apollo::monitor::Monitor类 参考

#include <monitor.h>

类 apollo::monitor::Monitor 继承关系图:

apollo::monitor::Monitor 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 monitor.h 第 33 行定义.

成员函数说明

Init()

bool apollo::monitor::Monitor::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 monitor.cc 第 40 行定义.

                   {
  MonitorManager::Instance()->Init(node_);
 
  // Only the one CAN card corresponding to current mode will take effect.
  runners_.emplace_back(new EsdCanMonitor());
  runners_.emplace_back(new SocketCanMonitor());
  // To enable the GpsMonitor, you must add FLAGS_gps_component_name to the
  // mode's monitored_components.
  runners_.emplace_back(new GpsMonitor());
  // To enable the LocalizationMonitor, you must add
  // FLAGS_localization_component_name to the mode's monitored_components.
  runners_.emplace_back(new LocalizationMonitor());
  // To enable the CameraMonitor, you must add
  // FLAGS_camera_component_name to the mode's monitored_components.
  runners_.emplace_back(new CameraMonitor());
  // Monitor if processes are running.
  runners_.emplace_back(new ProcessMonitor());
  // Monitor if modules are running.
  runners_.emplace_back(new ModuleMonitor());
  // Monitor message processing latencies across modules
  const std::shared_ptr<LatencyMonitor> latency_monitor(new LatencyMonitor());
  runners_.emplace_back(latency_monitor);
  // Monitor if channel messages are updated in time.
  runners_.emplace_back(new ChannelMonitor(latency_monitor));
  // Monitor if resources are sufficient.
  runners_.emplace_back(new ResourceMonitor());
  // Monitor all changes made by each sub-monitor, and summarize to a final
  // overall status.
  runners_.emplace_back(new SummaryMonitor());
  // Check functional safety according to the summary.
  if (FLAGS_enable_functional_safety) {
    runners_.emplace_back(new FunctionalSafetyMonitor());
  }
 
  return true;
}

Proc()

bool apollo::monitor::Monitor::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 monitor.cc 第 77 行定义.

                   {
  const double current_time = apollo::cyber::Clock::NowInSeconds();
  if (!MonitorManager::Instance()->StartFrame(current_time)) {
    return false;
  }
  for (auto& runner : runners_) {
    runner->Tick(current_time);
  }
  MonitorManager::Instance()->EndFrame();
 
  return true;
}

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该类的文档由以下文件生成:

• modules/monitor/monitor.h
• modules/monitor/monitor.cc