apollo中perception事件添加代码解读

我对以下代码有些疑问，问题如下：
在
bool result = inst->Init(subnode_config, subnode_sub_events_map[subnode_id], subnode_pub_events_map[subnode_id],&event_manager_, &shared_data_manager_)
函数中，每个节点不一定有subnode_sub_events_map和subnode_pub_events_map，这个函数在for循环中引用，不会出错吗

for (auto pair : subnode_config_map) {
const DAGConfig::Subnode& subnode_config = pair.second;
const SubnodeID subnode_id = pair.first;
Subnode* inst = SubnodeRegisterer::GetInstanceByName(subnode_config.name());
// AINFO << "subnode_name: " << subnode_config.name();
//  AINFO << "subnode_id: " << subnode_id;
if (inst == NULL) {
  AERROR << "failed to get subnode instance. name: "
         << subnode_config.name();
  return false;
}

bool result = inst->Init(subnode_config, subnode_sub_events_map[subnode_id],
                         subnode_pub_events_map[subnode_id],
                         &event_manager_, &shared_data_manager_);
if (!result) {
  AERROR << "failed to Init subnode. name: " << inst->name();
  return false;
}
subnode_map_.emplace(subnode_id, std::unique_ptr<Subnode>(inst));
subnode_name_map_[subnode_config.name()] = subnode_id;
AINFO << "Init subnode succ. " << inst->DebugString();
}

以下是edge_config的配置参数

edge_config {
	# input nodes -->  segment nodes edge.
	edges {
			id: 101
			from_node: 1
			to_node: 11
			events {
					id: 1001
					name: "64 lidar->segment"
			}
	}
	edges {
			id: 102
			from_node: 2
			to_node: 12
			events {
					id: 1002
					name: "16_0 lidar->segment"
			}
	}
	edges {
			id: 103
			from_node: 3
			to_node: 13
			events {
					id: 1003
					name: "16_1 lidar->segment"
			}
	}

	# segment nodes --> obstacle nodes edges.
	edges {
			id: 104
			from_node: 11
			to_node: 21
			events {
					id: 1004
					name: "64 segment -> obstacle"
			}
	}
	edges {
			id: 105
			from_node: 12
			to_node: 22
			events {
					id: 1005
					name: "16_0 segment -> obstacle"
			}
	}
	edges {
			id: 106
			from_node: 13
			to_node: 23
			events {
					id: 1006
					name: "16_1 segment -> obstacle"
			}
	}

	# obstacle nodes --> track nodes edges.
	edges {
			id: 107
			from_node: 21
			to_node: 31
			events {
					id: 1007
					name: "64 obstacle -> track"
			}
	}
	edges {
			id: 108
			from_node: 22
			to_node: 32
			events {
					id: 1008
					name: "16_0 obstacle -> segment"
			}
	}
	edges {
			id: 109
			from_node: 23
			to_node: 33
			events {
					id: 1009
					name: "16_0 obstacle -> segment"
			}
	}

	# track nodes --> fusion nodes edges.
	edges {
			id: 110
			from_node: 31
			to_node: 41
			events {
					id: 1010
					name: "64 track -> fusion"
			}
	}
	edges {
			id: 111
			from_node: 32
			to_node: 41
			events {
					id: 1011
					name: "16_0 track -> fusion"
			}
	}
	edges {
			id: 112
			from_node: 33
			to_node: 41
			events {
					id: 1012
					name: "16_1 track -> fusion"
			}
	}
}

以下是subnode_pub_events_map和subnode_sub_events_map的创建代码

for (auto& edge_proto : edge_config.edges()) {
SubnodeID from = edge_proto.from_node();
SubnodeID to = edge_proto.to_node();

if (subnode_config_map.find(from) == subnode_config_map.end() ||
    subnode_config_map.find(to) == subnode_config_map.end()) {
  AERROR << "SubnodeID not exists in subnode_config. <" << from << ", "
         << to << ">";
  return false;
}

for (auto& event_proto : edge_proto.events()) {
  subnode_pub_events_map[from].push_back(event_proto.id());
  subnode_sub_events_map[to].push_back(event_proto.id());
}

}
经过一层一层代码阅读，终于找到问题所在处：

Subnode* inst = SubnodeRegisterer::GetInstanceByName(subnode_config.name());函数定义如下：
	bool Subnode::Init(const DAGConfig::Subnode &subnode_config,
                   const vector<EventID> &sub_events,
                   const vector<EventID> &pub_events,
                   EventManager *event_manager,
                   SharedDataManager *shared_data_manager) {
  name_ = subnode_config.name();
  id_ = subnode_config.id();
  std::cout<<id<<std::endl;
  reserve_ = subnode_config.reserve();
  if (subnode_config.has_type()) {
    type_ = subnode_config.type();
  }

CHECK(event_manager != nullptr) << "event_manager == nullptr";
  event_manager_ = event_manager;
  CHECK(shared_data_manager != nullptr) << "shared_data_manager == nullptr";
  shared_data_manager_ = shared_data_manager;

  // fill sub and pub meta events.
  if (!event_manager_->GetEventMeta(sub_events, &sub_meta_events_)) {
AERROR << "failed to get Sub EventMeta. node: <" << name_ << ", "  << id_
						<< ">";
			return false;
		}
	
		if (!event_manager_->GetEventMeta(pub_events, &pub_meta_events_)) {
			AERROR << "failed to get Pub EventMeta. node: <" << id_ << ", " << name_
						<< ">";
			return false;
		}
	
		if (!InitInternal()) {
			AERROR << "failed to Init inner members.";
			return false;
		}
	
		inited_ = true;
		return true;
	}

event_manager_->GetEventMeta函数定义如下，由for循环判断是否决定添 加事件，这样pub和sub事件的存在与否问题解决了

bool EventManager::GetEventMeta(const vector<EventID> &event_ids,
																		vector<string> *str_list) const {
			str_list->reserve(event_ids.size());
			for (EventID event_id : event_ids) {
				string str;
				if (!GetEventMeta(event_id, &str)) {
					return false;
				}
				str_list->push_back(str);
			}
			return true;
		}