apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE > 模板类 参考

#include <alignment_agent.h>

apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE > 的协作图:

Public 成员函数
	AlignmentAgent (std::shared_ptr< JsonConf > sp_conf, std::shared_ptr< PoseCollectionAgent > sp_pose_collection_agent)
void	Reset ()
grpc::Status	ProcessGrpcRequest (grpc::ServerContext *context, REQUEST_TYPE *request, RESPONSE_TYPE *response)
int	AlignmentStart (REQUEST_TYPE *request, RESPONSE_TYPE *response)
int	AsyncStartAlignment ()
std::shared_ptr< std::vector< FramePose > >	GetPoses () const
int	AlignmentCheck (REQUEST_TYPE *request, RESPONSE_TYPE *response)
int	AlignmentStop (REQUEST_TYPE *request, RESPONSE_TYPE *response)
void	SetState (AlignmentAgentState state)
AlignmentAgentState	GetState () const

详细描述

template<typename ALIGNMENT_TYPE, typename REQUEST_TYPE, typename RESPONSE_TYPE>
class apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >

在文件 alignment_agent.h 第 38 行定义.

构造及析构函数说明

AlignmentAgent()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::AlignmentAgent ( std::shared_ptr< JsonConf >  sp_conf, std::shared_ptr< PoseCollectionAgent >  sp_pose_collection_agent  )

inline

在文件 alignment_agent.h 第 40 行定义.

                                                                   {
    sp_conf_ = sp_conf;
    sp_pose_collection_agent_ = sp_pose_collection_agent;
  }

成员函数说明

AlignmentCheck()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::AlignmentCheck ( REQUEST_TYPE *  request, RESPONSE_TYPE *  response  )

inline

在文件 alignment_agent.h 第 135 行定义.

                                                                     {
    if (AlignmentAgentState::IDLE == GetState()) {
      AINFO << "AlignmentAgent is idle. this call will be refused";
      response->set_code(ErrorCode::ERROR_CHECK_BEFORE_START);
      response->set_progress(0.0);
      return 0;
    }
    if (sp_alignment_ == nullptr) {
      AINFO << "sp_alignment_ is null, check later";
      response->set_code(ErrorCode::SUCCESS);
      response->set_progress(0.0);
      return 0;
    }
 
    ErrorCode code = sp_alignment_->GetReturnState();
    double progress = sp_alignment_->GetProgress();
    response->set_code(code);
    response->set_progress(progress);
    if (code == ErrorCode::ERROR_VERIFY_NO_GNSSPOS ||
        code == ErrorCode::ERROR_GNSS_SIGNAL_FAIL) {
      stopped_ = true;
      SetState(AlignmentAgentState::IDLE);
      return -1;
    }
    return 0;
  }

AlignmentStart()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::AlignmentStart ( REQUEST_TYPE *  request, RESPONSE_TYPE *  response  )

inline

在文件 alignment_agent.h 第 79 行定义.

                                                                     {
    if (AlignmentAgentState::RUNNING == GetState()) {
      AINFO << "AlignmentAgent is running. do need start again";
      response->set_code(ErrorCode::ERROR_REPEATED_START);
      response->set_progress(0.0);
      return 0;
    }
    Reset();
    AsyncStartAlignment();
    response->set_code(ErrorCode::SUCCESS);
    response->set_progress(0.0);
    return 0;
  }

AlignmentStop()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::AlignmentStop ( REQUEST_TYPE *  request, RESPONSE_TYPE *  response  )

inline

在文件 alignment_agent.h 第 162 行定义.

                                                                    {
    response->set_code(ErrorCode::SUCCESS);
    if (sp_alignment_ == nullptr) {
      response->set_progress(0.0);
    } else {
      response->set_progress(sp_alignment_->GetProgress());
      need_stop_ = true;
    }
    SetState(AlignmentAgentState::IDLE);
    return 0;
  }

AsyncStartAlignment()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::AsyncStartAlignment ( )

inline

在文件 alignment_agent.h 第 93 行定义.

                            {
    SetState(AlignmentAgentState::RUNNING);
    std::thread alignment_thread([=]() {
      sp_alignment_->SetStartTime(UnixNow());
      AINFO << "set state RUNNING";
      while (!need_stop_ && !apollo::cyber::IsShutdown()) {
        std::shared_ptr<std::vector<FramePose>> sp_poses = GetPoses();
        if (sp_poses == nullptr) {
          AINFO << "error, pose pointer is null";
          return;
        }
        sp_alignment_->Process(*sp_poses);
        ErrorCode code = sp_alignment_->GetReturnState();
        if (code == ErrorCode::ERROR_VERIFY_NO_GNSSPOS ||
            code == ErrorCode::ERROR_GNSS_SIGNAL_FAIL) {
          AERROR << "Some error occurred, while loop will exit";
          break;
        }
        AINFO << "get progress:" << sp_alignment_->GetProgress();
        if (fabs(1 - sp_alignment_->GetProgress()) < 1e-8) {
          AINFO << "alignment progress reached 1.0, thread exit";
          break;
        }
        AINFO << "sleep " << sp_conf_->alignment_featch_pose_sleep << " sec";
        auto seconds =
            std::chrono::seconds(sp_conf_->alignment_featch_pose_sleep);
        std::this_thread::sleep_for(seconds);
      }
      stopped_ = true;
      AINFO << "Align thread complete";
    });
    alignment_thread.detach();
    return 0;
  }

GetPoses()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

std::shared_ptr< std::vector< FramePose > > apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::GetPoses ( ) const

inline

在文件 alignment_agent.h 第 128 行定义.

                                                       {
    if (sp_pose_collection_agent_ == nullptr) {
      return nullptr;
    }
    return sp_pose_collection_agent_->GetPoses();
  }

GetState()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

AlignmentAgentState apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::GetState ( ) const

inline

在文件 alignment_agent.h 第 175 行定义.

{ return state_; }

ProcessGrpcRequest()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

grpc::Status apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::ProcessGrpcRequest ( grpc::ServerContext *  context, REQUEST_TYPE *  request, RESPONSE_TYPE *  response  )

inline

在文件 alignment_agent.h 第 53 行定义.

                                                           {
    AINFO << "AlignmentAgent request: " << request->DebugString();
    switch (request->cmd()) {
      case CmdType::START:
        AINFO << "AlignmentAgent start";
        AlignmentStart(request, response);
        break;
      case CmdType::CHECK:
        AINFO << "AlignmentAgent check";
        AlignmentCheck(request, response);
        break;
      case CmdType::STOP:
        AINFO << "AlignmentAgent stop";
        AlignmentStop(request, response);
        break;
      default:
        response->set_code(ErrorCode::ERROR_REQUEST);
        response->set_progress(sp_alignment_->GetProgress());
        AERROR << "command error";
    }
    AINFO << "AlignmentAgent progress: " << response->progress();
    return grpc::Status::OK;
  }

Reset()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

void apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::Reset ( )

inline

在文件 alignment_agent.h 第 47 行定义.

               {
    sp_alignment_ = std::make_shared<ALIGNMENT_TYPE>(sp_conf_);
    state_ = AlignmentAgentState::IDLE;
    need_stop_ = false;
  }

SetState()

template<typename ALIGNMENT_TYPE , typename REQUEST_TYPE , typename RESPONSE_TYPE >

void apollo::hdmap::AlignmentAgent< ALIGNMENT_TYPE, REQUEST_TYPE, RESPONSE_TYPE >::SetState ( AlignmentAgentState  state )

inline

在文件 alignment_agent.h 第 174 行定义.

{ state_ = state; }

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该类的文档由以下文件生成:

• modules/map/tools/map_datachecker/server/alignment_agent.h