apollo::drivers::gnss::DataParser类 参考

#include <data_parser.h>

apollo::drivers::gnss::DataParser 的协作图:

Public 成员函数
	DataParser (const config::Config &config, const std::shared_ptr< apollo::cyber::Node > &node)
	~DataParser ()
bool	Init ()
void	ParseRawData (const std::string &msg, const uint8_t &channel=0)

详细描述

在文件 data_parser.h 第 45 行定义.

构造及析构函数说明

DataParser()

apollo::drivers::gnss::DataParser::DataParser	(	const config::Config &	config,
		const std::shared_ptr< apollo::cyber::Node > &	node
	)

在文件 data_parser.cc 第 58 行定义.

    : config_(config), tf_broadcaster_(node), node_(node) {
  std::string utm_target_param;
 
  wgs84pj_source_ = pj_init_plus(WGS84_TEXT);
  utm_target_ = pj_init_plus(config_.proj4_text().c_str());
  gnss_status_.set_solution_status(0);
  gnss_status_.set_num_sats(0);
  gnss_status_.set_position_type(0);
  gnss_status_.set_solution_completed(false);
  ins_status_.set_type(InsStatus::INVALID);
}

~DataParser()

apollo::drivers::gnss::DataParser::~DataParser ( )

inline

在文件 data_parser.h 第 49 行定义.

{}

成员函数说明

Init()

bool apollo::drivers::gnss::DataParser::Init

(

)

在文件 data_parser.cc 第 72 行定义.

                      {
  ins_status_.mutable_header()->set_timestamp_sec(
      cyber::Time::Now().ToSecond());
  gnss_status_.mutable_header()->set_timestamp_sec(
      cyber::Time::Now().ToSecond());
 
  gnssstatus_writer_ = node_->CreateWriter<GnssStatus>(FLAGS_gnss_status_topic);
  insstatus_writer_ = node_->CreateWriter<InsStatus>(FLAGS_ins_status_topic);
  gnssbestpose_writer_ =
      node_->CreateWriter<GnssBestPose>(FLAGS_gnss_best_pose_topic);
  corrimu_writer_ = node_->CreateWriter<CorrectedImu>(FLAGS_imu_topic);
  insstat_writer_ = node_->CreateWriter<InsStat>(FLAGS_ins_stat_topic);
  gnssephemeris_writer_ =
      node_->CreateWriter<GnssEphemeris>(FLAGS_gnss_rtk_eph_topic);
  epochobservation_writer_ =
      node_->CreateWriter<EpochObservation>(FLAGS_gnss_rtk_obs_topic);
  heading_writer_ = node_->CreateWriter<Heading>(FLAGS_heading_topic);
  rawimu_writer_ = node_->CreateWriter<Imu>(FLAGS_raw_imu_topic);
  gps_writer_ = node_->CreateWriter<Gps>(FLAGS_gps_topic);
 
  common::util::FillHeader("gnss", &ins_status_);
  insstatus_writer_->Write(ins_status_);
  common::util::FillHeader("gnss", &gnss_status_);
  gnssstatus_writer_->Write(gnss_status_);
 
  AINFO << "Creating data parser of format: " << config_.data().format();
  data_parser_.reset(Parser::CreateParser(config_));
  if (!data_parser_) {
    AFATAL << "Failed to create data parser.";
    return false;
  }
 
  init_flag_ = true;
  return true;
}

ParseRawData()

void apollo::drivers::gnss::DataParser::ParseRawData	(	const std::string &	msg,
		const uint8_t &	channel = 0
	)

在文件 data_parser.cc 第 108 行定义.

                                                                          {
  if (!init_flag_) {
    AERROR << "Data parser not init.";
    return;
  }
 
  std::lock_guard<std::mutex> lock(data_mutex_);
  data_parser_->Update(msg);
  MessageInfoVec messages;
  data_parser_->GetMessagesByChannel(channel, &messages);
  for (auto &message : messages) {
    DispatchMessage(message);
  }
}

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该类的文档由以下文件生成:

• modules/drivers/gnss/parser/data_parser.h
• modules/drivers/gnss/parser/data_parser.cc