apollo::external_command::MessageWriter类 参考

#include <message_writer.h>

apollo::external_command::MessageWriter 的协作图:

Public 成员函数
template<typename T >
std::shared_ptr< WriterHandle >	RegisterMessage (const std::string &channel_name, const std::string &history_channel_name="")
	Register the message writer with the given channel name.
template<typename T >
std::shared_ptr< WriterHandle >	RegisterMessage (const cyber::proto::RoleAttributes &role_attr, const std::string &history_channel_name="")
	Register the message writer with the given channel atrributes.

详细描述

在文件 message_writer.h 第 129 行定义.

成员函数说明

RegisterMessage() [1/2]

template<typename T >

std::shared_ptr< WriterHandle > apollo::external_command::MessageWriter::RegisterMessage	(	const cyber::proto::RoleAttributes &	role_attr,
		const std::string &	history_channel_name = ""
	)

Register the message writer with the given channel atrributes.

参数

role_attr	The channel atrributes.
history_channel_name	if it is set, last received message will be sent periodically.

在文件 message_writer.h 第 183 行定义.

                                           {
  const auto& channel_name = role_attr.channel_name();
  auto existing_writer_iter = writer_map_.find(channel_name);
  // Only register writer when it is not registered before.
  if (existing_writer_iter == writer_map_.end()) {
    auto writer = node_->CreateWriter<T>(role_attr);
    if (history_channel_name != "") {
      auto history_writer = node_->CreateWriter<T>(history_channel_name);
      writer_map_[channel_name] =
          std::make_shared<WriterHandle>(writer, history_writer);
      history_writers_.emplace_back(writer_map_[channel_name]);
    } else {
      writer_map_[channel_name] = std::make_shared<WriterHandle>(writer);
    }
    return writer_map_[channel_name];
  }
  return existing_writer_iter->second;
}

RegisterMessage() [2/2]

template<typename T >

std::shared_ptr< WriterHandle > apollo::external_command::MessageWriter::RegisterMessage	(	const std::string &	channel_name,
		const std::string &	history_channel_name = ""
	)

Register the message writer with the given channel name.

参数

channel_name	Channel name of the message.
history_channel_name	if it is set, last received message will be sent periodically.

在文件 message_writer.h 第 163 行定义.

                                                                          {
  auto existing_writer_iter = writer_map_.find(channel_name);
  // Only register writer when it is not registered before.
  if (existing_writer_iter == writer_map_.end()) {
    auto writer = node_->CreateWriter<T>(channel_name);
    if (history_channel_name != "") {
      auto history_writer = node_->CreateWriter<T>(history_channel_name);
      writer_map_[channel_name] =
          std::make_shared<WriterHandle>(writer, history_writer);
      history_writers_.emplace_back(writer_map_[channel_name]);
    } else {
      writer_map_[channel_name] = std::make_shared<WriterHandle>(writer);
    }
    return writer_map_[channel_name];
  }
  return existing_writer_iter->second;
}

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该类的文档由以下文件生成:

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