The Component can process up to four channels of messages. The message type is specified when the component is created. The Component is inherited from ComponentBase. Your component can inherit from Component, and implement Init() & Proc(...), They are picked up by the CyberRT. There are 4 specialization implementations. More...

#include <component.h>

Inheritance diagram for apollo::cyber::Component< M0, M1, M2, M3 >:

Collaboration diagram for apollo::cyber::Component< M0, M1, M2, M3 >:

Public Member Functions
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object. More...

bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)

Public Member Functions inherited from apollo::cyber::ComponentBase
virtual	~ComponentBase ()

virtual bool	Initialize (const TimerComponentConfig &config)

virtual void	Shutdown ()

template<typename T >
bool	GetProtoConfig (T *config) const

Additional Inherited Members
Public Types inherited from apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Protected Member Functions inherited from apollo::cyber::ComponentBase
virtual bool	Init ()=0

virtual void	Clear ()

const std::string &	ConfigFilePath () const

void	LoadConfigFiles (const ComponentConfig &config)

void	LoadConfigFiles (const TimerComponentConfig &config)

Protected Attributes inherited from apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}

std::shared_ptr< Node >	node_ = nullptr

std::string	config_file_path_ = ""

std::vector< std::shared_ptr< ReaderBase > >	readers_

Detailed Description

template<typename M0 = NullType, typename M1 = NullType, typename M2 = NullType, typename M3 = NullType>
class apollo::cyber::Component< M0, M1, M2, M3 >

The Component can process up to four channels of messages. The message type is specified when the component is created. The Component is inherited from ComponentBase. Your component can inherit from Component, and implement Init() & Proc(...), They are picked up by the CyberRT. There are 4 specialization implementations.

Template Parameters

M0	the first message.
M1	the second message.
M2	the third message.
M3	the fourth message.

Warning: The Init & Proc functions need to be overloaded, but don't want to be called. They are called by the CyberRT Frame.

Constructor & Destructor Documentation

◆ Component()

template<typename M0 = NullType, typename M1 = NullType, typename M2 = NullType, typename M3 = NullType>

apollo::cyber::Component< M0, M1, M2, M3 >::Component ( )

inline

◆ ~Component()

template<typename M0 = NullType, typename M1 = NullType, typename M2 = NullType, typename M3 = NullType>

apollo::cyber::Component< M0, M1, M2, M3 >::~Component ( )

inlineoverride

Member Function Documentation

◆ Initialize()

template<typename M0 , typename M1 , typename M2 , typename M3 >

bool apollo::cyber::Component< M0, M1, M2, M3 >::Initialize ( const ComponentConfig & config )

inlineoverridevirtual

init the component by protobuf object.

Parameters

config which is defined in 'cyber/proto/component_conf.proto'

Returns: returns true if successful, otherwise returns false

Reimplemented from apollo::cyber::ComponentBase.

◆ Process()

template<typename M0, typename M1, typename M2, typename M3>

bool apollo::cyber::Component< M0, M1, M2, M3 >::Process	(	const std::shared_ptr< M0 > &	msg0,
		const std::shared_ptr< M1 > &	msg1,
		const std::shared_ptr< M2 > &	msg2,
		const std::shared_ptr< M3 > &	msg3
	)

The documentation for this class was generated from the following file:

cyber/component/component.h

Public Member Functions

Additional Inherited Members