message manager manages protocols. 更多...

#include <message_manager.h>

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

Public 成员函数
	MessageManager ()

virtual	~MessageManager ()=default

virtual void	Parse (const uint32_t message_id, const uint8_t *data, int32_t length)
	parse data and store parsed info in receive protocol data

virtual void	ParseSender (const uint32_t message_id, const uint8_t *data, int32_t length)
	parse data and store parsed info in send protocol data

void	ClearSensorData ()

void	ClearSensorRecvData ()

void	ClearSensorCheckRecvData ()

void	ClearSensorSenderData ()

void	ClearSensorCheckSenderData ()

std::condition_variable *	GetMutableCVar ()

ProtocolData< SensorType > *	GetMutableProtocolDataById (const uint32_t message_id)
	get mutable protocol data by message id

common::ErrorCode	GetSensorData (SensorType *const sensor_data)
	get chassis detail.

common::ErrorCode	GetSensorRecvData (SensorType *const sensor_recv_data)
	get chassis recv detail.

common::ErrorCode	GetSensorCheckRecvData (SensorType *const sensor_recv_data)
	get chassis recv detail.

common::ErrorCode	GetSensorSenderData (SensorType *const sensor_sender_data)
	get chassis sender detail.

common::ErrorCode	GetSensorCheckSenderData (SensorType *const sensor_sender_data)
	get chassis sender detail.

void	ResetSendMessages ()

Protected 成员函数
template<class T , bool need_check>
void	AddRecvProtocolData ()

template<class T , bool need_check>
void	AddSendProtocolData ()

Protected 属性
std::vector< std::unique_ptr< ProtocolData< SensorType > > >	send_protocol_data_

std::vector< std::unique_ptr< ProtocolData< SensorType > > >	recv_protocol_data_

std::unordered_map< uint32_t, ProtocolData< SensorType > * >	protocol_data_map_

std::unordered_map< uint32_t, ProtocolData< SensorType > * >	recv_protocol_data_map_

std::unordered_map< uint32_t, ProtocolData< SensorType > * >	sender_protocol_data_map_

std::unordered_map< uint32_t, CheckIdArg >	check_ids_

std::set< uint32_t >	received_ids_

std::mutex	sensor_data_mutex_

SensorType	sensor_data_

std::mutex	sensor_data_recv_mutex_

SensorType	sensor_recv_data_

std::mutex	sensor_data_check_recv_mutex_

SensorType	sensor_check_recv_data_

std::mutex	sensor_data_sender_mutex_

SensorType	sensor_sender_data_

std::mutex	sensor_data_check_sender_mutex_

SensorType	sensor_check_sender_data_

bool	is_received_on_time_ = false

std::condition_variable	cvar_

详细描述

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

message manager manages protocols.

It supports parse and can get protocol data by message id.

在文件 message_manager.h 第 69 行定义.

构造及析构函数说明

◆ MessageManager()

template<typename SensorType >

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

inline

在文件 message_manager.h 第 74 行定义.

74{}

◆ ~MessageManager()

template<typename SensorType >

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

virtualdefault

成员函数说明

◆ AddRecvProtocolData()

template<typename SensorType >

template<class T , bool need_check>

void MessageManager::AddRecvProtocolData ( )

protected

在文件 message_manager.h 第 191 行定义.

                                                     {
  recv_protocol_data_.emplace_back(new T());
  auto *dt = recv_protocol_data_.back().get();
  if (dt == nullptr) {
    return;
  }
  recv_protocol_data_map_[T::ID] = dt;
  protocol_data_map_[T::ID] = dt;
  if (need_check) {
    check_ids_[T::ID].period = dt->GetPeriod();
    check_ids_[T::ID].real_period = 0;
    check_ids_[T::ID].last_time = 0;
    check_ids_[T::ID].error_count = 0;
  }
}

◆ AddSendProtocolData()

template<typename SensorType >

template<class T , bool need_check>

void MessageManager::AddSendProtocolData ( )

protected

在文件 message_manager.h 第 209 行定义.

                                                     {
  send_protocol_data_.emplace_back(new T());
  auto *dt = send_protocol_data_.back().get();
  if (dt == nullptr) {
    return;
  }
  sender_protocol_data_map_[T::ID] = dt;
  protocol_data_map_[T::ID] = dt;
  if (need_check) {
    check_ids_[T::ID].period = dt->GetPeriod();
    check_ids_[T::ID].real_period = 0;
    check_ids_[T::ID].last_time = 0;
    check_ids_[T::ID].error_count = 0;
  }
}

◆ ClearSensorCheckRecvData()

template<typename SensorType >

void MessageManager::ClearSensorCheckRecvData ( )

在文件 message_manager.h 第 340 行定义.

                                                          {
  std::lock_guard<std::mutex> lock(sensor_data_check_recv_mutex_);
  sensor_check_recv_data_.Clear();
}

◆ ClearSensorCheckSenderData()

template<typename SensorType >

void MessageManager::ClearSensorCheckSenderData ( )

在文件 message_manager.h 第 352 行定义.

                                                            {
  std::lock_guard<std::mutex> lock(sensor_data_check_sender_mutex_);
  sensor_check_sender_data_.Clear();
}

◆ ClearSensorData()

template<typename SensorType >

void MessageManager::ClearSensorData ( )

在文件 message_manager.h 第 328 行定义.

                                                 {
  std::lock_guard<std::mutex> lock(sensor_data_mutex_);
  sensor_data_.Clear();
}

◆ ClearSensorRecvData()

template<typename SensorType >

void MessageManager::ClearSensorRecvData ( )

在文件 message_manager.h 第 334 行定义.

                                                     {
  std::lock_guard<std::mutex> lock(sensor_data_recv_mutex_);
  sensor_recv_data_.Clear();
}

◆ ClearSensorSenderData()

template<typename SensorType >

void MessageManager::ClearSensorSenderData ( )

在文件 message_manager.h 第 346 行定义.

                                                       {
  std::lock_guard<std::mutex> lock(sensor_data_sender_mutex_);
  sensor_sender_data_.Clear();
}

◆ GetMutableCVar()

template<typename SensorType >

std::condition_variable * MessageManager::GetMutableCVar ( )

在文件 message_manager.h 第 358 行定义.

                                                                  {
  return &cvar_;
}

◆ GetMutableProtocolDataById()

template<typename SensorType >

ProtocolData< SensorType > * MessageManager::GetMutableProtocolDataById ( const uint32_t message_id )

get mutable protocol data by message id

参数

message_id the id of the message

返回: a pointer to the protocol data

在文件 message_manager.h 第 227 行定义.

                               {
  ADEBUG << "get protocol data message_id is:" << Byte::byte_to_hex(message_id);
  if (protocol_data_map_.find(message_id) == protocol_data_map_.end()) {
    ADEBUG << "Unable to get protocol data because of invalid message_id:"
           << Byte::byte_to_hex(message_id);
    return nullptr;
  }
  return protocol_data_map_[message_id];
}

◆ GetSensorCheckRecvData()

template<typename SensorType >

ErrorCode MessageManager::GetSensorCheckRecvData ( SensorType *const sensor_recv_data )

get chassis recv detail.

used lock_guard in this function to avoid concurrent read/write issue.

参数

chassis_detail chassis_detail to be filled.

在文件 message_manager.h 第 387 行定义.

                                        {
  if (sensor_recv_data == nullptr) {
    AERROR << "Failed to get receiver data due to nullptr.";
    return ErrorCode::CANBUS_ERROR;
  }
  std::lock_guard<std::mutex> lock(sensor_data_check_recv_mutex_);
  sensor_recv_data->CopyFrom(sensor_check_recv_data_);
  return ErrorCode::OK;
}

◆ GetSensorCheckSenderData()

template<typename SensorType >

ErrorCode MessageManager::GetSensorCheckSenderData ( SensorType *const sensor_sender_data )

get chassis sender detail.

used lock_guard in this function to avoid concurrent read/write issue.

参数

chassis_detail chassis_detail to be filled.

在文件 message_manager.h 第 411 行定义.

                                          {
  if (sensor_sender_data == nullptr) {
    AERROR << "Failed to get sender data due to nullptr.";
    return ErrorCode::CANBUS_ERROR;
  }
  std::lock_guard<std::mutex> lock(sensor_data_check_sender_mutex_);
  sensor_sender_data->CopyFrom(sensor_check_sender_data_);
  return ErrorCode::OK;
}

◆ GetSensorData()

template<typename SensorType >

ErrorCode MessageManager::GetSensorData ( SensorType *const sensor_data )

get chassis detail.

used lock_guard in this function to avoid concurrent read/write issue.

参数

chassis_detail chassis_detail to be filled.

在文件 message_manager.h 第 363 行定义.

                                   {
  if (sensor_data == nullptr) {
    AERROR << "Failed to get sensor_data due to nullptr.";
    return ErrorCode::CANBUS_ERROR;
  }
  std::lock_guard<std::mutex> lock(sensor_data_mutex_);
  sensor_data->CopyFrom(sensor_data_);
  return ErrorCode::OK;
}

◆ GetSensorRecvData()

template<typename SensorType >

ErrorCode MessageManager::GetSensorRecvData ( SensorType *const sensor_recv_data )

get chassis recv detail.

used lock_guard in this function to avoid concurrent read/write issue.

参数

chassis_detail chassis_detail to be filled.

在文件 message_manager.h 第 375 行定义.

                                        {
  if (sensor_recv_data == nullptr) {
    AERROR << "Failed to get receiver data due to nullptr.";
    return ErrorCode::CANBUS_ERROR;
  }
  std::lock_guard<std::mutex> lock(sensor_data_recv_mutex_);
  sensor_recv_data->CopyFrom(sensor_recv_data_);
  return ErrorCode::OK;
}

◆ GetSensorSenderData()

template<typename SensorType >

ErrorCode MessageManager::GetSensorSenderData ( SensorType *const sensor_sender_data )

get chassis sender detail.

used lock_guard in this function to avoid concurrent read/write issue.

参数

chassis_detail chassis_detail to be filled.

在文件 message_manager.h 第 399 行定义.

                                          {
  if (sensor_sender_data == nullptr) {
    AERROR << "Failed to get sender data due to nullptr.";
    return ErrorCode::CANBUS_ERROR;
  }
  std::lock_guard<std::mutex> lock(sensor_data_sender_mutex_);
  sensor_sender_data->CopyFrom(sensor_sender_data_);
  return ErrorCode::OK;
}

◆ Parse()

template<typename SensorType >

void MessageManager::Parse	(	const uint32_t	message_id,
		const uint8_t *	data,
		int32_t	length
	)

virtual

parse data and store parsed info in receive protocol data

参数

message_id	the id of the message
data	a pointer to the data array to be parsed
length	the length of data array

被 apollo::drivers::conti_radar::ContiRadarMessageManager , 以及 apollo::drivers::nano_radar::NanoRadarMessageManager 重载.

在文件 message_manager.h 第 239 行定义.

                                                                            {
  ProtocolData<SensorType> *protocol_data =
      GetMutableProtocolDataById(message_id);
  if (protocol_data == nullptr) {
    return;
  }
  // parse all
  {
    std::lock_guard<std::mutex> lock(sensor_data_mutex_);
    protocol_data->Parse(data, length, &sensor_data_);
  }
 
  // parse revceiver
  {
    std::lock_guard<std::mutex> lock(sensor_data_recv_mutex_);
    protocol_data->Parse(data, length, &sensor_recv_data_);
  }
  {
    std::lock_guard<std::mutex> lock(sensor_data_check_recv_mutex_);
    protocol_data->Parse(data, length, &sensor_check_recv_data_);
  }
  if (recv_protocol_data_map_.find(message_id) ==
      recv_protocol_data_map_.end()) {
    AERROR << "Failed to get recv data, " << "message is " << message_id;
  }
 
  received_ids_.insert(message_id);
  // check if need to check period
  const auto it = check_ids_.find(message_id);
  if (it != check_ids_.end()) {
    const int64_t time = Time::Now().ToNanosecond() / 1e3;
    it->second.real_period = time - it->second.last_time;
    // if period 1.5 large than base period, inc error_count
    const double period_multiplier = 1.5;
    if (static_cast<double>(it->second.real_period) >
        (static_cast<double>(it->second.period) * period_multiplier)) {
      it->second.error_count += 1;
    } else {
      it->second.error_count = 0;
    }
    it->second.last_time = time;
  }
}

◆ ParseSender()

template<typename SensorType >

void MessageManager::ParseSender	(	const uint32_t	message_id,
		const uint8_t *	data,
		int32_t	length
	)

virtual

parse data and store parsed info in send protocol data

参数

message_id	the id of the message
data	a pointer to the data array to be parsed
length	the length of data array

在文件 message_manager.h 第 285 行定义.

                                                             {
  ProtocolData<SensorType> *protocol_data =
      GetMutableProtocolDataById(message_id);
  if (protocol_data == nullptr) {
    return;
  }
 
  // parse sender
  {
    std::lock_guard<std::mutex> lock(sensor_data_sender_mutex_);
    protocol_data->Parse(data, length, &sensor_sender_data_);
  }
  {
    std::lock_guard<std::mutex> lock(sensor_data_check_sender_mutex_);
    protocol_data->Parse(data, length, &sensor_check_sender_data_);
  }
  if (sender_protocol_data_map_.find(message_id) ==
      sender_protocol_data_map_.end()) {
    AERROR << "Failed to get prase sender data, " << "message is "
           << message_id;
  }
 
  received_ids_.insert(message_id);
  // check if need to check period
  const auto it = check_ids_.find(message_id);
  if (it != check_ids_.end()) {
    const int64_t time = Time::Now().ToNanosecond() / 1e3;
    it->second.real_period = time - it->second.last_time;
    // if period 1.5 large than base period, inc error_count
    const double period_multiplier = 1.5;
    if (static_cast<double>(it->second.real_period) >
        (static_cast<double>(it->second.period) * period_multiplier)) {
      it->second.error_count += 1;
    } else {
      it->second.error_count = 0;
    }
    it->second.last_time = time;
  }
}

◆ ResetSendMessages()

template<typename SensorType >

void MessageManager::ResetSendMessages ( )

在文件 message_manager.h 第 423 行定义.

                                                   {
  for (auto &protocol_data : send_protocol_data_) {
    if (protocol_data == nullptr) {
      AERROR << "Invalid protocol data.";
    } else {
      protocol_data->Reset();
    }
  }
}

类成员变量说明

◆ check_ids_

template<typename SensorType >

std::unordered_map<uint32_t, CheckIdArg> apollo::drivers::canbus::MessageManager< SensorType >::check_ids_

protected

在文件 message_manager.h 第 171 行定义.

◆ cvar_

template<typename SensorType >

std::condition_variable apollo::drivers::canbus::MessageManager< SensorType >::cvar_

protected

在文件 message_manager.h 第 186 行定义.

◆ is_received_on_time_

template<typename SensorType >

bool apollo::drivers::canbus::MessageManager< SensorType >::is_received_on_time_ = false

protected

在文件 message_manager.h 第 184 行定义.

◆ protocol_data_map_

template<typename SensorType >

std::unordered_map<uint32_t, ProtocolData<SensorType> *> apollo::drivers::canbus::MessageManager< SensorType >::protocol_data_map_

protected

在文件 message_manager.h 第 165 行定义.

◆ received_ids_

template<typename SensorType >

std::set<uint32_t> apollo::drivers::canbus::MessageManager< SensorType >::received_ids_

protected

在文件 message_manager.h 第 172 行定义.

◆ recv_protocol_data_

template<typename SensorType >

std::vector<std::unique_ptr<ProtocolData<SensorType> > > apollo::drivers::canbus::MessageManager< SensorType >::recv_protocol_data_

protected

在文件 message_manager.h 第 163 行定义.

◆ recv_protocol_data_map_

template<typename SensorType >

std::unordered_map<uint32_t, ProtocolData<SensorType> *> apollo::drivers::canbus::MessageManager< SensorType >::recv_protocol_data_map_

protected

在文件 message_manager.h 第 167 行定义.

◆ send_protocol_data_

template<typename SensorType >

std::vector<std::unique_ptr<ProtocolData<SensorType> > > apollo::drivers::canbus::MessageManager< SensorType >::send_protocol_data_

protected

在文件 message_manager.h 第 162 行定义.

◆ sender_protocol_data_map_

template<typename SensorType >

std::unordered_map<uint32_t, ProtocolData<SensorType> *> apollo::drivers::canbus::MessageManager< SensorType >::sender_protocol_data_map_

protected

在文件 message_manager.h 第 169 行定义.

◆ sensor_check_recv_data_

template<typename SensorType >

SensorType apollo::drivers::canbus::MessageManager< SensorType >::sensor_check_recv_data_

protected

在文件 message_manager.h 第 179 行定义.

◆ sensor_check_sender_data_

template<typename SensorType >

SensorType apollo::drivers::canbus::MessageManager< SensorType >::sensor_check_sender_data_

protected

在文件 message_manager.h 第 183 行定义.

◆ sensor_data_

template<typename SensorType >

SensorType apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_

protected

在文件 message_manager.h 第 175 行定义.

◆ sensor_data_check_recv_mutex_

template<typename SensorType >

std::mutex apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_check_recv_mutex_

protected

在文件 message_manager.h 第 178 行定义.

◆ sensor_data_check_sender_mutex_

template<typename SensorType >

std::mutex apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_check_sender_mutex_

protected

在文件 message_manager.h 第 182 行定义.

◆ sensor_data_mutex_

template<typename SensorType >

std::mutex apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_mutex_

protected

在文件 message_manager.h 第 174 行定义.

◆ sensor_data_recv_mutex_

template<typename SensorType >

std::mutex apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_recv_mutex_

protected

在文件 message_manager.h 第 176 行定义.

◆ sensor_data_sender_mutex_

template<typename SensorType >

std::mutex apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_sender_mutex_

protected

在文件 message_manager.h 第 180 行定义.

◆ sensor_recv_data_

template<typename SensorType >

SensorType apollo::drivers::canbus::MessageManager< SensorType >::sensor_recv_data_

protected

在文件 message_manager.h 第 177 行定义.

◆ sensor_sender_data_

template<typename SensorType >

SensorType apollo::drivers::canbus::MessageManager< SensorType >::sensor_sender_data_

protected

在文件 message_manager.h 第 181 行定义.

该类的文档由以下文件生成:

modules/drivers/canbus/can_comm/message_manager.h

Public 成员函数

Protected 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ MessageManager()

◆ ~MessageManager()

成员函数说明

◆ AddRecvProtocolData()

◆ AddSendProtocolData()

◆ ClearSensorCheckRecvData()

◆ ClearSensorCheckSenderData()

◆ ClearSensorData()

◆ ClearSensorRecvData()

◆ ClearSensorSenderData()

◆ GetMutableCVar()

◆ GetMutableProtocolDataById()

◆ GetSensorCheckRecvData()

◆ GetSensorCheckSenderData()

◆ GetSensorData()

◆ GetSensorRecvData()

◆ GetSensorSenderData()

◆ Parse()

◆ ParseSender()

◆ ResetSendMessages()

类成员变量说明

◆ check_ids_

◆ cvar_

◆ is_received_on_time_

◆ protocol_data_map_

◆ received_ids_

◆ recv_protocol_data_

◆ recv_protocol_data_map_

◆ send_protocol_data_

◆ sender_protocol_data_map_

◆ sensor_check_recv_data_

◆ sensor_check_sender_data_

◆ sensor_data_

◆ sensor_data_check_recv_mutex_

◆ sensor_data_check_sender_mutex_

◆ sensor_data_mutex_

◆ sensor_data_recv_mutex_

◆ sensor_data_sender_mutex_

◆ sensor_recv_data_

◆ sensor_sender_data_