#include <routing_component.h>

类 apollo::routing::RoutingComponent 继承关系图:

apollo::routing::RoutingComponent 的协作图:

Public 成员函数
	RoutingComponent ()=default

	~RoutingComponent ()=default

bool	Init () override

bool	Proc (const std::shared_ptr< routing::RoutingRequest > &request) override

Public 成员函数继承自 apollo::cyber::Component< routing::RoutingRequest >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< routing::RoutingRequest > &msg0, const std::shared_ptr< NullType > &msg1, const std::shared_ptr< NullType > &msg2, const std::shared_ptr< NullType > &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

在文件 routing_component.h 第 26 行定义.

构造及析构函数说明

◆ RoutingComponent()

apollo::routing::RoutingComponent::RoutingComponent ( )

default

◆ ~RoutingComponent()

apollo::routing::RoutingComponent::~RoutingComponent ( )

default

成员函数说明

◆ Init()

bool apollo::routing::RoutingComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 routing_component.cc 第 29 行定义.

                            {
  RoutingConfig routing_conf;
  ACHECK(cyber::ComponentBase::GetProtoConfig(&routing_conf))
      << "Unable to load routing conf file: "
      << cyber::ComponentBase::ConfigFilePath();
 
  AINFO << "Config file: " << cyber::ComponentBase::ConfigFilePath()
        << " is loaded.";
 
  apollo::cyber::proto::RoleAttributes attr;
  attr.set_channel_name(routing_conf.topic_config().routing_response_topic());
  auto qos = attr.mutable_qos_profile();
  qos->set_history(apollo::cyber::proto::QosHistoryPolicy::HISTORY_KEEP_LAST);
  qos->set_reliability(
      apollo::cyber::proto::QosReliabilityPolicy::RELIABILITY_RELIABLE);
  qos->set_durability(
      apollo::cyber::proto::QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL);
  response_writer_ = node_->CreateWriter<routing::RoutingResponse>(attr);
 
  apollo::cyber::proto::RoleAttributes attr_history;
  attr_history.set_channel_name(
      routing_conf.topic_config().routing_response_history_topic());
  auto qos_history = attr_history.mutable_qos_profile();
  qos_history->set_history(
      apollo::cyber::proto::QosHistoryPolicy::HISTORY_KEEP_LAST);
  qos_history->set_reliability(
      apollo::cyber::proto::QosReliabilityPolicy::RELIABILITY_RELIABLE);
  qos_history->set_durability(
      apollo::cyber::proto::QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL);
 
  response_history_writer_ =
      node_->CreateWriter<routing::RoutingResponse>(attr_history);
  std::weak_ptr<RoutingComponent> self =
      std::dynamic_pointer_cast<RoutingComponent>(shared_from_this());
  timer_.reset(new ::apollo::cyber::Timer(
      FLAGS_routing_response_history_interval_ms,
      [self, this]() {
        auto ptr = self.lock();
        if (ptr) {
          std::lock_guard<std::mutex> guard(this->mutex_);
          if (this->response_ != nullptr) {
            auto timestamp = apollo::cyber::Clock::NowInSeconds();
            response_->mutable_header()->set_timestamp_sec(timestamp);
            this->response_history_writer_->Write(*response_);
          }
        }
      },
      false));
  timer_->Start();
 
  return routing_.Init().ok() && routing_.Start().ok();
}

◆ Proc()

bool apollo::routing::RoutingComponent::Proc ( const std::shared_ptr< routing::RoutingRequest > & request )

override

在文件 routing_component.cc 第 82 行定义.

                                                         {
  auto response = std::make_shared<routing::RoutingResponse>();
  if (!routing_.Process(request, response.get())) {
    return false;
  }
  common::util::FillHeader(node_->Name(), response.get());
  response_writer_->Write(response);
  {
    std::lock_guard<std::mutex> guard(mutex_);
    response_ = std::move(response);
  }
  return true;
}

该类的文档由以下文件生成:

modules/routing/routing_component.h
modules/routing/routing_component.cc

Public 成员函数