apollo::external_command::MessageReader类 参考

#include <message_reader.h>

apollo::external_command::MessageReader 的协作图:

Public 成员函数
template<typename T >
void	RegisterMessage (const std::string &channel_name)
	Register the message reader with the given channel name.
template<typename T >
const T *	GetMessage (const std::string &channel_name) const
	Get the message with the channel name.

详细描述

在文件 message_reader.h 第 34 行定义.

成员函数说明

GetMessage()

template<typename T >

const T * apollo::external_command::MessageReader::GetMessage

(

const std::string &

channel_name

)

const

Get the message with the channel name.

参数

channel_name

Channel name of the message.

返回

Message with the channel name; return null if no message with the given type and channel name is registered.

在文件 message_reader.h 第 68 行定义.

                                                                      {
  if (reader_map_.find(channel_name) == reader_map_.end()) {
    return nullptr;
  }
  auto* base_reader = reader_map_.at(channel_name).get();
  auto* message_reader = dynamic_cast<cyber::Reader<T>*>(base_reader);
  if (nullptr == message_reader) {
    return nullptr;
  }
  message_reader->Observe();
  if (message_reader->Empty()) {
    AERROR << "Failed to get message of " << channel_name;
    return nullptr;
  }
  const auto* message = message_reader->GetLatestObserved().get();
  return message;
}

RegisterMessage()

template<typename T >

void apollo::external_command::MessageReader::RegisterMessage

(

const std::string &

channel_name

)

Register the message reader with the given channel name.

参数

channel_name

Channel name of the message.

在文件 message_reader.h 第 59 行定义.

                                                                 {
  // Only register reader when it is not registered before.
  if (reader_map_.find(channel_name) == reader_map_.end()) {
    auto reader = node_->CreateReader<T>(channel_name);
    reader_map_[channel_name] = reader;
  }
}

---

该类的文档由以下文件生成:

• modules/external_command/command_processor/command_processor_base/util/message_reader.h