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前往新版Gitcode,体验更适合开发者的 AI 搜索 >>
提交
13dcfdc2
编写于
9月 25, 2018
作者:
S
siyangy
提交者:
Jiangtao Hu
9月 25, 2018
浏览文件
操作
浏览文件
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电子邮件补丁
差异文件
Dreamview, Monitor: Fix Reader creation in multiple places
上级
bf4740fa
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
11 addition
and
9 deletion
+11
-9
modules/dreamview/backend/sim_control/sim_control.cc
modules/dreamview/backend/sim_control/sim_control.cc
+1
-1
modules/monitor/software/topic_monitor.cc
modules/monitor/software/topic_monitor.cc
+10
-8
未找到文件。
modules/dreamview/backend/sim_control/sim_control.cc
浏览文件 @
13dcfdc2
...
...
@@ -93,7 +93,7 @@ void SimControl::InitTimerAndIO() {
this
->
OnReceiveNavigationInfo
(
navigation_info
);
});
prediction_reader_
=
node_
->
CreateReader
<
PredictionObstacles
>
(
FLAGS_
naviga
tion_topic
,
FLAGS_
predic
tion_topic
,
[
this
](
const
std
::
shared_ptr
<
PredictionObstacles
>&
obstacles
)
{
this
->
OnPredictionObstacles
(
obstacles
);
});
...
...
modules/monitor/software/topic_monitor.cc
浏览文件 @
13dcfdc2
...
...
@@ -36,19 +36,20 @@ namespace apollo {
namespace
monitor
{
std
::
shared_ptr
<
cybertron
::
ReaderBase
>
TopicMonitor
::
CreateReaderFromChannel
(
const
std
::
string
&
channel
)
{
const
std
::
string
&
channel
)
{
if
(
channel
==
FLAGS_control_command_topic
)
{
return
MonitorManager
::
CreateReader
<
apollo
::
control
::
ControlCommand
>
(
FLAGS_control_command_topic
);
}
else
if
(
channel
==
FLAGS_localization_topic
)
{
return
MonitorManager
::
CreateReader
<
apollo
::
localization
::
Pose
>
(
FLAGS_localization_topic
);
return
MonitorManager
::
CreateReader
<
apollo
::
localization
::
LocalizationEstimate
>
(
FLAGS_localization_topic
);
}
else
if
(
channel
==
FLAGS_perception_obstacle_topic
)
{
return
MonitorManager
::
CreateReader
<
apollo
::
perception
::
PerceptionObstacle
>
(
return
MonitorManager
::
CreateReader
<
apollo
::
perception
::
PerceptionObstacles
>
(
FLAGS_perception_obstacle_topic
);
}
else
if
(
channel
==
FLAGS_prediction_topic
)
{
return
MonitorManager
::
CreateReader
<
apollo
::
prediction
::
PredictionObstacle
>
(
FLAGS_prediction_topic
);
return
MonitorManager
::
CreateReader
<
apollo
::
prediction
::
PredictionObstacles
>
(
FLAGS_prediction_topic
);
}
else
if
(
channel
==
FLAGS_planning_trajectory_topic
)
{
return
MonitorManager
::
CreateReader
<
apollo
::
planning
::
ADCTrajectory
>
(
FLAGS_planning_trajectory_topic
);
...
...
@@ -64,8 +65,9 @@ std::shared_ptr<cybertron::ReaderBase> TopicMonitor::CreateReaderFromChannel(
}
TopicMonitor
::
TopicMonitor
(
const
TopicConf
&
config
,
TopicStatus
*
status
)
:
RecurrentRunner
(
FLAGS_topic_monitor_name
,
FLAGS_topic_monitor_interval
)
,
config_
(
config
),
status_
(
status
)
{
:
RecurrentRunner
(
FLAGS_topic_monitor_name
,
FLAGS_topic_monitor_interval
),
config_
(
config
),
status_
(
status
)
{
reader_
=
CreateReaderFromChannel
(
config
.
channel
());
}
...
...
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