apollo::drivers::conti_radar::ContiRadarCanbusComponent类 参考

#include <conti_radar_canbus_component.h>

类 apollo::drivers::conti_radar::ContiRadarCanbusComponent 继承关系图:

apollo::drivers::conti_radar::ContiRadarCanbusComponent 的协作图:

Public 成员函数
	ContiRadarCanbusComponent ()
	~ContiRadarCanbusComponent ()
bool	Init () override
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

在文件 conti_radar_canbus_component.h 第 57 行定义.

构造及析构函数说明

ContiRadarCanbusComponent()

apollo::drivers::conti_radar::ContiRadarCanbusComponent::ContiRadarCanbusComponent

(

)

在文件 conti_radar_canbus_component.cc 第 45 行定义.

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

~ContiRadarCanbusComponent()

apollo::drivers::conti_radar::ContiRadarCanbusComponent::~ContiRadarCanbusComponent

(

)

在文件 conti_radar_canbus_component.cc 第 48 行定义.

{ Stop(); }

成员函数说明

Init()

bool apollo::drivers::conti_radar::ContiRadarCanbusComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 conti_radar_canbus_component.cc 第 50 行定义.

                                     {
  if (!GetProtoConfig(&conti_radar_conf_)) {
    return OnError("Unable to load canbus conf file: " + ConfigFilePath());
  }
 
  AINFO << "The canbus conf file is loaded: " << ConfigFilePath();
  ADEBUG << "Canbus_conf:" << conti_radar_conf_.ShortDebugString();
 
  // Init can client
  auto can_factory = CanClientFactory::Instance();
  can_factory->RegisterCanClients();
  can_client_ = can_factory->CreateCANClient(
      conti_radar_conf_.can_conf().can_card_parameter());
  if (!can_client_) {
    return OnError("Failed to create can client.");
  }
  AINFO << "Can client is successfully created.";
  conti_radar_writer_ =
      node_->CreateWriter<ContiRadar>(conti_radar_conf_.radar_channel());
  pose_reader_ = node_->CreateReader<LocalizationEstimate>(
      FLAGS_localization_topic,
      [&](const std::shared_ptr<LocalizationEstimate>& pose) {
        PoseCallback(pose);
      });
 
  sensor_message_manager_ = std::unique_ptr<ContiRadarMessageManager>(
      new ContiRadarMessageManager(conti_radar_writer_));
  if (sensor_message_manager_ == nullptr) {
    return OnError("Failed to create message manager.");
  }
  sensor_message_manager_->set_radar_conf(conti_radar_conf_.radar_conf());
  sensor_message_manager_->set_can_client(can_client_);
  AINFO << "Sensor message manager is successfully created.";
 
  if (can_receiver_.Init(can_client_.get(), sensor_message_manager_.get(),
                         conti_radar_conf_.can_conf().enable_receiver_log()) !=
      ErrorCode::OK) {
    return OnError("Failed to init can receiver.");
  }
  AINFO << "The can receiver is successfully initialized.";
 
  start_success_ = Start();
  return start_success_;
}

---

该类的文档由以下文件生成:

• modules/drivers/radar/conti_radar/conti_radar_canbus_component.h
• modules/drivers/radar/conti_radar/conti_radar_canbus_component.cc