cyber-bridge

Introduction

This is bridge that exposes custom TCP socket for accepting and transmitting Cyber messages.

Directory Structure

shell

modules/contrib/cyber_bridge/
├── bridge.cc
├── BUILD
├── client.cc
├── client.h
├── clients.cc
├── clients.h
├── cyber-bridge.BUILD
├── cyberfile.xml
├── LICENSE
├── node.cc
├── node.h
├── README.md
├── server.cc
└── server.h

Building

Run the build inside docker.

shell

cd /apollo && bash apollo.sh build contrib                      # in source env
cd /apollo_workspace && buildtool build -p modules/contrib      # in package management env

Running

shell

cd /apollo && ./bazel-bin/module/contrib/cyber_bridge/cyber_bridge  # in source env
cyber_bridge                                                        # in package management env

For extra logging:

shell

GLOG_v=4 GLOG_logtostderr=1 ./bazel-bin/modules/contrib/cyber_bridge/cyber_bridge # in source env
GLOG_v=4 GLOG_logtostderr=1 cyber_bridge                                          # in package management env

Add extra -port 9090 argument for custom port (9090 is default).

Example

In one terminal launch cyber_bridge:

shell

cd /apollo && ./bazel-bin/module/contrib/cyber_bridge/cyber_bridge  # in source env
cyber_bridge                                                        # in package management env

In another terminal launch example talker:

shell

cd /apollo && ./bazel-bin/cyber/python/cyber_py3/examples/talker    # in source env
talker                                                              # in package management env

In one more terminal launch example listener:

shell

cd /apollo && ./bazel-bin/cyber/python/cyber_py3/examples/listener  # in source env
listener                                                            # in package management env

Now you should observe talker and listener sending & receiving message with incrementing integer.