apollo::cyber 命名空间参考

命名空间
namespace	base
namespace	benchmark
namespace	binary
namespace	blocker
namespace	class_loader
namespace	common
namespace	context
namespace	croutine
namespace	data
namespace	event
namespace	examples
namespace	io
namespace	logger
namespace	mainboard
namespace	message
namespace	plugin_manager
namespace	profiler
namespace	proto
namespace	record
namespace	scheduler
namespace	service_discovery
namespace	statistics
namespace	transport

类
class	Client
	Client get Response from a responding Service by sending a Request 更多...
class	ClientBase
	Base class of Client 更多...
class	Clock
	a singleton clock that can be used to get the current timestamp. 更多...
class	Component
class	Component< M0, M1, M2, NullType >
class	Component< M0, M1, NullType, NullType >
class	Component< M0, NullType, NullType, NullType >
class	Component< NullType, NullType, NullType, NullType >
class	ComponentBase
class	Duration
class	Node
	Node is the fundamental building block of Cyber RT. 更多...
class	NodeChannelImpl
	The implementation for Node to create Objects connected by Channels. 更多...
class	NodeServiceImpl
	The implementation for Node to create Objects connected by Param. 更多...
class	NullType
class	Parameter
	A Parameter holds an apollo::cyber::proto::Param, It's more human-readable, you can use basic-value type and Protobuf values to construct a paramter. 更多...
class	ParameterClient
	Parameter Client is used to set/get/list parameter(s) by sending a request to ParameterServer 更多...
class	ParameterServer
	Parameter Service is a very important function of auto-driving. 更多...
class	PyChannelUtils
class	PyClient
class	PyDuration
class	PyNode
class	PyNodeUtils
class	PyParameter
class	PyParameterClient
class	PyParameterServer
class	PyRate
class	PyReader
class	PyService
class	PyServiceUtils
class	PyTime
class	PyTimer
class	PyWriter
class	Rate
class	Reader
	Reader subscribes a channel, it has two main functions: 更多...
class	ReaderBase
	Base Class for Reader Reader is identified by one apollo::cyber::proto::RoleAttribute, it contains the channel_name, channel_id that we subscribe, and host_name, process_id and node that we are located, and qos that describes our transportation quality. 更多...
struct	ReaderConfig
class	ReceiverManager
	One Channel is related to one Receiver. 更多...
class	Service
	Service handles Request from the Client, and send a Response to it. 更多...
class	ServiceBase
	Base class for Service 更多...
class	SysMo
class	TaskManager
class	Time
	Cyber has builtin time type Time. 更多...
class	Timer
	Used to perform oneshot or periodic timing tasks 更多...
class	TimerBucket
class	TimerComponent
struct	TimerOption
	The options of timer 更多...
struct	TimerTask
class	TimingWheel
class	Writer
class	WriterBase
	Base class for a Writer. 更多...

类型定义
template<typename M0 >
using	CallbackFunc = std::function< void(const std::shared_ptr< M0 > &)>
using	PyMsgWrapPtr = std::shared_ptr< message::PyMessageWrap >
using	GlobalData = ::apollo::cyber::common::GlobalData
using	AtomicRWLock = ::apollo::cyber::base::AtomicRWLock
using	AtomicWriteLockGuard = ::apollo::cyber::base::WriteLockGuard< AtomicRWLock >
using	AtomicReadLockGuard = ::apollo::cyber::base::ReadLockGuard< AtomicRWLock >

枚举
enum	ReturnCode { SUCC = 0 , FAIL = 1 }
enum	Relation : std::uint8_t { NO_RELATION = 0 , DIFF_HOST , DIFF_PROC , SAME_PROC }
	Describe relation between nodes, writers/readers... 更多...
enum	State : std::uint8_t { STATE_UNINITIALIZED = 0 , STATE_INITIALIZED , STATE_SHUTTING_DOWN , STATE_SHUTDOWN }

函数
std::unique_ptr< Node >	CreateNode (const std::string &node_name, const std::string &name_space)
void	OnShutdown (int sig)
void	ExitHandle ()
bool	Init (const char *binary_name, const std::string &dag_info)
void	Clear ()
bool	py_init (const std::string &module_name)
bool	py_ok ()
void	py_shutdown ()
bool	py_is_shutdown ()
void	py_waitforshutdown ()
State	GetState ()
void	SetState (const State &state)
bool	OK ()
bool	IsShutdown ()
void	WaitForShutdown ()
void	AsyncShutdown ()
std::ostream &	operator<< (std::ostream &os, const Duration &rhs)
std::ostream &	operator<< (std::ostream &os, const Time &rhs)

变量
const uint32_t	DEFAULT_PENDING_QUEUE_SIZE = 1
constexpr auto	SERVICE_NAME_DELIMITER = "/"
constexpr auto	GET_PARAMETER_SERVICE_NAME = "get_parameter"
constexpr auto	SET_PARAMETER_SERVICE_NAME = "set_parameter"
constexpr auto	LIST_PARAMETERS_SERVICE_NAME = "list_parameters"
const char	RAWDATATYPE [] = "RawData"

类型定义说明

AtomicReadLockGuard

using apollo::cyber::AtomicReadLockGuard = typedef ::apollo::cyber::base::ReadLockGuard<AtomicRWLock>

在文件 clock.cc 第 31 行定义.

AtomicRWLock

using apollo::cyber::AtomicRWLock = typedef ::apollo::cyber::base::AtomicRWLock

在文件 clock.cc 第 28 行定义.

AtomicWriteLockGuard

using apollo::cyber::AtomicWriteLockGuard = typedef ::apollo::cyber::base::WriteLockGuard<AtomicRWLock>

在文件 clock.cc 第 29 行定义.

CallbackFunc

template<typename M0 >

using apollo::cyber::CallbackFunc = typedef std::function<void(const std::shared_ptr<M0>&)>

在文件 reader.h 第 46 行定义.

GlobalData

using apollo::cyber::GlobalData = typedef ::apollo::cyber::common::GlobalData

在文件 clock.cc 第 26 行定义.

PyMsgWrapPtr

using apollo::cyber::PyMsgWrapPtr = typedef std::shared_ptr<message::PyMessageWrap>

在文件 py_cyber.h 第 186 行定义.

枚举类型说明

Relation

enum apollo::cyber::Relation : std::uint8_t

Describe relation between nodes, writers/readers...

枚举值
NO_RELATION
DIFF_HOST
DIFF_PROC
SAME_PROC

在文件 types.h 第 36 行定义.

              : std::uint8_t {
  NO_RELATION = 0,
  DIFF_HOST,  // different host
  DIFF_PROC,  // same host, but different process
  SAME_PROC,  // same process
};

ReturnCode

enum apollo::cyber::ReturnCode

枚举值
SUCC
FAIL

在文件 types.h 第 28 行定义.

                {
  SUCC = 0,
  FAIL = 1,
};

State

enum apollo::cyber::State : std::uint8_t

枚举值
STATE_UNINITIALIZED
STATE_INITIALIZED
STATE_SHUTTING_DOWN
STATE_SHUTDOWN

在文件 state.h 第 34 行定义.

           : std::uint8_t {
  STATE_UNINITIALIZED = 0,
  STATE_INITIALIZED,
  STATE_SHUTTING_DOWN,
  STATE_SHUTDOWN,
};

函数说明

AsyncShutdown()

void apollo::cyber::AsyncShutdown ( )

inline

在文件 state.h 第 56 行定义.

                            {
  pid_t pid = getpid();
  if (kill(pid, SIGINT) != 0) {
    AERROR << strerror(errno);
  }
}

Clear()

void apollo::cyber::Clear

(

)

在文件 init.cc 第 154 行定义.

             {
  std::lock_guard<std::mutex> lg(g_mutex);
  if (GetState() == STATE_SHUTDOWN || GetState() == STATE_UNINITIALIZED) {
    return;
  }
  SysMo::CleanUp();
  TaskManager::CleanUp();
  TimingWheel::CleanUp();
  scheduler::CleanUp();
  service_discovery::TopologyManager::CleanUp();
  transport::Transport::CleanUp();
  StopLogger();
  SetState(STATE_SHUTDOWN);
}

CreateNode()

std::unique_ptr< Node > apollo::cyber::CreateNode	(	const std::string &	node_name,
		const std::string &	name_space
	)

在文件 cyber.cc 第 33 行定义.

                                                              {
  bool is_reality_mode = GlobalData::Instance()->IsRealityMode();
  if (is_reality_mode && !OK()) {
    // add some hint log
    AERROR << "please initialize cyber firstly.";
    return nullptr;
  }
  return std::unique_ptr<Node>(new Node(node_name, name_space));
}

ExitHandle()

void apollo::cyber::ExitHandle

(

)

在文件 init.cc 第 97 行定义.

{ Clear(); }

GetState()

State apollo::cyber::GetState

(

)

在文件 state.cc 第 28 行定义.

{ return g_cyber_state.load(); }

Init()

bool apollo::cyber::Init	(	const char *	binary_name,
		const std::string &	dag_info
	)

在文件 init.cc 第 99 行定义.

                                                              {
  std::lock_guard<std::mutex> lg(g_mutex);
  if (GetState() != STATE_UNINITIALIZED) {
    return false;
  }
 
  InitLogger(binary_name);
  auto thread = const_cast<std::thread*>(async_logger->LogThread());
  scheduler::Instance()->SetInnerThreadAttr("async_log", thread);
  SysMo::Instance();
  std::signal(SIGINT, OnShutdown);
  // Register exit handlers
  if (!g_atexit_registered) {
    if (std::atexit(ExitHandle) != 0) {
      AERROR << "Register exit handle failed";
      return false;
    }
    AINFO << "Register exit handle succ.";
    g_atexit_registered = true;
  }
  SetState(STATE_INITIALIZED);
 
  auto global_data = GlobalData::Instance();
  if (global_data->IsMockTimeMode()) {
    auto node_name = kClockNode + std::to_string(getpid());
    clock_node = std::unique_ptr<Node>(new Node(node_name));
    auto cb =
        [](const std::shared_ptr<const apollo::cyber::proto::Clock>& msg) {
          if (msg->has_clock()) {
            Clock::Instance()->SetNow(Time(msg->clock()));
          }
        };
    clock_node->CreateReader<apollo::cyber::proto::Clock>(kClockChannel, cb);
  }
 
  if (dag_info != "") {
    std::string dump_path;
    if (dag_info.length() > 200) {
      std::string truncated = dag_info.substr(0, 200);
      dump_path = common::GetEnv(
        "APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" + truncated;
    } else {
      dump_path = \
        common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" + dag_info;
    }
    google::SetCommandLineOption("bvar_dump_file", dump_path.c_str());
  } else {
    statistics::Statistics::Instance()->DisableChanVar();
  }
  google::SetCommandLineOption("bvar_dump_exclude", "*qps");
  google::SetCommandLineOption("bvar_dump", "true");
 
  return true;
}

IsShutdown()

bool apollo::cyber::IsShutdown ( )

inline

在文件 state.h 第 46 行定义.

                         {
  return GetState() == STATE_SHUTTING_DOWN || GetState() == STATE_SHUTDOWN;
}

OK()

bool apollo::cyber::OK ( )

inline

在文件 state.h 第 44 行定义.

{ return GetState() == STATE_INITIALIZED; }

OnShutdown()

void apollo::cyber::OnShutdown

(

int

sig

)

在文件 init.cc 第 90 行定义.

                         {
  (void)sig;
  if (GetState() != STATE_SHUTDOWN) {
    SetState(STATE_SHUTTING_DOWN);
  }
}

operator<<() [1/2]

std::ostream & apollo::cyber::operator<<	(	std::ostream &	os,
		const Duration &	rhs
	)

在文件 duration.cc 第 114 行定义.

                                                            {
  std::ios::fmtflags before(os.flags());
  os << std::fixed << std::setprecision(9) << rhs.ToSecond() << "s";
  os.flags(before);
  return os;
}

operator<<() [2/2]

std::ostream & apollo::cyber::operator<<	(	std::ostream &	os,
		const Time &	rhs
	)

在文件 time.cc 第 164 行定义.

                                                        {
  os << rhs.ToString();
  return os;
}

py_init()

bool apollo::cyber::py_init ( const std::string &  module_name )

inline

在文件 py_cyber.h 第 46 行定义.

                                                  {
  static bool inited = false;
  if (inited) {
    AINFO << "cyber already inited.";
    return true;
  }
 
  if (!Init(module_name.c_str())) {
    AERROR << "cyber::Init failed:" << module_name;
    return false;
  }
  inited = true;
  AINFO << "cyber init succ.";
  return true;
}

py_is_shutdown()

bool apollo::cyber::py_is_shutdown ( )

inline

在文件 py_cyber.h 第 66 行定义.

{ return IsShutdown(); }

py_ok()

bool apollo::cyber::py_ok ( )

inline

在文件 py_cyber.h 第 62 行定义.

{ return OK(); }

py_shutdown()

void apollo::cyber::py_shutdown ( )

inline

在文件 py_cyber.h 第 64 行定义.

{ return Clear(); }

py_waitforshutdown()

void apollo::cyber::py_waitforshutdown ( )

inline

在文件 py_cyber.h 第 68 行定义.

{ return WaitForShutdown(); }

SetState()

void apollo::cyber::SetState

(

const State &

state

)

在文件 state.cc 第 30 行定义.

{ g_cyber_state.store(state); }

WaitForShutdown()

void apollo::cyber::WaitForShutdown ( )

inline

在文件 state.h 第 50 行定义.

                              {
  while (!IsShutdown()) {
    std::this_thread::sleep_for(std::chrono::milliseconds(200));
  }
}

变量说明

DEFAULT_PENDING_QUEUE_SIZE

const uint32_t apollo::cyber::DEFAULT_PENDING_QUEUE_SIZE = 1

在文件 reader.h 第 50 行定义.

GET_PARAMETER_SERVICE_NAME

constexpr auto apollo::cyber::GET_PARAMETER_SERVICE_NAME = "get_parameter"

constexpr

在文件 parameter_service_names.h 第 26 行定义.

LIST_PARAMETERS_SERVICE_NAME

constexpr auto apollo::cyber::LIST_PARAMETERS_SERVICE_NAME = "list_parameters"

constexpr

在文件 parameter_service_names.h 第 28 行定义.

RAWDATATYPE

const char apollo::cyber::RAWDATATYPE[] = "RawData"

在文件 py_cyber.h 第 108 行定义.

SERVICE_NAME_DELIMITER

constexpr auto apollo::cyber::SERVICE_NAME_DELIMITER = "/"

constexpr

在文件 parameter_service_names.h 第 25 行定义.

SET_PARAMETER_SERVICE_NAME

constexpr auto apollo::cyber::SET_PARAMETER_SERVICE_NAME = "set_parameter"

constexpr

在文件 parameter_service_names.h 第 27 行定义.