apollo::drivers::gnss::NovatelParser类 参考

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

apollo::drivers::gnss::NovatelParser 的协作图:

Public 成员函数
	NovatelParser ()
	NovatelParser (const config::Config &config)
virtual MessageType	GetMessage (MessagePtr *message_ptr)
virtual void	GetMessages (MessageInfoVec *messages)
virtual bool	GetInsStat (MessagePtr *message_ptr)
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)

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 novatel_parser.cc 第 86 行定义.

构造及析构函数说明

NovatelParser() [1/2]

apollo::drivers::gnss::NovatelParser::NovatelParser

(

)

在文件 novatel_parser.cc 第 186 行定义.

                             {
  buffer_.reserve(BUFFER_SIZE);
  ins_.mutable_position_covariance()->Resize(9, FLOAT_NAN);
  ins_.mutable_euler_angles_covariance()->Resize(9, FLOAT_NAN);
  ins_.mutable_linear_velocity_covariance()->Resize(9, FLOAT_NAN);
 
  if (1 != init_raw(&raw_)) {
    AFATAL << "memory allocation error for observation data structure.";
  }
}

NovatelParser() [2/2]

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

explicit

在文件 novatel_parser.cc 第 197 行定义.

                                                       {
  buffer_.reserve(BUFFER_SIZE);
  ins_.mutable_position_covariance()->Resize(9, FLOAT_NAN);
  ins_.mutable_euler_angles_covariance()->Resize(9, FLOAT_NAN);
  ins_.mutable_linear_velocity_covariance()->Resize(9, FLOAT_NAN);
 
  if (config.has_imu_type()) {
    imu_type_ = config.imu_type();
  }
 
  if (1 != init_raw(&raw_)) {
    AFATAL << "memory allocation error for observation data structure.";
  }
}

成员函数说明

GetInsStat()

bool apollo::drivers::gnss::NovatelParser::GetInsStat ( MessagePtr *  message_ptr )

virtual

重载 apollo::drivers::gnss::Parser .

在文件 novatel_parser.cc 第 732 行定义.

                                                      {
  *message_ptr = &ins_stat_;
  return true;
}

GetMessage()

MessageType apollo::drivers::gnss::NovatelParser::GetMessage ( MessagePtr *  message_ptr )

virtual

重载 apollo::drivers::gnss::Parser .

在文件 novatel_parser.cc 第 212 行定义.

                                                             {
  if (data_ == nullptr) {
    return MessageType::NONE;
  }
 
  while (data_ < data_end_) {
    if (buffer_.empty()) {  // Looking for SYNC0
      if (*data_ == novatel::SYNC_0) {
        buffer_.push_back(*data_);
      }
      ++data_;
    } else if (buffer_.size() == 1) {  // Looking for SYNC1
      if (*data_ == novatel::SYNC_1) {
        buffer_.push_back(*data_++);
      } else {
        buffer_.clear();
      }
    } else if (buffer_.size() == 2) {  // Looking for SYNC2
      switch (*data_) {
        case novatel::SYNC_2_LONG_HEADER:
          buffer_.push_back(*data_++);
          header_length_ = sizeof(novatel::LongHeader);
          break;
        case novatel::SYNC_2_SHORT_HEADER:
          buffer_.push_back(*data_++);
          header_length_ = sizeof(novatel::ShortHeader);
          break;
        default:
          buffer_.clear();
      }
    } else if (header_length_ > 0) {  // Working on header.
      if (buffer_.size() < header_length_) {
        buffer_.push_back(*data_++);
      } else {
        if (header_length_ == sizeof(novatel::LongHeader)) {
          total_length_ = header_length_ + novatel::CRC_LENGTH +
                          reinterpret_cast<novatel::LongHeader*>(buffer_.data())
                              ->message_length;
        } else if (header_length_ == sizeof(novatel::ShortHeader)) {
          total_length_ =
              header_length_ + novatel::CRC_LENGTH +
              reinterpret_cast<novatel::ShortHeader*>(buffer_.data())
                  ->message_length;
        } else {
          AERROR << "Incorrect header_length_. Should never reach here.";
          buffer_.clear();
        }
        header_length_ = 0;
      }
    } else if (total_length_ > 0) {
      if (buffer_.size() < total_length_) {  // Working on body.
        buffer_.push_back(*data_++);
        continue;
      }
      MessageType type = PrepareMessage(message_ptr);
      buffer_.clear();
      total_length_ = 0;
      if (type != MessageType::NONE) {
        return type;
      }
    }
  }
  return MessageType::NONE;
}

GetMessages()

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

virtual

重载 apollo::drivers::gnss::Parser .

在文件 novatel_parser.cc 第 277 行定义.

                                                        {
  std::set<MessageType> s;
  while (cyber::OK()) {
    MessageInfo message_info;
    message_info.type = GetMessage(&message_info.message_ptr);
    if (message_info.type == MessageType::NONE) {
      break;
    }
    if (s.find(message_info.type) == s.end()) {
      messages->push_back(std::move(message_info));
      s.insert(message_info.type);
    }
  }
}

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该类的文档由以下文件生成:

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