apollo::monitor::LocalizationMonitor类 参考

#include <localization_monitor.h>

类 apollo::monitor::LocalizationMonitor 继承关系图:

apollo::monitor::LocalizationMonitor 的协作图:

Public 成员函数
	LocalizationMonitor ()
void	RunOnce (const double current_time) override
Public 成员函数 继承自 apollo::monitor::RecurrentRunner
	RecurrentRunner (const std::string &name, const double interval)
virtual	~RecurrentRunner ()=default
void	Tick (const double current_time)

额外继承的成员函数
Protected 属性 继承自 apollo::monitor::RecurrentRunner
std::string	name_
unsigned int	round_count_ = 0

详细描述

在文件 localization_monitor.h 第 23 行定义.

构造及析构函数说明

LocalizationMonitor()

apollo::monitor::LocalizationMonitor::LocalizationMonitor

(

)

在文件 localization_monitor.cc 第 40 行定义.

    : RecurrentRunner(FLAGS_localization_monitor_name,
                      FLAGS_localization_monitor_interval) {}

成员函数说明

RunOnce()

void apollo::monitor::LocalizationMonitor::RunOnce ( const double  current_time )

overridevirtual

实现了 apollo::monitor::RecurrentRunner.

在文件 localization_monitor.cc 第 44 行定义.

                                                           {
  auto manager = MonitorManager::Instance();
  auto* component = apollo::common::util::FindOrNull(
      *manager->GetStatus()->mutable_components(),
      FLAGS_localization_component_name);
  if (component == nullptr) {
    // localization is not monitored in current mode, skip.
    return;
  }
 
  static auto reader =
      manager->CreateReader<LocalizationStatus>(FLAGS_localization_msf_status);
  reader->Observe();
  const auto status = reader->GetLatestObserved();
 
  ComponentStatus* component_status = component->mutable_other_status();
  component_status->clear_status();
  if (status == nullptr) {
    SummaryMonitor::EscalateStatus(ComponentStatus::ERROR,
                                   "No LocalizationStatus received",
                                   component_status);
    return;
  }
 
  // Translate LocalizationStatus to ComponentStatus. Note that ERROR and FATAL
  // will trigger safety mode in current settings.
  switch (status->fusion_status()) {
    case MeasureState::OK:
      SummaryMonitor::EscalateStatus(ComponentStatus::OK, "", component_status);
      break;
    case MeasureState::WARNNING:
      SummaryMonitor::EscalateStatus(
          ComponentStatus::WARN,
          absl::StrCat("WARNNING: ", status->state_message()),
          component_status);
      break;
    case MeasureState::ERROR:
      SummaryMonitor::EscalateStatus(
          ComponentStatus::WARN,
          absl::StrCat("ERROR: ", status->state_message()), component_status);
      break;
    case MeasureState::CRITICAL_ERROR:
      SummaryMonitor::EscalateStatus(
          ComponentStatus::ERROR,
          absl::StrCat("CRITICAL_ERROR: ", status->state_message()),
          component_status);
      break;
    case MeasureState::FATAL_ERROR:
      SummaryMonitor::EscalateStatus(
          ComponentStatus::FATAL,
          absl::StrCat("FATAL_ERROR: ", status->state_message()),
          component_status);
      break;
    default:
      AFATAL << "Unknown fusion_status: " << status->fusion_status();
      break;
  }
}

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该类的文档由以下文件生成:

• modules/monitor/software/localization_monitor.h
• modules/monitor/software/localization_monitor.cc