apollo::canbus::ChVehicleFactory类 参考

this class is inherited from AbstractVehicleFactory. 更多...

#include <ch_vehicle_factory.h>

类 apollo::canbus::ChVehicleFactory 继承关系图:

apollo::canbus::ChVehicleFactory 的协作图:

Public 成员函数
virtual	~ChVehicleFactory ()=default
	destructor
bool	Init (const CanbusConf *canbus_conf) override
	init vehicle factory
bool	Start () override
	start canclient, cansender, canreceiver, vehicle controller
void	Stop () override
	stop canclient, cansender, canreceiver, vehicle controller
void	UpdateCommand (const apollo::control::ControlCommand *control_command) override
	update control command
void	UpdateCommand (const apollo::external_command::ChassisCommand *chassis_command) override
	update chassis command
Chassis	publish_chassis () override
	publish chassis messages
void	PublishChassisDetail () override
	publish chassis for vehicle messages
void	PublishChassisDetailSender () override
	publish chassis for apollo sender messages
bool	CheckChassisCommunicationFault () override
	check chassis can receiver lost
Public 成员函数 继承自 apollo::canbus::AbstractVehicleFactory
virtual	~AbstractVehicleFactory ()=default
	destructor
void	SetVehicleParameter (const VehicleParameter &vehicle_paramter)
	set VehicleParameter.
virtual void	UpdateHeartbeat ()
	create cansender heartbeat
virtual void	AddSendProtocol ()
	add send protocol message
virtual void	ClearSendProtocol ()
	clear send protocol message, make a sender can error
virtual bool	IsSendProtocolClear ()
	check send protocol message whether is clear or not
virtual Chassis::DrivingMode	Driving_Mode ()
	get chassis driving mode

详细描述

this class is inherited from AbstractVehicleFactory.

It can be used to create controller and message manager for ch vehicle.

在文件 ch_vehicle_factory.h 第 54 行定义.

构造及析构函数说明

~ChVehicleFactory()

virtual apollo::canbus::ChVehicleFactory::~ChVehicleFactory ( )

virtualdefault

destructor

成员函数说明

CheckChassisCommunicationFault()

bool apollo::canbus::ChVehicleFactory::CheckChassisCommunicationFault ( )

overridevirtual

check chassis can receiver lost

重载 apollo::canbus::AbstractVehicleFactory .

在文件 ch_vehicle_factory.cc 第 169 行定义.

                                                      {
  if (vehicle_controller_->CheckChassisCommunicationError()) {
    return true;
  }
  return false;
}

Init()

bool apollo::canbus::ChVehicleFactory::Init ( const CanbusConf *  canbus_conf )

overridevirtual

init vehicle factory

返回

true if successfully initialized

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 ch_vehicle_factory.cc 第 32 行定义.

                                                         {
  // Init can client
  auto can_factory = CanClientFactory::Instance();
  can_factory->RegisterCanClients();
  can_client_ = can_factory->CreateCANClient(canbus_conf->can_card_parameter());
  if (!can_client_) {
    AERROR << "Failed to create can client.";
    return false;
  }
  AINFO << "Can client is successfully created.";
 
  message_manager_ = this->CreateMessageManager();
  if (message_manager_ == nullptr) {
    AERROR << "Failed to create message manager.";
    return false;
  }
  AINFO << "Message manager is successfully created.";
 
  if (can_receiver_.Init(can_client_.get(), message_manager_.get(),
                         canbus_conf->enable_receiver_log()) != ErrorCode::OK) {
    AERROR << "Failed to init can receiver.";
    return false;
  }
  AINFO << "The can receiver is successfully initialized.";
 
  if (can_sender_.Init(can_client_.get(), message_manager_.get(),
                       canbus_conf->enable_sender_log()) != ErrorCode::OK) {
    AERROR << "Failed to init can sender.";
    return false;
  }
  AINFO << "The can sender is successfully initialized.";
 
  vehicle_controller_ = CreateVehicleController();
  if (vehicle_controller_ == nullptr) {
    AERROR << "Failed to create vehicle controller.";
    return false;
  }
  AINFO << "The vehicle controller is successfully created.";
 
  if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,
                                message_manager_.get()) != ErrorCode::OK) {
    AERROR << "Failed to init vehicle controller.";
    return false;
  }
 
  AINFO << "The vehicle controller is successfully"
        << " initialized with canbus conf as : "
        << canbus_conf->vehicle_parameter().ShortDebugString();
 
  node_ = ::apollo::cyber::CreateNode("chassis_detail");
 
  chassis_detail_writer_ =
      node_->CreateWriter<::apollo::canbus::Ch>(FLAGS_chassis_detail_topic);
 
  chassis_detail_sender_writer_ = node_->CreateWriter<::apollo::canbus::Ch>(
      FLAGS_chassis_detail_sender_topic);
 
  return true;
}

publish_chassis()

Chassis apollo::canbus::ChVehicleFactory::publish_chassis ( )

overridevirtual

publish chassis messages

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 ch_vehicle_factory.cc 第 150 行定义.

                                          {
  Chassis chassis = vehicle_controller_->chassis();
  ADEBUG << chassis.ShortDebugString();
  return chassis;
}

PublishChassisDetail()

void apollo::canbus::ChVehicleFactory::PublishChassisDetail ( )

overridevirtual

publish chassis for vehicle messages

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 ch_vehicle_factory.cc 第 156 行定义.

                                            {
  Ch chassis_detail = vehicle_controller_->GetNewRecvChassisDetail();
  ADEBUG << "latest chassis_detail is " << chassis_detail.ShortDebugString();
  chassis_detail_writer_->Write(chassis_detail);
}

PublishChassisDetailSender()

void apollo::canbus::ChVehicleFactory::PublishChassisDetailSender ( )

overridevirtual

publish chassis for apollo sender messages

重载 apollo::canbus::AbstractVehicleFactory .

在文件 ch_vehicle_factory.cc 第 162 行定义.

                                                  {
  Ch sender_chassis_detail = vehicle_controller_->GetNewSenderChassisDetail();
  ADEBUG << "latest sender_chassis_detail is "
         << sender_chassis_detail.ShortDebugString();
  chassis_detail_sender_writer_->Write(sender_chassis_detail);
}

Start()

bool apollo::canbus::ChVehicleFactory::Start ( )

overridevirtual

start canclient, cansender, canreceiver, vehicle controller

返回

true if successfully started

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 ch_vehicle_factory.cc 第 92 行定义.

                             {
  // 1. init and start the can card hardware
  if (can_client_->Start() != ErrorCode::OK) {
    AERROR << "Failed to start can client";
    return false;
  }
  AINFO << "Can client is started.";
 
  // 2. start receive first then send
  if (can_receiver_.Start() != ErrorCode::OK) {
    AERROR << "Failed to start can receiver.";
    return false;
  }
  AINFO << "Can receiver is started.";
 
  // 3. start send
  if (can_sender_.Start() != ErrorCode::OK) {
    AERROR << "Failed to start can sender.";
    return false;
  }
 
  // 4. start controller
  if (!vehicle_controller_->Start()) {
    AERROR << "Failed to start vehicle controller.";
    return false;
  }
 
  return true;
}

Stop()

void apollo::canbus::ChVehicleFactory::Stop ( )

overridevirtual

stop canclient, cansender, canreceiver, vehicle controller

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 ch_vehicle_factory.cc 第 122 行定义.

                            {
  can_sender_.Stop();
  can_receiver_.Stop();
  can_client_->Stop();
  vehicle_controller_->Stop();
  AINFO << "Cleanup cansender, canreceiver, canclient, vehicle controller.";
}

UpdateCommand() [1/2]

void apollo::canbus::ChVehicleFactory::UpdateCommand ( const apollo::control::ControlCommand *  control_command )

overridevirtual

update control command

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 ch_vehicle_factory.cc 第 130 行定义.

                                                        {
  if (vehicle_controller_->Update(*control_command) != ErrorCode::OK) {
    AERROR << "Failed to process callback function OnControlCommand because "
              "vehicle_controller_->Update error.";
    return;
  }
  can_sender_.Update();
}

UpdateCommand() [2/2]

void apollo::canbus::ChVehicleFactory::UpdateCommand ( const apollo::external_command::ChassisCommand *  chassis_command )

overridevirtual

update chassis command

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 ch_vehicle_factory.cc 第 140 行定义.

                                                                 {
  if (vehicle_controller_->Update(*chassis_command) != ErrorCode::OK) {
    AERROR << "Failed to process callback function OnControlCommand because "
              "vehicle_controller_->Update error.";
    return;
  }
  can_sender_.Update();
}

---

该类的文档由以下文件生成:

• modules/canbus_vehicle/ch/ch_vehicle_factory.h
• modules/canbus_vehicle/ch/ch_vehicle_factory.cc