apollo::drivers::gnss::SerialStream类 参考

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

apollo::drivers::gnss::SerialStream 的协作图:

Public 成员函数
	SerialStream (const char *device_name, speed_t baud_rate, uint32_t timeout_usec)
	~SerialStream ()
virtual bool	Connect ()
virtual bool	Disconnect ()
virtual size_t	read (uint8_t *buffer, size_t max_length)
virtual size_t	write (const uint8_t *data, size_t length)
Public 成员函数 继承自 apollo::drivers::gnss::Stream
virtual	~Stream ()
Status	get_status () const
void	RegisterLoginData (const std::vector< std::string > login_data)
void	Login ()
size_t	write (const std::string &buffer)

额外继承的成员函数
Public 类型 继承自 apollo::drivers::gnss::Stream
enum class	Status { DISCONNECTED , CONNECTED , ERROR }
静态 Public 成员函数 继承自 apollo::drivers::gnss::Stream
static Stream *	create_tcp (const char *address, uint16_t port, uint32_t timeout_usec=1000000)
static Stream *	create_udp (const char *address, uint16_t port, uint32_t timeout_usec=1000000)
static Stream *	create_serial (const char *device_name, uint32_t baud_rate, uint32_t timeout_usec=0)
static Stream *	create_ntrip (const std::string &address, uint16_t port, const std::string &mountpoint, const std::string &user, const std::string &passwd, uint32_t timeout_s=30)
static Stream *	create_can (const apollo::drivers::canbus::CANCardParameter &parameter)
静态 Public 属性 继承自 apollo::drivers::gnss::Stream
static constexpr size_t	NUM_STATUS
Protected 成员函数 继承自 apollo::drivers::gnss::Stream
	Stream ()
Protected 属性 继承自 apollo::drivers::gnss::Stream
Status	status_ = Status::DISCONNECTED

详细描述

在文件 serial_stream.cc 第 60 行定义.

构造及析构函数说明

SerialStream()

apollo::drivers::gnss::SerialStream::SerialStream	(	const char *	device_name,
		speed_t	baud_rate,
		uint32_t	timeout_usec
	)

在文件 serial_stream.cc 第 94 行定义.

    : device_name_(device_name),
      baud_rate_(baud_rate),
      bytesize_(8),
      parity_(0),
      stopbits_(1),
      flowcontrol_(0),
      timeout_usec_(timeout_usec),
      fd_(-1),
      errno_(0),
      is_open_(false) {
  if (device_name_.empty()) {
    status_ = Stream::Status::ERROR;
  }
}

~SerialStream()

apollo::drivers::gnss::SerialStream::~SerialStream

(

)

在文件 serial_stream.cc 第 111 行定义.

{ this->close(); }

成员函数说明

Connect()

bool apollo::drivers::gnss::SerialStream::Connect ( )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 serial_stream.cc 第 220 行定义.

                           {
  if (!is_open_) {
    this->open();
    if (!is_open_) {
      status_ = Stream::Status::ERROR;
      errno_ = errno;
      return false;
    }
  }
 
  if (status_ == Stream::Status::CONNECTED) {
    return true;
  }
 
  status_ = Stream::Status::CONNECTED;
  Login();
  return true;
}

Disconnect()

bool apollo::drivers::gnss::SerialStream::Disconnect ( )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 serial_stream.cc 第 248 行定义.

                              {
  if (!is_open_) {
    // not open
    return false;
  }
 
  this->close();
  return true;
}

read()

size_t apollo::drivers::gnss::SerialStream::read ( uint8_t *  buffer, size_t  max_length  )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 serial_stream.cc 第 274 行定义.

                                                            {
  if (!is_open_) {
    if (!Connect()) {
      return 0;
    }
    AINFO << "Connect " << device_name_ << " success.";
  }
 
  ssize_t bytes_read = 0;
  ssize_t bytes_current_read = 0;
 
  wait_readable(5000);  // wait 5ms
 
  while (max_length > 0) {
    bytes_current_read = ::read(fd_, buffer, max_length);
    if (bytes_current_read < 0) {
      switch (errno) {
        case EAGAIN:
        case EINVAL:
          bytes_current_read = 0;
          break;
 
        case EBADF:
        case EIO:
          AERROR << "Serial stream read data failed, error: "
                 << strerror(errno);
          Disconnect();
          if (Connect()) {
            AINFO << "Reconnect " << device_name_ << " success.";
            bytes_current_read = 0;
            break;  // has recoverable
          }
 
        default:
          AERROR << "Serial stream read data failed, error: " << strerror(errno)
                 << ", errno: " << errno;
          status_ = Stream::Status::ERROR;
          errno_ = errno;
          return bytes_read;
      }
    }
 
    if (bytes_current_read == 0) {
      if (!bytes_read) {
        check_remove();
        return 0;
      }
      return bytes_read;
    }
    max_length -= bytes_current_read;
    buffer += bytes_current_read;
    bytes_read += bytes_current_read;
  }
 
  return bytes_read;
}

write()

size_t apollo::drivers::gnss::SerialStream::write ( const uint8_t *  data, size_t  length  )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 serial_stream.cc 第 331 行定义.

                                                             {
  if (!is_open_) {
    if (!Connect()) {
      return 0;
    }
    AINFO << "Connect " << device_name_ << " success.";
  }
 
  size_t total_nsent = 0;
  size_t delay_times = 0;
 
  while ((length > 0) && (delay_times < 5)) {
    ssize_t nsent = ::write(fd_, data, length);
    if (nsent < 0) {
      AERROR << "Serial stream write data failed, error: " << strerror(errno);
      switch (errno) {
        case EAGAIN:
        case EINVAL:
          nsent = 0;
          break;
 
        case EBADF:
        case EIO:
          Disconnect();
          if (Connect()) {
            AINFO << "Reconnect " << device_name_ << "success.";
            nsent = 0;
            break;  // has recoverable
          }
 
        default:
          status_ = Stream::Status::ERROR;
          errno_ = errno;
          return total_nsent;
      }
    }
 
    if (nsent == 0) {
      if (!wait_writable(byte_time_us_)) {
        break;
      }
      ++delay_times;
      continue;
    }
 
    total_nsent += nsent;
    length -= nsent;
    data += nsent;
  }
 
  return total_nsent;
}

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该类的文档由以下文件生成:

• modules/drivers/gnss/stream/serial_stream.cc