cyber RT 源码分析
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Apollo cyber RT源码分析
海洋2416
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classes及messages
classes及messages全局配置class GlobalData成员变量值CyberConfig config_CHECK(InitConfig())std::string host_ip_InitHostInfo():string host_name_InitHostInfo()int process_id_getpid()std::string process_group_“cyber_default_” + std::to_strin原创 2021-03-02 16:58:02 · 307 阅读 · 0 评论 -
调度
调度class Reader : public ReaderBase template <typename MessageT> bool Reader<MessageT>::Init() {````略 std::function<void(const std::shared_ptr<MessageT>&)> func; if (reader_func_ != nullptr) { func原创 2021-03-02 16:53:15 · 294 阅读 · 0 评论 -
接收消息
接收消息class Transport template <typename M> auto Transport::CreateReceiver( const RoleAttributes& attr, const typename Receiver<M>::MessageListener& msg_listener, const OptionalMode& mode) -> typena原创 2021-03-02 16:50:45 · 278 阅读 · 0 评论 -
创建一个listener
创建一个listenervoid MessageCallback( const std::shared_ptr<apollo::cyber::examples::proto::Chatter>& msg) { AINFO << "Received message seq-> " << msg->seq(); AINFO << "msgcontent->" << msg->content();}原创 2021-03-02 16:48:38 · 413 阅读 · 0 评论 -
发送消息
发送消息talker->Write(msg);auto msg = std::make_shared();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);原创 2021-03-02 16:34:38 · 252 阅读 · 0 评论 -
创建一个Writer
创建一个Writerauto talker = talker_node->CreateWriter(“channel/chatter”);class Node template <typename MessageT> auto Node::CreateWriter(const std::string& channel_name) -> std::shared_ptr<Writer<MessageT>> { return原创 2021-03-02 16:32:35 · 513 阅读 · 3 评论 -
创建一个节点Node
范例int main(int argc, char *argv[]) { // 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>原创 2021-03-02 16:28:48 · 653 阅读 · 0 评论 -
cyber RT概括
用户通过调用CreateNode函数创造一个节点,该函数是在节点类Node的友元函数。Nodel类的成员变量·node_channel_impl(NodeChannellmpl)负责创建Reader和Writer。Writer类中包含transmitter_ , change_conn_, channel_manager_,及JoinTheTopology函数。Writer类在初始化过程中会调用函数transport::Transport::Instance()->CreateTransmit.原创 2021-03-02 16:24:51 · 1059 阅读 · 1 评论 -
Apollo1.0源码分析
总体图原创 2020-12-06 11:42:59 · 191 阅读 · 0 评论