this class is inherited from AbstractVehicleFactory. 更多...

#include <neolix_edu_vehicle_factory.h>

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

apollo::canbus::Neolix_eduVehicleFactory 的协作图:

Public 成员函数
virtual	~Neolix_eduVehicleFactory ()=default
	destructor

bool	Init (const CanbusConf *canbus_conf) override
	init vehicle factory

bool	Start () override
	start canclient, cansender, canreceiver, vehicle controller

void	Stop () override
	create ch 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	UpdateHeartbeat () override
	create cansender heartbeat

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

void	AddSendProtocol () override
	add the can sender messages

void	ClearSendProtocol () override
	clear the can sender messages

bool	IsSendProtocolClear () override
	check the sender message clear or not

Chassis::DrivingMode	Driving_Mode () override
	get the latest chassis driving mode

Public 成员函数继承自 apollo::canbus::AbstractVehicleFactory
virtual	~AbstractVehicleFactory ()=default
	destructor

void	SetVehicleParameter (const VehicleParameter &vehicle_paramter)
	set VehicleParameter.

详细描述

this class is inherited from AbstractVehicleFactory.

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

在文件 neolix_edu_vehicle_factory.h 第 54 行定义.

构造及析构函数说明

◆ ~Neolix_eduVehicleFactory()

virtual apollo::canbus::Neolix_eduVehicleFactory::~Neolix_eduVehicleFactory ( )

virtualdefault

destructor

成员函数说明

◆ AddSendProtocol()

void apollo::canbus::Neolix_eduVehicleFactory::AddSendProtocol ( )

overridevirtual

add the can sender messages

重载 apollo::canbus::AbstractVehicleFactory .

在文件 neolix_edu_vehicle_factory.cc 第 182 行定义.

                                               {
  vehicle_controller_->AddSendMessage();
}

◆ CheckChassisCommunicationFault()

bool apollo::canbus::Neolix_eduVehicleFactory::CheckChassisCommunicationFault ( )

overridevirtual

check chassis can receiver lost

重载 apollo::canbus::AbstractVehicleFactory .

在文件 neolix_edu_vehicle_factory.cc 第 175 行定义.

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

◆ ClearSendProtocol()

void apollo::canbus::Neolix_eduVehicleFactory::ClearSendProtocol ( )

overridevirtual

clear the can sender messages

重载 apollo::canbus::AbstractVehicleFactory .

在文件 neolix_edu_vehicle_factory.cc 第 186 行定义.

                                                 {
  can_sender_.ClearMessage();
}

◆ Driving_Mode()

Chassis::DrivingMode apollo::canbus::Neolix_eduVehicleFactory::Driving_Mode ( )

overridevirtual

get the latest chassis driving mode

重载 apollo::canbus::AbstractVehicleFactory .

在文件 neolix_edu_vehicle_factory.cc 第 197 行定义.

                                                          {
  return vehicle_controller_->driving_mode();
}

◆ Init()

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

overridevirtual

init vehicle factory

返回: true if successfully initialized

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 neolix_edu_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::Neolix_edu>(
      FLAGS_chassis_detail_topic);
 
  chassis_detail_sender_writer_ =
      node_->CreateWriter<::apollo::canbus::Neolix_edu>(
          FLAGS_chassis_detail_sender_topic);
 
  return true;
}

◆ IsSendProtocolClear()

bool apollo::canbus::Neolix_eduVehicleFactory::IsSendProtocolClear ( )

overridevirtual

check the sender message clear or not

重载 apollo::canbus::AbstractVehicleFactory .

在文件 neolix_edu_vehicle_factory.cc 第 190 行定义.

                                                   {
  if (can_sender_.IsMessageClear()) {
    return true;
  }
  return false;
}

◆ publish_chassis()

Chassis apollo::canbus::Neolix_eduVehicleFactory::publish_chassis ( )

overridevirtual

publish chassis messages

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 neolix_edu_vehicle_factory.cc 第 151 行定义.

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

◆ PublishChassisDetail()

void apollo::canbus::Neolix_eduVehicleFactory::PublishChassisDetail ( )

overridevirtual

publish chassis for vehicle messages

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 neolix_edu_vehicle_factory.cc 第 157 行定义.

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

◆ PublishChassisDetailSender()

void apollo::canbus::Neolix_eduVehicleFactory::PublishChassisDetailSender ( )

overridevirtual

publish chassis for apollo sender messages

重载 apollo::canbus::AbstractVehicleFactory .

在文件 neolix_edu_vehicle_factory.cc 第 163 行定义.

                                                          {
  Neolix_edu 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::Neolix_eduVehicleFactory::Start ( )

overridevirtual

start canclient, cansender, canreceiver, vehicle controller

返回: true if successfully started

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 neolix_edu_vehicle_factory.cc 第 93 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::Neolix_eduVehicleFactory::Stop ( )

overridevirtual

create ch vehicle controller

返回: a unique_ptr that points to the created controller

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 neolix_edu_vehicle_factory.cc 第 123 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::Neolix_eduVehicleFactory::UpdateCommand ( const apollo::control::ControlCommand * control_command )

overridevirtual

update control command

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 neolix_edu_vehicle_factory.cc 第 131 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::Neolix_eduVehicleFactory::UpdateCommand ( const apollo::external_command::ChassisCommand * chassis_command )

overridevirtual

update chassis command

实现了 apollo::canbus::AbstractVehicleFactory.

在文件 neolix_edu_vehicle_factory.cc 第 141 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();
}

◆ UpdateHeartbeat()

void apollo::canbus::Neolix_eduVehicleFactory::UpdateHeartbeat ( )

overridevirtual

create cansender heartbeat

重载 apollo::canbus::AbstractVehicleFactory .

在文件 neolix_edu_vehicle_factory.cc 第 171 行定义.

                                               {
  can_sender_.Update_Heartbeat();
}

该类的文档由以下文件生成:

modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.h
modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.cc

Public 成员函数

详细描述

构造及析构函数说明

◆ ~Neolix_eduVehicleFactory()

成员函数说明

◆ AddSendProtocol()

◆ CheckChassisCommunicationFault()

◆ ClearSendProtocol()

◆ Driving_Mode()

◆ Init()

◆ IsSendProtocolClear()

◆ publish_chassis()

◆ PublishChassisDetail()

◆ PublishChassisDetailSender()

◆ Start()

◆ Stop()

◆ UpdateCommand() [1/2]

◆ UpdateCommand() [2/2]

◆ UpdateHeartbeat()