migration ultrasonic

apollo.sh

@@ -108,6 +108,7 @@ function generate_build_targets() {
     //modules/drivers/gnss/...
     //modules/drivers/velodyne/...
     //modules/drivers/usb_cam/...
+    //modules/drivers/radar/ultrasonic_radar/...
     //modules/guardian/...
     //modules/integration_test/...
     //modules/localization/proto/...

modules/common/monitor_log/proto/monitor_log.proto

@@ -21,6 +21,8 @@ message MonitorMessageItem {
     RELATIVE_MAP = 13;
     GNSS = 14;
     CONTI_RADAR = 15;
+    RACOBIT_RADAR = 16;
+    ULTRASONIC_RADAR = 17;
   }
 
   optional MessageSource source = 1 [default = UNKNOWN];

modules/drivers/radar/conti_radar/conti_radar_canbus_component.cc

@@ -73,7 +73,6 @@ bool ContiRadarCanbusComponent::Init() {
 
   start_success_ = Start();
   return start_success_;
-  return true;
 }
 
 apollo::common::ErrorCode ContiRadarCanbusComponent::ConfigureRadar() {

modules/drivers/radar/ultrasonic_radar/BUILD

@@ -15,6 +15,8 @@ cc_library(
         "//modules/drivers/canbus/can_client:can_client_factory",
         "//modules/drivers/canbus/can_comm:can_sender",
         "//modules/drivers/canbus/can_comm:message_manager_base",
+        "//modules/drivers/proto:sensor_proto",
+        "//modules/common/util:message_util",
     ],
 )
 
@@ -41,12 +43,12 @@ cc_library(
     deps = [
         ":ultrasonic_radar_message_manager",
         "//modules/common",
-        "//modules/common:apollo_app",
         "//modules/common/monitor_log",
         "//modules/drivers/canbus:sensor_gflags",
         "//modules/drivers/canbus/can_client:can_client_factory",
         "//modules/drivers/canbus/can_comm:can_receiver",
         "//modules/drivers/canbus/can_comm:message_manager_base",
+        "//modules/drivers/proto:sensor_proto",
     ],
 )
 
@@ -62,17 +64,25 @@ cc_library(
 #     ],
 # )
 
-cc_binary(
-    name = "ultrasonic_radar",
-    srcs = ["main.cc"],
+cc_library(
+    name = "ultrasonic_radar_canbus_component_lib",
+    srcs = [
+        "ultrasonic_radar_canbus_component.cc",
+    ],
+    hdrs = [
+        "ultrasonic_radar_canbus_component.h",
+    ],
     deps = [
         ":ultrasonic_radar_canbus_lib",
-        "//external:gflags",
-        "//framework:cybertron",
-        "//modules/common/monitor_log",
-        "//modules/drivers/canbus/common:canbus_common",
-        "@ros//:ros_common",
+        "//modules/common/adapters:adapter_gflags",
     ],
+    copts = ['-DMODULE_NAME=\\"ultrasonic_radar_canbus\\"']
+)
+
+cc_binary(
+    name = "libultrasonic_radar_canbus_component.so",
+    deps = [":ultrasonic_radar_canbus_component_lib"],
+    linkopts = ["-shared"],
 )
 
 cpplint()

modules/drivers/radar/ultrasonic_radar/dag/ultrasonic_radar.dag

+module_config {
+    module_library :
+"/apollo/bazel-bin/modules/drivers/radar/ultrasonic_radar/libultrasonic_radar_canbus_component.so"
+    components {
+        class_name : "UltrasonicRadarCanbusComponent"
+        config {
+            name: "ultrasonic_radar"
+            config_file_path:  "/apollo/modules/drivers/radar/ultrasonic_radar/conf/ultrasonic_radar_conf.pb.txt"
+        }
+    }
+}

modules/drivers/radar/ultrasonic_radar/launch/ultrasonic_radar.launch

+<cybertron>
+    <module>
+        <name>ultrasonic_radar</name>
+        <dag_conf>/apollo/modules/drivers/radar/ultrasonic_radar/dag/ultrasonic_radar.dag</dag_conf>
+        <process_name></process_name>
+    </module>
+</cybertron>

modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.cc

@@ -14,13 +14,10 @@
  * limitations under the License.
  *****************************************************************************/
 
-/**
- * @file
- */
-
 #include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.h"
 #include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_message_manager.h"
 #include "modules/drivers/proto/ultrasonic_radar.pb.h"
+#include "modules/common/util/util.h"
 
 /**
  * @namespace apollo::drivers::ultrasonic_radar
@@ -30,24 +27,33 @@ namespace apollo {
 namespace drivers {
 namespace ultrasonic_radar {
 
+UltrasonicRadarCanbus::UltrasonicRadarCanbus()
+    : monitor_logger_buffer_(
+          common::monitor::MonitorMessageItem::ULTRASONIC_RADAR) {
+}
+
+UltrasonicRadarCanbus::~UltrasonicRadarCanbus() {
+  can_receiver_.Stop();
+  can_client_->Stop();
+}
+
 std::string UltrasonicRadarCanbus::Name() const {
-  return FLAGS_canbus_driver_name;
+  return "ultrasonic_radar";
 }
 
-apollo::common::Status UltrasonicRadarCanbus::Init() {
-  AdapterManager::Init(FLAGS_adapter_config_filename);
-  AINFO << "The adapter manager is successfully initialized.";
-  if (!::apollo::common::util::GetProtoFromFile(FLAGS_sensor_conf_file,
-                                                &ultrasonic_radar_conf_)) {
-    return OnError("Unable to load canbus conf file: " +
-                   FLAGS_sensor_conf_file);
+apollo::common::Status UltrasonicRadarCanbus::Init(
+  const std::string& config_path,
+  const std::shared_ptr<::apollo::cybertron::Writer<Ultrasonic>>& writer) {
+
+  if (!apollo::common::util::GetProtoFromFile(config_path, &ultrasonic_radar_conf_)) {
+    return OnError("Unable to load canbus conf file: " + config_path);
   }
 
-  AINFO << "The canbus conf file is loaded: " << FLAGS_sensor_conf_file;
+  AINFO << "The canbus conf file is loaded: " << config_path;
   ADEBUG << "Canbus_conf:" << ultrasonic_radar_conf_.ShortDebugString();
 
   // Init can client
-  auto *can_factory = CanClientFactory::Instance();
+  auto can_factory = CanClientFactory::Instance();
   can_factory->RegisterCanClients();
   can_client_ = can_factory->CreateCANClient(
       ultrasonic_radar_conf_.can_conf().can_card_parameter());
@@ -59,7 +65,8 @@ apollo::common::Status UltrasonicRadarCanbus::Init() {
   sensor_message_manager_ =
       std::unique_ptr<UltrasonicRadarMessageManager>(
           new UltrasonicRadarMessageManager(
-              ultrasonic_radar_conf_.entrance_num()));
+              ultrasonic_radar_conf_.entrance_num(),
+              writer));
   if (sensor_message_manager_ == nullptr) {
     return OnError("Failed to create message manager.");
   }
@@ -93,27 +100,18 @@ apollo::common::Status UltrasonicRadarCanbus::Start() {
   AINFO << "Can receiver is started.";
 
   // last step: publish monitor messages
-  apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
-  buffer.INFO("Canbus is started.");
+  monitor_logger_buffer_.INFO("Canbus is started.");
 
   return Status::OK();
 }
 
-void UltrasonicRadarCanbus::Stop() {
-  can_receiver_.Stop();
-  can_client_->Stop();
-}
-
-void UltrasonicRadarCanbus::PublishSensorData() {
-}
-
 // Send the error to monitor and return it
 Status UltrasonicRadarCanbus::OnError(const std::string &error_msg) {
-  apollo::common::monitor::MonitorLogBuffer buffer(&monitor_logger_);
-  buffer.ERROR(error_msg);
+  monitor_logger_buffer_.ERROR(error_msg);
   return Status(ErrorCode::CANBUS_ERROR, error_msg);
 }
 
 }  // namespace ultrasonic_radar
 }  // namespace drivers
 }  // namespace apollo
+

modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.h

@@ -26,16 +26,11 @@
 #include <utility>
 #include <vector>
 
-#include "ros/include/ros/ros.h"
+#include "cybertron/common/macros.h"
 
-#include "modules/common/adapters/adapter_manager.h"
-#include "modules/common/adapters/proto/adapter_config.pb.h"
-#include "modules/common/apollo_app.h"
-#include "modules/common/macro.h"
 #include "modules/common/monitor_log/monitor_log_buffer.h"
 #include "modules/common/time/time.h"
-#include "modules/common/util/util.h"
-#include "modules/control/proto/control_cmd.pb.h"
+#include "modules/common/status/status.h"
 #include "modules/drivers/canbus/can_client/can_client.h"
 #include "modules/drivers/canbus/can_client/can_client_factory.h"
 #include "modules/drivers/canbus/can_comm/can_receiver.h"
@@ -62,8 +57,6 @@ namespace ultrasonic_radar {
 * @brief template of canbus-based sensor module main class (e.g., ultrasonic_radar).
 */
 
-using apollo::common::adapter::AdapterConfig;
-using apollo::common::adapter::AdapterManager;
 using apollo::common::monitor::MonitorMessageItem;
 using apollo::common::Status;
 using apollo::common::ErrorCode;
@@ -74,38 +67,32 @@ using apollo::drivers::canbus::CanReceiver;
 using apollo::drivers::canbus::SenderMessage;
 using apollo::drivers::canbus::SensorCanbusConf;
 
-class UltrasonicRadarCanbus : public apollo::common::ApolloApp {
+class UltrasonicRadarCanbus {
  public:
-  // TODO(lizh): check whether we need a new msg item, say
-  // MonitorMessageItem::SENSORCANBUS
-  UltrasonicRadarCanbus()
-      : monitor_logger_(apollo::common::monitor::MonitorMessageItem::CANBUS) {}
+  UltrasonicRadarCanbus();
+  ~UltrasonicRadarCanbus();
 
   /**
   * @brief obtain module name
   * @return module name
   */
-  std::string Name() const override;
+  std::string Name() const;
 
   /**
   * @brief module initialization function
   * @return initialization status
   */
-  apollo::common::Status Init() override;
+  apollo::common::Status Init(
+    const std::string& config_path,
+    const std::shared_ptr<::apollo::cybertron::Writer<Ultrasonic>>& writer);
 
   /**
   * @brief module start function
   * @return start status
   */
-  apollo::common::Status Start() override;
-
-  /**
-  * @brief module stop function
-  */
-  void Stop() override;
+  apollo::common::Status Start();
 
  private:
-  void PublishSensorData();
   Status OnError(const std::string &error_msg);
   void RegisterCanClients();
 
@@ -115,7 +102,7 @@ class UltrasonicRadarCanbus : public apollo::common::ApolloApp {
   std::unique_ptr<UltrasonicRadarMessageManager> sensor_message_manager_;
 
   int64_t last_timestamp_ = 0;
-  apollo::common::monitor::MonitorLogger monitor_logger_;
+  apollo::common::monitor::MonitorLogBuffer monitor_logger_buffer_;
 };
 
 }  // namespace ultrasonic_radar

modules/drivers/radar/ultrasonic_radar/main.cc → modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus_component.cc

@@ -14,8 +14,23 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/common/apollo_app.h"
-#include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.h"
+#include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus_component.h"
+#include "modules/common/adapters/adapter_gflags.h"
+
+namespace apollo {
+namespace drivers {
+namespace ultrasonic_radar {
+
+UltrasonicRadarCanbusComponent::UltrasonicRadarCanbusComponent() {
+  writer_ = node_->CreateWriter<Ultrasonic>(FLAGS_ultrasonic_radar_topic);
+}
+
+bool UltrasonicRadarCanbusComponent::Init() {
+  return utralsonic_radar_canbus_.Init(ConfigFilePath(), writer_).ok()
+      && utralsonic_radar_canbus_.Start().ok();
+}
+
+}  // namespace ultrasonic_radar
+}  // namespace drivers
+}  // namespace apollo
 
-using ::apollo::drivers::ultrasonic_radar::UltrasonicRadarCanbus;
-APOLLO_MAIN(UltrasonicRadarCanbus);

modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus_component.h

+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef MODULES_DRIVERS_RADAR_ULTRASONIC_RADAR_ULTRASONIC_RADAR_CANBUS_COMPONENT_H_
+#define MODULES_DRIVERS_RADAR_ULTRASONIC_RADAR_ULTRASONIC_RADAR_CANBUS_COMPONENT_H_
+
+#include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.h"
+
+/**
+ * @namespace apollo::drivers
+ * @brief apollo::drivers
+ */
+namespace apollo {
+namespace drivers {
+namespace ultrasonic_radar {
+
+class UltrasonicRadarCanbusComponent : public apollo::cybertron::Component<> {
+ public:
+  UltrasonicRadarCanbusComponent();
+  ~UltrasonicRadarCanbusComponent() = default;
+  bool Init() override;
+ private:
+  UltrasonicRadarCanbus utralsonic_radar_canbus_;
+  std::shared_ptr<::apollo::cybertron::Writer<Ultrasonic>> writer_;
+};
+
+CYBERTRON_REGISTER_COMPONENT(UltrasonicRadarCanbusComponent)
+
+}  // namespace ultrasonic_radar
+}  // namespace drivers
+}  // namespace apollo
+
+#endif // MODULES_DRIVERS_RADAR_ULTRASONIC_RADAR_ULTRASONIC_RADAR_CANBUS_COMPONENT_H_
+

modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_message_manager.cc

@@ -20,17 +20,16 @@
  */
 
 #include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_message_manager.h"
-
+#include "modules/common/util/message_util.h"
 
 namespace apollo {
 namespace drivers {
 namespace ultrasonic_radar {
 
-using ::apollo::common::adapter::AdapterManager;
-
-UltrasonicRadarMessageManager::UltrasonicRadarMessageManager(int entrance_num)
-    : MessageManager<Ultrasonic>(),
-      entrance_num_(entrance_num) {
+UltrasonicRadarMessageManager::UltrasonicRadarMessageManager(
+    const int entrance_num,
+    const std::shared_ptr<::apollo::cybertron::Writer<Ultrasonic>> &writer)
+    : entrance_num_(entrance_num), ultrasonic_radar_writer_(writer) {
   sensor_data_.mutable_ranges()->Resize(entrance_num_, 0.0);
 }
 
@@ -57,8 +56,8 @@ void UltrasonicRadarMessageManager::Parse(const uint32_t message_id,
   } else if (message_id == 0x304) {
     sensor_data_.set_ranges(10, data[1]);
     sensor_data_.set_ranges(11, data[2]);
-    AdapterManager::FillUltrasonicHeader(FLAGS_sensor_node_name, &sensor_data_);
-    AdapterManager::PublishUltrasonic(sensor_data_);
+    common::util::FillHeader("ultrasonic_radar", &sensor_data_);
+    ultrasonic_radar_writer_->Write(std::make_shared<Ultrasonic>(sensor_data_));
   }
 
   received_ids_.insert(message_id);

modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_message_manager.h

@@ -22,12 +22,14 @@
 #define MODULES_DRIVERS_RADAR_ULTRASONIC_RADAR_MESSAGE_MANAGER_H_
 
 #include <memory>
+
+#include "cybertron/cybertron.h"
+
 #include "modules/drivers/canbus/can_client/can_client_factory.h"
 #include "modules/drivers/canbus/can_comm/can_sender.h"
 #include "modules/drivers/canbus/can_comm/message_manager.h"
 #include "modules/drivers/proto/ultrasonic_radar.pb.h"
 
-#include "modules/common/adapters/adapter_manager.h"
 #include "modules/drivers/canbus/sensor_gflags.h"
 
 namespace apollo {
@@ -35,7 +37,6 @@ namespace drivers {
 namespace ultrasonic_radar {
 
 using ::apollo::drivers::canbus::ProtocolData;
-using ::apollo::common::adapter::AdapterManager;
 using ::apollo::drivers::canbus::MessageManager;
 using Clock = ::apollo::common::time::Clock;
 using micros = std::chrono::microseconds;
@@ -45,14 +46,16 @@ using apollo::drivers::canbus::SenderMessage;
 
 class UltrasonicRadarMessageManager : public MessageManager<Ultrasonic> {
  public:
-  explicit UltrasonicRadarMessageManager(int entrance_num);
-  virtual ~UltrasonicRadarMessageManager() {}
+  explicit UltrasonicRadarMessageManager(const int entrance_num,
+      const std::shared_ptr<::apollo::cybertron::Writer<Ultrasonic>> &writer);
+  virtual ~UltrasonicRadarMessageManager() = default;
   void Parse(const uint32_t message_id, const uint8_t *data, int32_t length);
   void set_can_client(std::shared_ptr<CanClient> can_client);
 
  private:
+  int entrance_num_ = 0;
+  std::shared_ptr<::apollo::cybertron::Writer<Ultrasonic>> ultrasonic_radar_writer_;
   std::shared_ptr<CanClient> can_client_;
-  int entrance_num_;
 };
 
 }  // namespace ultrasonic_radar