Apollo
10.0
自动驾驶开放平台
timer_component_example.cc
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/******************************************************************************
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* Copyright 2018 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#include "
cyber/examples/timer_component_example/timer_component_example.h
"
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#include "
cyber/class_loader/class_loader.h
"
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#include "
cyber/component/component.h
"
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#include "cyber/examples/proto/examples.pb.h"
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bool
TimerComponentSample::Init
() {
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driver_writer_ =
node_
->CreateWriter<
Driver
>(
"/carstatus/channel"
);
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return
true
;
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}
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bool
TimerComponentSample::Proc
() {
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static
int
i = 0;
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auto
out_msg = std::make_shared<Driver>();
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out_msg->set_msg_id(i++);
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driver_writer_->Write(out_msg);
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AINFO
<<
"timer_component_example: Write drivermsg->"
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<< out_msg->ShortDebugString();
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return
true
;
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}
TimerComponentSample::Proc
bool Proc() override
The Proc logic of the component, which called by the CyberRT frame.
Definition
timer_component_example.cc:28
TimerComponentSample::Init
bool Init() override
Definition
timer_component_example.cc:23
class_loader.h
apollo::cyber::ComponentBase::node_
std::shared_ptr< Node > node_
Definition
component_base.h:119
component.h
AINFO
#define AINFO
Definition
log.h:42
apollo::cyber::examples::proto::Driver
Definition
examples.proto:17
timer_component_example.h
cyber
examples
timer_component_example
timer_component_example.cc