service.cc 文件参考

#include "cyber/examples/proto/examples.pb.h"
#include "cyber/cyber.h"

service.cc 的引用(Include)关系图:

浏览源代码.

函数
int	main (int argc, char *argv[])

函数说明

main()

int main	(	int	argc,
		char *	argv[]
	)

在文件 service.cc 第 23 行定义.

                                 {
  apollo::cyber::Init(argv[0]);
  std::shared_ptr<apollo::cyber::Node> node(
      apollo::cyber::CreateNode("start_node"));
  auto server = node->CreateService<Driver, Driver>(
      "test_server", [](const std::shared_ptr<Driver>& request,
                        std::shared_ptr<Driver>& response) {
        AINFO << "server: i am driver server";
        static uint64_t id = 0;
        ++id;
        response->set_msg_id(id);
        response->set_timestamp(0);
      });
  auto client = node->CreateClient<Driver, Driver>("test_server");
  auto driver_msg = std::make_shared<Driver>();
  driver_msg->set_msg_id(0);
  driver_msg->set_timestamp(0);
  while (apollo::cyber::OK()) {
    auto res = client->SendRequest(driver_msg);
    if (res != nullptr) {
      AINFO << "client: response: " << res->ShortDebugString();
    } else {
      AINFO << "client: service may not ready.";
    }
    sleep(1);
  }
 
  apollo::cyber::WaitForShutdown();
  return 0;
}