apollo::drivers::SensorCanbus< SensorType > 模板类 参考

template of canbus-based sensor module main class (e.g., mobileye). 更多...

#include <sensor_canbus.h>

类 apollo::drivers::SensorCanbus< SensorType > 继承关系图:

apollo::drivers::SensorCanbus< SensorType > 的协作图:

Public 成员函数
	SensorCanbus ()
	~SensorCanbus ()
bool	Init () override
	module initialization function
Public 成员函数 继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const TimerComponentConfig &config)
virtual void	Shutdown ()
template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >
Protected 成员函数 继承自 apollo::cyber::ComponentBase
virtual void	Clear ()
const std::string &	ConfigFilePath () const
void	LoadConfigFiles (const ComponentConfig &config)
void	LoadConfigFiles (const TimerComponentConfig &config)
Protected 属性 继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}
std::shared_ptr< Node >	node_ = nullptr
std::string	config_file_path_ = ""
std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

template<typename SensorType>
class apollo::drivers::SensorCanbus< SensorType >

template of canbus-based sensor module main class (e.g., mobileye).

在文件 sensor_canbus.h 第 70 行定义.

构造及析构函数说明

SensorCanbus()

template<typename SensorType >

apollo::drivers::SensorCanbus< SensorType >::SensorCanbus ( )

inline

在文件 sensor_canbus.h 第 74 行定义.

      : monitor_logger_buffer_(
            apollo::common::monitor::MonitorMessageItem::CANBUS) {}

~SensorCanbus()

template<typename SensorType >

apollo::drivers::SensorCanbus< SensorType >::~SensorCanbus

(

)

在文件 sensor_canbus.h 第 197 行定义.

                                        {
  if (FLAGS_sensor_freq > 0) {
    timer_->Stop();
  }
 
  can_receiver_.Stop();
  can_client_->Stop();
 
  if (data_trigger_running_) {
    data_trigger_running_ = false;
    if (thread_ != nullptr && thread_->joinable()) {
      sensor_message_manager_->GetMutableCVar()->notify_all();
      thread_->join();
    }
    thread_.reset();
  }
  AINFO << "Data trigger stopped [ok].";
}

成员函数说明

Init()

template<typename SensorType >

bool apollo::drivers::SensorCanbus< SensorType >::Init ( )

overridevirtual

module initialization function

返回

initialization status

实现了 apollo::cyber::ComponentBase.

在文件 sensor_canbus.h 第 110 行定义.

                                    {
  // load conf
  if (!cyber::common::GetProtoFromFile(config_file_path_, &canbus_conf_)) {
    return OnError("Unable to load canbus conf file: " + config_file_path_);
  }
 
  AINFO << "The canbus conf file is loaded: " << config_file_path_;
  ADEBUG << "Canbus_conf:" << canbus_conf_.ShortDebugString();
 
  // Init can client
  auto *can_factory = CanClientFactory::Instance();
  can_factory->RegisterCanClients();
  can_client_ = can_factory->CreateCANClient(canbus_conf_.can_card_parameter());
  if (!can_client_) {
    return OnError("Failed to create can client.");
  }
  AINFO << "Can client is successfully created.";
 
  sensor_message_manager_.reset(new canbus::MessageManager<SensorType>());
  if (sensor_message_manager_ == nullptr) {
    return OnError("Failed to create message manager.");
  }
  AINFO << "Sensor message manager is successfully created.";
 
  if (can_receiver_.Init(can_client_.get(), sensor_message_manager_.get(),
                         canbus_conf_.enable_receiver_log()) != ErrorCode::OK) {
    return OnError("Failed to init can receiver.");
  }
  AINFO << "The can receiver is successfully initialized.";
  sensor_writer_ = node_->CreateWriter<SensorType>(FLAGS_sensor_node_name);
  return Start();
}

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该类的文档由以下文件生成:

• modules/drivers/canbus/sensor_canbus.h