talker.cc 文件参考

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

talker.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 talker.cc 第 27 行定义.

                                 {
  // init cyber framework
  apollo::cyber::Init(argv[0]);
  // create talker node
  auto talker_node = apollo::cyber::CreateNode("talker");
  // create talker
  auto talker = talker_node->CreateWriter<Chatter>("channel/chatter");
  Rate rate(1.0);
  uint64_t seq = 0;
  while (apollo::cyber::OK()) {
    auto msg = std::make_shared<Chatter>();
    msg->set_timestamp(Time::Now().ToNanosecond());
    msg->set_lidar_timestamp(Time::Now().ToNanosecond());
    msg->set_seq(seq);
    msg->set_content("Hello, apollo!");
    talker->Write(msg);
    AINFO << "talker sent a message! No. " << seq;
    seq++;
    rate.Sleep();
  }
  return 0;
}