Class LaneDetectorGNode

example/E01-AutoPilot.cpp:72–97

class LaneDetectorGNode : public GNode {
public:
    CStatus init() override {
        // 订阅 EXAMPLE_IMAGE_TOPIC 消息。每次 bind的返回值，是不一样的，用于区分
        conn_id_ = CGRAPH_BIND_MESSAGE_TOPIC(ImageMParam, EXAMPLE_IMAGE_TOPIC, DEFAULT_MESSAGE_BUF_SIZE)
        return CStatus();
    }

    CStatus run() override {
        std::shared_ptr<ImageMParam> image = nullptr;
        auto status = CGRAPH_SUB_MPARAM(ImageMParam, conn_id_, image);
        if (status.isErr()) {
            return status;
        }

        auto param = CGRAPH_GET_GPARAM_WITH_NO_EMPTY(DetectResultGParam, EXAMPLE_PARAM_KEY)
        // detector lane in image.image_buf_ ...
        CGRAPH_ECHO("detecting lane in frame [%d], info is [%s]", image->frame_id_, image->image_buf_);
        param->frame_id_ = image->frame_id_;
        param->lane_num_ = std::abs((int)std::random_device{}()) % 10;
        return CStatus();
    }

private:
    int conn_id_ = 0;
};


class CarDetectorGNode : public GNode {