apollo::drivers::gnss::EnbroadParse类 参考

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

apollo::drivers::gnss::EnbroadParse 的协作图:

Public 成员函数
	EnbroadParse ()
	EnbroadParse (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)
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 *	CreateAsensing (const config::Config &config)
static Parser *	CreateBroadGnssText (const config::Config &config)
static Parser *	CreateEnbroad (const config::Config &config)
static Parser *	CreateForsenseText (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::Parser
const uint8_t *	data_ = nullptr
const uint8_t *	data_end_ = nullptr

详细描述

在文件 enbroad_parser.cc 第 57 行定义.

构造及析构函数说明

EnbroadParse() [1/2]

apollo::drivers::gnss::EnbroadParse::EnbroadParse

(

)

在文件 enbroad_parser.cc 第 87 行定义.

{ buffer_.reserve(BUFFER_SIZE); }

EnbroadParse() [2/2]

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

explicit

在文件 enbroad_parser.cc 第 89 行定义.

                                                     {
  buffer_.reserve(BUFFER_SIZE);
}

成员函数说明

GetMessages()

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

virtual

重载 apollo::drivers::gnss::Parser .

在文件 enbroad_parser.cc 第 93 行定义.

                                                       {
  if (data_ == nullptr) {
    return;
  }
  while (data_ < data_end_) {
    if (buffer_.empty()) {  // Looking for SYNC_HEAD_0
      if (*data_ == enbroad::SYNC_HEAD_0) {
        buffer_.push_back(*data_);
      }
      ++data_;
    } else if (buffer_.size() == 1) {  // Looking for SYNC_HEAD_1
      if (*data_ == enbroad::SYNC_HEAD_1) {
        buffer_.push_back(*data_++);
      } else {
        buffer_.clear();
      }
    } else if (buffer_.size() == 2) {  // Looking for SYNC_HEAD_2
      if (*data_ == enbroad::SYNC_HEAD_2) {
        buffer_.push_back(*data_++);
        header_length_ = sizeof(enbroad::FrameHeader);
      } else {
        buffer_.clear();
      }
    } else if (header_length_ > 0) {  // Working on header.
      if (buffer_.size() < header_length_) {
        buffer_.push_back(*data_++);
      } else {
        total_length_ = header_length_ +
                        reinterpret_cast<enbroad::FrameHeader*>(buffer_.data())
                            ->message_length +
                        1 + 2;
        header_length_ = 0;
      }
    } else if (total_length_ > 0) {
      if (buffer_.size() < total_length_) {  // Working on body.
        buffer_.push_back(*data_++);
        continue;
      }
      if (!PrepareMessage()) {
        buffer_.clear();
        total_length_ = 0;
      } else {
        buffer_.clear();
        total_length_ = 0;
        messages->push_back(
            MessageInfo{MessageType::BEST_GNSS_POS,
                        reinterpret_cast<MessagePtr>(&bestpos_)});
        messages->push_back(
            MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});
        messages->push_back(MessageInfo{
            MessageType::HEADING, reinterpret_cast<MessagePtr>(&heading_)});
        messages->push_back(
            MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});
        messages->push_back(MessageInfo{
            MessageType::INS_STAT, reinterpret_cast<MessagePtr>(&ins_stat_)});
      }
    }
  }
}

---

该类的文档由以下文件生成:

• modules/drivers/gnss/parser/enbroad_parser/enbroad_parser.cc