apollo::canbus::transit::TransitController类 参考

#include <transit_controller.h>

类 apollo::canbus::transit::TransitController 继承关系图:

apollo::canbus::transit::TransitController 的协作图:

Public 成员函数
	TransitController ()
virtual	~TransitController ()
::apollo::common::ErrorCode	Init (const VehicleParameter &params, CanSender<::apollo::canbus::Transit > *const can_sender, MessageManager<::apollo::canbus::Transit > *const message_manager) override
bool	Start () override
	start the vehicle controller.
void	Stop () override
	stop the vehicle controller.
Chassis	chassis () override
	calculate and return the chassis.
	FRIEND_TEST (TransitControllerTest, SetDrivingMode)
	FRIEND_TEST (TransitControllerTest, Status)
	FRIEND_TEST (TransitControllerTest, UpdateDrivingMode)
Public 成员函数 继承自 apollo::canbus::VehicleController<::apollo::canbus::Transit >
virtual	~VehicleController ()=default
virtual common::ErrorCode	Init (const VehicleParameter &params, CanSender< ::apollo::canbus::Transit > *const can_sender, MessageManager< ::apollo::canbus::Transit > *const message_manager)=0
	initialize the vehicle controller.
virtual common::ErrorCode	Update (const control::ControlCommand &command)
	update the vehicle controller.
virtual common::ErrorCode	Update (const external_command::ChassisCommand &command)
virtual common::ErrorCode	SetDrivingMode (const Chassis::DrivingMode &driving_mode)
	set vehicle to appointed driving mode.
virtual bool	CheckChassisCommunicationError ()
virtual void	AddSendMessage ()
virtual ::apollo::canbus::Transit	GetNewRecvChassisDetail ()
virtual ::apollo::canbus::Transit	GetNewSenderChassisDetail ()
virtual Chassis::DrivingMode	driving_mode ()

额外继承的成员函数
Protected 成员函数 继承自 apollo::canbus::VehicleController<::apollo::canbus::Transit >
virtual void	set_driving_mode (const Chassis::DrivingMode &driving_mode)
Protected 属性 继承自 apollo::canbus::VehicleController<::apollo::canbus::Transit >
common::VehicleSignal	last_chassis_command_
common::VehicleSignal	last_control_command_
canbus::VehicleParameter	params_
common::VehicleParam	vehicle_params_
CanSender< ::apollo::canbus::Transit > *	can_sender_
CanReceiver< ::apollo::canbus::Transit > *	can_receiver_
MessageManager< ::apollo::canbus::Transit > *	message_manager_
bool	is_initialized_
Chassis::DrivingMode	driving_mode_
bool	is_reset_
std::mutex	mode_mutex_
uint32_t	lost_chassis_reveive_detail_count_
bool	is_need_count_
size_t	sender_data_size_previous_
int64_t	start_time_
bool	is_chassis_communication_error_

详细描述

在文件 transit_controller.h 第 40 行定义.

构造及析构函数说明

TransitController()

apollo::canbus::transit::TransitController::TransitController ( )

inline

在文件 transit_controller.h 第 43 行定义.

{}

~TransitController()

apollo::canbus::transit::TransitController::~TransitController ( )

virtual

在文件 transit_controller.cc 第 136 行定义.

{}

成员函数说明

chassis()

Chassis apollo::canbus::transit::TransitController::chassis ( )

overridevirtual

calculate and return the chassis.

返回

a copy of chassis. Use copy here to avoid multi-thread issues.

实现了 apollo::canbus::VehicleController<::apollo::canbus::Transit >.

在文件 transit_controller.cc 第 162 行定义.

                                   {
  chassis_.Clear();
 
  Transit chassis_detail;
  message_manager_->GetSensorData(&chassis_detail);
 
  // 21, 22, previously 1, 2
  if (driving_mode() == Chassis::EMERGENCY_MODE) {
    set_chassis_error_code(Chassis::NO_ERROR);
  }
 
  chassis_.set_driving_mode(driving_mode());
  chassis_.set_error_code(chassis_error_code());
 
  // 3
  chassis_.set_engine_started(true);
 
  auto& motion20 = chassis_detail.llc_motionfeedback1_20();
  if (motion20.has_llc_fbk_throttleposition()) {
    chassis_.set_throttle_percentage(
        static_cast<float>(motion20.llc_fbk_throttleposition()));
  }
 
  button_pressed_ = (chassis_detail.llc_motionfeedback1_20().llc_fbk_state() ==
                     Llc_motionfeedback1_20::LLC_FBK_STATE_AUTONOMY);
 
  if (motion20.has_llc_fbk_brakepercentrear()) {
    // TODO(Udelv): fix scaling
    chassis_.set_brake_percentage(
        static_cast<float>(motion20.llc_fbk_brakepercentrear()));
  }
 
  if (motion20.has_llc_fbk_gear()) {
    switch (motion20.llc_fbk_gear()) {
      case Llc_motionfeedback1_20::LLC_FBK_GEAR_P_PARK:
        chassis_.set_gear_location(Chassis::GEAR_PARKING);
        break;
      case Llc_motionfeedback1_20::LLC_FBK_GEAR_D_DRIVE:
        chassis_.set_gear_location(Chassis::GEAR_DRIVE);
        break;
      case Llc_motionfeedback1_20::LLC_FBK_GEAR_N_NEUTRAL:
        chassis_.set_gear_location(Chassis::GEAR_NEUTRAL);
        break;
      case Llc_motionfeedback1_20::LLC_FBK_GEAR_R_REVERSE:
        chassis_.set_gear_location(Chassis::GEAR_REVERSE);
        break;
      default:
        break;
    }
  }
 
  auto& motion21 = chassis_detail.llc_motionfeedback2_21();
  if (motion21.has_llc_fbk_vehiclespeed()) {
    chassis_.set_speed_mps(static_cast<float>(motion21.llc_fbk_vehiclespeed()));
  }
 
  if (motion21.has_llc_fbk_steeringangle()) {
    chassis_.set_steering_percentage(
        static_cast<float>(-1.0 * motion21.llc_fbk_steeringangle() * M_PI /
                           180 / vehicle_params_.max_steer_angle() * 100));
  }
 
  auto& aux = chassis_detail.llc_auxiliaryfeedback_120();
  if (aux.has_llc_fbk_turnsignal()) {
    switch (aux.llc_fbk_turnsignal()) {
      case Adc_auxiliarycontrol_110::ADC_CMD_TURNSIGNAL_LEFT:
        chassis_.mutable_signal()->set_turn_signal(
            common::VehicleSignal::TURN_LEFT);
        break;
      case Adc_auxiliarycontrol_110::ADC_CMD_TURNSIGNAL_RIGHT:
        chassis_.mutable_signal()->set_turn_signal(
            common::VehicleSignal::TURN_RIGHT);
        break;
      case Adc_auxiliarycontrol_110::ADC_CMD_TURNSIGNAL_NONE:
        chassis_.mutable_signal()->set_turn_signal(
            common::VehicleSignal::TURN_NONE);
        break;
      default:
        break;
    }
  }
 
  return chassis_;
}

FRIEND_TEST() [1/3]

apollo::canbus::transit::TransitController::FRIEND_TEST	(	TransitControllerTest	,
		SetDrivingMode
	)

FRIEND_TEST() [2/3]

apollo::canbus::transit::TransitController::FRIEND_TEST	(	TransitControllerTest	,
		Status
	)

FRIEND_TEST() [3/3]

apollo::canbus::transit::TransitController::FRIEND_TEST	(	TransitControllerTest	,
		UpdateDrivingMode
	)

Init()

ErrorCode apollo::canbus::transit::TransitController::Init ( const VehicleParameter &  params, CanSender<::apollo::canbus::Transit > *const  can_sender, MessageManager<::apollo::canbus::Transit > *const  message_manager  )

override

在文件 transit_controller.cc 第 45 行定义.

                                                                {
  if (is_initialized_) {
    AINFO << "TransitController has already been initialized.";
    return ErrorCode::CANBUS_ERROR;
  }
 
  vehicle_params_.CopyFrom(
      common::VehicleConfigHelper::Instance()->GetConfig().vehicle_param());
 
  params_.CopyFrom(params);
  if (!params_.has_driving_mode()) {
    AERROR << "Vehicle conf pb not set driving_mode.";
    return ErrorCode::CANBUS_ERROR;
  }
 
  if (can_sender == nullptr) {
    AERROR << "Canbus sender is null.";
    return ErrorCode::CANBUS_ERROR;
  }
  can_sender_ = can_sender;
 
  if (message_manager == nullptr) {
    AERROR << "protocol manager is null.";
    return ErrorCode::CANBUS_ERROR;
  }
  message_manager_ = message_manager;
 
  // sender part
  adc_auxiliarycontrol_110_ = dynamic_cast<Adcauxiliarycontrol110*>(
      message_manager_->GetMutableProtocolDataById(Adcauxiliarycontrol110::ID));
  if (adc_auxiliarycontrol_110_ == nullptr) {
    AERROR << "Adcauxiliarycontrol110 does not exist in the "
              "TransitMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  adc_motioncontrol1_10_ = dynamic_cast<Adcmotioncontrol110*>(
      message_manager_->GetMutableProtocolDataById(Adcmotioncontrol110::ID));
  if (adc_motioncontrol1_10_ == nullptr) {
    AERROR
        << "Adcmotioncontrol110 does not exist in the TransitMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  adc_motioncontrollimits1_12_ = dynamic_cast<Adcmotioncontrollimits112*>(
      message_manager_->GetMutableProtocolDataById(
          Adcmotioncontrollimits112::ID));
  if (adc_motioncontrollimits1_12_ == nullptr) {
    AERROR << "Adcmotioncontrollimits112 does not exist in the "
              "TransitMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  llc_diag_brakecontrol_721_ = dynamic_cast<Llcdiagbrakecontrol721*>(
      message_manager_->GetMutableProtocolDataById(Llcdiagbrakecontrol721::ID));
  if (llc_diag_brakecontrol_721_ == nullptr) {
    AERROR << "Llcdiagbrakecontrol721 does not exist in the "
              "TransitMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  llc_diag_steeringcontrol_722_ = dynamic_cast<Llcdiagsteeringcontrol722*>(
      message_manager_->GetMutableProtocolDataById(
          Llcdiagsteeringcontrol722::ID));
  if (llc_diag_steeringcontrol_722_ == nullptr) {
    AERROR << "Llcdiagsteeringcontrol722 does not exist in the "
              "TransitMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  can_sender_->AddMessage(Adcauxiliarycontrol110::ID, adc_auxiliarycontrol_110_,
                          false);
  can_sender_->AddMessage(Adcmotioncontrol110::ID, adc_motioncontrol1_10_,
                          false);
  can_sender_->AddMessage(Adcmotioncontrollimits112::ID,
                          adc_motioncontrollimits1_12_, false);
  can_sender_->AddMessage(Llcdiagbrakecontrol721::ID,
                          llc_diag_brakecontrol_721_, false);
  can_sender_->AddMessage(Llcdiagsteeringcontrol722::ID,
                          llc_diag_steeringcontrol_722_, false);
 
  // need sleep to ensure all messages received
  AINFO << "TransitController is initialized.";
 
  is_initialized_ = true;
  return ErrorCode::OK;
}

Start()

bool apollo::canbus::transit::TransitController::Start ( )

overridevirtual

start the vehicle controller.

返回

true if successfully started.

实现了 apollo::canbus::VehicleController<::apollo::canbus::Transit >.

在文件 transit_controller.cc 第 138 行定义.

                              {
  if (!is_initialized_) {
    AERROR << "TransitController has NOT been initiated.";
    return false;
  }
  const auto& update_func = [this] { SecurityDogThreadFunc(); };
  thread_.reset(new std::thread(update_func));
 
  return true;
}

Stop()

void apollo::canbus::transit::TransitController::Stop ( )

overridevirtual

stop the vehicle controller.

实现了 apollo::canbus::VehicleController<::apollo::canbus::Transit >.

在文件 transit_controller.cc 第 149 行定义.

                             {
  if (!is_initialized_) {
    AERROR << "TransitController stops or starts improperly!";
    return;
  }
 
  if (thread_ != nullptr && thread_->joinable()) {
    thread_->join();
    thread_.reset();
    AINFO << "TransitController stopped.";
  }
}

---

该类的文档由以下文件生成:

• modules/canbus_vehicle/transit/transit_controller.h
• modules/canbus_vehicle/transit/transit_controller.cc