apollo::monitor::MonitorManager类 参考

#include <monitor_manager.h>

apollo::monitor::MonitorManager 的协作图:

Public 成员函数
void	Init (const std::shared_ptr< apollo::cyber::Node > &node)
bool	StartFrame (const double current_time)
void	EndFrame ()
const apollo::dreamview::HMIMode &	GetHMIMode () const
bool	IsInAutonomousMode () const
SystemStatus *	GetStatus ()
apollo::common::monitor::MonitorLogBuffer &	LogBuffer ()
template<class T >
std::shared_ptr< cyber::Reader< T > >	CreateReader (const std::string &channel)
template<class T >
std::shared_ptr< cyber::Writer< T > >	CreateWriter (const std::string &channel)

详细描述

在文件 monitor_manager.h 第 38 行定义.

成员函数说明

CreateReader()

template<class T >

std::shared_ptr< cyber::Reader< T > > apollo::monitor::MonitorManager::CreateReader ( const std::string &  channel )

inline

在文件 monitor_manager.h 第 54 行定义.

                                                                       {
    if (readers_.find(channel) == readers_.end()) {
      readers_.emplace(channel, node_->CreateReader<T>(channel));
    }
    return std::dynamic_pointer_cast<cyber::Reader<T>>(readers_[channel]);
  }

CreateWriter()

template<class T >

std::shared_ptr< cyber::Writer< T > > apollo::monitor::MonitorManager::CreateWriter ( const std::string &  channel )

inline

在文件 monitor_manager.h 第 62 行定义.

                                                                       {
    return node_->CreateWriter<T>(channel);
  }

EndFrame()

void apollo::monitor::MonitorManager::EndFrame

(

)

在文件 monitor_manager.cc 第 96 行定义.

                              {
  // Print and publish all monitor logs.
  log_buffer_.Publish();
}

GetHMIMode()

const apollo::dreamview::HMIMode & apollo::monitor::MonitorManager::GetHMIMode ( ) const

inline

在文件 monitor_manager.h 第 47 行定义.

{ return mode_config_; }

GetStatus()

SystemStatus * apollo::monitor::MonitorManager::GetStatus ( )

inline

在文件 monitor_manager.h 第 49 行定义.

{ return &status_; }

Init()

void apollo::monitor::MonitorManager::Init

(

const std::shared_ptr< apollo::cyber::Node > &

node

)

在文件 monitor_manager.cc 第 39 行定义.

                                                                    {
  node_ = node;
  if (FLAGS_use_sim_time) {
    status_.set_is_realtime_in_simulation(true);
  }
}

IsInAutonomousMode()

bool apollo::monitor::MonitorManager::IsInAutonomousMode ( ) const

inline

在文件 monitor_manager.h 第 48 行定义.

{ return in_autonomous_driving_; }

LogBuffer()

apollo::common::monitor::MonitorLogBuffer & apollo::monitor::MonitorManager::LogBuffer ( )

inline

在文件 monitor_manager.h 第 50 行定义.

{ return log_buffer_; }

StartFrame()

bool apollo::monitor::MonitorManager::StartFrame

(

const double

current_time

)

在文件 monitor_manager.cc 第 46 行定义.

                                                         {
  status_.set_detect_immediately(false);
  // Get latest HMIStatus.
  static auto hmi_status_reader =
      CreateReader<apollo::dreamview::HMIStatus>(FLAGS_hmi_status_topic);
  hmi_status_reader->Observe();
  const auto hmi_status = hmi_status_reader->GetLatestObserved();
  if (hmi_status == nullptr) {
    AERROR << "No HMIStatus was received.";
    return false;
  } else if (hmi_status->expected_modules() > 0) {
    status_.set_detect_immediately(true);
  }
 
  if (current_mode_ != hmi_status->current_mode()) {
    // Mode changed, update configs and monitored.
    current_mode_ = hmi_status->current_mode();
    mode_config_ = apollo::dreamview::util::HMIUtil::LoadMode(
        hmi_config_.modes().at(current_mode_));
    status_.clear_hmi_modules();
    for (const auto& iter : mode_config_.modules()) {
      status_.mutable_hmi_modules()->insert({iter.first, {}});
    }
    status_.clear_components();
    for (const auto& iter : mode_config_.monitored_components()) {
      status_.mutable_components()->insert({iter.first, {}});
    }
    status_.clear_other_components();
    for (const auto& iter : mode_config_.other_components()) {
      status_.mutable_other_components()->insert({iter.first, {}});
    }
    status_.clear_global_components();
    for (const auto& iter : mode_config_.global_components()) {
      status_.mutable_global_components()->insert({iter.first, {}});
    }
  } else {
    // Mode not changed, clear component summary from the last frame.
    for (auto& iter : *status_.mutable_components()) {
      iter.second.clear_summary();
    }
    // clear global component summary from the last frame.
    for (auto& iter : *status_.mutable_global_components()) {
      iter.second.clear_summary();
    }
  }
 
  in_autonomous_driving_ = CheckAutonomousDriving(current_time);
  return true;
}

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该类的文档由以下文件生成:

• modules/monitor/common/monitor_manager.h
• modules/monitor/common/monitor_manager.cc