Cyber RT 之 Timer Component 实践（apollo 9.0）

实验内容

Component 是 Cyber RT 提供的用来构建功能模块的基础类，Component 有两种类型，分别为 Component 和 TimerComponent。

相较于 Component，TimerComponent 不提供消息融合，也不由消息触发运行，而是由系统定时调用，可用来执行一些例行任务。

本实验将编写一个 TimerComponent 实例，来模拟传感器产生数据。

实验流程

创建TimerComponent模板实例

进入apollo容器，终端执行以下命令，创建实验代码目录

buildtool create --template timer_component component/timer_component_sensor

最终生成component目录，其目录结构如下：

./component/
`-- timer_component_sensor|-- BUILD|-- conf|   |-- timer_component_sensor.conf|   `-- timer_component_sensor.pb.txt|-- cyberfile.xml|-- dag|   `-- timer_component_sensor.dag|-- launch|   `-- timer_component_sensor.launch|-- proto|   |-- BUILD|   `-- timer_component_sensor.proto|-- timer_component_sensor_component.cc`-- timer_component_sensor_component.h

BUILD 文件为 TimerComponent 的源码编译的规则文件
conf 目录下
timer_component_sensor.conf为全局变量配置文件
timer_component_sensor.pb.txt为用户在 proto 文件中定义的可配置项的配置文件
cyberfile.xml为timer_component_sensor功能包的描述文件
dag 目录下的timer_component_sensor.dag文件中描述了timer_component_sensor功能包的依赖关系
launch 文件夹下
timer_component_sensor.launch为timer_component_sensor功能包的 launch 启动文件
proto 文件夹下的
BUILD 为用户在 proto 文件夹下定义的 protobuffer 文件的编译规则文件
timer_component_sensor.proto文件中用户可以定义自己的消息结构
timer_component_sensor.cc和timer_component_sensor.h两个文件为 TimerComponent 的源文件和头文件。

定义消息结构

在timer_component_sensor.proto中，添加以下消息数据结构。

syntax = "proto2";package apollo;// message type of channel, just a placeholder for demo,
// you should use `--channel_message_type` option to specify the real message type
//定义相机传感器的消息结构
message CameraSensorMsg {optional string content =1;//消息内容optional uint64 msg_id =2;//消息idoptional uint64 timestamp=3;//发送消息的时间戳
}//定义激光雷达传感器的消息结构
message LidarSensorMsg {optional string content =1;//消息内容optional uint64 msg_id =2;//消息idoptional uint64 timestamp=3;//发送消息的时间戳
}//配置TimerComponentSensorConfig的名称和输出数据的channel
message TimerComponentSensorConfig {optional string camera_name = 1;optional string camera_sensor_topic=2;optional string lidar_name=3;optional string lidar_sensor_topic=4;
};

在 proto 文件夹下的 BUILD 文件中，添加 protobuffer 文件的编译规则。

load("//tools:apollo_package.bzl", "apollo_package")
load("//tools/proto:proto.bzl", "proto_library")
load("//tools:cpplint.bzl", "cpplint")package(default_visibility = ["//visibility:public"])proto_library(name = "timer_component_sensor_proto",srcs = ["timer_component_sensor.proto"],
)apollo_package()cpplint()

配置TimerComponent的配置文件

在timer_component_sensor.pb.txt中，配置timer_component_sensor.proto文件中定义的可配置项。

camera_name: "camera-sensor"
camera_sensor_topic: "/sensor/camera"lidar_name: "lidar-sensor"
lidar_sensor_topic: "/sensor/lidar"

编写TimerComponent的源文件

修改timer_component_sensor.h文件：

/******************************************************************************* Copyright 2023 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 timer_component_sensor_component.h*****************************************************************************/#pragma once
#include <memory>#include "cyber/common/macros.h"
#include "cyber/component/component.h"
#include "cyber/component/timer_component.h"
#include "cyber/cyber.h"
#include "component/timer_component_sensor/proto/timer_component_sensor.pb.h"using apollo::cyber::Time;
using apollo::cyber::Writer;namespace apollo {class TimerComponentSensor final: public apollo::cyber::TimerComponent {public:bool Init() override;bool Proc() override;private:apollo::TimerComponentSensorConfig config_;//定义camera的消息writerstd::shared_ptr<Writer<CameraSensorMsg>> camera_sensor_writer_=nullptr;//定义lidar的消息writerstd::shared_ptr<Writer<LidarSensorMsg>> lidar_sensor_writer_=nullptr;
};CYBER_REGISTER_COMPONENT(TimerComponentSensor)} // namespace apollo

修改timer_component_sensor.cc`文件。

/******************************************************************************* Copyright 2023 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 timer_component_sensor_component.cc*****************************************************************************/#include "component/timer_component_sensor/timer_component_sensor_component.h"namespace apollo {bool TimerComponentSensor::Init() {ACHECK(ComponentBase::GetProtoConfig(&config_))<< "failed to load timer_component_sensor config file "<< ComponentBase::ConfigFilePath();AINFO << "Load config succedded.\n" << config_.DebugString();//创建camera和lidar的writercamera_sensor_writer_=node_->CreateWriter<CameraSensorMsg>(config_.camera_sensor_topic().c_str());lidar_sensor_writer_=node_->CreateWriter<LidarSensorMsg> (config_.lidar_sensor_topic().c_str());AINFO << "Init TimerComponentSensor succedded.";return true;
}bool TimerComponentSensor::Proc() {AINFO << "Proc TimerComponentSensor triggered.";//封装camera消息static int i=0;auto camera_out_msg=std::make_shared<CameraSensorMsg>();camera_out_msg->set_msg_id(++i);camera_out_msg->set_content(config_.camera_name());camera_out_msg->set_timestamp(Time::Now().ToNanosecond());//将camera消息写入通道camera_sensor_writer_->Write(camera_out_msg);//封装lidar消息auto lidar_out_msg=std::make_shared<LidarSensorMsg>();lidar_out_msg->set_msg_id(++i);lidar_out_msg->set_content(config_.lidar_name());lidar_out_msg->set_timestamp(Time::Now().ToNanosecond());//写入lidar消息lidar_sensor_writer_->Write(lidar_out_msg);return true;
}} // namespace apollo

修改 BUILD 文件

load("//tools:apollo_package.bzl", "apollo_cc_library", "apollo_cc_binary", "apollo_package", "apollo_component")
load("//tools:cpplint.bzl", "cpplint")package(default_visibility = ["//visibility:public"])filegroup(name = "timer_component_sensor_files",srcs = glob(["dag/**","launch/**","conf/**",]),
)apollo_component(name = "libtimer_component_sensor_component.so",srcs = ["timer_component_sensor_component.cc",],hdrs = ["timer_component_sensor_component.h",],linkstatic = True,deps = ["//cyber","//component/timer_component_sensor/proto:timer_component_sensor_proto",],
)apollo_package()cpplint()

编译TimerComponent功能包

在终端中，执行以下指令，编译 timer_component_sensor 功能包。

root@in-dev-docker:/apollo_workspace# buildtool build  -p component/timer_component_sensor/

出现如下信息即为编译成功

修改启动配置

修改TimerComponent的dag文件

在timer_component_sensor.dag文件中，将 interval 项的值改为 500，即每 500ms 运行一次。interval 值为 TimerComponent 的运行时间间隔。

module_config {module_library : "component/timer_component_sensor/libtimer_component_sensor_component.so"timer_components {class_name : "TimerComponentSensor"config {name: "timer_component_sensor"config_file_path:  "component/timer_component_sensor/conf/timer_component_sensor.pb.txt"flag_file_path:  "component/timer_component_sensor/conf/timer_component_sensor.conf"interval: 500}}
}

修改TimerComponent的launch文件

在<dag_conf>标签内的 dag 文件路径前加上“ ./ ” 。由于目前 cyber 与 apollo 绑定的比较紧密，编译完成后，系统会把编译产出及配置文件拷贝到 apollo 相应目录下，且执行文件时，系统会优先执行 apollo 目录下的文件，这样就会导致此处的配置无法起作用，这里加上“ ./ ”，就是告诉系统使用此处的 dag 文件来运行 component。

<cyber><module><name>communication</name><dag_conf>./communication/dag/communication.dag</dag_conf><process_name>communication</process_name></module>
</cyber>

运行TimerComponent

方式一：使用mainboard运行timer_component_sensor.dag文件

在终端中，输入以下指令，使用 mainboard 工具运行timer_component_sensor.dag文件，运行timer_component_sensor功能包。

mainboard -d ./component/timer_component_sensor/dag/timer_component_sensor.dag

方式二：使用cyber_launch运行timer_component_sensor.launch文件

在终端中，也可以使用 cyber_launch 工具运行timer_component_sensor.launch文件，运行timer_component_sensor功能包。

查看TimerComponent运行结果

使用cyber_monitor工具查看timer_component_sensor运行结果。

新启一个终端窗口，在终端中输入执行 cyber_monitor 命令，启动cyber_monitor工具。

cyber_monitor

参考：

apollo.baidu.com/community/Apollo-Homepage-Document?doc=BYFxAcGcC4HpYIbgPYBtXIHQCMEEsATAV0wGNkBbWA5UyRFdZWVBEAU0hFgoIH0adPgCY%2BADwCiAVnEBBCeIAcATnETFcgMxKZkgGxKAwkoDsa3YoAi45WdGSLxsYt0SzY%2BXICMa98oAMSgYALF7%2B2NhemsLBJsrCYZqKwors7AikBIp6miYmpFJSXpigFKhAA

Apollo开发者社区_cyber专项课（9.0版）