bridge: improve bridge buffer as a template class and clean code

modules/bridge/common/bridge_buffer.cc

@@ -20,12 +20,19 @@
 namespace apollo {
 namespace bridge {
 
-BridgeBuffer::BridgeBuffer() {}
-BridgeBuffer::BridgeBuffer(unsigned int size) {
+#define BRIDGE_IMPL(type) \
+  template class BridgeBuffer<type>
+
+template<typename T>
+BridgeBuffer<T>::BridgeBuffer() {}
+
+template<typename T>
+BridgeBuffer<T>::BridgeBuffer(unsigned int size) {
   reset(size);
 }
 
-BridgeBuffer::~BridgeBuffer() {
+template<typename T>
+BridgeBuffer<T>::~BridgeBuffer() {
   std::lock_guard<std::mutex> lg(mutex_);
   if (buf_) {
     delete [] buf_;
@@ -35,22 +42,29 @@ BridgeBuffer::~BridgeBuffer() {
   capacity_ = 0;
 }
 
-BridgeBuffer::operator char* () {
+template<typename T>
+BridgeBuffer<T>::operator T* () {
   return buf_;
 }
 
-void BridgeBuffer::reset(unsigned int size) {
+template<typename T>
+void BridgeBuffer<T>::reset(unsigned int size) {
   std::lock_guard<std::mutex> lg(mutex_);
   if (capacity_ < size) {
     if (buf_) {
       delete [] buf_;
     }
     capacity_ = size;
-    buf_ = new char[capacity_];
+    buf_ = new T[capacity_];
   }
   size_ = size;
-  memset(buf_, 0, sizeof(char)*capacity_);
+  memset(buf_, 0, sizeof(T)*capacity_);
 }
 
+BRIDGE_IMPL(char);
+BRIDGE_IMPL(int);
+BRIDGE_IMPL(double);
+
+
 }  // namespace bridge
 }  // namespace apollo

modules/bridge/common/bridge_buffer.h

@@ -33,19 +33,20 @@ namespace bridge {
   DISABLE_COPY(TypeName);                 \
   DISABLE_ASSIGN(TypeName)
 
+template<typename T>
 class BridgeBuffer {
  public:
   BridgeBuffer();
   explicit BridgeBuffer(unsigned int size);
   virtual ~BridgeBuffer();
 
-  operator char* ();
+  operator T* ();
   void reset(unsigned int size);
   unsigned int size() const { return size_;}
   unsigned int capacity() const { return capacity_;}
 
  private:
-  char *buf_ = nullptr;
+  T *buf_ = nullptr;
   unsigned int size_ = 0;
   unsigned int capacity_ = 0;
   std::mutex mutex_;

modules/bridge/common/bridge_buffer_test.cc

@@ -24,7 +24,7 @@ namespace apollo {
 namespace bridge {
 
 TEST(BridgeBufferTest, bridge_buf_test) {
-  BridgeBuffer buf;
+  BridgeBuffer<char> buf;
   char *p = buf;
   EXPECT_EQ(0, buf.capacity());
   EXPECT_EQ(0, buf.size());

modules/bridge/udp_bridge_component.cc

@@ -22,11 +22,6 @@ namespace bridge {
 #define BRIDGE_IMPL(pb_msg)    \
   template class UDPBridgeComponent<pb_msg>
 
-/*#define FREE_ARRY(arry) \
-  if (arry) {           \
-    delete [] arry;     \
-    arry = nullptr;     \
-  }*/
 #define _1K    1024
 
 using apollo::cyber::io::Session;

modules/bridge/udp_bridge_component.h

@@ -59,7 +59,7 @@ class UDPBridgeComponent final
   common::monitor::MonitorLogBuffer monitor_logger_buffer_;
   unsigned int remote_port_ = 0;
   std::string remote_ip_ = "";
-  BridgeBuffer buf_;
+  BridgeBuffer<char> buf_;
 };
 
 CYBER_REGISTER_COMPONENT(UDPBridgeComponent<planning::ADCTrajectory>)