#include <speed_command_processor.h>

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

apollo::external_command::SpeedCommandProcessor 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 speed_command_processor.h 第 39 行定义.

成员函数说明

◆ GetCommandStatus()

bool apollo::external_command::SpeedCommandProcessor::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 speed_command_processor.cc 第 55 行定义.

                                                                                            {
    CHECK_NOTNULL(status);
    if (command_id != last_received_command_.command_id()) {
        return false;
    }
    status->set_command_id(command_id);
    // todo: Get planning speed setting status.
    status->set_status(apollo::external_command::CommandStatusType::FINISHED);
    return true;
}

◆ Init()

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

overridevirtual

重载 apollo::external_command::CommandProcessorBase .

在文件 speed_command_processor.cc 第 32 行定义.

                                                                     {
    // hook: Apollo License Verification: v_apollo_park
    if (!CommandProcessorBase::Init(node)) {
        return false;
    }
    last_received_command_.set_command_id(-1);
    message_reader_ = MessageReader::Instance();
    const auto& config = GetProcessorConfig();
    command_service_ = node->CreateService<SpeedCommand, CommandStatus>(
            config.input_command_name(),
            [this](const std::shared_ptr<SpeedCommand>& command, std::shared_ptr<CommandStatus>& status) {
                this->OnCommand(command, status);
            });
    // Create writer for output command.
    CHECK(config.output_command_name().size() > 0 && config.input_command_status_name().size() > 0);
    auto message_writer = MessageWriter::Instance();
    planning_command_writer_
            = message_writer->RegisterMessage<apollo::planning::PlanningCommand>(config.output_command_name().Get(0));
    planning_command_status_name_ = config.input_command_status_name().Get(0);
    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/speed_command_processor/speed_command_processor.h
modules/external_command/command_processor/speed_command_processor/speed_command_processor.cc

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ GetCommandStatus()

◆ Init()