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体验新版 GitCode,发现更多精彩内容 >>
提交
17f95252
编写于
8月 13, 2020
作者:
S
storypku
提交者:
Liu Jiaming
8月 13, 2020
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
map: typofix
上级
5e9953f9
变更
23
隐藏空白更改
内联
并排
Showing
23 changed file
with
36 addition
and
36 deletion
+36
-36
modules/map/tools/map_datachecker/client/client.cc
modules/map/tools/map_datachecker/client/client.cc
+1
-1
modules/map/tools/map_datachecker/client/client_common.h
modules/map/tools/map_datachecker/client/client_common.h
+1
-1
modules/map/tools/map_datachecker/server/alignment.h
modules/map/tools/map_datachecker/server/alignment.h
+2
-2
modules/map/tools/map_datachecker/server/alignment_agent.h
modules/map/tools/map_datachecker/server/alignment_agent.h
+3
-3
modules/map/tools/map_datachecker/server/channel_verify.cc
modules/map/tools/map_datachecker/server/channel_verify.cc
+1
-1
modules/map/tools/map_datachecker/server/channel_verify.h
modules/map/tools/map_datachecker/server/channel_verify.h
+2
-2
modules/map/tools/map_datachecker/server/channel_verify_agent.cc
.../map/tools/map_datachecker/server/channel_verify_agent.cc
+1
-1
modules/map/tools/map_datachecker/server/channel_verify_agent.h
...s/map/tools/map_datachecker/server/channel_verify_agent.h
+2
-2
modules/map/tools/map_datachecker/server/common.cc
modules/map/tools/map_datachecker/server/common.cc
+2
-2
modules/map/tools/map_datachecker/server/common.h
modules/map/tools/map_datachecker/server/common.h
+3
-3
modules/map/tools/map_datachecker/server/eight_route.cc
modules/map/tools/map_datachecker/server/eight_route.cc
+1
-1
modules/map/tools/map_datachecker/server/eight_route.h
modules/map/tools/map_datachecker/server/eight_route.h
+1
-1
modules/map/tools/map_datachecker/server/laps_checker.cc
modules/map/tools/map_datachecker/server/laps_checker.cc
+1
-1
modules/map/tools/map_datachecker/server/laps_checker.h
modules/map/tools/map_datachecker/server/laps_checker.h
+2
-2
modules/map/tools/map_datachecker/server/loops_verify_agent.cc
...es/map/tools/map_datachecker/server/loops_verify_agent.cc
+1
-1
modules/map/tools/map_datachecker/server/loops_verify_agent.h
...les/map/tools/map_datachecker/server/loops_verify_agent.h
+2
-2
modules/map/tools/map_datachecker/server/pose_collection.cc
modules/map/tools/map_datachecker/server/pose_collection.cc
+1
-1
modules/map/tools/map_datachecker/server/pose_collection.h
modules/map/tools/map_datachecker/server/pose_collection.h
+2
-2
modules/map/tools/map_datachecker/server/pose_collection_agent.cc
...map/tools/map_datachecker/server/pose_collection_agent.cc
+2
-2
modules/map/tools/map_datachecker/server/pose_collection_agent.h
.../map/tools/map_datachecker/server/pose_collection_agent.h
+2
-2
modules/map/tools/map_datachecker/server/static_align.cc
modules/map/tools/map_datachecker/server/static_align.cc
+1
-1
modules/map/tools/map_datachecker/server/static_align.h
modules/map/tools/map_datachecker/server/static_align.h
+1
-1
modules/map/tools/map_datachecker/server/worker_agent.h
modules/map/tools/map_datachecker/server/worker_agent.h
+1
-1
未找到文件。
modules/map/tools/map_datachecker/client/client.cc
浏览文件 @
17f95252
...
...
@@ -154,7 +154,7 @@ int Client::DataCollectStage() {
AINFO
<<
"cmd ["
<<
cmd
<<
"]"
;
std
::
vector
<
std
::
string
>
lines
=
GetFileLines
(
data_collect_time_flag_file_
);
std
::
ofstream
time_file_handler
(
data_collect_time_flag_file_
);
double
now
=
Unix
time
Now
();
double
now
=
UnixNow
();
if
(
cmd
==
"start"
)
{
if
(
lines
.
empty
())
{
time_file_handler
<<
now
<<
" start
\n
"
;
...
...
modules/map/tools/map_datachecker/client/client_common.h
浏览文件 @
17f95252
...
...
@@ -34,6 +34,6 @@ namespace hdmap {
#endif
std
::
vector
<
std
::
string
>
GetFileLines
(
const
std
::
string
&
path
);
inline
double
Unix
time
Now
()
{
return
apollo
::
cyber
::
Time
::
Now
().
ToSecond
();
}
inline
double
UnixNow
()
{
return
apollo
::
cyber
::
Time
::
Now
().
ToSecond
();
}
}
// namespace hdmap
}
// namespace apollo
modules/map/tools/map_datachecker/server/alignment.h
浏览文件 @
17f95252
...
...
@@ -33,7 +33,7 @@ typedef struct BadOrGoodPoseInfo {
class
Alignment
{
public:
explicit
Alignment
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
explicit
Alignment
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
:
return_state_
(
ErrorCode
::
SUCCESS
),
sp_conf_
(
sp_conf
),
sp_good_pose_info_
(
std
::
make_shared
<
BadOrGoodPoseInfo
>
()),
...
...
@@ -138,7 +138,7 @@ class Alignment {
int
start_index_
;
double
end_index_
;
ErrorCode
return_state_
;
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
// BadOrGoodPoseInfo _bad_pose_info, _good_pose_info;
std
::
shared_ptr
<
BadOrGoodPoseInfo
>
sp_good_pose_info_
=
nullptr
;
std
::
shared_ptr
<
BadOrGoodPoseInfo
>
sp_bad_pose_info_
=
nullptr
;
...
...
modules/map/tools/map_datachecker/server/alignment_agent.h
浏览文件 @
17f95252
...
...
@@ -38,7 +38,7 @@ template <typename ALIGNMENT_TYPE, typename REQUEST_TYPE,
class
AlignmentAgent
{
public:
AlignmentAgent
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
,
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
,
std
::
shared_ptr
<
PoseCollectionAgent
>
sp_pose_collection_agent
)
{
sp_conf_
=
sp_conf
;
sp_pose_collection_agent_
=
sp_pose_collection_agent
;
...
...
@@ -93,7 +93,7 @@ class AlignmentAgent {
int
AsyncStartAlignment
()
{
SetState
(
AlignmentAgentState
::
RUNNING
);
std
::
thread
alignment_thread
([
=
]()
{
sp_alignment_
->
SetStartTime
(
Unix
time
Now
());
sp_alignment_
->
SetStartTime
(
UnixNow
());
AINFO
<<
"set state RUNNING"
;
while
(
!
need_stop_
&&
!
apollo
::
cyber
::
IsShutdown
())
{
std
::
shared_ptr
<
std
::
vector
<
FramePose
>>
sp_poses
=
GetPoses
();
...
...
@@ -175,7 +175,7 @@ class AlignmentAgent {
AlignmentAgentState
GetState
()
const
{
return
state_
;
}
private:
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
ALIGNMENT_TYPE
>
sp_alignment_
=
nullptr
;
std
::
shared_ptr
<
PoseCollectionAgent
>
sp_pose_collection_agent_
=
nullptr
;
AlignmentAgentState
state_
;
...
...
modules/map/tools/map_datachecker/server/channel_verify.cc
浏览文件 @
17f95252
...
...
@@ -28,7 +28,7 @@
namespace
apollo
{
namespace
hdmap
{
ChannelVerify
::
ChannelVerify
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
ChannelVerify
::
ChannelVerify
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
:
sp_conf_
(
sp_conf
)
{
Reset
();
}
...
...
modules/map/tools/map_datachecker/server/channel_verify.h
浏览文件 @
17f95252
...
...
@@ -55,7 +55,7 @@ typedef std::vector<OneRecordChannelCheckResult>::iterator CheckResultIterator;
class
ChannelVerify
{
public:
explicit
ChannelVerify
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
);
explicit
ChannelVerify
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
);
ErrorCode
Check
(
const
std
::
string
&
record_dir_or_record_full_path
);
std
::
shared_ptr
<
std
::
vector
<
OneRecordChannelCheckResult
>>
get_check_result
()
const
;
...
...
@@ -74,7 +74,7 @@ class ChannelVerify {
void
Reset
();
private:
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
CheckedResult
sp_vec_check_result_
=
nullptr
;
ErrorCode
return_state_
;
std
::
set
<
std
::
string
>
checked_records_
;
...
...
modules/map/tools/map_datachecker/server/channel_verify_agent.cc
浏览文件 @
17f95252
...
...
@@ -25,7 +25,7 @@
namespace
apollo
{
namespace
hdmap
{
ChannelVerifyAgent
::
ChannelVerifyAgent
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
{
ChannelVerifyAgent
::
ChannelVerifyAgent
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
{
sp_conf_
=
sp_conf
;
sp_channel_checker_
=
nullptr
;
sp_check_result_
=
nullptr
;
...
...
modules/map/tools/map_datachecker/server/channel_verify_agent.h
浏览文件 @
17f95252
...
...
@@ -35,7 +35,7 @@ enum class ChannelVerifyAgentState { IDLE, RUNNING };
class
ChannelVerifyAgent
{
public:
explicit
ChannelVerifyAgent
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
);
explicit
ChannelVerifyAgent
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
);
grpc
::
Status
ProcessGrpcRequest
(
grpc
::
ServerContext
*
context
,
ChannelVerifyRequest
*
request
,
ChannelVerifyResponse
*
response
);
...
...
@@ -64,7 +64,7 @@ class ChannelVerifyAgent {
std
::
mutex
stop_mutex_
;
bool
need_stop_
;
bool
stopped_
;
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
ChannelVerify
>
sp_channel_checker_
=
nullptr
;
CheckedResult
sp_check_result_
=
nullptr
;
std
::
thread
::
id
check_thread_id_
;
...
...
modules/map/tools/map_datachecker/server/common.cc
浏览文件 @
17f95252
...
...
@@ -20,7 +20,7 @@
namespace
apollo
{
namespace
hdmap
{
std
::
shared_ptr
<
J
S
onConf
>
ParseJson
(
std
::
string
conf_path
)
{
std
::
shared_ptr
<
J
s
onConf
>
ParseJson
(
std
::
string
conf_path
)
{
AINFO
<<
"parsing json config"
;
boost
::
filesystem
::
path
path
(
conf_path
);
if
(
!
boost
::
filesystem
::
exists
(
path
))
{
...
...
@@ -28,7 +28,7 @@ std::shared_ptr<JSonConf> ParseJson(std::string conf_path) {
return
nullptr
;
}
std
::
shared_ptr
<
J
SonConf
>
conf
(
new
JS
onConf
);
std
::
shared_ptr
<
J
sonConf
>
conf
(
new
Js
onConf
);
boost
::
property_tree
::
ptree
pt
;
try
{
boost
::
property_tree
::
read_json
(
conf_path
,
pt
);
...
...
modules/map/tools/map_datachecker/server/common.h
浏览文件 @
17f95252
...
...
@@ -55,7 +55,7 @@ struct FramePose {
enum
class
State
{
IDLE
,
RUNNING
};
struct
J
S
onConf
{
struct
J
s
onConf
{
std
::
vector
<
std
::
pair
<
std
::
string
,
double
>>
topic_list
;
bool
use_system_time
;
double
topic_rate_tolerance
;
...
...
@@ -106,7 +106,7 @@ struct JSonConf {
double
laps_rate_thresh
;
};
std
::
shared_ptr
<
J
S
onConf
>
ParseJson
(
std
::
string
conf_path
);
std
::
shared_ptr
<
J
s
onConf
>
ParseJson
(
std
::
string
conf_path
);
inline
double
GetYaw
(
double
from_x
,
double
from_y
,
double
to_x
,
double
to_y
)
{
double
vecx
=
to_x
-
from_x
;
...
...
@@ -118,7 +118,7 @@ inline double GetYaw(double from_x, double from_y, double to_x, double to_y) {
return
kRADIANS_TO_DEGREES
*
alpha
;
}
inline
double
Unix
time
Now
()
{
return
apollo
::
cyber
::
Time
::
Now
().
ToSecond
();
}
inline
double
UnixNow
()
{
return
apollo
::
cyber
::
Time
::
Now
().
ToSecond
();
}
}
// namespace hdmap
}
// namespace apollo
modules/map/tools/map_datachecker/server/eight_route.cc
浏览文件 @
17f95252
...
...
@@ -21,7 +21,7 @@
namespace
apollo
{
namespace
hdmap
{
EightRoute
::
EightRoute
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
:
Alignment
(
sp_conf
)
{
EightRoute
::
EightRoute
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
:
Alignment
(
sp_conf
)
{
Reset
();
}
...
...
modules/map/tools/map_datachecker/server/eight_route.h
浏览文件 @
17f95252
...
...
@@ -30,7 +30,7 @@ namespace hdmap {
// TODO(yuanyijun): change EightRoute to FigureEight
class
EightRoute
:
public
Alignment
{
public:
explicit
EightRoute
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
);
explicit
EightRoute
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
);
ErrorCode
Process
(
const
std
::
vector
<
FramePose
>&
poses
);
double
GetProgress
()
const
;
...
...
modules/map/tools/map_datachecker/server/laps_checker.cc
浏览文件 @
17f95252
...
...
@@ -28,7 +28,7 @@ namespace apollo {
namespace
hdmap
{
LapsChecker
::
LapsChecker
(
const
std
::
vector
<
FramePose
>
&
poses
,
int
laps_to_check
,
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
:
poses_
(
poses
),
sp_conf_
(
sp_conf
)
{
laps_to_check_
=
laps_to_check
;
maxx_
=
0.0
;
...
...
modules/map/tools/map_datachecker/server/laps_checker.h
浏览文件 @
17f95252
...
...
@@ -35,7 +35,7 @@ typedef std::vector<GridMeta> Grid;
class
LapsChecker
{
public:
LapsChecker
(
const
std
::
vector
<
FramePose
>&
poses
,
int
laps_to_check
,
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
);
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
);
ErrorCode
Check
();
double
GetProgress
()
const
;
double
GetConfidence
();
...
...
@@ -71,7 +71,7 @@ class LapsChecker {
size_t
laps_to_check_
;
size_t
possible_max_laps_
;
size_t
lap_
;
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
;
ErrorCode
return_state_
;
};
...
...
modules/map/tools/map_datachecker/server/loops_verify_agent.cc
浏览文件 @
17f95252
...
...
@@ -23,7 +23,7 @@ namespace apollo {
namespace
hdmap
{
LoopsVerifyAgent
::
LoopsVerifyAgent
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
,
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
,
std
::
shared_ptr
<
PoseCollectionAgent
>
sp_pose_collection_agent
)
{
sp_conf_
=
sp_conf
;
sp_pose_collection_agent_
=
sp_pose_collection_agent
;
...
...
modules/map/tools/map_datachecker/server/loops_verify_agent.h
浏览文件 @
17f95252
...
...
@@ -33,7 +33,7 @@ enum class LoopsVerifyAgentState { IDLE, RUNNING };
class
LoopsVerifyAgent
{
public:
LoopsVerifyAgent
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
,
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
,
std
::
shared_ptr
<
PoseCollectionAgent
>
sp_pose_collection_agent
);
grpc
::
Status
ProcessGrpcRequest
(
grpc
::
ServerContext
*
context
,
LoopsVerifyRequest
*
request
,
...
...
@@ -60,7 +60,7 @@ class LoopsVerifyAgent {
LoopsVerifyAgentState
GetState
();
private:
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
PoseCollectionAgent
>
sp_pose_collection_agent_
=
nullptr
;
std
::
shared_ptr
<
LapsChecker
>
sp_laps_checker_
=
nullptr
;
LoopsVerifyAgentState
state_
;
...
...
modules/map/tools/map_datachecker/server/pose_collection.cc
浏览文件 @
17f95252
...
...
@@ -18,7 +18,7 @@
namespace
apollo
{
namespace
hdmap
{
PoseCollection
::
PoseCollection
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
{
PoseCollection
::
PoseCollection
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
{
sp_conf_
=
sp_conf
;
Reset
();
}
...
...
modules/map/tools/map_datachecker/server/pose_collection.h
浏览文件 @
17f95252
...
...
@@ -26,7 +26,7 @@ enum class PoseCollectionState { IDLE, RUNNING };
class
PoseCollection
{
public:
explicit
PoseCollection
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
);
explicit
PoseCollection
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
);
void
Collect
(
const
FramePose
&
pose
);
std
::
shared_ptr
<
std
::
vector
<
FramePose
>>
GetPoses
()
const
;
...
...
@@ -35,7 +35,7 @@ class PoseCollection {
private:
std
::
shared_ptr
<
std
::
vector
<
FramePose
>>
sp_poses_
=
nullptr
;
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
};
}
// namespace hdmap
...
...
modules/map/tools/map_datachecker/server/pose_collection_agent.cc
浏览文件 @
17f95252
...
...
@@ -23,7 +23,7 @@
namespace
apollo
{
namespace
hdmap
{
PoseCollectionAgent
::
PoseCollectionAgent
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
{
PoseCollectionAgent
::
PoseCollectionAgent
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
{
sp_pj_transformer_
=
std
::
make_shared
<
PJTransformer
>
(
50
);
sp_conf_
=
sp_conf
;
Reset
();
...
...
@@ -44,7 +44,7 @@ void PoseCollectionAgent::OnBestgnssposCallback(
bestgnsspos
->
measurement_time
());
// in seconds
FramePose
pose
;
if
(
sp_conf_
->
use_system_time
)
{
pose
.
time_stamp
=
Unix
time
Now
();
pose
.
time_stamp
=
UnixNow
();
AINFO
<<
"system time: "
<<
pose
.
time_stamp
;
}
else
{
pose
.
time_stamp
=
time_stamp
;
...
...
modules/map/tools/map_datachecker/server/pose_collection_agent.h
浏览文件 @
17f95252
...
...
@@ -29,7 +29,7 @@ namespace hdmap {
class
PoseCollectionAgent
{
public:
explicit
PoseCollectionAgent
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
);
explicit
PoseCollectionAgent
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
);
void
OnBestgnssposCallback
(
const
std
::
shared_ptr
<
const
apollo
::
drivers
::
gnss
::
GnssBestPose
>
...
...
@@ -42,7 +42,7 @@ class PoseCollectionAgent {
private:
std
::
mutex
mutex_
;
std
::
shared_ptr
<
PoseCollection
>
sp_pose_collection_
=
nullptr
;
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
PJTransformer
>
sp_pj_transformer_
=
nullptr
;
};
...
...
modules/map/tools/map_datachecker/server/static_align.cc
浏览文件 @
17f95252
...
...
@@ -20,7 +20,7 @@
namespace
apollo
{
namespace
hdmap
{
StaticAlign
::
StaticAlign
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
)
StaticAlign
::
StaticAlign
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
)
:
Alignment
(
sp_conf
)
{
sp_conf_
=
sp_conf
;
static_align_detect_method_
=
StaticAlignDetectMethod
::
DYNAMIC_CENTROID
;
...
...
modules/map/tools/map_datachecker/server/static_align.h
浏览文件 @
17f95252
...
...
@@ -43,7 +43,7 @@ typedef struct Centroid3D {
class
StaticAlign
:
public
Alignment
{
public:
explicit
StaticAlign
(
std
::
shared_ptr
<
J
S
onConf
>
sp_conf
);
explicit
StaticAlign
(
std
::
shared_ptr
<
J
s
onConf
>
sp_conf
);
ErrorCode
Process
(
const
std
::
vector
<
FramePose
>&
poses
);
private:
...
...
modules/map/tools/map_datachecker/server/worker_agent.h
浏览文件 @
17f95252
...
...
@@ -62,7 +62,7 @@ class MapDataCheckerAgent final
LoopsVerifyResponse
*
response
);
private:
std
::
shared_ptr
<
J
S
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
J
s
onConf
>
sp_conf_
=
nullptr
;
std
::
shared_ptr
<
PoseCollectionAgent
>
sp_pose_collection_agent_
=
nullptr
;
std
::
shared_ptr
<
ChannelVerifyAgent
>
sp_channel_checker_agent_
=
nullptr
;
std
::
shared_ptr
<
STATIC_ALIGN_AGENT_TYPE
>
sp_static_align_agent_
=
nullptr
;
...
...
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