apollo::drivers::canbus::CanSender< SensorType > 模板类 参考

CAN sender. 更多...

#include <can_sender.h>

apollo::drivers::canbus::CanSender< SensorType > 的协作图:

Public 成员函数
	CanSender ()=default
	Constructor.
virtual	~CanSender ()=default
	Destructor.
common::ErrorCode	Init (CanClient *can_client, MessageManager< SensorType > *pt_manager, bool enable_log)
	Initialize by a CAN client based on its brand.
void	AddMessage (uint32_t message_id, ProtocolData< SensorType > *protocol_data, bool init_with_one=false)
	Add a message with its ID, protocol data.
void	ClearMessage ()
bool	IsMessageClear ()
apollo::common::ErrorCode	Start ()
	Start the CAN sender.
void	Update ()
void	Update_Heartbeat ()
void	Stop ()
	Stop the CAN sender.
bool	IsRunning () const
	Get the working status of this CAN sender.
bool	enable_log () const
	FRIEND_TEST (CanSenderTest, OneRunCase)

详细描述

template<typename SensorType>
class apollo::drivers::canbus::CanSender< SensorType >

CAN sender.

在文件 can_sender.h 第 139 行定义.

构造及析构函数说明

CanSender()

template<typename SensorType >

apollo::drivers::canbus::CanSender< SensorType >::CanSender ( )

default

Constructor.

~CanSender()

template<typename SensorType >

virtual apollo::drivers::canbus::CanSender< SensorType >::~CanSender ( )

virtualdefault

Destructor.

成员函数说明

AddMessage()

template<typename SensorType >

void apollo::drivers::canbus::CanSender< SensorType >::AddMessage	(	uint32_t	message_id,
		ProtocolData< SensorType > *	protocol_data,
		bool	init_with_one = false
	)

Add a message with its ID, protocol data.

参数

message_id	The message ID.
protocol_data	A pointer of ProtocolData which contains the content to send.
init_with_one	If it is true, then initialize all bits in the protocol data as one. By default, it is false.

在文件 can_sender.h 第 388 行定义.

                                                           {
  if (protocol_data == nullptr) {
    AERROR << "invalid protocol data.";
    return;
  }
  send_messages_.emplace_back(
      SenderMessage<SensorType>(message_id, protocol_data, init_with_one));
  AINFO << "Add send message:" << std::hex << message_id;
}

ClearMessage()

template<typename SensorType >

void apollo::drivers::canbus::CanSender< SensorType >::ClearMessage

(

)

在文件 can_sender.h 第 428 行定义.

                                         {
  send_messages_.clear();
}

enable_log()

template<typename SensorType >

bool apollo::drivers::canbus::CanSender< SensorType >::enable_log

(

)

const

在文件 can_sender.h 第 462 行定义.

                                             {
  return enable_log_;
}

FRIEND_TEST()

template<typename SensorType >

apollo::drivers::canbus::CanSender< SensorType >::FRIEND_TEST	(	CanSenderTest	,
		OneRunCase
	)

Init()

template<typename SensorType >

common::ErrorCode apollo::drivers::canbus::CanSender< SensorType >::Init	(	CanClient *	can_client,
		MessageManager< SensorType > *	pt_manager,
		bool	enable_log
	)

Initialize by a CAN client based on its brand.

参数

can_client	The CAN client to use for sending messages.
enable_log	whether enable record the send can frame log

返回

An error code indicating the status of this initialization.

在文件 can_sender.h 第 365 行定义.

                     {
  if (is_init_) {
    AERROR << "Duplicated Init request.";
    return common::ErrorCode::CANBUS_ERROR;
  }
  if (can_client == nullptr) {
    AERROR << "Invalid can client.";
    return common::ErrorCode::CANBUS_ERROR;
  }
  is_init_ = true;
  can_client_ = can_client;
  pt_manager_ = pt_manager;
  enable_log_ = enable_log;
  if (pt_manager_ == nullptr) {
    AERROR << "Invalid protocol manager.";
    return ::apollo::common::ErrorCode::CANBUS_ERROR;
  }
  return common::ErrorCode::OK;
}

IsMessageClear()

template<typename SensorType >

bool apollo::drivers::canbus::CanSender< SensorType >::IsMessageClear

(

)

在文件 can_sender.h 第 433 行定义.

                                           {
  if (send_messages_.empty()) {
    return true;
  }
  return false;
}

IsRunning()

template<typename SensorType >

bool apollo::drivers::canbus::CanSender< SensorType >::IsRunning

(

)

const

Get the working status of this CAN sender.

To check if it is running.

返回

If this CAN sender is running.

在文件 can_sender.h 第 457 行定义.

                                            {
  return is_running_;
}

Start()

template<typename SensorType >

common::ErrorCode apollo::drivers::canbus::CanSender< SensorType >::Start

(

)

Start the CAN sender.

返回

The error code indicating the status of this action.

在文件 can_sender.h 第 401 行定义.

                                             {
  if (is_running_) {
    AERROR << "Cansender has already started.";
    return common::ErrorCode::CANBUS_ERROR;
  }
  is_running_ = true;
  thread_.reset(new std::thread([this] { PowerSendThreadFunc(); }));
 
  return common::ErrorCode::OK;
}

Stop()

template<typename SensorType >

void apollo::drivers::canbus::CanSender< SensorType >::Stop

(

)

Stop the CAN sender.

在文件 can_sender.h 第 441 行定义.

                                 {
  if (is_running_) {
    AINFO << "Stopping can sender ...";
    is_running_ = false;
    if (thread_ != nullptr && thread_->joinable()) {
      thread_->join();
    }
    thread_.reset();
  } else {
    AERROR << "CanSender is not running.";
  }
 
  AINFO << "Can client sender stopped [ok].";
}

Update()

template<typename SensorType >

void apollo::drivers::canbus::CanSender< SensorType >::Update

(

)

在文件 can_sender.h 第 421 行定义.

                                   {
  for (auto &message : send_messages_) {
    message.Update();
  }
}

Update_Heartbeat()

template<typename SensorType >

void apollo::drivers::canbus::CanSender< SensorType >::Update_Heartbeat

(

)

在文件 can_sender.h 第 414 行定义.

                                             {
  for (auto &message : send_messages_) {
    message.Update_Heartbeat();
  }
}

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该类的文档由以下文件生成:

• modules/drivers/canbus/can_comm/can_sender.h