apollo::drivers::gnss::UdpStream类 参考

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

apollo::drivers::gnss::UdpStream 的协作图:

Public 成员函数
	UdpStream (const char *address, uint16_t port, uint32_t timeout_usec)
	~UdpStream ()
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 udp_stream.cc 第 33 行定义.

构造及析构函数说明

UdpStream()

apollo::drivers::gnss::UdpStream::UdpStream	(	const char *	address,
		uint16_t	port,
		uint32_t	timeout_usec
	)

在文件 udp_stream.cc 第 62 行定义.

    : sockfd_(-1), errno_(0) {
  peer_addr_ = inet_addr(address);
  peer_port_ = htons(port);
  timeout_usec_ = timeout_usec;
  // call open or call open in connect later
}

~UdpStream()

apollo::drivers::gnss::UdpStream::~UdpStream

(

)

在文件 udp_stream.cc 第 70 行定义.

{ this->close(); }

成员函数说明

Connect()

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

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 udp_stream.cc 第 155 行定义.

                        {
  if (sockfd_ < 0) {
    this->open();
    if (sockfd_ < 0) {
      return false;
    }
  }
 
  if (status_ == Stream::Status::CONNECTED) {
    return true;
  }
 
  // upper layer support ping method ??
  // Login();
  status_ = Stream::Status::CONNECTED;
  return true;
}

Disconnect()

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

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 udp_stream.cc 第 173 行定义.

                           {
  if (sockfd_ < 0) {
    // not open
    return false;
  }
 
  this->close();
  return true;
}

read()

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

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 udp_stream.cc 第 183 行定义.

                                                         {
  ssize_t ret = 0;
  struct sockaddr_in peer_sockaddr;
  socklen_t socklenth = sizeof(peer_sockaddr);
  bzero(&peer_sockaddr, sizeof(peer_sockaddr));
  peer_sockaddr.sin_family = AF_INET;
  peer_sockaddr.sin_port = peer_port_;
  peer_sockaddr.sin_addr.s_addr = htonl(INADDR_ANY);
 
  while ((ret = ::recvfrom(sockfd_, buffer, max_length, 0,
                           (struct sockaddr*)&peer_sockaddr,
                           reinterpret_cast<socklen_t*>(&socklenth))) < 0) {
    if (errno == EINTR) {
      continue;
    } else {
      // error
      if (errno != EAGAIN) {
        status_ = Stream::Status::ERROR;
        errno_ = errno;
      }
    }
 
    return 0;
  }
 
  return ret;
}

write()

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

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 udp_stream.cc 第 211 行定义.

                                                          {
  size_t total_nsent = 0;
  struct sockaddr_in peer_sockaddr;
  bzero(&peer_sockaddr, sizeof(peer_sockaddr));
  peer_sockaddr.sin_family = AF_INET;
  peer_sockaddr.sin_port = peer_port_;
  peer_sockaddr.sin_addr.s_addr = peer_addr_;
 
  while (length > 0) {
    ssize_t nsent =
        ::sendto(sockfd_, data, length, 0, (struct sockaddr*)&peer_sockaddr,
                 (socklen_t)sizeof(peer_sockaddr));
    if (nsent < 0) {  // error
      if (errno == EINTR) {
        continue;
      } else {
        // error
        if (errno == EPIPE || errno == ECONNRESET) {
          status_ = Stream::Status::DISCONNECTED;
          errno_ = errno;
        } else if (errno != EAGAIN) {
          status_ = Stream::Status::ERROR;
          errno_ = errno;
        }
        return total_nsent;
      }
    }
 
    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/udp_stream.cc