apollo::drivers::gnss::BroadGnssTextParser类 参考

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

apollo::drivers::gnss::BroadGnssTextParser 的协作图:

Public 成员函数
	BroadGnssTextParser (const config::Config &config)
bool	PrepareMessage (const uint8_t &channel) override
Public 成员函数 继承自 apollo::drivers::gnss::BroadGnssBaseParser
	BroadGnssBaseParser ()
	BroadGnssBaseParser (const config::Config &config)
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)

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::BroadGnssBaseParser
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 继承自 apollo::drivers::gnss::BroadGnssBaseParser
BroadGnssMessage	broadgnss_message_
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 broadgnss_text_parser.cc 第 36 行定义.

构造及析构函数说明

BroadGnssTextParser()

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

inlineexplicit

在文件 broadgnss_text_parser.cc 第 38 行定义.

      : BroadGnssBaseParser(config) {}

成员函数说明

PrepareMessage()

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

overridevirtual

实现了 apollo::drivers::gnss::BroadGnssBaseParser.

在文件 broadgnss_text_parser.cc 第 57 行定义.

                                                               {
  ADEBUG << "BroadGnss ASCII is: " << data_;
 
  ascii_parser_.Add(data_, data_end_, channel);
  auto &message = ascii_parser_.GetMessage();
  if (message.empty()) {
    return false;
  }
 
  std::stringstream ss(message.substr(0, message.rfind('*')));
  std::vector<std::string> fields;
  for (std::string field; std::getline(ss, field, ',');) {
    fields.push_back(field);
  }
  if (fields.empty()) {
    return false;
  }
  auto valid_fields = [&]() -> bool {
    for (size_t i = 1; i < fields.size(); ++i) {
      if (fields[i].empty()) {
        fields[i] = "0";
      } else if (fields[i].find_first_not_of("0123456789.- ") !=
                     std::string::npos ||
                 fields[i].find_first_of("0123456789") == std::string::npos) {
        AERROR << "BroadGnss ASCII message field error: " << fields[i]
               << ", input str: " << message;
        return false;
      }
    }
    return true;
  };
  broadgnss_message_.message_type = fields[0];
  if (fields[0] == GIAVP_MESSAGE_ID) {
    if (fields.size() != GIAVP_MESSAGE_SIZE) {
      AERROR << "BroadGnss GIAVP message format error: " << message;
      return false;
    }
    if (!valid_fields()) {
      return false;
    }
    PrepareMessageGIAVP(fields);
    return true;
  } else if (fields[0] == GPINS_MESSAGE_ID) {
    if (fields.size() != GPINS_MESSAGE_SIZE) {
      AERROR << "BroadGnss GPINS message format error:" << message;
      return false;
    }
    if (!valid_fields()) {
      return false;
    }
    PrepareMessageGPINS(fields);
    return true;
  } else if (fields[0] == BESTPOSA_MESSAGE_ID) {
    if (fields.size() != BESTPOSA_MESSAGE_SIZE) {
      AERROR << "BroadGnss BESTPOSA message format error: " << message;
      return false;
    }
    PrepareMessageBESTPOSA(fields);
    return true;
  } else if (fields[0] == HEADINGA_MESSAGE_ID) {
    if (fields.size() != HEADINGA_MESSAGE_SIZE) {
      AERROR << "BroadGnss HEADINGA message format error: " << message;
      return false;
    }
    PrepareMessageHEADINGA(fields);
    return true;
  }
  return false;
}

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该类的文档由以下文件生成:

• modules/drivers/gnss/parser/broadgnss_parser/broadgnss_text_parser.cc