Apollo 10.0
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apollo::data::SwerveTrigger类 参考

Swerve trigger that fires when swerve is engaged 更多...

#include <swerve_trigger.h>

类 apollo::data::SwerveTrigger 继承关系图:
apollo::data::SwerveTrigger 的协作图:

Public 成员函数

 SwerveTrigger ()
 
void Pull (const cyber::record::RecordMessage &msg) override
 
bool ShouldRestore (const cyber::record::RecordMessage &msg) const override
 
virtual ~SwerveTrigger ()=default
 
- Public 成员函数 继承自 apollo::data::TriggerBase
 TriggerBase ()=default
 
virtual bool Init (const SmartRecordTrigger &trigger_conf)
 
const std::string & GetTriggerName () const
 
uint64_t SecondsToNanoSeconds (const double seconds) const
 
virtual ~TriggerBase ()=default
 

额外继承的成员函数

- Protected 成员函数 继承自 apollo::data::TriggerBase
void TriggerIt (const uint64_t msg_time) const
 
uint64_t GetValidValueInRange (const double desired_value, const double min_limit, const double max_limit) const
 
- Protected 属性 继承自 apollo::data::TriggerBase
std::string trigger_name_
 
std::unique_ptr< Triggertrigger_obj_ = nullptr
 

详细描述

Swerve trigger that fires when swerve is engaged

在文件 swerve_trigger.h32 行定义.

构造及析构函数说明

◆ SwerveTrigger()

apollo::data::SwerveTrigger::SwerveTrigger ( )

在文件 swerve_trigger.cc33 行定义.

33{ trigger_name_ = "SwerveTrigger"; }

◆ ~SwerveTrigger()

virtual apollo::data::SwerveTrigger::~SwerveTrigger ( )
virtualdefault

成员函数说明

◆ Pull()

void apollo::data::SwerveTrigger::Pull ( const cyber::record::RecordMessage msg)
overridevirtual

实现了 apollo::data::TriggerBase.

在文件 swerve_trigger.cc35 行定义.

35 {
36 if (!trigger_obj_->enabled()) {
37 return;
38 }
39
40 if (msg.channel_name == FLAGS_chassis_topic) {
41 Chassis chassis_msg;
42 chassis_msg.ParseFromString(msg.content);
43 const float steer_per = chassis_msg.steering_percentage();
44
45 if (IsNoisy(steer_per)) {
46 return;
47 }
48
49 EnqueueMessage(steer_per);
50
51 if (IsSwerve()) {
52 AINFO << "swerve trigger is pulled: " << msg.time << " - "
53 << msg.channel_name;
54 TriggerIt(msg.time);
55 }
56 }
57}
std::unique_ptr< Trigger > trigger_obj_
void TriggerIt(const uint64_t msg_time) const
#define AINFO
Definition log.h:42

◆ ShouldRestore()

bool apollo::data::SwerveTrigger::ShouldRestore ( const cyber::record::RecordMessage msg) const
inlineoverridevirtual

实现了 apollo::data::TriggerBase.

在文件 swerve_trigger.h37 行定义.

37 {
38 return false;
39 };

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