apollo::control::VehicleCalibrationDebug类 参考

apollo::control::VehicleCalibrationDebug 的协作图:

Public 成员函数
	VehicleCalibrationDebug ()
int32_t	init ()
void	Send ()
bool	LoadCalibrationTable (calibration_table *calibration_table_conf)
void	InitControlCalibrationTable ()
void	on_debug (const control::ControlCommand &cmd)
void	on_chassis (const Chassis &chassis)
void	KeyboardLoopThreadFunc ()
bool	IsRunning () const
void	stop ()

详细描述

在文件 calibration_table_debug.cc 第 59 行定义.

构造及析构函数说明

VehicleCalibrationDebug()

apollo::control::VehicleCalibrationDebug::VehicleCalibrationDebug ( )

inline

在文件 calibration_table_debug.cc 第 61 行定义.

: node_(CreateNode("calibration_debug")) {}

成员函数说明

init()

int32_t apollo::control::VehicleCalibrationDebug::init ( )

inline

在文件 calibration_table_debug.cc 第 62 行定义.

                 {
    if (is_running_) {
      AERROR << "Already running.";
      return -1;
    }
    is_running_ = true;
    chassis_reader_ = node_->CreateReader<Chassis>(
        FLAGS_chassis_topic, [this](const std::shared_ptr<Chassis> &chassis) {
          on_chassis(*chassis);
        });
 
    control_reader_ = node_->CreateReader<ControlCommand>(
        FLAGS_control_command_topic,
        [this](const std::shared_ptr<ControlCommand> &cmd) { on_debug(*cmd); });
 
    calibration_debug_writer_ = node_->CreateWriter<CalibrationDebug>(
        "/apollo/control/calibration_debug");
 
    keyboard_thread_.reset(
        new std::thread([this] { KeyboardLoopThreadFunc(); }));
    if (keyboard_thread_ == nullptr) {
      AERROR << "Unable to create can client receiver thread.";
      return -1;
    }
 
    if (!LoadCalibrationTable(&calibration_table_)) {
      AERROR << "failed to load calibration table";
    }
 
    InitControlCalibrationTable();
 
    return 0;
  }

InitControlCalibrationTable()

void apollo::control::VehicleCalibrationDebug::InitControlCalibrationTable ( )

inline

在文件 calibration_table_debug.cc 第 116 行定义.

                                     {
    AINFO << "Control calibration table size is "
          << calibration_table_.calibration_size();
    Interpolation2D::DataType xyz;
    for (const auto &calibration : calibration_table_.calibration()) {
      xyz.push_back(std::make_tuple(calibration.speed(),
                                    calibration.acceleration(),
                                    calibration.command()));
    }
    control_interpolation_.reset(new Interpolation2D);
    ACHECK(control_interpolation_->Init(xyz))
        << "Fail to load control calibration table";
  }

IsRunning()

bool apollo::control::VehicleCalibrationDebug::IsRunning ( ) const

inline

在文件 calibration_table_debug.cc 第 186 行定义.

{ return is_running_; }

KeyboardLoopThreadFunc()

void apollo::control::VehicleCalibrationDebug::KeyboardLoopThreadFunc ( )

inline

在文件 calibration_table_debug.cc 第 175 行定义.

                                {
    char c = 0;
    int32_t kfd_ = 0;
    while (IsRunning()) {
      if (read(kfd_, &c, 1) < 0) {
        perror("read():");
        exit(-1);
      }
    }
  }

LoadCalibrationTable()

bool apollo::control::VehicleCalibrationDebug::LoadCalibrationTable ( calibration_table *  calibration_table_conf )

inline

在文件 calibration_table_debug.cc 第 103 行定义.

                                                                       {
    std::string calibration_table_path = FLAGS_calibration_table_debug_file;
 
    if (!apollo::cyber::common::GetProtoFromFile(calibration_table_path,
                                                 calibration_table_conf)) {
      AERROR << "Load calibration table failed!";
      return false;
    }
    AINFO << "Load the calibraiton table file successfully, file path: "
          << calibration_table_path;
    return true;
  }

on_chassis()

void apollo::control::VehicleCalibrationDebug::on_chassis ( const Chassis &  chassis )

inline

在文件 calibration_table_debug.cc 第 169 行定义.

                                          {
    ADEBUG << "Received chassis data: run chassis callback.";
    std::lock_guard<std::mutex> lock(mutex_);
    latest_chassis_.CopyFrom(chassis);
  }

on_debug()

void apollo::control::VehicleCalibrationDebug::on_debug ( const control::ControlCommand &  cmd )

inline

在文件 calibration_table_debug.cc 第 130 行定义.

                                                  {
    chassis_reader_->Observe();
    const auto &chassis_msg = chassis_reader_->GetLatestObserved();
    if (chassis_msg == nullptr) {
      AERROR << "Chassis msg is not ready!";
      return;
    }
 
    double current_speed = 0.0;
 
    double input_acc_lookup = 0.0;
 
    double input_throttle_cmd = 0.0;
    double output_throttle_cmd = 0.0;
    double input_brake_cmd = 0.0;
    double output_brake_cmd = 0.0;
    double input_calibration_value = 0.0;
    double output_calibration_value = 0.0;
 
    if (cmd.debug().simple_lon_debug().has_acceleration_lookup()) {
      current_speed = chassis_msg->speed_mps();
      input_acc_lookup = cmd.debug().simple_lon_debug().acceleration_lookup();
      input_calibration_value =
          cmd.debug().simple_lon_debug().calibration_value();
 
      output_calibration_value = control_interpolation_->Interpolate(
          std::make_pair(std::fabs(current_speed), input_acc_lookup));
 
      if (input_acc_lookup * input_calibration_value < 0.0) {
        AINFO << "current_speed:" << current_speed
              << ", input_acc_lookup:" << input_acc_lookup
              << ", input_calibration_value:" << input_calibration_value
              << ", output_calibration_value:" << output_calibration_value;
      }
    }
 
    Send();
  }

Send()

void apollo::control::VehicleCalibrationDebug::Send ( )

inline

在文件 calibration_table_debug.cc 第 96 行定义.

              {
    apollo::common::util::FillHeader("calibration_debug", &calibration_debug_);
    calibration_debug_writer_->Write(calibration_debug_);
    ADEBUG << "Calibration Debug send OK:"
           << calibration_debug_.ShortDebugString();
  }

stop()

void apollo::control::VehicleCalibrationDebug::stop ( )

inline

在文件 calibration_table_debug.cc 第 188 行定义.

              {
    if (is_running_) {
      is_running_ = false;
      if (keyboard_thread_ != nullptr && keyboard_thread_->joinable()) {
        keyboard_thread_->join();
        keyboard_thread_.reset();
        AINFO << "keyboard stopped [ok].";
      }
    }
  }

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该类的文档由以下文件生成:

• modules/control/control_component/tools/calibration_table_debug.cc