Apollo2.0自动驾驶之apollo/modules/common/adapters/adapter_gflags.cc

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 * 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
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 * http://www.apache.org/licenses/LICENSE-2.0
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#include "modules/common/adapters/adapter_gflags.h"

DEFINE_bool(enable_adapter_dump, false,
            "Whether enable dumping the messages to "
            "/tmp/adapters//.txt for debugging purposes.");
DEFINE_string(gps_topic, "/apollo/sensor/gnss/odometry", "GPS topic name");
DEFINE_string(imu_topic, "/apollo/sensor/gnss/corrected_imu", "IMU topic name");
DEFINE_string(raw_imu_topic, "/apollo/sensor/gnss/imu", "Raw IMU topic name");
DEFINE_string(chassis_topic, "/apollo/canbus/chassis", "chassis topic name");
DEFINE_string(chassis_detail_topic, "/apollo/canbus/chassis_detail",
              "chassis detail topic name");
DEFINE_string(localization_topic, "/apollo/localization/pose",
              "localization topic name");
DEFINE_string(planning_trajectory_topic, "/apollo/planning",
              "planning trajectory topic name");
DEFINE_string(monitor_topic, "/apollo/monitor", "ROS topic for monitor");
DEFINE_string(pad_topic, "/apollo/control/pad",
              "control pad message topic name");
DEFINE_string(control_command_topic, "/apollo/control",
              "control command topic name");
DEFINE_string(pointcloud_topic,
              "/apollo/sensor/velodyne64/compensator/PointCloud2",
              "pointcloud topic name");
DEFINE_string(prediction_topic, "/apollo/prediction", "prediction topic name");
DEFINE_string(perception_obstacle_topic, "/apollo/perception/obstacles",
              "perception obstacle topic name");
DEFINE_string(drive_event_topic, "/apollo/drive_event",
              "drive event topic name");
DEFINE_string(traffic_light_detection_topic, "/apollo/perception/traffic_light",
              "traffic light detection topic name");
DEFINE_string(routing_request_topic, "/apollo/routing_request",
              "routing request topic name");
DEFINE_string(routing_response_topic, "/apollo/routing_response",
              "routing response topic name");
DEFINE_string(relative_odometry_topic, "/apollo/calibration/relative_odometry",
              "relative odometry topic name");
DEFINE_string(ins_stat_topic, "/apollo/sensor/gnss/ins_stat",
              "ins stat topic name");
DEFINE_string(ins_status_topic, "/apollo/sensor/gnss/ins_status",
              "ins status topic name");
DEFINE_string(gnss_status_topic, "/apollo/sensor/gnss/gnss_status",
              "gnss status topic name");
DEFINE_string(system_status_topic, "/apollo/monitor/system_status",
              "System status topic name");
DEFINE_string(static_info_topic, "/apollo/monitor/static_info",
              "Static info topic name");
DEFINE_string(mobileye_topic, "/apollo/sensor/mobileye", "mobileye topic name");
DEFINE_string(delphi_esr_topic, "/apollo/sensor/delphi_esr",
              "delphi esr radar topic name");
DEFINE_string(conti_radar_topic, "/apollo/sensor/conti_radar",
              "delphi esr radar topic name");
DEFINE_string(ultrasonic_radar_topic, "/apollo/sensor/ultrasonic_radar",
              "ultrasonic esr radar topic name");
// TODO(Authors): Change the topic name
DEFINE_string(compressed_image_topic, "camera/image_raw",
              "CompressedImage topic name");
DEFINE_string(image_short_topic, "/apollo/sensor/camera/traffic/image_short",
              "short camera image topic name");
DEFINE_string(image_long_topic, "/apollo/sensor/camera/traffic/image_long",
              "long camera image topic name");
DEFINE_string(gnss_rtk_obs_topic, "/apollo/sensor/gnss/rtk_obs",
              "Gnss rtk observation topic name");
DEFINE_string(gnss_rtk_eph_topic, "/apollo/sensor/gnss/rtk_eph",
              "Gnss rtk ephemeris topic name");
DEFINE_string(gnss_best_pose_topic, "/apollo/sensor/gnss/best_pose",
              "Gnss rtk best gnss pose");
DEFINE_string(localization_gnss_topic, "/apollo/localization/msf_gnss",
              "Gnss localization measurement topic name");
DEFINE_string(localization_lidar_topic, "/apollo/localization/msf_lidar",
              "Lidar localization measurement topic name");
DEFINE_string(localization_sins_pva_topic, "/apollo/localization/msf_sins_pva",
              "Localization sins pva topic name");
DEFINE_string(localization_msf_status, "/apollo/localization/msf_status",
              "msf localization status");
DEFINE_string(relative_map_topic, "/apollo/relative_map", "relative map");
DEFINE_string(navigation_topic, "/apollo/navigation", "navigation");

gflags是什么：

gflags是google的一个开源的处理命令行参数的库，使用c++开发，具备python接口，可以替代getopt。

gflags使用起来比getopt方便，但是不支持参数的简写（例如getopt支持--list缩写成-l，gflags不支持）。

首先声明，本文描述的是google用于linux命令行下的gflags库，而非windows下debug内存的gflags。

 

gflags官方地址： https://code.google.com/p/gflags/

gflags作用：简化命令行参数的解析，作用同get_opt()类的操作。

安装方法

./configure

make

make install

 

使用方法：

• 定义flags
• 注册参数检查函数（可选）
• 调用解析函数（ParseCommandLineFlags）

定义flags

使用 DEFINE_xxx 函数定义各个参数。

定义函数参数：参数名， 默认值， --help时的说明文字。

例如下面的 DEFINE_bool(big_menu, true, "Include 'advanced' options in the menu listing");

使用方法为 ./foo --big_menu=false

默认值为true

说明文字： "Include 'advanced' options in the menu listing"

 

数据类型有：

DEFINE_bool: boolean

DEFINE_int32: 32-bit integer

DEFINE_int64: 64-bit integer

DEFINE_uint64: unsigned 64-bit integer

DEFINE_double: double

DEFINE_string: C++ string