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

This class defines the message to send. 更多...

#include <can_sender.h>

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

Public 成员函数
	SenderMessage (const uint32_t message_id, ProtocolData< SensorType > *protocol_data)
	Constructor which takes message ID and protocol data.
	SenderMessage (const uint32_t message_id, ProtocolData< SensorType > *protocol_data, bool init_with_one)
	Constructor which takes message ID and protocol data and and indicator whether to initialize all bits of the .
virtual	~SenderMessage ()=default
	Destructor.
void	UpdateCurrPeriod (const int32_t delta_period)
	Update the current period for sending messages by a difference.
void	Update ()
	Update the protocol data.
void	Update_Heartbeat ()
	Always update the protocol data.
struct CanFrame	CanFrame ()
	Get the CAN frame to send.
uint32_t	message_id () const
	Get the message ID.
int32_t	curr_period () const
	Get the current period to send messages.

详细描述

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

This class defines the message to send.

在文件 can_sender.h 第 56 行定义.

构造及析构函数说明

SenderMessage() [1/2]

template<typename SensorType >

apollo::drivers::canbus::SenderMessage< SensorType >::SenderMessage	(	const uint32_t	message_id,
		ProtocolData< SensorType > *	protocol_data
	)

Constructor which takes message ID and protocol data.

参数

message_id	The message ID.
protocol_data	A pointer of ProtocolData which contains the content to send.

在文件 can_sender.h 第 230 行定义.

    : SenderMessage(message_id, protocol_data, false) {}

SenderMessage() [2/2]

template<typename SensorType >

apollo::drivers::canbus::SenderMessage< SensorType >::SenderMessage	(	const uint32_t	message_id,
		ProtocolData< SensorType > *	protocol_data,
		bool	init_with_one
	)

Constructor which takes message ID and protocol data and and indicator whether to initialize all bits of the .

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.

在文件 can_sender.h 第 235 行定义.

    : message_id_(message_id), protocol_data_(protocol_data) {
  if (init_with_one) {
    for (int32_t i = 0; i < protocol_data->GetLength(); ++i) {
      can_frame_to_update_.data[i] = 0xFF;
    }
  }
  int32_t len = protocol_data_->GetLength();
 
  can_frame_to_update_.id = message_id_;
  can_frame_to_update_.len = static_cast<uint8_t>(len);
 
  period_ = protocol_data_->GetPeriod();
  curr_period_ = period_;
 
  Update();
}

~SenderMessage()

template<typename SensorType >

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

virtualdefault

Destructor.

成员函数说明

CanFrame()

template<typename SensorType >

struct CanFrame apollo::drivers::canbus::SenderMessage< SensorType >::CanFrame

(

)

Get the CAN frame to send.

返回

The CAN frame to send.

在文件 can_sender.h 第 293 行定义.

                                                    {
  std::lock_guard<std::mutex> lock(mutex_);
  return can_frame_to_send_;
}

curr_period()

template<typename SensorType >

int32_t apollo::drivers::canbus::SenderMessage< SensorType >::curr_period

(

)

const

Get the current period to send messages.

It may be different from the period from protocol data by updating.

返回

The current period.

在文件 can_sender.h 第 299 行定义.

                                                     {
  return curr_period_;
}

message_id()

template<typename SensorType >

uint32_t apollo::drivers::canbus::SenderMessage< SensorType >::message_id

(

)

const

Get the message ID.

返回

The message ID.

在文件 can_sender.h 第 288 行定义.

                                                     {
  return message_id_;
}

Update()

template<typename SensorType >

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

(

)

Update the protocol data.

But the updating process depends on the real type of protocol data which inherites ProtocolData.

在文件 can_sender.h 第 264 行定义.

                                       {
  if (protocol_data_ == nullptr) {
    AERROR << "Attention: ProtocolData is nullptr!";
    return;
  }
  protocol_data_->UpdateData(can_frame_to_update_.data);
 
  std::lock_guard<std::mutex> lock(mutex_);
  can_frame_to_send_ = can_frame_to_update_;
}

Update_Heartbeat()

template<typename SensorType >

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

(

)

Always update the protocol data.

But the updating process depends on the real type of protocol data which inherites ProtocolData.

在文件 can_sender.h 第 276 行定义.

                                                 {
  if (protocol_data_ == nullptr) {
    AERROR << "Attention: ProtocolData is nullptr!";
    return;
  }
  protocol_data_->UpdateData_Heartbeat(can_frame_to_update_.data);
 
  std::lock_guard<std::mutex> lock(mutex_);
  can_frame_to_send_ = can_frame_to_update_;
}

UpdateCurrPeriod()

template<typename SensorType >

void apollo::drivers::canbus::SenderMessage< SensorType >::UpdateCurrPeriod

(

const int32_t

delta_period

)

Update the current period for sending messages by a difference.

参数

delta_period

Update the current period by reducing delta_period.

在文件 can_sender.h 第 256 行定义.

                                                                           {
  curr_period_ -= period_delta;
  if (curr_period_ <= 0) {
    curr_period_ = period_;
  }
}

---

该类的文档由以下文件生成:

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