A wrapper around SimulationWorldService and WebSocketHandler to keep pushing SimulationWorld to frontend via websocket while handling the response from frontend. More...

#include <simulation_world_updater.h>

Collaboration diagram for apollo::dreamview::SimulationWorldUpdater:

Public Member Functions
	SimulationWorldUpdater (WebSocketHandler websocket, WebSocketHandler map_ws, WebSocketHandler camera_ws, SimControl sim_control, const MapService map_service, PerceptionCameraUpdater perception_camera_updater, bool routing_from_file=false)
	Constructor with the websocket handler. More...

void	Start ()
	Starts to push simulation_world to frontend. More...

double	LastAdcTimestampSec ()

Static Public Attributes
static constexpr double	kSimWorldTimeIntervalMs = 100

Detailed Description

A wrapper around SimulationWorldService and WebSocketHandler to keep pushing SimulationWorld to frontend via websocket while handling the response from frontend.

Constructor & Destructor Documentation

◆ SimulationWorldUpdater()

apollo::dreamview::SimulationWorldUpdater::SimulationWorldUpdater	(	WebSocketHandler *	websocket,
		WebSocketHandler *	map_ws,
		WebSocketHandler *	camera_ws,
		SimControl *	sim_control,
		const MapService *	map_service,
		PerceptionCameraUpdater *	perception_camera_updater,
		bool	routing_from_file = `false`
	)

Constructor with the websocket handler.

Parameters

websocket	Pointer of the websocket handler that has been attached to the server.
sim_control	Pointer of sim control.
map_service	Pointer of the map service to provide a high-level API of hdmap.
routing_from_file	whether to read initial routing from file.

Member Function Documentation

◆ LastAdcTimestampSec()

double apollo::dreamview::SimulationWorldUpdater::LastAdcTimestampSec ( )

inline

◆ Start()

void apollo::dreamview::SimulationWorldUpdater::Start ( )

Starts to push simulation_world to frontend.

Member Data Documentation

◆ kSimWorldTimeIntervalMs

constexpr double apollo::dreamview::SimulationWorldUpdater::kSimWorldTimeIntervalMs = 100

static

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

modules/dreamview/backend/simulation_world/simulation_world_updater.h

Public Member Functions

Static Public Attributes