apollo::drivers::gnss::AsensingCanParser类 参考

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

apollo::drivers::gnss::AsensingCanParser 的协作图:

Public 成员函数
	AsensingCanParser (const config::Config &config)
void	GetMessages (MessageInfoVec *messages) override
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)
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_can_parser.cc 第 112 行定义.

构造及析构函数说明

AsensingCanParser()

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

inlineexplicit

在文件 asensing_can_parser.cc 第 114 行定义.

      : AsensingBaseParser(config) {}

成员函数说明

FillGnssBestpos()

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

overridevirtual

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

在文件 asensing_can_parser.cc 第 363 行定义.

                                        {
  bestpos_.set_measurement_time(adata_.gps_sec);
  bestpos_.set_sol_status(solution_status_);
  bestpos_.set_sol_type(solution_type_);
  if (adata_.gps_latitude > 0) {
    bestpos_.set_latitude(adata_.gps_latitude);
    bestpos_.set_longitude(adata_.gps_longitude);
    bestpos_.set_height_msl(adata_.gps_altitude);
    bestpos_.set_latitude_std_dev(adata_.gps_lat_std);
    bestpos_.set_longitude_std_dev(adata_.gps_lon_std);
    bestpos_.set_height_std_dev(adata_.gps_alti_std);
  } else {
    bestpos_.set_latitude(adata_.latitude);
    bestpos_.set_longitude(adata_.longitude);
    bestpos_.set_height_msl(adata_.altitude);
    bestpos_.set_latitude_std_dev(adata_.lat_std);
    bestpos_.set_longitude_std_dev(adata_.lon_std);
    bestpos_.set_height_std_dev(adata_.alti_std);
  }
  bestpos_.set_differential_age(adata_.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::AsensingCanParser::FillHeading ( )

overridevirtual

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

在文件 asensing_can_parser.cc 第 436 行定义.

                                    {
  heading_.set_solution_status(solution_status_);
  heading_.set_position_type(solution_type_);
  heading_.set_measurement_time(adata_.gps_sec);
  if (adata_.gps_heading > -0.1) {
    heading_.set_heading(adata_.gps_heading);
    heading_.set_pitch(adata_.gps_pitch);
    heading_.set_heading_std_dev(adata_.gps_yaw_std);
  } else {
    heading_.set_heading(adata_.heading);
    heading_.set_pitch(adata_.pitch);
    heading_.set_heading_std_dev(adata_.yaw_std);
  }
  heading_.set_pitch_std_dev(adata_.pitch_std);
 
  // heading_.set_station_id("0");
  // heading_.set_satellite_number_multi(0);
  // heading_.set_satellite_soulution_number(0);
}

FillImu()

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

overridevirtual

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

在文件 asensing_can_parser.cc 第 428 行定义.

                                {
  rfu_to_flu(adata_.acc_x, adata_.acc_y, adata_.acc_z,
             imu_.mutable_linear_acceleration());
  rfu_to_flu(adata_.gyro_x, adata_.gyro_x, adata_.gyro_z,
             imu_.mutable_angular_velocity());
  imu_.set_measurement_time(adata_.ins_gps_sec);
}

FillIns()

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

overridevirtual

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

在文件 asensing_can_parser.cc 第 389 行定义.

                                {
  ins_.mutable_euler_angles()->set_x(adata_.roll * DEG_TO_RAD);
  ins_.mutable_euler_angles()->set_y(-adata_.pitch * DEG_TO_RAD);
  ins_.mutable_euler_angles()->set_z(azimuth_deg_to_yaw_rad(adata_.heading));
 
  ins_.mutable_position()->set_lon(adata_.longitude);
  ins_.mutable_position()->set_lat(adata_.latitude);
  ins_.mutable_position()->set_height(adata_.altitude);
  ins_.mutable_linear_velocity()->set_x(adata_.ve);
  ins_.mutable_linear_velocity()->set_y(adata_.vn);
  ins_.mutable_linear_velocity()->set_z(-adata_.vd);
  rfu_to_flu(adata_.acc_x, adata_.acc_y, adata_.acc_z,
             ins_.mutable_linear_acceleration());
  rfu_to_flu(adata_.gyro_x, adata_.gyro_y, adata_.gyro_z,
             ins_.mutable_angular_velocity());
  ins_.set_measurement_time(adata_.ins_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::AsensingCanParser::FillInsStat ( )

overridevirtual

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

在文件 asensing_can_parser.cc 第 423 行定义.

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

GetMessages()

void apollo::drivers::gnss::AsensingCanParser::GetMessages ( MessageInfoVec *  messages )

overridevirtual

重载 apollo::drivers::gnss::AsensingBaseParser .

在文件 asensing_can_parser.cc 第 150 行定义.

                                                            {
  if (data_ == nullptr) {
    return;
  }
  PrepareMessage();
 
  if (cur_can_id_ == FRAME_gps_latitude_longitude) {
    FillGnssBestpos();
    messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,
                                    reinterpret_cast<MessagePtr>(&bestpos_)});
    return;
  } else if (cur_can_id_ == FRAME_gps_heading_and_pitch) {
    FillHeading();
    messages->push_back(MessageInfo{MessageType::HEADING,
                                    reinterpret_cast<MessagePtr>(&heading_)});
    return;
  } else if (cur_can_id_ != FRAME_ins_height_and_time) {
    return;
  }
 
  FillImu();
  FillIns();
  FillInsStat();
  if (auto_fill_gps_msg_ && adata_.gps_latitude < 0 &&
      bestpos_ratecontrol_.check()) {
    FillGnssBestpos();
    messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,
                                    reinterpret_cast<MessagePtr>(&bestpos_)});
  }
  if (auto_fill_gps_msg_ && adata_.gps_heading < -0.1) {
    FillHeading();
    messages->push_back(MessageInfo{MessageType::HEADING,
                                    reinterpret_cast<MessagePtr>(&heading_)});
  }
  messages->push_back(
      MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});
 
  messages->push_back(
      MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});
  messages->push_back(MessageInfo{MessageType::INS_STAT,
                                  reinterpret_cast<MessagePtr>(&ins_stat_)});
}

PrepareMessage()

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

overridevirtual

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

在文件 asensing_can_parser.cc 第 193 行定义.

                                       {
  auto can_frame =
      reinterpret_cast<const apollo::drivers::canbus::CanFrame *>(data_);
  ADEBUG << "Received can frame: " << can_frame->CanFrameString();
  Decode(*can_frame);
  cur_can_id_ = can_frame->id;
  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_can_parser.cc