外继承的成员函数
Protected 成员函数 继承自 apollo::external_command::CommandProcessorBase
const CommandProcessorConfig &	GetProcessorConfig () const
const std::shared_ptr< cyber::Node > &	Node () const

详细描述

在文件 action_command_processor.h 第 43 行定义.

成员函数说明

GetCommandStatus()

bool apollo::external_command::ActionCommandProcessor::GetCommandStatus ( int64_t  command_id, CommandStatus *  status  ) const

overridevirtual

Get the command status.

参数

command_id	Id of the command.
status	Output command status.

实现了 apollo::external_command::CommandProcessorBase.

在文件 action_command_processor.cc 第 86 行定义.

                                                                           {
  CHECK_NOTNULL(status);
  if (nullptr == last_command_) {
    return false;
  }
  if (last_command_->command_id() != command_id) {
    return false;
  }
  std::string module_name = "UNKNOWN";
  if (last_command_->has_header()) {
    module_name = last_command_->header().module_name();
  }
  common::util::FillHeader(module_name, status);
  status->set_command_id(command_id);
  switch (last_command_->command()) {
    // Get status of "FOLLOW", "CHANGE_LEFT", "CHANGE_RIGHT".
    case external_command::ActionCommandType::FOLLOW:
    case external_command::ActionCommandType::CHANGE_LEFT:
    case external_command::ActionCommandType::CHANGE_RIGHT: {
      // todo: Check the real planning status and set command status.
      status->set_status(apollo::external_command::CommandStatusType::ERROR);
      status->set_message("Cannot execute the command!");
    } break;
    // Get status of "PULL_OVER".
    case external_command::ActionCommandType::PULL_OVER: {
      // When planning is in PullOverScenario and the scenario is finished,
      // command status is finished.
      CheckScenarioFinished(special_config_.pull_over_scenario_name(), status);
    } break;
    // Get status of "STOP".
    case external_command::ActionCommandType::STOP: {
      CheckScenarioFinished(special_config_.stop_scenario_name(), status);
    } break;
    // Get status of "START".
    case external_command::ActionCommandType::START: {
      auto* latest_chassis_status =
          message_reader_->GetMessage<apollo::canbus::Chassis>(
              chassis_status_name_);
      if (nullptr == latest_chassis_status) {
        status->set_status(apollo::external_command::CommandStatusType::ERROR);
        status->set_message("Cannot get chassis status!");
        return true;
      }
      // If the vehicle is moving, the command is considered as finished.
      if (latest_chassis_status->speed_mps() >
          special_config_.minimun_non_zero_speed()) {
        status->set_status(
            apollo::external_command::CommandStatusType::FINISHED);
      }
      status->set_status(apollo::external_command::CommandStatusType::RUNNING);
    } break;
    // Get status of "CLEAR_PLANNING".
    case external_command::ActionCommandType::CLEAR_PLANNING: {
      status->set_status(apollo::external_command::CommandStatusType::FINISHED);
    } break;
    // Get status of "SWITCH_TO_MANUAL".
    case external_command::ActionCommandType::SWITCH_TO_MANUAL: {
      CheckModeSwitchFinished(canbus::Chassis::COMPLETE_MANUAL, status);
    } break;
    // Get status of "SWITCH_TO_AUTO".
    case external_command::ActionCommandType::SWITCH_TO_AUTO: {
      CheckModeSwitchFinished(canbus::Chassis::COMPLETE_AUTO_DRIVE, status);
    } break;
    // Get status of "VIN_REQ".
    default: {
      // todo: Get the real result of control.
      status->set_status(apollo::external_command::CommandStatusType::FINISHED);
    } break;
  }
  return true;
}

Init()

bool apollo::external_command::ActionCommandProcessor::Init ( const std::shared_ptr< cyber::Node > &  node )

overridevirtual

重载 apollo::external_command::CommandProcessorBase .

在文件 action_command_processor.cc 第 36 行定义.

                                                                      {
  if (!CommandProcessorBase::Init(node)) {
    return false;
  }
  message_reader_ = MessageReader::Instance();
  const auto& config = GetProcessorConfig();
  // Get special config for ActionCommandProcessor.
  int status = 0;
  std::string class_name =
      abi::__cxa_demangle(typeid(*this).name(), nullptr, nullptr, &status);
  std::string special_config_path =
      cyber::plugin_manager::PluginManager::Instance()
          ->GetPluginConfPath<CommandProcessorBase>(
              class_name, "conf/special_config.pb.txt");
  if (!cyber::common::LoadConfig<ActionCommandConfig>(special_config_path,
                                                      &special_config_)) {
    AERROR << "Cannot get special config of ActionCommandProcessor";
    return false;
  }
  // Create service for input command.
  command_service_ = node->CreateService<ActionCommand, CommandStatus>(
      config.input_command_name(),
      [this](const std::shared_ptr<ActionCommand>& command,
             std::shared_ptr<CommandStatus>& status) {
        this->OnCommand(command, status);
      });
  // Create writers for output command.
  CHECK_GT(config.output_command_name().size(), 1);
  auto message_writer = MessageWriter::Instance();
  planning_action_writer_ =
      message_writer->RegisterMessage<apollo::planning::PadMessage>(
          config.output_command_name().Get(0));
  control_action_writer_ =
      message_writer->RegisterMessage<apollo::control::PadMessage>(
          config.output_command_name().Get(1));
  // Create reader for input command status.
  CHECK_GT(config.input_command_status_name().size(), 2);
 
  chassis_status_name_ = config.input_command_status_name().Get(0);
  planning_status_name_ = config.input_command_status_name().Get(1);
  planning_command_status_name_ = config.input_command_status_name().Get(2);
  message_reader_->RegisterMessage<apollo::canbus::Chassis>(
      chassis_status_name_);
  message_reader_->RegisterMessage<apollo::planning::ADCTrajectory>(
      planning_status_name_);
  message_reader_->RegisterMessage<CommandStatus>(
      planning_command_status_name_);
  return true;
}

---

该类的文档由以下文件生成:

• modules/external_command/command_processor/action_command_processor/action_command_processor.h
• modules/external_command/command_processor/action_command_processor/action_command_processor.cc