apollo::bridge 命名空间参考

类
class	BridgeBuffer
class	BridgeHeader
class	BridgeProtoDiserializedBuf
class	BridgeProtoSerializedBuf
struct	HeaderItem
struct	HeaderItem< t, std::string >
class	HeaderItemBase
class	ProtoDiserializedBufBase
class	ProtoDiserializedBufBaseFactory
class	UDPBridgeMultiReceiverComponent
class	UDPBridgeReceiverComponent
struct	UDPBridgeReceiverRemoteInfo
class	UDPBridgeSenderComponent
struct	UDPBridgeSenderRemoteInfo
class	UDPListener

类型定义
typedef uint32_t	hsize
typedef uint32_t	bsize

枚举
enum	HType {   Header_Ver , Msg_Name , Msg_ID , Msg_Size ,   Msg_Frames , Frame_Size , Frame_Pos , Frame_Index ,   Time_Stamp , Header_Tail }

函数
	BRIDGE_IMPL (char)
	BRIDGE_IMPL (int)
	BRIDGE_IMPL (double)
template<enum HType t, typename T >
char *	SerializeItemImp (const HeaderItem< t, T > &item, char *buf, size_t buf_size)
template<enum HType t, typename T >
const char *	DiserializeItemImp (HeaderItem< t, T > *item, const char *buf, const size_t buf_size, size_t *diserialized_size)
int	GetProtoSize (const char *buf, size_t size)
template<typename T >
void	WriteToBuffer (BridgeBuffer< char > *buf, const std::shared_ptr< T > &pb_msg)
template<typename T >
bool	RemoveItem (std::vector< T * > *list, const T *t)
template<typename T >
bool	RemoveItem (std::vector< std::shared_ptr< T > > *list, std::shared_ptr< T > t)
	BRIDGE_RECV_IMPL (canbus::Chassis)
	BRIDGE_IMPL (LocalizationEstimate)
	BRIDGE_IMPL (planning::ADCTrajectory)

变量
constexpr char	BRIDGE_HEADER_FLAG [] = "ApolloBridgeHeader"
constexpr size_t	HEADER_FLAG_SIZE = sizeof(BRIDGE_HEADER_FLAG)
constexpr size_t	Item_Header_Size = sizeof(HType) + sizeof(bsize) + 2
constexpr uint32_t	INT_BITS = static_cast<uint32_t>(sizeof(uint32_t) * 8)
constexpr uint32_t	FRAME_SIZE = 1024
constexpr int	MAXEPOLLSIZE = 100
const int	HEADER_BUF_SIZE = sizeof(size_t)

类型定义说明

bsize

typedef uint32_t apollo::bridge::bsize

在文件 bridge_header_item.h 第 24 行定义.

hsize

typedef uint32_t apollo::bridge::hsize

在文件 bridge_header.h 第 27 行定义.

枚举类型说明

HType

enum apollo::bridge::HType

枚举值
Header_Ver
Msg_Name
Msg_ID
Msg_Size
Msg_Frames
Frame_Size
Frame_Pos
Frame_Index
Time_Stamp
Header_Tail

在文件 bridge_header_item.h 第 26 行定义.

           {
  Header_Ver,
  Msg_Name,
  Msg_ID,
  Msg_Size,
  Msg_Frames,
  Frame_Size,
  Frame_Pos,
  Frame_Index,
  Time_Stamp,
 
  Header_Tail,
};

函数说明

BRIDGE_IMPL() [1/5]

apollo::bridge::BRIDGE_IMPL

(

char

)

BRIDGE_IMPL() [2/5]

apollo::bridge::BRIDGE_IMPL

(

double

)

BRIDGE_IMPL() [3/5]

apollo::bridge::BRIDGE_IMPL

(

int

)

BRIDGE_IMPL() [4/5]

apollo::bridge::BRIDGE_IMPL

(

LocalizationEstimate

)

BRIDGE_IMPL() [5/5]

apollo::bridge::BRIDGE_IMPL

(

planning::ADCTrajectory

)

BRIDGE_RECV_IMPL()

apollo::bridge::BRIDGE_RECV_IMPL

(

canbus::Chassis

)

DiserializeItemImp()

template<enum HType t, typename T >

const char * apollo::bridge::DiserializeItemImp	(	HeaderItem< t, T > *	item,
		const char *	buf,
		const size_t	buf_size,
		size_t *	diserialized_size
	)

在文件 bridge_header_item.h 第 86 行定义.

                                                          {
  if (!buf || !diserialized_size ||
      buf_size < size_t(sizeof(HType) + sizeof(bsize) + 2)) {
    return nullptr;
  }
  const char *res = buf;
 
  char p_type[sizeof(HType)] = {0};
  memcpy(p_type, buf, sizeof(HType));
  HType type = *(reinterpret_cast<HType *>(p_type));
  if (type != t) {
    return nullptr;
  }
  res += sizeof(HType) + 1;
  *diserialized_size += sizeof(HType) + 1;
 
  char p_size[sizeof(bsize)] = {0};
  memcpy(p_size, res, sizeof(bsize));
  bsize size = *(reinterpret_cast<bsize *>(p_size));
  res += sizeof(bsize) + 1;
  *diserialized_size += sizeof(bsize) + 1;
 
  if (buf_size < size_t(sizeof(HType) + sizeof(bsize) + size + 3)) {
    return nullptr;
  }
  item->SetValue(res);
  res += size + 1;
  *diserialized_size += size + 1;
  return res;
}

GetProtoSize()

int apollo::bridge::GetProtoSize	(	const char *	buf,
		size_t	size
	)

在文件 util.cc 第 21 行定义.

                                               {
  if (size != sizeof(size_t)) {
    return 0;
  }
  char size_buf[sizeof(size_t)] = {0};
  memcpy(size_buf, buf, sizeof(size_t));
  int proto_size = *(reinterpret_cast<int *>(size_buf));
  return proto_size;
}

RemoveItem() [1/2]

template<typename T >

bool apollo::bridge::RemoveItem	(	std::vector< std::shared_ptr< T > > *	list,
		std::shared_ptr< T >	t
	)

在文件 util.h 第 65 行定义.

                                                                       {
  if (!list) {
    return false;
  }
  typename std::vector<std::shared_ptr<T>>::iterator itor = list->begin();
  for (; itor != list->end();) {
    if (itor->get() == t.get()) {
      itor = list->erase(itor);
      continue;
    }
    ++itor;
  }
  return true;
}

RemoveItem() [2/2]

template<typename T >

bool apollo::bridge::RemoveItem	(	std::vector< T * > *	list,
		const T *	t
	)

在文件 util.h 第 47 行定义.

                                                  {
  if (!list) {
    return false;
  }
  typename std::vector<T *>::iterator itor = list->begin();
  for (; itor != list->end();) {
    if (*itor == t) {
      T *tmp = *itor;
      FREE_POINTER(tmp);
      itor = list->erase(itor);
      continue;
    }
    ++itor;
  }
  return true;
}

SerializeItemImp()

template<enum HType t, typename T >

char * apollo::bridge::SerializeItemImp	(	const HeaderItem< t, T > &	item,
		char *	buf,
		size_t	buf_size
	)

在文件 bridge_header_item.h 第 56 行定义.

                                        {
  if (!buf || buf_size == 0 ||
      buf_size < size_t(sizeof(t) + sizeof(bsize) + item.ValueSize() + 3)) {
    return nullptr;
  }
  char *res = buf;
 
  // item.ValueSize() get the size of T type data,
  // the maximum of which is proto_name
  // when transfer data, bsize can save sizeof(proto_name).
  // The type needs to be kept consistent during serialize and diserialize.
  bsize item_size = static_cast<bsize>(item.ValueSize());
 
  HType type = t;
  memcpy(res, &type, sizeof(HType));
  res[sizeof(HType)] = ':';
  res = res + sizeof(HType) + 1;
 
  memcpy(res, &item_size, sizeof(bsize));
  res[sizeof(bsize)] = ':';
  res = res + sizeof(bsize) + 1;
 
  memcpy(res, item.GetValuePtr(), item.ValueSize());
  res[item.ValueSize()] = '\n';
  res += item.ValueSize() + 1;
  return res;
}

WriteToBuffer()

template<typename T >

void apollo::bridge::WriteToBuffer	(	BridgeBuffer< char > *	buf,
		const std::shared_ptr< T > &	pb_msg
	)

在文件 util.h 第 32 行定义.

                                                                            {
  if (!buf) {
    return;
  }
  size_t msg_len = pb_msg->ByteSize();
  size_t total_size = HEADER_BUF_SIZE + msg_len;
 
  buf->reset(total_size);
 
  buf->write(0, reinterpret_cast<char *>(&msg_len), sizeof(size_t));
  pb_msg->SerializeToArray(reinterpret_cast<char *>(buf + sizeof(size_t)),
                           static_cast<int>(msg_len));
}

变量说明

BRIDGE_HEADER_FLAG

constexpr char apollo::bridge::BRIDGE_HEADER_FLAG[] = "ApolloBridgeHeader"

constexpr

在文件 bridge_header.h 第 29 行定义.

FRAME_SIZE

constexpr uint32_t apollo::bridge::FRAME_SIZE = 1024

constexpr

在文件 macro.h 第 36 行定义.

HEADER_BUF_SIZE

const int apollo::bridge::HEADER_BUF_SIZE = sizeof(size_t)

在文件 util.h 第 30 行定义.

HEADER_FLAG_SIZE

constexpr size_t apollo::bridge::HEADER_FLAG_SIZE = sizeof(BRIDGE_HEADER_FLAG)

constexpr

在文件 bridge_header.h 第 30 行定义.

INT_BITS

constexpr uint32_t apollo::bridge::INT_BITS = static_cast<uint32_t>(sizeof(uint32_t) * 8)

constexpr

在文件 bridge_proto_diserialized_buf.h 第 30 行定义.

Item_Header_Size

constexpr size_t apollo::bridge::Item_Header_Size = sizeof(HType) + sizeof(bsize) + 2

constexpr

在文件 bridge_header.h 第 31 行定义.

MAXEPOLLSIZE

constexpr int apollo::bridge::MAXEPOLLSIZE = 100

constexpr

在文件 udp_listener.h 第 33 行定义.