apollo::drivers::canbus::can::FakeCanClient类 参考

The class which defines a fake CAN client which inherits CanClient. 更多...

#include <fake_can_client.h>

类 apollo::drivers::canbus::can::FakeCanClient 继承关系图:

apollo::drivers::canbus::can::FakeCanClient 的协作图:

Public 成员函数
bool	Init (const CANCardParameter &param) override
	Initialize the fake CAN client by specified CAN card parameters.
virtual	~FakeCanClient ()=default
	Destructor
apollo::common::ErrorCode	Start () override
	Start the fake CAN client.
void	Stop () override
	Stop the fake CAN client.
apollo::common::ErrorCode	Send (const std::vector< CanFrame > &frames, int32_t *const frame_num) override
	Send messages
apollo::common::ErrorCode	Receive (std::vector< CanFrame > *frames, int32_t *const frame_num) override
	Receive messages
std::string	GetErrorString (const int32_t status) override
	Get the error string.
Public 成员函数 继承自 apollo::drivers::canbus::CanClient
	CanClient ()=default
	Constructor
virtual	~CanClient ()=default
	Destructor
virtual apollo::common::ErrorCode	SendSingleFrame (const std::vector< CanFrame > &frames)
	Send a single message.

额外继承的成员函数
Protected 属性 继承自 apollo::drivers::canbus::CanClient
bool	is_started_ = false
	The CAN client is started.

详细描述

The class which defines a fake CAN client which inherits CanClient.

This fake CAN client is used for testing.

在文件 fake_can_client.h 第 45 行定义.

构造及析构函数说明

~FakeCanClient()

virtual apollo::drivers::canbus::can::FakeCanClient::~FakeCanClient ( )

virtualdefault

Destructor

成员函数说明

GetErrorString()

std::string apollo::drivers::canbus::can::FakeCanClient::GetErrorString ( const int32_t  status )

overridevirtual

Get the error string.

参数

status

The status to get the error string.

实现了 apollo::drivers::canbus::CanClient.

在文件 fake_can_client.cc 第 76 行定义.

                                                       {
  return "";
}

Init()

bool apollo::drivers::canbus::can::FakeCanClient::Init ( const CANCardParameter &  param )

overridevirtual

Initialize the fake CAN client by specified CAN card parameters.

参数

parameter

CAN card parameters to initialize the CAN client.

返回

If the initialization is successful.

实现了 apollo::drivers::canbus::CanClient.

在文件 fake_can_client.cc 第 29 行定义.

{ return true; }

Receive()

ErrorCode apollo::drivers::canbus::can::FakeCanClient::Receive ( std::vector< CanFrame > *  frames, int32_t *const  frame_num  )

overridevirtual

Receive messages

参数

frames	The messages to receive.
frame_num	The amount of messages to receive.

返回

The status of the receiving action which is defined by apollo::common::ErrorCode.

实现了 apollo::drivers::canbus::CanClient.

在文件 fake_can_client.cc 第 55 行定义.

                                                           {
  if (frame_num == nullptr || frames == nullptr) {
    AERROR << "frames or frame_num pointer is null";
    return ErrorCode::CAN_CLIENT_ERROR_BASE;
  }
  frames->resize(*frame_num);
  const int MOCK_LEN = 8;
  for (size_t i = 0; i < frames->size(); ++i) {
    for (int j = 0; j < MOCK_LEN; ++j) {
      (*frames)[i].data[j] = static_cast<uint8_t>(j);
    }
    (*frames)[i].id = static_cast<uint32_t>(i);
    (*frames)[i].len = MOCK_LEN;
    ADEBUG << (*frames)[i].CanFrameString() << "frame_num[" << i << "]";
  }
  std::this_thread::sleep_for(std::chrono::milliseconds(10));
  ++recv_counter_;
  return ErrorCode::OK;
}

Send()

ErrorCode apollo::drivers::canbus::can::FakeCanClient::Send ( const std::vector< CanFrame > &  frames, int32_t *const  frame_num  )

overridevirtual

Send messages

参数

frames	The messages to send.
frame_num	The amount of messages to send.

返回

The status of the sending action which is defined by apollo::common::ErrorCode.

实现了 apollo::drivers::canbus::CanClient.

在文件 fake_can_client.cc 第 35 行定义.

                                                        {
  if (frame_num == nullptr) {
    AERROR << "frame_num pointer is null";
    return ErrorCode::CAN_CLIENT_ERROR_BASE;
  }
 
  if (static_cast<size_t>(*frame_num) != frames.size()) {
    AERROR << "frame num is incorrect.";
    return ErrorCode::CAN_CLIENT_ERROR_FRAME_NUM;
  }
  for (size_t i = 0; i < frames.size(); ++i) {
    ADEBUG << "send frame i:" << i;
    ADEBUG << frames[i].CanFrameString();
    frame_info_ << frames[i].CanFrameString();
  }
  ++send_counter_;
  return ErrorCode::OK;
}

Start()

ErrorCode apollo::drivers::canbus::can::FakeCanClient::Start ( )

overridevirtual

Start the fake CAN client.

返回

The status of the start action which is defined by apollo::common::ErrorCode.

实现了 apollo::drivers::canbus::CanClient.

在文件 fake_can_client.cc 第 31 行定义.

{ return ErrorCode::OK; }

Stop()

void apollo::drivers::canbus::can::FakeCanClient::Stop ( )

overridevirtual

Stop the fake CAN client.

实现了 apollo::drivers::canbus::CanClient.

在文件 fake_can_client.cc 第 33 行定义.

{}

---

该类的文档由以下文件生成:

• modules/drivers/canbus/can_client/fake/fake_can_client.h
• modules/drivers/canbus/can_client/fake/fake_can_client.cc