apollo::old_routing_adapter::OldRoutingAdapter类 参考

The external interface for processing external commands. 更多...

#include <old_routing_adapter.h>

类 apollo::old_routing_adapter::OldRoutingAdapter 继承关系图:

apollo::old_routing_adapter::OldRoutingAdapter 的协作图:

Public 成员函数
	OldRoutingAdapter ()
	~OldRoutingAdapter ()=default
bool	Init () override
Public 成员函数 继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const TimerComponentConfig &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
virtual void	Clear ()
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

The external interface for processing external commands.

在文件 old_routing_adapter.h 第 52 行定义.

构造及析构函数说明

OldRoutingAdapter()

apollo::old_routing_adapter::OldRoutingAdapter::OldRoutingAdapter

(

)

在文件 old_routing_adapter.cc 第 41 行定义.

: command_id_(0), hdmap_(nullptr) {}

~OldRoutingAdapter()

apollo::old_routing_adapter::OldRoutingAdapter::~OldRoutingAdapter ( )

default

成员函数说明

Init()

bool apollo::old_routing_adapter::OldRoutingAdapter::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 old_routing_adapter.cc 第 43 行定义.

                             {
  hdmap_ = hdmap::HDMapUtil::BaseMapPtr();
  // Load the config.
  OldRoutingAdapterConfig config;
  if (!GetProtoConfig(&config)) {
    AERROR << "Unable to load OldRoutingAdapter conf file: "
           << ConfigFilePath();
    return false;
  }
  // Init the readers, writers and service clients.
  routing_request_reader_ = node_->CreateReader<routing::RoutingRequest>(
      config.routing_request_topic(),
      [this](const std::shared_ptr<routing::RoutingRequest>& routing_request) {
        ADEBUG << "Received routing request: run callback.";
        OnRoutingRequest(routing_request);
      });
  lane_follow_command_client_ =
      node_->CreateClient<apollo::external_command::LaneFollowCommand,
                          apollo::external_command::CommandStatus>(
          config.lane_follow_command_topic());
  valet_parking_command_client_ =
      node_->CreateClient<apollo::external_command::ValetParkingCommand,
                          apollo::external_command::CommandStatus>(
          config.valet_parking_command_topic());
  return true;
}

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该类的文档由以下文件生成:

• modules/external_command/old_routing_adapter/old_routing_adapter.h
• modules/external_command/old_routing_adapter/old_routing_adapter.cc