bridge: add test case and clean code

modules/bridge/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "bridge_lib",
+    srcs = [
+    ],
+    copts = ['-DMODULE_NAME=\\"bridge\\"'],
+    deps = [
+        "//cyber",
+        "//external:gflags",
+        "//modules/common",
+        "//modules/common/adapters:adapter_gflags",
+        "//modules/common/monitor_log",
+        "//modules/common/time",
+        "//modules/common/util",
+        "//modules/planning/proto:planning_proto",
+        "//modules/bridge/common:bridge_gflags",
+    ],
+)
+
+cc_library(
+    name = "udp_bridge_component_lib",
+    srcs = [
+        "udp_bridge_component.cc",
+    ],
+    hdrs = [
+        "udp_bridge_component.h",
+    ],
+    copts = ['-DMODULE_NAME=\\"bridge\\"'],
+    deps = [
+        ":bridge_lib",
+    ],
+)
+
+cc_binary(
+    name = "libudp_bridge_component.so",
+    linkshared = True,
+    linkstatic = False,
+    deps = [":udp_bridge_component_lib"],
+)
+
+cc_test(
+    name = "udp_bridge_component_test",
+    size = "small",
+    srcs = [
+        "udp_bridge_component_test.cc",
+    ],
+    deps = [
+        ":udp_bridge_component_lib",
+        "@gtest//:main",
+    ],
+)
+
+cpplint()

modules/bridge/common/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "bridge_gflags",
+    srcs = [
+        "bridge_gflags.cc",
+    ],
+    hdrs = [
+        "bridge_gflags.h",
+    ],
+    deps = [
+    ],
+)
+
+
+cpplint()

modules/bridge/common/bridge_gflags.cc

+/******************************************************************************
+ * Copyright 2019 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.
+ *****************************************************************************/
+
+#include "modules/bridge/common/bridge_gflags.h"
+
+DEFINE_string(bridge_module_name,
+              "Bridge",
+              "Bridge module name");
+DEFINE_string(remote_ip,
+              "127.0.0.1",
+              "remote ip");
+DEFINE_int32(remote_port, 8900,
+             "remote port");

modules/bridge/common/bridge_gflags.h

+/******************************************************************************
+ * Copyright 2019 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.
+ *****************************************************************************/
+
+#pragma once
+
+#include "gflags/gflags.h"
+
+DECLARE_string(bridge_module_name);
+DECLARE_string(remote_ip);
+DECLARE_int32(remote_port);

modules/bridge/conf/bridge.conf

+--flagfile=/apollo/modules/common/data/global_flagfile.txt
+--remote_ip=127.0.0.1
+--remote_port=8900

modules/bridge/dag/bridge.dag

+module_config {
+    module_library : "/apollo/bazel-bin/modules/bridge/libudp_bridge_component.so"
+    components {
+        class_name : "UDPBridgeComponent<planning::ADCTrajectory>"
+        config {
+            name: "bridge_ADCTrajectory"
+            readers {
+              channel: "/apollo/planning"
+            }
+      }
+   }
+
+    components {
+        class_name : "UDPBridgeComponent<LocalizationEstimate>"
+        config {
+            name: "bridge_LocalizationEstimate"
+            readers {
+              channel: "/apollo/localization/pose"
+            }
+      }
+   }
+}

modules/bridge/launch/bridge.launch

+<cyber>
+    <module>
+        <name>bridge</name>
+        <dag_conf>/apollo/modules/bridge/dag/bridge.dag</dag_conf>
+        <process_name>udp_bridge</process_name>
+    </module>
+</cyber>

modules/bridge/udp_bridge_component.cc

+/******************************************************************************
+ * 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.
+ *****************************************************************************/
+
+#include "modules/bridge/udp_bridge_component.h"
+
+namespace apollo {
+namespace bridge {
+
+#define BRIDGE_IMPL(pb_msg)    \
+  template class UDPBridgeComponent<pb_msg>
+
+#define FREE_ARRY(arry) \
+  if (arry) {           \
+    delete [] arry;     \
+    arry = nullptr;     \
+  }
+
+template<typename T>
+bool UDPBridgeComponent<T>::Init() {
+  AINFO << "UDP bridge init, starting ...";
+  return true;
+}
+
+template<typename T>
+bool UDPBridgeComponent<T>::Proc(
+    const std::shared_ptr<T> &pb_msg) {
+
+  if (pb_msg== nullptr) {
+    AERROR << "proto msg is not ready!";
+    return false;
+  }
+
+  apollo::cyber::scheduler::Instance()->CreateTask(
+      [&pb_msg]() {
+        struct sockaddr_in server_addr;
+        server_addr.sin_addr.s_addr = inet_addr(FLAGS_remote_ip.c_str());
+        server_addr.sin_family = AF_INET;
+        server_addr.sin_port = htons((uint16_t)FLAGS_remote_port);
+
+        Session session;
+        session.Socket(AF_INET, SOCK_DGRAM, 0);
+        if (session.Connect((struct sockaddr*)&server_addr,
+                            sizeof(server_addr)) < 0) {
+          std::cout << "connect to server failed, " << strerror(errno)
+                    << std::endl;
+          return;
+        }
+
+        unsigned int msg_len = pb_msg->ByteSize();
+        char *buf = new char[msg_len];
+        memset(buf, 0, msg_len);
+        pb_msg->SerializeToArray(buf, msg_len);
+        if (session.Send(buf, msg_len, 0) < 0) {
+          std::cout << "send message failed." << std::endl;
+          FREE_ARRY(buf)
+          return;
+        }
+        FREE_ARRY(buf)
+      },
+      "bridge_client");
+
+  return true;
+}
+
+BRIDGE_IMPL(LocalizationEstimate);
+BRIDGE_IMPL(planning::ADCTrajectory);
+
+}  // namespace bridge
+}  // namespace apollo

modules/bridge/udp_bridge_component.h

+/******************************************************************************
+ * Copyright 2017 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.
+ *****************************************************************************/
+
+#pragma once
+
+#include <netinet/in.h>
+#include <stdlib.h>
+#include <sys/socket.h>
+
+#include <memory>
+#include <string>
+#include <iostream>
+#include <vector>
+
+#include "cyber/cyber.h"
+#include "cyber/init.h"
+#include "cyber/io/session.h"
+#include "cyber/scheduler/scheduler_factory.h"
+
+#include "cyber/class_loader/class_loader.h"
+#include "cyber/component/component.h"
+
+#include "modules/common/monitor_log/monitor_log_buffer.h"
+#include "modules/planning/proto/planning.pb.h"
+
+#include "modules/common/util/util.h"
+#include "modules/bridge/common/bridge_gflags.h"
+
+namespace apollo {
+namespace bridge {
+
+using apollo::cyber::io::Session;
+using apollo::localization::LocalizationEstimate;
+
+template<typename T>
+class UDPBridgeComponent final
+    : public cyber::Component<T> {
+ public:
+  UDPBridgeComponent()
+    : monitor_logger_buffer_(common::monitor::MonitorMessageItem::CONTROL) {}
+
+  bool Init() override;
+  bool Proc(const std::shared_ptr<T> &pb_msg) override;
+
+  std::string Name() const {
+    return FLAGS_bridge_module_name;
+  }
+
+ private:
+  common::monitor::MonitorLogBuffer monitor_logger_buffer_;
+};
+
+CYBER_REGISTER_COMPONENT(UDPBridgeComponent<planning::ADCTrajectory>)
+CYBER_REGISTER_COMPONENT(UDPBridgeComponent<LocalizationEstimate>)
+
+}  // namespace bridge
+}  // namespace apollo

modules/bridge/udp_bridge_component_test.cc

+/******************************************************************************
+ * Copyright 2019 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.
+ *****************************************************************************/
+#include "modules/bridge/udp_bridge_component.h"
+
+#include "cyber/init.h"
+#include "gtest/gtest.h"
+
+namespace apollo {
+namespace bridge {
+
+TEST(PredictionComponentTest, Simple) {
+  cyber::Init("udp_bridge_component_test");
+  UDPBridgeComponent<planning::ADCTrajectory> udp_bridge_component;
+  EXPECT_EQ(udp_bridge_component.Name(), "Bridge");
+}
+
+}  // namespace bridge
+}  // namespace apollo