map_updater.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
#include<string>
#include<memory>
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/dreamview_plus/proto/data_handler.pb.h"
#include "modules/common_msgs/dreamview_msgs/simulation_world.pb.h"
 
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/dreamview/backend/common/dreamview_gflags.h"
#include "modules/dreamview/backend/common/handlers/websocket_handler.h"
#include "modules/dreamview/backend/common/map_service/map_service.h"
#include "modules/dreamview_plus/backend/map/map_updater.h"
#include "modules/dreamview_plus/backend/updater/updater_base.h"
namespace apollo {
namespace dreamview {
 
using apollo::localization::LocalizationEstimate;
 
class MapUpdater : public UpdaterBase {
 public:
  MapUpdater(WebSocketHandler *websocket, const MapService *map_service);
  ~MapUpdater() override {}
  void StartStream(const double &time_interval_ms,
                   const std::string &channel_name = "",
                   nlohmann::json *subscribe_param = nullptr) override;
  void StopStream(const std::string& channel_name = "") override;
  void OnTimer(const std::string& channel_name = "");
  void PublishMessage(const std::string& channel_name = "") override;
 
 private:
  std::unique_ptr<cyber::Node> node_;
  WebSocketHandler *websocket_ = nullptr;
  const MapService *map_service_;
 
  // retrieved map string by map element ids.
  std::string retrieved_map_string_;
 
  void UpdateAdcPosition(
      const std::shared_ptr<apollo::localization::LocalizationEstimate>
          &localization);
  std::shared_ptr<cyber::Reader<apollo::localization::LocalizationEstimate>>
      localization_reader_;
 
  void GetMapElementIds(double radius, MapElementIds *ids);
 
  // adc localization position
  apollo::common::PointENU adc_point_;
 
  std::unique_ptr<cyber::Timer> timer_;
  MapElementIds map_element_ids_;
};
 
}  // namespace dreamview
}  // namespace apollo