apollo::latency_statistic::LatencyStatisticComponent类 参考

#include <latency_statistic_component.h>

类 apollo::latency_statistic::LatencyStatisticComponent 继承关系图:

apollo::latency_statistic::LatencyStatisticComponent 的协作图:

Public 成员函数
bool	Init () override
bool	Proc () override
	The Proc logic of the component, which called by the CyberRT frame.
Public 成员函数 继承自 apollo::cyber::TimerComponent
	TimerComponent ()
	~TimerComponent () override
bool	Initialize (const TimerComponentConfig &config) override
	init the component by protobuf object.
void	Clear () override
bool	Process ()
uint32_t	GetInterval () const
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const ComponentConfig &config)
virtual void	Shutdown ()
template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >
Protected 成员函数 继承自 apollo::cyber::ComponentBase
const std::string &	ConfigFilePath () const
void	LoadConfigFiles (const ComponentConfig &config)
void	LoadConfigFiles (const TimerComponentConfig &config)
Protected 属性 继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}
std::shared_ptr< Node >	node_ = nullptr
std::string	config_file_path_ = ""
std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 latency_statistic_component.h 第 58 行定义.

成员函数说明

Init()

bool apollo::latency_statistic::LatencyStatisticComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 latency_statistic_component.cc 第 39 行定义.

                                     {
    // hook: Apollo License Verification: v_apollo_park
    // Init Channel Defines
    compensator_topic = FLAGS_compensator_topic;
    perception_topic = FLAGS_perception_obstacle_topic;
    prediction_topic = FLAGS_prediction_topic;
    planning_topic = FLAGS_planning_trajectory_topic;
    control_topic = FLAGS_control_command_topic;
    // create readers
    CreateReaders();
    // create metric writer
    metric_writer_ = node_->CreateWriter<LatencyMetrics>(FLAGS_latency_statistic_topic);
    return true;
}

Proc()

bool apollo::latency_statistic::LatencyStatisticComponent::Proc ( )

overridevirtual

The Proc logic of the component, which called by the CyberRT frame.

返回

returns true if successful, otherwise returns false

实现了 apollo::cyber::TimerComponent.

在文件 latency_statistic_component.cc 第 54 行定义.

                                     {
    auto metrics = std::make_shared<LatencyMetrics>();
    apollo::common::util::FillHeader(node_->Name(), metrics.get());
 
    Result result;
    // get result from metric data
    std::lock_guard<std::mutex> guard(lock_);
    for (auto it = latency_map_.begin(); it != latency_map_.end();) {
        auto& lidar_timestamp = it->first;
        if (latest_stamp_ - lidar_timestamp > EXPIRED_NANOSECONDS || latency_map_.size() > MAX_SAMPLE_SIZE) {
            it = latency_map_.erase(it);
            continue;
        }
        auto& metric = it->second;
        FillResult(lidar_timestamp, metric, &result);
        ++it;
    }
    // calculate latency
    CalculateLatency(result, metrics);
    // write latency metrics
    metric_writer_->Write(metrics);
    return true;
}

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该类的文档由以下文件生成:

• modules/statistics/latency/latency_statistic_component.h
• modules/statistics/latency/latency_statistic_component.cc