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

于 2018-03-26 11:57:35 发布
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分类专栏： 自动驾驶 自动驾驶，3D建模。
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本文链接：https://blog.youkuaiyun.com/zouyu1746430162/article/details/79695937
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/****************Apollo源码分析****************************

Copyright 2018 The File Authors & zouyu. All Rights Reserved.
Contact with: 1746430162@qq.com 181663309504

源码主要是c++实现的，也有少量python，git下载几百兆，其实代码不太多，主要是地图和数据了大量空间，主要程序
在apollo/modules目录中，
我们把它分成以下几部分（具体说明见各目录下的modules）：
感知：感知当前位置，速度，障碍物等等
Apollo/modules/perception
预测：对场景下一步的变化做出预测
Apollo/modules/prediction
规划：
(1) 全局路径规划：通过起点终点计算行驶路径
Apollo/modules/routing
(2) 规划当前轨道：通过感知，预测，路径规划等信息计算轨道
Apollo/modules/planning
(3) 规划转换成命令：将轨道转换成控制汽车的命令（加速，制动，转向等）
Apollo/modules/control
其它
(1) 输入输出
i. Apollo/modules/drivers 设备驱动
ii. Apollo/modules/localization 位置信息
iii. Apollo/modules/monitor 监控模块
iv. Apollo/modules/canbus 与汽车硬件交互
v. Apollo/modules/map 地图数据
vi. Apollo/modules/third_party_perception 三方感知器支持
(2) 交互
i. Apollo/modules/dreamview 可视化模块
ii. Apollo/modules/hmi 把汽车当前状态显示给用户
(3) 工具
i. Apollo/modules/calibration 标注工具
ii. Apollo/modules/common 支持其它模块的公共工具
iii. Apollo/modules/data 数据工具
iv. Apollo/modules/tools 一些Python工具
(4) 其它
i. Apollo/modules/elo 高精度定位系统，无源码，但有文档
ii. Apollo/modules/e2e 收集传感器数据给PX2,ROS

  自动驾驶系统先通过起点终点规划出整体路径（routing）；然后在行驶过程中感知（perception）当前环境
（识别车辆行人路况标志等），并预测下一步发展；然后把已知信息都传入规划模块（planning），规划出之后的轨道；
控制模块（control）将轨道数据转换成对车辆的控制信号，通过汽车交互模块（canbus）控制汽车．
我觉得这里面算法技术含量最高的是感知perception和规划planning，具体请见本博客中各模块的分析代码。
/****************************************************************************************


adapter_manager.cc是适配器管理的重要文件，它利用adapter_manager.h中声明的函数来配置车辆的初始化参数，并且传输消息。这个文件是理解阿波罗工程的关键文件之一，请仔细体会。

*****************************************************************************
 * 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.
 *****************************************************************************/

#include "modules/common/adapters/adapter_manager.h"

#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/util/util.h"

namespace apollo {
namespace common {
namespace adapter {

AdapterManager::AdapterManager() {}

void AdapterManager::Observe() {
  for (const auto observe : instance()->observers_) {
    observe();
  }
}

bool AdapterManager::Initialized() { return instance()->initialized_; }

void AdapterManager::Reset() {
  instance()->initialized_ = false;
  instance()->observers_.clear();
}

void AdapterManager::Init(const std::string &adapter_config_filename) {
  // Parse config file
  AdapterManagerConfig configs;
  CHECK(util::GetProtoFromFile(adapter_config_filename, &configs))
      << "Unable to parse adapter config file " << adapter_config_filename;
  AINFO << "Init AdapterManger config:" << configs.DebugString();
  Init(configs);
}

void AdapterManager::Init(const AdapterManagerConfig &configs) {
  if (Initialized()) {
    return;
  }

  instance()->initialized_ = true;
  if (configs.is_ros()) {
    instance()->node_handle_.reset(new ros::NodeHandle());
  }

  for (const auto &config : configs.config()) {
    switch (config.type()) {
      case AdapterConfig::POINT_CLOUD:
        EnablePointCloud(FLAGS_pointcloud_topic, config);
        break;
      case AdapterConfig::GPS:
        EnableGps(FLAGS_gps_topic, config);
        break;
      case AdapterConfig::IMU:
        EnableImu(FLAGS_imu_topic, config);
        break;
      case AdapterConfig::RAW_IMU:
        EnableRawImu(FLAGS_raw_imu_topic, config);
        break;
      case AdapterConfig::CHASSIS:
        EnableChassis(FLAGS_chassis_topic, config);
        break;
      case AdapterConfig::LOCALIZATION:
        EnableLocalization(FLAGS_localization_topic, config);
        break;
      case AdapterConfig::PERCEPTION_OBSTACLES:
        EnablePerceptionObstacles(FLAGS_perception_obstacle_topic, config);
        break;
      case AdapterConfig::TRAFFIC_LIGHT_DETECTION:
        EnableTrafficLightDetection(FLAGS_traffic_light_detection_topic,
                                    config);
        break;
      case AdapterConfig::PAD:
        EnablePad(FLAGS_pad_topic, config);
        break;
      case AdapterConfig::CONTROL_COMMAND:
        EnableControlCommand(FLAGS_control_command_topic, config);
        break;
      case AdapterConfig::ROUTING_REQUEST:
        EnableRoutingRequest(FLAGS_routing_request_topic, config);
        break;
      case AdapterConfig::ROUTING_RESPONSE:
        EnableRoutingResponse(FLAGS_routing_response_topic, config);
        break;
      case AdapterConfig::PLANNING_TRAJECTORY:
        EnablePlanning(FLAGS_planning_trajectory_topic, config);
        break;
      case AdapterConfig::PREDICTION:
        EnablePrediction(FLAGS_prediction_topic, config);
        break;
      case AdapterConfig::MONITOR:
        EnableMonitor(FLAGS_monitor_topic, config);
        break;
      case AdapterConfig::CHASSIS_DETAIL:
        EnableChassisDetail(FLAGS_chassis_detail_topic, config);
        break;
      case AdapterConfig::RELATIVE_ODOMETRY:
        EnableRelativeOdometry(FLAGS_relative_odometry_topic, config);
        break;
      case AdapterConfig::INS_STAT:
        EnableInsStat(FLAGS_ins_stat_topic, config);
        break;
      case AdapterConfig::INS_STATUS:
        EnableInsStatus(FLAGS_ins_status_topic, config);
        break;
      case AdapterConfig::GNSS_STATUS:
        EnableGnssStatus(FLAGS_gnss_status_topic, config);
        break;
      case AdapterConfig::SYSTEM_STATUS:
        EnableSystemStatus(FLAGS_system_status_topic, config);
        break;
      case AdapterConfig::STATIC_INFO:
        EnableStaticInfo(FLAGS_static_info_topic, config);
        break;
      case AdapterConfig::MOBILEYE:
        EnableMobileye(FLAGS_mobileye_topic, config);
        break;
      case AdapterConfig::DELPHIESR:
        EnableDelphiESR(FLAGS_delphi_esr_topic, config);
        break;
      case AdapterConfig::CONTI_RADAR:
        EnableContiRadar(FLAGS_conti_radar_topic, config);
        break;
      case AdapterConfig::ULTRASONIC_RADAR:
        EnableUltrasonic(FLAGS_ultrasonic_radar_topic, config);
        break;
      case AdapterConfig::COMPRESSED_IMAGE:
        EnableCompressedImage(FLAGS_compressed_image_topic, config);
        break;
      case AdapterConfig::IMAGE_SHORT:
        EnableImageShort(FLAGS_image_short_topic, config);
        break;
      case AdapterConfig::IMAGE_LONG:
        EnableImageLong(FLAGS_image_long_topic, config);
        break;
      case AdapterConfig::DRIVE_EVENT:
        EnableDriveEvent(FLAGS_drive_event_topic, config);
        break;
      case AdapterConfig::GNSS_RTK_OBS:
        EnableGnssRtkObs(FLAGS_gnss_rtk_obs_topic, config);
        break;
      case AdapterConfig::GNSS_RTK_EPH:
        EnableGnssRtkEph(FLAGS_gnss_rtk_eph_topic, config);
        break;
      case AdapterConfig::GNSS_BEST_POSE:
        EnableGnssBestPose(FLAGS_gnss_best_pose_topic, config);
        break;
      case AdapterConfig::LOCALIZATION_MSF_GNSS:
        EnableLocalizationMsfGnss(FLAGS_localization_gnss_topic, config);
        break;
      case AdapterConfig::LOCALIZATION_MSF_LIDAR:
        EnableLocalizationMsfLidar(FLAGS_localization_lidar_topic, config);
        break;
      case AdapterConfig::LOCALIZATION_MSF_SINS_PVA:
        EnableLocalizationMsfSinsPva(FLAGS_localization_sins_pva_topic, config);
        break;
      case AdapterConfig::LOCALIZATION_MSF_STATUS:
        EnableLocalizationMsfStatus(FLAGS_localization_msf_status, config);
        break;
      case AdapterConfig::RELATIVE_MAP:
        EnableRelativeMap(FLAGS_relative_map_topic, config);
        break;
      case AdapterConfig::NAVIGATION:
        EnableNavigation(FLAGS_navigation_topic, config);
        break;
      default:
        AERROR << "Unknown adapter config type!";
        break;
    }
  }
}

}  // namespace adapter
}  // namespace common
}  // namespace apollo
下面是简要分析：

/******************************************************************************
* 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.
*****************************************************************************/

#include "modules/common/adapters/adapter_manager.h" //包括上讲讲到的适配器管理的头文件，
//这个头文件非常清楚的声明了各个适配器的消息。

#include "modules/common/adapters/adapter_gflags.h" //一个接口文件。
#include "modules/common/util/util.h"

namespace apollo {
namespace common {
namespace adapter {

AdapterManager::AdapterManager () {}

void AdapterManager::Observe () { //在头文件adapter_manager.h中声明了AdapterManager这个类，
//然后，类里有Observe成员。
for ( const auto observe : instance ()-> observers_ ) {
observe ();
}
}

bool AdapterManager::Initialized () { return instance ()-> initialized_ ; } //初始化

void AdapterManager::Reset () { //重启。
instance ()-> initialized_ = false ;
instance ()-> observers_ . clear ();
}

void AdapterManager::Init ( const std::string & adapter_config_filename) { //初始化配置文件，在自动驾驶车辆自动
的时候，有一个配置文件要初始化，这代表了车辆以什么样的状态开始。
// Parse config file
AdapterManagerConfig configs;
CHECK ( util::GetProtoFromFile (adapter_config_filename, & configs))
<< "Unable to parse adapter config file " << adapter_config_filename;
AINFO << "Init AdapterManger config:" << configs. DebugString ();
Init (configs);
}

void AdapterManager::Init ( const AdapterManagerConfig & configs) {
if ( Initialized ()) {
return ;
}

instance ()-> initialized_ = true ;
if (configs. is_ros ()) {
instance ()-> node_handle_ . reset ( new ros::NodeHandle ());
}

for ( const auto & config : configs. config ()) {
switch (config. type ()) {
case AdapterConfig::POINT_CLOUD: //这里就是配置初始化要传递过来的参数，
有点云、GPS、IMU、底盘参数等等。自己可以看一下CASE里判断的类别。
EnablePointCloud (FLAGS_pointcloud_topic, config);
break ;
case AdapterConfig::GPS:
EnableGps (FLAGS_gps_topic, config);
break ;
case AdapterConfig::IMU:
EnableImu (FLAGS_imu_topic, config);
break ;
case AdapterConfig::RAW_IMU:
EnableRawImu (FLAGS_raw_imu_topic, config);
break ;
case AdapterConfig::CHASSIS:
EnableChassis (FLAGS_chassis_topic, config);
break ;
case AdapterConfig::LOCALIZATION:
EnableLocalization (FLAGS_localization_topic, config);
break ;
case AdapterConfig::PERCEPTION_OBSTACLES:
EnablePerceptionObstacles (FLAGS_perception_obstacle_topic, config);
break ;
case AdapterConfig::TRAFFIC_LIGHT_DETECTION:
EnableTrafficLightDetection (FLAGS_traffic_light_detection_topic,
config);
break ;
case AdapterConfig::PAD:
EnablePad (FLAGS_pad_topic, config);
break ;
case AdapterConfig::CONTROL_COMMAND:
EnableControlCommand (FLAGS_control_command_topic, config);
break ;
case AdapterConfig::ROUTING_REQUEST:
EnableRoutingRequest (FLAGS_routing_request_topic, config);
break ;
case AdapterConfig::ROUTING_RESPONSE:
EnableRoutingResponse (FLAGS_routing_response_topic, config);
break ;
case AdapterConfig::PLANNING_TRAJECTORY:
EnablePlanning (FLAGS_planning_trajectory_topic, config);
break ;
case AdapterConfig::PREDICTION:
EnablePrediction (FLAGS_prediction_topic, config);
break ;
case AdapterConfig::MONITOR:
EnableMonitor (FLAGS_monitor_topic, config);
break ;
case AdapterConfig::CHASSIS_DETAIL:
EnableChassisDetail (FLAGS_chassis_detail_topic, config);
break ;
case AdapterConfig::RELATIVE_ODOMETRY:
EnableRelativeOdometry (FLAGS_relative_odometry_topic, config);
break ;
case AdapterConfig::INS_STAT:
EnableInsStat (FLAGS_ins_stat_topic, config);
break ;
case AdapterConfig::INS_STATUS:
EnableInsStatus (FLAGS_ins_status_topic, config);
break ;
case AdapterConfig::GNSS_STATUS:
EnableGnssStatus (FLAGS_gnss_status_topic, config);
break ;
case AdapterConfig::SYSTEM_STATUS:
EnableSystemStatus (FLAGS_system_status_topic, config);
break ;
case AdapterConfig::STATIC_INFO:
EnableStaticInfo (FLAGS_static_info_topic, config);
break ;
case AdapterConfig::MOBILEYE:
EnableMobileye (FLAGS_mobileye_topic, config);
break ;
case AdapterConfig::DELPHIESR:
EnableDelphiESR (FLAGS_delphi_esr_topic, config);
break ;
case AdapterConfig::CONTI_RADAR:
EnableContiRadar (FLAGS_conti_radar_topic, config);
break ;
case AdapterConfig::ULTRASONIC_RADAR:
EnableUltrasonic (FLAGS_ultrasonic_radar_topic, config);
break ;
case AdapterConfig::COMPRESSED_IMAGE:
EnableCompressedImage (FLAGS_compressed_image_topic, config);
break ;
case AdapterConfig::IMAGE_SHORT:
EnableImageShort (FLAGS_image_short_topic, config);
break ;
case AdapterConfig::IMAGE_LONG:
EnableImageLong (FLAGS_image_long_topic, config);
break ;
case AdapterConfig::DRIVE_EVENT:
EnableDriveEvent (FLAGS_drive_event_topic, config);
break ;
case AdapterConfig::GNSS_RTK_OBS:
EnableGnssRtkObs (FLAGS_gnss_rtk_obs_topic, config);
break ;
case AdapterConfig::GNSS_RTK_EPH:
EnableGnssRtkEph (FLAGS_gnss_rtk_eph_topic, config);
break ;
case AdapterConfig::GNSS_BEST_POSE:
EnableGnssBestPose (FLAGS_gnss_best_pose_topic, config);
break ;
case AdapterConfig::LOCALIZATION_MSF_GNSS:
EnableLocalizationMsfGnss (FLAGS_localization_gnss_topic, config);
break ;
case AdapterConfig::LOCALIZATION_MSF_LIDAR:
EnableLocalizationMsfLidar (FLAGS_localization_lidar_topic, config);
break ;
case AdapterConfig::LOCALIZATION_MSF_SINS_PVA:
EnableLocalizationMsfSinsPva (FLAGS_localization_sins_pva_topic, config);
break ;
case AdapterConfig::LOCALIZATION_MSF_STATUS:
EnableLocalizationMsfStatus (FLAGS_localization_msf_status, config);
break ;
case AdapterConfig::RELATIVE_MAP:
EnableRelativeMap (FLAGS_relative_map_topic, config);
break ;
case AdapterConfig::NAVIGATION:
EnableNavigation (FLAGS_navigation_topic, config);
break ;
default :
AERROR << "Unknown adapter config type!" ;
break ;
}
}
}

} // namespace adapter
} // namespace common
} // namespace apollo



 

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