apollo::drivers::gnss::ForsenseBaseParser类 参考

#include <forsense_base_parser.h>

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

apollo::drivers::gnss::ForsenseBaseParser 的协作图:

Public 成员函数
	ForsenseBaseParser ()
	ForsenseBaseParser (const config::Config &config)
virtual bool	PrepareMessage ()=0
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)

Protected 成员函数
void	PrepareMessageStatus (const uint8_t &system_state, const uint8_t &satellite_status)
Protected 成员函数 继承自 apollo::drivers::gnss::Parser
	Parser ()

Protected 属性
ForsenseMessage	decode_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 *	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)

详细描述

在文件 forsense_base_parser.h 第 82 行定义.

构造及析构函数说明

ForsenseBaseParser() [1/2]

apollo::drivers::gnss::ForsenseBaseParser::ForsenseBaseParser ( )

inline

在文件 forsense_base_parser.h 第 84 行定义.

{}

ForsenseBaseParser() [2/2]

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

explicit

在文件 forsense_base_parser.cc 第 33 行定义.

{}

成员函数说明

GetMessages()

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

virtual

重载 apollo::drivers::gnss::Parser .

在文件 forsense_base_parser.cc 第 35 行定义.

                                                             {
  if (data_ == nullptr) {
    return;
  }
  if (!PrepareMessage()) {
    return;
  }
 
  FillGnssBestpos();
  FillImu();
  FillHeading();
  FillIns();
  FillInsStat();
 
  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_)});
}

PrepareMessage()

virtual bool apollo::drivers::gnss::ForsenseBaseParser::PrepareMessage ( )

pure virtual

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

PrepareMessageStatus()

void apollo::drivers::gnss::ForsenseBaseParser::PrepareMessageStatus ( const uint8_t &  system_state, const uint8_t &  satellite_status  )

protected

在文件 forsense_base_parser.cc 第 61 行定义.

                                                                            {
  switch (system_state) {
    case 0:
      decode_message_.solution_status = SolutionStatus::COLD_START;
      break;
    case 1:
    case 2:
      decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;
      break;
    default:
      decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;
  }
  switch (satellite_status) {
    case 0:
      decode_message_.solution_type = SolutionType::NONE;
      break;
    case 1:
    case 6:
      decode_message_.solution_type = SolutionType::SINGLE;
      break;
    case 2:
    case 7:
      decode_message_.solution_type = SolutionType::PSRDIFF;
      break;
    case 3:
      decode_message_.solution_type = SolutionType::PROPOGATED;
      break;
    case 4:
      decode_message_.solution_type = SolutionType::INS_RTKFIXED;
      break;
    case 5:
      decode_message_.solution_type = SolutionType::INS_RTKFLOAT;
      break;
    case 8:
      decode_message_.solution_type = SolutionType::NARROW_INT;
      break;
    case 9:
      decode_message_.solution_type = SolutionType::NARROW_FLOAT;
      break;
    default:
      decode_message_.solution_type = SolutionType::NONE;
  }
}

类成员变量说明

decode_message_

ForsenseMessage apollo::drivers::gnss::ForsenseBaseParser::decode_message_

protected

在文件 forsense_base_parser.h 第 94 行定义.

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该类的文档由以下文件生成:

• modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h
• modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc