Apollo2.0自动驾驶之apollo/modules/common/adapters/adapter_manager.h
1、重要的适配器消息传递
在adapter_manager.h这个头文件中，声明了“#define REGISTER_ADAPTER(name)”这个重要的函数，它包含了名字、ROS中的订阅者、发布者、时间基准等等一些与适配器声明有关的函数。
它把与自动驾驶有关的各种参量都发布到了ROS总线上，如果你想定义自己的模块也要在这里重新声明。所以这个文件是一个非常重要的公共文件。
/******************************************************************************
* 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.
*****************************************************************************/
/**
* @file
*/
#ifndef MODULES_ADAPTERS_ADAPTER_MANAGER_H_
#define MODULES_ADAPTERS_ADAPTER_MANAGER_H_
#include
#include
#include
#include
#include
#include "modules/common/adapters/adapter.h"
#include "modules/common/adapters/message_adapters.h"
#include "modules/common/adapters/proto/adapter_config.pb.h"
#include "modules/common/log.h"
#include "modules/common/macro.h"
#include "modules/common/transform_listener/transform_listener.h"
#include "ros/include/ros/ros.h"
/**
* @namespace apollo::common::adapter
* @brief apollo::common::adapter
*/
namespace apollo {
namespace common {
namespace adapter {
/// Macro to prepare all the necessary adapter functions when adding a
/// new input/output. For example when you want to listen to
/// car_status message for your module, you can do
/// REGISTER_ADAPTER(CarStatus) write an adapter class called
/// CarStatusAdapter, and call EnableCarStatus(`car_status_topic`,
/// true, `callback`(if there's one)) in AdapterManager.
///当你想添加一个新的输入输出时，你必须准备一个必要的宏。比如说：你想要为你的模块去监听“汽车的消息状态”
//你需要写一个“REGISTER_ADAPTER(CarStatus)--CarStatusAdapter”。也就是说，你的模块想要监控汽车的状态，你必须写一个适配器。
#define REGISTER_ADAPTER(name) /×在这个adapter_manager适配器管理头文件中，REGISTER_ADAPTER(name)注册了一个适配器×/ \
public: \
static void Enable##name(const std::string &topic_name, \
const AdapterConfig &config) { \
CHECK(config.message_history_limit() > 0) \
<< "Message history limit must be greater than 0"; \
instance()->InternalEnable##name(topic_name, config); \
} \
static name##Adapter *Get##name() { \
return instance()->InternalGet##name(); \
} \
static AdapterConfig &Get##name##Config() { \
return instance()->name##config_; \
} \
static void Feed##name##Data(const name##Adapter::DataType &data) { \
if (!instance()->name##_) { \
AERROR << "Initialize adapter before feeding protobuf"; \
return; \
} \
Get##name()->FeedData(data); \
} \
static bool Feed##name##File(const std::string &proto_file) { \
if (!instance()->name##_) { \
AERROR << "Initialize adapter before feeding protobuf"; \
return false; \
} \
return Get##name()->FeedFile(proto_file); \
} \
static void Publish##name(const name##Adapter::DataType &data) { \
instance()->InternalPublish##name(data); \
} \
template \
static void Fill##name##Header(const std::string &module_name, T *data) { \
static_assert(std::is_same::value, \
"Data type must be the same with adapter's type!"); \
instance()->name##_->FillHeader(module_name, data); \
} \
static void Add##name##Callback(name##Adapter::Callback callback) { \
CHECK(instance()->name##_) \
<< "Initialize adapter before setting callback"; \
instance()->name##_->AddCallback(callback); \
} \
template \
static void Add##name##Callback( \
void (T::*fp)(const name##Adapter::DataType &data), T *obj) { \
Add##name##Callback(std::bind(fp, obj, std::placeholders::_1)); \
} \
template \
static void Add##name##Callback( \
void (T::*fp)(const name##Adapter::DataType &data)) { \
Add##name##Callback(fp); \
} \
/* Returns false if there's no callback to pop out, true otherwise. */ \
static bool Pop##name##Callback() { \
return instance()->name##_->PopCallback(); \
} \
\
private: \
std::unique_ptr name##_; \
ros::Publisher name##publisher_; /×这个适配器在ROS中，有发布者、订阅者消息，如果不懂这个请看看ROS的书×/ \
ros::Subscriber name##subscriber_; \
AdapterConfig name##config_; \
\
void InternalEnable##name(const std::string &topic_name, \
const AdapterConfig &config) { \
name##_.reset( \
new name##Adapter(#name, topic_name, config.message_history_limit())); \
if (config.mode() != AdapterConfig::PUBLISH_ONLY && IsRos()) { \
name##subscriber_ = \
node_handle_->subscribe(topic_name, config.message_history_limit(), \
&name##Adapter::RosCallback, name##_.get()); \
} \
if (config.mode() != AdapterConfig::RECEIVE_ONLY && IsRos()) { \
name##publisher_ = node_handle_->advertise( \
topic_name, config.message_history_limit(), config.latch()); \
} \
\
observers_.push_back([this]() { name##_->Observe(); }); \
name##config_ = config; \
} \
name##Adapter *InternalGet##name() { return name##_.get(); } \
void InternalPublish##name(const name##Adapter::DataType &data) { \
/* Only publish ROS msg if node handle is initialized. */ \
if (IsRos()) { \
if (!name##publisher_.getTopic().empty()) { \
name##publisher_.publish(data); \
} else { \
AERROR << #name << " is not valid."; \
} \
} else { \
/* For non-ROS mode, just triggers the callback. */ \
if (name##_) { \
name##_->OnReceive(data); \
} else { \
AERROR << #name << " is null."; \
} \
} \
name##_->SetLatestPublished(data); \
}
/**
* @class AdapterManager
*
* @brief this class hosts all the specific adapters and manages them.
* It provides APIs for the users to initialize, access and interact
* with the adapters that they are interested in.
*“AdapterManager”这个主类为所有用户提供了初始化的API，并且管理它们，用户想要数据接口，必需要在这里定义或者声明。
* \par
* Each (potentially) useful adapter needs to be registered here with
* the macro REGISTER_ADAPTER.每个用户适配器都需要来这里注册，不然用不了。
*
* \par
* The AdapterManager is a singleton.
*/
class AdapterManager {
public:
/**
* @brief Initialize the /class AdapterManager singleton with the
* provided configuration. The configuration is specified by the
* file path.
* @param adapter_config_filename the path to the proto file that
* contains the adapter manager configuration.
*/
static void Init(const std::string &adapter_config_filename);
/**
* @brief Initialize the /class AdapterManager singleton with the
* provided configuration.
* @param configs the adapter manager configuration proto.
*/
static void Init(const AdapterManagerConfig &configs);
/**
* @brief Resets the /class AdapterManager so that it could be
* re-initiailized.
*/
static void Reset();
/**
* @brief check if the AdapterManager is initialized
*/
static bool Initialized();
static void Observe();
/**
* @brief Returns whether AdapterManager is running ROS mode.
*/
static bool IsRos() { return instance()->node_handle_ != nullptr; }
/**
* @brief Returns a reference to static tf2 buffer.
*/
static tf2_ros::Buffer &Tf2Buffer() {
static tf2_ros::Buffer tf2_buffer;
static TransformListener tf2Listener(&tf2_buffer,
instance()->node_handle_.get());
return tf2_buffer;
}
/**
* @brief create a timer which will call a callback at the specified
* rate. It takes a class member function, and a bare pointer to the
* object to call the method on.重要的时间回调函数。
*/
template
static ros::Timer CreateTimer(ros::Duration period,
void (T::*callback)(const ros::TimerEvent &),
T *obj, bool oneshot = false,
bool autostart = true) {
if (IsRos()) {
return instance()->node_handle_->createTimer(period, callback, obj,
oneshot, autostart);
} else {
AWARN << "ROS timer is only available in ROS mode, check your adapter "
"config file! Return a dummy timer that won't function.";
return ros::Timer();
}
}
private:
/// The node handler of ROS, owned by the /class AdapterManager
/// singleton.
std::unique_ptr node_handle_;
/// Observe() callbacks that will be used to to call the Observe()
/// of enabled adapters.
std::vector> observers_;
bool initialized_ = false;
/// The following code registered all the adapters of interest.基本的关于自动驾驶控制有关的适配器都在这了。
REGISTER_ADAPTER(Chassis);底盘
REGISTER_ADAPTER(ChassisDetail);底盘细节
REGISTER_ADAPTER(ControlCommand);控制指令
REGISTER_ADAPTER(Gps);卫星位系统相关
REGISTER_ADAPTER(Imu);惯性导航
REGISTER_ADAPTER(RawImu);惯性导航角度 姿态四元素
REGISTER_ADAPTER(Localization);实时定位
REGISTER_ADAPTER(Monitor);
REGISTER_ADAPTER(Pad);
REGISTER_ADAPTER(PerceptionObstacles);目标预测
REGISTER_ADAPTER(Planning);路径规划
REGISTER_ADAPTER(PointCloud);3D点云重建，这里主要是激光雷达数据。
REGISTER_ADAPTER(ImageShort);
REGISTER_ADAPTER(ImageLong);
REGISTER_ADAPTER(Prediction);
REGISTER_ADAPTER(TrafficLightDetection);端到端的，或者深度学习的交通灯检测。
REGISTER_ADAPTER(RoutingRequest);路径规划 -------------------------------------------下面的我就不一一列举了，请自行熟悉。
REGISTER_ADAPTER(RoutingResponse);
REGISTER_ADAPTER(RelativeOdometry);
REGISTER_ADAPTER(InsStat);
REGISTER_ADAPTER(InsStatus);
REGISTER_ADAPTER(GnssStatus);
REGISTER_ADAPTER(SystemStatus);
REGISTER_ADAPTER(StaticInfo);
REGISTER_ADAPTER(Mobileye);
REGISTER_ADAPTER(DelphiESR);
REGISTER_ADAPTER(ContiRadar);
REGISTER_ADAPTER(Ultrasonic);
REGISTER_ADAPTER(CompressedImage);
REGISTER_ADAPTER(GnssRtkObs);
REGISTER_ADAPTER(GnssRtkEph);
REGISTER_ADAPTER(GnssBestPose);
REGISTER_ADAPTER(LocalizationMsfGnss);
REGISTER_ADAPTER(LocalizationMsfLidar);
REGISTER_ADAPTER(LocalizationMsfSinsPva);
REGISTER_ADAPTER(LocalizationMsfStatus);
REGISTER_ADAPTER(DriveEvent);
REGISTER_ADAPTER(RelativeMap);
REGISTER_ADAPTER(Navigation);
DECLARE_SINGLETON(AdapterManager);
};
} // namespace adapter
} // namespace common
} // namespace apollo
#endif