apollo::external_command::ExternalCommandProcessComponent类 参考

The external interface for processing external commands. 更多...

#include <external_command_process_component.h>

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

apollo::external_command::ExternalCommandProcessComponent 的协作图:

Public 成员函数
	ExternalCommandProcessComponent ()=default
	~ExternalCommandProcessComponent ()=default
bool	Init () override
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

The external interface for processing external commands.

在文件 external_command_process_component.h 第 43 行定义.

构造及析构函数说明

ExternalCommandProcessComponent()

apollo::external_command::ExternalCommandProcessComponent::ExternalCommandProcessComponent ( )

default

~ExternalCommandProcessComponent()

apollo::external_command::ExternalCommandProcessComponent::~ExternalCommandProcessComponent ( )

default

成员函数说明

Init()

bool ExternalCommandProcessComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 external_command_process_component.cc 第 34 行定义.

                                           {
  // Load the external command processors according to the config.
  ProcessComponentConfig config;
  if (!GetProtoConfig(&config)) {
    AERROR << "Unable to load ExternalCommandProcessComponent conf file: "
           << ConfigFilePath();
    return false;
  }
  const auto& plugin_manager = cyber::plugin_manager::PluginManager::Instance();
  for (const auto& processor_class_name : config.processor()) {
    command_processors_.emplace_back(
        plugin_manager->CreateInstance<CommandProcessorBase>(
            processor_class_name));
    command_processors_.back()->Init(node_);
  }
  command_status_service_ =
      node_->CreateService<CommandStatusRequest, CommandStatus>(
          config.output_command_status_name(),
          [this](const std::shared_ptr<CommandStatusRequest>& request,
                 std::shared_ptr<CommandStatus>& response) {
            bool is_get_status = false;
            // Get the command status from command processors.
            for (const auto& processor : command_processors_) {
              if (processor->GetCommandStatus(request->command_id(),
                                              response.get())) {
                is_get_status = true;
                break;
              }
            }
            if (!is_get_status) {
              response->set_status(CommandStatusType::UNKNOWN);
              response->set_message("Cannot get the status of command.");
            }
          });
  AINFO << "ExternalCommandProcessComponent init finished.";
  return true;
}

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该类的文档由以下文件生成:

• modules/external_command/process_component/external_command_process_component.h
• modules/external_command/process_component/external_command_process_component.cc