this class is inherited from AbstractVehicleFactory. 更多...

#include <lincoln_vehicle_factory.h>

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

apollo::canbus::LincolnVehicleFactory 的协作图:

Public 成员函数
virtual	~LincolnVehicleFactory ()=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

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	PublishChassisDetailSender ()
	publish chassis for vehicle messages

virtual void	UpdateHeartbeat ()
	create cansender heartbeat

virtual bool	CheckChassisCommunicationFault ()
	check chassis detail communication fault

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 lincoln vehicle.

在文件 lincoln_vehicle_factory.h 第 51 行定义.

构造及析构函数说明

◆ ~LincolnVehicleFactory()

virtual apollo::canbus::LincolnVehicleFactory::~LincolnVehicleFactory ( )

virtualdefault

destructor

成员函数说明

◆ Init()

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

overridevirtual

init vehicle factory

返回: true if successfully initialized

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 lincoln_vehicle_factory.cc 第 34 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::Lincoln>(
      FLAGS_chassis_detail_topic);
 
  return true;
}

◆ publish_chassis()

Chassis apollo::canbus::LincolnVehicleFactory::publish_chassis ( )

overridevirtual

publish chassis messages

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 lincoln_vehicle_factory.cc 第 149 行定义.

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

◆ PublishChassisDetail()

void apollo::canbus::LincolnVehicleFactory::PublishChassisDetail ( )

overridevirtual

publish chassis for vehicle messages

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 lincoln_vehicle_factory.cc 第 155 行定义.

                                                 {
  Lincoln chassis_detail;
  message_manager_->GetSensorData(&chassis_detail);
  ADEBUG << chassis_detail.ShortDebugString();
  chassis_detail_writer_->Write(chassis_detail);
}

◆ Start()

bool apollo::canbus::LincolnVehicleFactory::Start ( )

overridevirtual

start canclient, cansender, canreceiver, vehicle controller

返回: true if successfully started

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 lincoln_vehicle_factory.cc 第 91 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::LincolnVehicleFactory::Stop ( )

overridevirtual

stop canclient, cansender, canreceiver, vehicle controller

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 lincoln_vehicle_factory.cc 第 121 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::LincolnVehicleFactory::UpdateCommand ( const apollo::control::ControlCommand * control_command )

overridevirtual

update control command

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 lincoln_vehicle_factory.cc 第 129 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::LincolnVehicleFactory::UpdateCommand ( const apollo::external_command::ChassisCommand * chassis_command )

overridevirtual

update chassis command

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 lincoln_vehicle_factory.cc 第 139 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/lincoln/lincoln_vehicle_factory.h
modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.cc

Public 成员函数

详细描述

构造及析构函数说明

◆ ~LincolnVehicleFactory()

成员函数说明

◆ Init()

◆ publish_chassis()

◆ PublishChassisDetail()

◆ Start()

◆ Stop()

◆ UpdateCommand() [1/2]

◆ UpdateCommand() [2/2]