Apollo 10.0
自动驾驶开放平台
timer_component_example.cc
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2 * Copyright 2018 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
18
21#include "cyber/examples/proto/examples.pb.h"
22
24 driver_writer_ = node_->CreateWriter<Driver>("/carstatus/channel");
25 return true;
26}
27
29 static int i = 0;
30 auto out_msg = std::make_shared<Driver>();
31 out_msg->set_msg_id(i++);
32 driver_writer_->Write(out_msg);
33 AINFO << "timer_component_example: Write drivermsg->"
34 << out_msg->ShortDebugString();
35 return true;
36}
bool Proc() override
The Proc logic of the component, which called by the CyberRT frame.
std::shared_ptr< Node > node_
#define AINFO
Definition log.h:42