#include <broadgnss_base_parser.h>

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

apollo::drivers::gnss::BroadGnssBaseParser 的协作图:

Public 成员函数
	BroadGnssBaseParser ()

	BroadGnssBaseParser (const config::Config &config)

virtual bool	PrepareMessage (const uint8_t &channel)=0

virtual void	GetMessages (const uint8_t &channel, MessageInfoVec *messages)

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 bool	GetInsStat (MessagePtr *message_ptr)

Protected 成员函数
void	PrepareMessageStatus (const uint8_t &solution_status, const uint8_t &solution_type)

Protected 成员函数继承自 apollo::drivers::gnss::Parser
	Parser ()

Protected 属性
BroadGnssMessage	broadgnss_message_

Protected 属性继承自 apollo::drivers::gnss::Parser
const uint8_t *	data_ = nullptr

const uint8_t *	data_end_ = nullptr

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)

详细描述

在文件 broadgnss_base_parser.h 第 38 行定义.

构造及析构函数说明

◆ BroadGnssBaseParser() [1/2]

apollo::drivers::gnss::BroadGnssBaseParser::BroadGnssBaseParser ( )

inline

在文件 broadgnss_base_parser.h 第 40 行定义.

40{}

◆ BroadGnssBaseParser() [2/2]

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

explicit

在文件 broadgnss_base_parser.cc 第 33 行定义.

34 : auto_fill_gps_msg_(config.auto_fill_gps_msg()) {}

成员函数说明

◆ GetMessages() [1/2]

void apollo::drivers::gnss::BroadGnssBaseParser::GetMessages	(	const uint8_t &	channel,
		MessageInfoVec *	messages
	)

virtual

重载 apollo::drivers::gnss::Parser .

在文件 broadgnss_base_parser.cc 第 40 行定义.

                                                                {
  if (data_ == nullptr) {
    return;
  }
  if (!PrepareMessage(channel)) {
    return;
  }
 
  if (broadgnss_message_.message_type == BESTPOSA_MESSAGE_ID) {
    FillGnssBestpos();
    messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,
                                    reinterpret_cast<MessagePtr>(&bestpos_)});
    return;
  }
 
  if (broadgnss_message_.message_type == HEADINGA_MESSAGE_ID) {
    FillHeading();
    messages->push_back(MessageInfo{MessageType::HEADING,
                                    reinterpret_cast<MessagePtr>(&heading_)});
    return;
  }
 
  if (auto_fill_gps_msg_ && broadgnss_message_.best_latitude < 0 &&
      bestpos_ratecontrol_.check()) {
    FillGnssBestpos();
    messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,
                                    reinterpret_cast<MessagePtr>(&bestpos_)});
  }
 
  if (auto_fill_gps_msg_ && broadgnss_message_.gps_heading < -0.1) {
    FillHeading();
    messages->push_back(MessageInfo{MessageType::HEADING,
                                    reinterpret_cast<MessagePtr>(&heading_)});
  }
 
  FillImu();
  FillIns();
  FillInsStat();
  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_)});
}

◆ GetMessages() [2/2]

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

virtual

重载 apollo::drivers::gnss::Parser .

在文件 broadgnss_base_parser.cc 第 36 行定义.

                                                              {
  return GetMessages(0, messages);
}

◆ PrepareMessage()

virtual bool apollo::drivers::gnss::BroadGnssBaseParser::PrepareMessage ( const uint8_t & channel )

pure virtual

在 apollo::drivers::gnss::BroadGnssTextParser 内被实现.

◆ PrepareMessageStatus()

void apollo::drivers::gnss::BroadGnssBaseParser::PrepareMessageStatus	(	const uint8_t &	solution_status,
		const uint8_t &	solution_type
	)

protected

在文件 broadgnss_base_parser.cc 第 87 行定义.

                                                                             {
  switch (solution_status) {
    case 0:
      broadgnss_message_.solution_status = SolutionStatus::COLD_START;
      break;
    case 1:
    case 2:
    case 3:
      broadgnss_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;
      break;
    case 4:
      broadgnss_message_.solution_status = SolutionStatus::SOL_COMPUTED;
      break;
    default:
      broadgnss_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;
  }
  switch (solution_type) {
    case 0:
      broadgnss_message_.solution_type = SolutionType::NONE;
      break;
    case 1:
    case 2:
    case 3:
    case 6:
      broadgnss_message_.solution_type = SolutionType::SINGLE;
      break;
    case 4:
      broadgnss_message_.solution_type = SolutionType::INS_RTKFIXED;
      break;
    case 5:
      broadgnss_message_.solution_type = SolutionType::INS_RTKFLOAT;
      break;
    default:
      broadgnss_message_.solution_type = SolutionType::NONE;
  }
}

类成员变量说明

◆ broadgnss_message_

BroadGnssMessage apollo::drivers::gnss::BroadGnssBaseParser::broadgnss_message_

protected

在文件 broadgnss_base_parser.h 第 51 行定义.

该类的文档由以下文件生成:

modules/drivers/gnss/parser/broadgnss_parser/broadgnss_base_parser.h
modules/drivers/gnss/parser/broadgnss_parser/broadgnss_base_parser.cc

Public 成员函数

Protected 成员函数

Protected 属性

额外继承的成员函数