话题通信

目录

话题通信

创建node

API

参数

创建写端

API

参数:

创建读端

API

参数

代码样例

Talker

Listener

BUILD

创建node

API

std::unique_ptr apollo::cyber::CreateNode(const std::string& node_name, const std::string& name_space = "");

参数

Node_name: 节点名，全局唯一标识符
Name_space:节点所在的空间名称
Name_space 默认为空。是与node_name连在一起的空间名。格式为/namespace/node_name
返回值-指向Node的独占智能指针
错误条件—当cyber::Init()未被调用时，系统处于未初始化状态，无法创建节点，返回nullptr

创建写端

API

template auto CreateWriter(const std::string& channel_name)-> std::shared_ptr>;
template auto CreateWriter(const proto::RoleAttributes& role_attr)-> std::shared_ptr>;

参数:

Channel_name:要写入的通道名
MessageT:要写入的消息类型
返回值- Writer对象的共享指针

创建读端

API

template 
auto CreateReader(const std::string& channel_name, const std::function&)>& reader_func)-> std::shared_ptr>;template 
auto CreateReader(const ReaderConfig& config,const CallbackFunc& reader_func = nullptr)-> std::shared_ptr>;template 
auto CreateReader(const proto::RoleAttributes& role_attr,const CallbackFunc& reader_func = nullptr)
-> std::shared_ptr>;

参数

MessageT:要读取的消息类型
Channel_name:要接收的通道的名称
Reader_func:处理消息的回调函数
返回值—Reader对象的共享指针

代码样例

Talker

#include "cyber/cyber.h"#include "cyber/proto/chatter.pb.h"#include "cyber/time/rate.h"#include "cyber/time/time.h"using apollo::cyber::Rate;using apollo::cyber::Time;using apollo::cyber::proto::Chatter;int main(int argc, char *argv[]) {// init cyber frameworkapollo::cyber::Init(argv[0]);// create talker nodestd::shared_ptr talker_node(apollo::cyber::CreateNode("talker"));// create talkerauto talker = talker_node->CreateWriter("channel/chatter");Rate rate(1.0);while (apollo::cyber::OK()) {static uint64_t seq = 0;auto msg = std::make_shared();msg->set_timestamp(Time::Now().ToNanosecond());msg->set_lidar_timestamp(Time::Now().ToNanosecond());msg->set_seq(seq++);msg->set_content("Hello, apollo!");talker->Write(msg);AINFO << "talker sent a message!";rate.Sleep();}return 0;}

Listener

#include "cyber/cyber.h"#include "cyber/proto/chatter.pb.h"void MessageCallback(const std::shared_ptr& msg) {AINFO << "Received message seq-> " << msg->seq();AINFO << "msgcontent->" << msg->content();}int main(int argc, char *argv[]) {// init cyber frameworkapollo::cyber::Init(argv[0]);// create listener nodeauto listener_node = apollo::cyber::CreateNode("listener");// create listenerauto listener =listener_node->CreateReader("channel/chatter", MessageCallback);apollo::cyber::WaitForShutdown();return 0;}

BUILD

cc_binary(name = "talker",srcs = [ "talker.cc", ],deps = ["//cyber","//cyber/examples/proto:examples_cc_proto",],)cc_binary(name = "listener",srcs = [ "listener.cc", ],deps = ["//cyber","//cyber/examples/proto:examples_cc_proto",],)