Apollo模块之bridge——通过UDP与外部通讯1

Apollo模块之bridge——通过UDP与外部通讯1

Apollo通过bridge模块与容器外部进行基于UDP协议的通讯，从而实现容器内外间的数据传输，可以将外部的消息传递给容器内的channel，也可以将容器内部的消息发送给外部

通过bridge模块接收外部信息

容器内部测试

首先在容器内部通过UDP进行数据传输，了解模块的接口
启动方法：

$ cyber_launch start /apollo/modules/bridge/launch/bridge_receiver.launch

launch文件内容：

<cyber>
    <module>
        <name>bridge_receiver</name>
        <dag_conf>/apollo/modules/bridge/dag/bridge_receiver.dag</dag_conf>
        <process_name>udp_bridge_receiver</process_name>
    </module>
</cyber>

文件内容很简单，即启动了一个dag文件
dag文件内容：

module_config {
    module_library: "/apollo/bazel-bin/modules/bridge/libudp_bridge_receiver_component.so"

    components {

        class_name: "UDPBridgeReceiverComponent<canbus::Chassis>"
        config {
            name: "bridge_receiver_Chassis"
            config_file_path: "/apollo/modules/bridge/conf/udp_bridge_receiver_chassis.pb.txt"
      }
   }
}

cyber RT通过component技术动态加载了UDPBridgeReceiverComponent<canbus::Chassis>类，启动后开建立UDP协议的服务器，准备接受数据。模板中的参数指定了接受的消息类型
config_file_path指定了此服务器的配置文件，配置文件的内容如下。

topic_name: "/apollo/canbus/Chassis"
bind_port: 8900
proto_name: "Chassis"
enable_timeout: false

topic_name指定了该服务器接受客户端发送的数据后要发送给的Apollo话题，bind_port指定了该服务器的端口，proto_name指定了话题使用的protobuf消息类型。
因此启动上文指定的launch文件后，可以运行程序：

$ ./bazel-bin/modules/bridge/test/bridge_sender_test

之后运行cyber_monitor

$ cyber_monitor

可以观察到

即UDP服务器接收到了传输的数据，并将数据转换为指定的protobuf数据类型，发送给了指定的话题。

增加服务器的个数，并更换消息类型

同时我们也可以增加服务器的个数，同时接收多个不同的数据

首先添加不同的配置文件
udp_bridge_receiver_chassis.pb.txt

topic_name: "/apollo/canbus/Chassis"
bind_port: 8901
proto_name: "Chassis"
enable_timeout: false

udp_bridge_receiver_PointCloud.pb.txt

topic_name: "/apollo/sensor/lidar128/compensator/PointCloud2"
bind_port: 8900
proto_name: "PointCloud"
enable_timeout: false

再添加对于的dag文件
bridge_receiver_Chassis.dag

module_config {
    module_library: "/apollo/bazel-bin/modules/bridge/libudp_bridge_receiver_component.so"

    components {

        class_name: "UDPBridgeReceiverComponent<canbus::Chassis>"
        config {
            name: "bridge_receiver_Chassis"
            config_file_path: "/apollo/modules/bridge/conf/udp_bridge_receiver_chassis.pb.txt"
      }
   }
}

bridge_receiver_PointCloud.dag

module_config {
    module_library: "/apollo/bazel-bin/modules/bridge/libudp_bridge_receiver_component.so"

    components {

        class_name: "UDPBridgeReceiverComponent<drivers::PointCloud>"
        config {
            name: "bridge_receiver_PointCloud"
            config_file_path: "/apollo/modules/bridge/conf/udp_bridge_receiver_PointCloud.pb.txt"
      }
   }
}

再添加对应的launc文件

<cyber>
    <module>
        <name>bridge_receiver1</name>
        <dag_conf>/apollo/modules/bridge/dag/bridge_receiver_Chassis.dag</dag_conf>
        <process_name>udp_bridge_receiver1</process_name>
    </module>

    <module>
        <name>bridge_receiver2</name>
        <dag_conf>/apollo/modules/bridge/dag/bridge_receiver_PointCloud.dag</dag_conf>
        <process_name>udp_bridge_receiver_PointCloud</process_name>
     </module>

</cyber>

修改udp_bridge_receiver_component.cc和udp_bridge_receiver_component.h文件的内容
再udp_bridge_receiver_component.h加一下内容

...

#include "modules/drivers/proto/pointcloud.pb.h"

...

RECEIVER_BRIDGE_COMPONENT_REGISTER(drivers::PointCloud)

在udp_bridge_receiver_component.cc加入一下内容

BRIDGE_RECV_IMPL(drivers::PointCloud);

修改BUILD文件内容

...

cc_library(
    name = "udp_bridge_receiver",
    srcs = ["udp_bridge_receiver_component.cc"],
    hdrs = ["udp_bridge_receiver_component.h"],
    copts = BRIDGE_COPTS,
    deps = [
        ":udp_bridge",
        "//modules/bridge/common:udp_listener",
        "//modules/drivers/proto:pointcloud_cc_proto",//添加此行
    ],
)

...

重新编译

$ bazel build //modules/bridge/...

运行即可接受多个消息