apollo::drivers::gnss::AsensingBinaryParser类 参考

类 apollo::drivers::gnss::AsensingBinaryParser 继承关系图:

apollo::drivers::gnss::AsensingBinaryParser 的协作图:

Public 成员函数
	AsensingBinaryParser (const config::Config &config)
bool	PrepareMessage () override
void	FillGnssBestpos () override
void	FillIns () override
void	FillInsStat () override
void	FillImu () override
void	FillHeading () override
Public 成员函数 继承自 apollo::drivers::gnss::AsensingBaseParser
	AsensingBaseParser ()
	AsensingBaseParser (const config::Config &config)
virtual void	GetMessages (MessageInfoVec *messages)
Public 成员函数 继承自 apollo::drivers::gnss::Parser
virtual	~Parser ()
void	Update (const uint8_t *data, size_t length)
void	Update (const std::string &data)
virtual MessageType	GetMessage (MessagePtr *message_ptr)
void	GetMessagesByChannel (const uint8_t &channel, MessageInfoVec *messages)
virtual void	GetMessages (const uint8_t &channel, MessageInfoVec *messages)
virtual bool	GetInsStat (MessagePtr *message_ptr)

额外继承的成员函数
静态 Public 成员函数 继承自 apollo::drivers::gnss::Parser
static Parser *	CreateNovatel (const config::Config &config)
static Parser *	CreateHuaCeText (const config::Config &config)
static Parser *	CreateAsensingBinary (const config::Config &config)
static Parser *	CreateAsensingCan (const config::Config &config)
static Parser *	CreateBroadGnssText (const config::Config &config)
static Parser *	CreateParser (const config::Config &config)
static Parser *	CreateRtcmV3 (bool is_base_station=false)
Protected 成员函数 继承自 apollo::drivers::gnss::Parser
	Parser ()
Protected 属性 继承自 apollo::drivers::gnss::AsensingBaseParser
SolutionStatus	solution_status_ = SolutionStatus::INSUFFICIENT_OBS
SolutionType	solution_type_ = SolutionType::NONE
double	gps_sec_
GnssBestPose	bestpos_
RateControl	bestpos_ratecontrol_ {PERIOD_NS_1HZ}
Imu	imu_
Heading	heading_
Ins	ins_
InsStat	ins_stat_
bool	auto_fill_gps_msg_
Protected 属性 继承自 apollo::drivers::gnss::Parser
const uint8_t *	data_ = nullptr
const uint8_t *	data_end_ = nullptr

详细描述

在文件 asensing_binary_parser.cc 第 23 行定义.

构造及析构函数说明

AsensingBinaryParser()

apollo::drivers::gnss::AsensingBinaryParser::AsensingBinaryParser ( const config::Config &  config )

inlineexplicit

在文件 asensing_binary_parser.cc 第 25 行定义.

      : AsensingBaseParser(config) {}

成员函数说明

FillGnssBestpos()

void apollo::drivers::gnss::AsensingBinaryParser::FillGnssBestpos ( )

overridevirtual

实现了 apollo::drivers::gnss::AsensingBaseParser.

在文件 asensing_binary_parser.cc 第 67 行定义.

                                           {
  bestpos_.set_measurement_time(gps_sec_);
  bestpos_.set_sol_status(solution_status_);
  bestpos_.set_sol_type(solution_type_);
  bestpos_.set_latitude(decode_b.insdata.Lat_gnss_deg);
  bestpos_.set_longitude(decode_b.insdata.Lon_gnss_deg);
  bestpos_.set_height_msl(decode_b.insdata.Alt_gnss_m);
 
  if (decode_b.insdata.LoopType == 0) {
    bestpos_.set_latitude_std_dev(exp(decode_b.insdata.data1 / 100));
    bestpos_.set_longitude_std_dev(exp(decode_b.insdata.data2 / 100));
    bestpos_.set_height_std_dev(exp(decode_b.insdata.data3 / 100));
  }
  bestpos_.set_differential_age(decode_b.insdata.differential_age);
  // bestpos_.set_num_sats_tracked(0);
  // bestpos_.set_num_sats_in_solution(0);
  // bestpos_.set_num_sats_l1(0);
  // bestpos_.set_num_sats_multi(0);
}

FillHeading()

void apollo::drivers::gnss::AsensingBinaryParser::FillHeading ( )

overridevirtual

实现了 apollo::drivers::gnss::AsensingBaseParser.

在文件 asensing_binary_parser.cc 第 135 行定义.

                                       {
  heading_.set_solution_status(solution_status_);
  heading_.set_position_type(solution_type_);
  heading_.set_measurement_time(gps_sec_);
  heading_.set_heading(decode_b.insdata.Yaw_deg);
  heading_.set_pitch(decode_b.insdata.Pitch_deg);
 
  if (decode_b.insdata.LoopType == 2) {
    heading_.set_heading_std_dev(exp(decode_b.insdata.data3 / 100));
    heading_.set_pitch_std_dev(exp(decode_b.insdata.data2 / 100));
  }
 
  // heading_.set_station_id("0");
  // heading_.set_satellite_number_multi(0);
  // heading_.set_satellite_soulution_number(0);
}

FillImu()

void apollo::drivers::gnss::AsensingBinaryParser::FillImu ( )

overridevirtual

实现了 apollo::drivers::gnss::AsensingBaseParser.

在文件 asensing_binary_parser.cc 第 127 行定义.

                                   {
  rfu_to_flu(decode_b.insdata.AccX_g, decode_b.insdata.AccY_g,
             decode_b.insdata.AccZ_g, imu_.mutable_linear_acceleration());
  rfu_to_flu(decode_b.insdata.GyroX, decode_b.insdata.GyroY,
             decode_b.insdata.GyroZ, imu_.mutable_angular_velocity());
  imu_.set_measurement_time(gps_sec_);
}

FillIns()

void apollo::drivers::gnss::AsensingBinaryParser::FillIns ( )

overridevirtual

实现了 apollo::drivers::gnss::AsensingBaseParser.

在文件 asensing_binary_parser.cc 第 87 行定义.

                                   {
  ins_.mutable_euler_angles()->set_x(decode_b.insdata.Roll_deg * DEG_TO_RAD);
  ins_.mutable_euler_angles()->set_y(-decode_b.insdata.Pitch_deg * DEG_TO_RAD);
  ins_.mutable_euler_angles()->set_z(
      azimuth_deg_to_yaw_rad(decode_b.insdata.Yaw_deg));
 
  ins_.mutable_position()->set_lon(decode_b.insdata.Lon_deg);
  ins_.mutable_position()->set_lat(decode_b.insdata.Lat_deg);
  ins_.mutable_position()->set_height(decode_b.insdata.Alt_m);
  ins_.mutable_linear_velocity()->set_x(decode_b.insdata.VelE_mps);
  ins_.mutable_linear_velocity()->set_y(decode_b.insdata.VelN_mps);
  ins_.mutable_linear_velocity()->set_z(-decode_b.insdata.VelD_mps);
  rfu_to_flu(decode_b.insdata.AccX_g, decode_b.insdata.AccY_g,
             decode_b.insdata.AccZ_g, ins_.mutable_linear_acceleration());
  rfu_to_flu(decode_b.insdata.GyroX, decode_b.insdata.GyroY,
             decode_b.insdata.GyroZ, ins_.mutable_angular_velocity());
  ins_.set_measurement_time(gps_sec_);
  ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());
 
  switch (solution_type_) {
    case SolutionType::INS_RTKFIXED:
    case SolutionType::NARROW_INT:
    case SolutionType::INS_RTKFLOAT:
    case SolutionType::NARROW_FLOAT:
      ins_.set_type(Ins::GOOD);
      break;
    case SolutionType::SINGLE:
      ins_.set_type(Ins::CONVERGING);
      break;
    default:
      ins_.set_type(Ins::INVALID);
      break;
  }
}

FillInsStat()

void apollo::drivers::gnss::AsensingBinaryParser::FillInsStat ( )

overridevirtual

实现了 apollo::drivers::gnss::AsensingBaseParser.

在文件 asensing_binary_parser.cc 第 122 行定义.

                                       {
  ins_stat_.set_ins_status(solution_status_);
  ins_stat_.set_pos_type(solution_type_);
}

PrepareMessage()

bool apollo::drivers::gnss::AsensingBinaryParser::PrepareMessage ( )

overridevirtual

实现了 apollo::drivers::gnss::AsensingBaseParser.

在文件 asensing_binary_parser.cc 第 45 行定义.

                                          {
  asensing.addData(
      std::string(reinterpret_cast<const char *>(data_), data_end_ - data_));
  AINFO << "get protocol: " << asensing.getProtocol();
  if (asensing.getProtocol() != decode_b.m_typeImu) {
    return false;
  }
  if ((decode_b.insdata.InsStatus & 0x0F) == 0x0F) {
    solution_status_ = SolutionStatus::SOL_COMPUTED;
  } else {
    solution_status_ = SolutionStatus::INSUFFICIENT_OBS;
  }
  if (SolutionType_IsValid(decode_b.insdata.flag_pos)) {
    solution_type_ = SolutionType(decode_b.insdata.flag_pos);
  } else {
    solution_type_ = SolutionType::NONE;
  }
  gps_sec_ =
      apollo::drivers::util::unix2gps(decode_b.insdata.SysTime_ms / 1000.0);
  return true;
}

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该类的文档由以下文件生成:

• modules/drivers/gnss/parser/asensing_parser/asensing_binary_parser.cc