apollo::drivers::gnss::HuaCeTextParser类 参考

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

apollo::drivers::gnss::HuaCeTextParser 的协作图:

Public 成员函数
	HuaCeTextParser (const config::Config &config)
bool	PrepareMessage () override
Public 成员函数 继承自 apollo::drivers::gnss::HuaCeBaseParser
	HuaCeBaseParser ()
	HuaCeBaseParser (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::HuaCeBaseParser
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 继承自 apollo::drivers::gnss::HuaCeBaseParser
HuaCeMessage	decode_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 huace_text_parser.cc 第 45 行定义.

构造及析构函数说明

HuaCeTextParser()

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

inlineexplicit

在文件 huace_text_parser.cc 第 47 行定义.

      : HuaCeBaseParser(config) {}

成员函数说明

PrepareMessage()

bool apollo::drivers::gnss::HuaCeTextParser::PrepareMessage ( )

overridevirtual

实现了 apollo::drivers::gnss::HuaCeBaseParser.

在文件 huace_text_parser.cc 第 63 行定义.

                                     {
  ADEBUG << "HUACE ASCII is: " << data_;
 
  // message may be truncated, just save the last message
  const uint8_t *data_start = data_end_;
  for (; data_start != data_; --data_start) {
    if (*data_start == '$') {
      break;
    }
  }
  if (data_start != data_) {
    AWARN << "HUACE message has been truncated: " << data_;
  }
 
  if (*data_start != '$') {
    input_str_.append(reinterpret_cast<const char *>(data_start),
                      std::distance(data_start, data_end_));
  } else {
    input_str_.assign(reinterpret_cast<const char *>(data_start),
                      std::distance(data_start, data_end_));
  }
 
  if (*(data_end_ - 1) != 0x0A) {
    AWARN << "HUACE ASCII message is not complete: " << data_start;
    return false;
  }
 
  std::vector<std::string> fields;
  std::stringstream ss(input_str_.substr(0, input_str_.rfind('*')));
  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 (i == 33 && fields[i] == "X") {
        continue;
      } else if (fields[i].find_first_not_of("0123456789.- ") !=
                 std::string::npos) {
        AERROR << "HUACE ASCII message field error: " << fields[i]
               << ", input str: " << input_str_;
        return false;
      }
    }
    return true;
  };
  if (fields[0] == protocol_.GPCHC) {
    if (fields.size() < protocol_.GPCHC_SIZE) {
      AERROR << "GPCHC message format error: " << data_start;
      return false;
    }
    if (!valid_fields()) {
      return false;
    }
    PrepareMessageGPCHC(fields);
    return true;
  } else if (fields[0] == protocol_.GPCHCX) {
    if (fields.size() < protocol_.GPCHCX_SIZE) {
      AERROR << "GPCHCX message format error:" << data_start;
      return false;
    }
    if (!valid_fields()) {
      return false;
    }
    PrepareMessageGPCHCX(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/huace_parser/huace_text_parser.cc