APOLLO_CARSIM_Bridge

Introduction

This module provides a way for other Apollo modules interactiving with process outside of Apollo by socket. It includes sender and receiver components.

Input

In sender component, there is only one input, which is the proto struct sender handled. In receiver comonent, its input is different with others. Its input comes from UDP socket.

Output

Sender's output is by way of UDP socket. Receiver has one output which is receiver handled.

Launch

Bridge contains two sub-modules, other than: sender and receiver. The sender is responsible for sending the udp data, and the receiver is responsible for receiving the data packet sent by the udp client, and parsing it, and then sending it to the module that has registered to respond to the message.

The start command of Sender is as follows.

$ ./apollo_carsim_bridge_send

The start command of Receiver is as follows:

$ ./apollo_carsim_bridge_receive