apollo::external_command::WriterHandle类 参考

Wrapped Writer with last sent channel. 更多...

#include <message_writer.h>

apollo::external_command::WriterHandle 的协作图:

Public 成员函数
	WriterHandle (const std::shared_ptr< cyber::WriterBase > &writer, const std::shared_ptr< cyber::WriterBase > &history_writer=nullptr)
template<typename T >
bool	Write (const T &message)
	Write the message with the channel name.
template<typename T >
bool	Write (const std::shared_ptr< T > &message)
	Write the message with the channel name.
void	WriteLastMessage ()
	Write the last received message as history.

详细描述

Wrapped Writer with last sent channel.

在文件 message_writer.h 第 39 行定义.

构造及析构函数说明

WriterHandle()

apollo::external_command::WriterHandle::WriterHandle ( const std::shared_ptr< cyber::WriterBase > &  writer, const std::shared_ptr< cyber::WriterBase > &  history_writer = nullptr  )

inline

在文件 message_writer.h 第 41 行定义.

      : writer_(writer),
        history_writer_(history_writer),
        last_message_(nullptr) {}

成员函数说明

Write() [1/2]

template<typename T >

bool apollo::external_command::WriterHandle::Write

(

const std::shared_ptr< T > &

message

)

Write the message with the channel name.

参数

message

The message to be written.

返回

true if the message writer is registered;

参数

channel_name	Channel name of the message.
message	The message to be written.

返回

true if the message writer is registered;

在文件 message_writer.h 第 100 行定义.

                                                        {
  CHECK_NOTNULL(message);
  return Write(*message);
}

Write() [2/2]

template<typename T >

bool apollo::external_command::WriterHandle::Write

(

const T &

message

)

Write the message with the channel name.

参数

message

The message to be written.

返回

true if the message writer is registered;

在文件 message_writer.h 第 77 行定义.

                                         {
  auto* message_writer = dynamic_cast<cyber::Writer<T>*>(writer_.get());
  if (nullptr == message_writer) {
    return false;
  }
  message_writer->Write(message);
  if (nullptr == last_message_) {
    last_message_ = std::dynamic_pointer_cast<google::protobuf::Message>(
        std::make_shared<T>());
    write_history_function_ =
        std::bind(&WriterHandle::WriteHistoryMessage<T>, this);
  }
  last_message_->CopyFrom(message);
  return true;
}

WriteLastMessage()

void apollo::external_command::WriterHandle::WriteLastMessage

(

)

Write the last received message as history.

在文件 message_writer.h 第 105 行定义.

                                    {
  if (write_history_function_) {
    write_history_function_();
  }
}

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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