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体验新版 GitCode,发现更多精彩内容 >>
提交
7a70adc8
编写于
9月 17, 2018
作者:
C
Calvin Miao
提交者:
Qi Luo
9月 17, 2018
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电子邮件补丁
差异文件
Guardian: use topic names in adapter
上级
f3bf51ee
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
6 addition
and
11 deletion
+6
-11
modules/guardian/BUILD
modules/guardian/BUILD
+1
-0
modules/guardian/conf/guardian_conf.pb.txt
modules/guardian/conf/guardian_conf.pb.txt
+0
-4
modules/guardian/guardian_component.cc
modules/guardian/guardian_component.cc
+5
-7
未找到文件。
modules/guardian/BUILD
浏览文件 @
7a70adc8
...
...
@@ -9,6 +9,7 @@ cc_binary(
"guardian_component.h"
,
],
deps
=
[
"//modules/common/adapters:adapter_gflags"
,
"//modules/common/util:message_util"
,
"//modules/canbus/proto:canbus_proto"
,
"//modules/control/proto:control_proto"
,
...
...
modules/guardian/conf/guardian_conf.pb.txt
浏览文件 @
7a70adc8
chassis_channel: "/apollo/canbus/chassis"
system_status_channel: "/apollo/monitor/system_status"
control_command_channel: "/apollo/control"
guardian_channel: "/apollo/guardian"
guardian_enable: true
modules/guardian/guardian_component.cc
浏览文件 @
7a70adc8
...
...
@@ -18,6 +18,7 @@
#include <cmath>
#include "cybertron/common/log.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/util/message_util.h"
namespace
apollo
{
...
...
@@ -37,15 +38,14 @@ bool GuardianComponent::Init() {
}
chassis_reader_
=
node_
->
CreateReader
<
Chassis
>
(
guardian_conf_
.
chassis_channel
(),
[
this
](
const
std
::
shared_ptr
<
Chassis
>&
chassis
)
{
FLAGS_chassis_topic
,
[
this
](
const
std
::
shared_ptr
<
Chassis
>&
chassis
)
{
ADEBUG
<<
"Received chassis data: run chassis callback."
;
std
::
lock_guard
<
std
::
mutex
>
lock
(
mutex_
);
chassis_
.
CopyFrom
(
*
chassis
);
});
control_cmd_reader_
=
node_
->
CreateReader
<
ControlCommand
>
(
guardian_conf_
.
control_command_channel
()
,
FLAGS_control_command_topic
,
[
this
](
const
std
::
shared_ptr
<
ControlCommand
>&
cmd
)
{
ADEBUG
<<
"Received monitor data: run monitor callback."
;
std
::
lock_guard
<
std
::
mutex
>
lock
(
mutex_
);
...
...
@@ -53,15 +53,13 @@ bool GuardianComponent::Init() {
});
system_status_reader_
=
node_
->
CreateReader
<
SystemStatus
>
(
guardian_conf_
.
system_status_channel
(),
[
this
](
const
std
::
shared_ptr
<
SystemStatus
>&
status
)
{
FLAGS_monitor_topic
,
[
this
](
const
std
::
shared_ptr
<
SystemStatus
>&
status
)
{
ADEBUG
<<
"Received control data: run control command callback."
;
std
::
lock_guard
<
std
::
mutex
>
lock
(
mutex_
);
system_status_
.
CopyFrom
(
*
status
);
});
guardian_writer_
=
node_
->
CreateWriter
<
GuardianCommand
>
(
guardian_conf_
.
guardian_channel
());
guardian_writer_
=
node_
->
CreateWriter
<
GuardianCommand
>
(
FLAGS_guardian_topic
);
return
true
;
}
...
...
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