Apollo 10.0
自动驾驶开放平台
apollo::drivers::nano_radar::NanoRadarCanbusComponent类 参考

#include <nano_radar_canbus_component.h>

类 apollo::drivers::nano_radar::NanoRadarCanbusComponent 继承关系图:
apollo::drivers::nano_radar::NanoRadarCanbusComponent 的协作图:

Public 成员函数

 NanoRadarCanbusComponent ()
 
 ~NanoRadarCanbusComponent ()
 
bool Init () override
 
- Public 成员函数 继承自 apollo::cyber::Component< M0, M1, M2, M3 >
 Component ()
 
 ~Component () override
 
bool Initialize (const ComponentConfig &config) override
 init the component by protobuf object.
 
bool Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)
 
- Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual ~ComponentBase ()
 
virtual bool Initialize (const TimerComponentConfig &config)
 
virtual void Shutdown ()
 
template<typename T >
bool GetProtoConfig (T *config) const
 

额外继承的成员函数

- Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using Reader = cyber::Reader< M >
 
- Protected 成员函数 继承自 apollo::cyber::ComponentBase
virtual void Clear ()
 
const std::string & ConfigFilePath () const
 
void LoadConfigFiles (const ComponentConfig &config)
 
void LoadConfigFiles (const TimerComponentConfig &config)
 
- Protected 属性 继承自 apollo::cyber::ComponentBase
std::atomic< bool > is_shutdown_ = {false}
 
std::shared_ptr< Nodenode_ = nullptr
 
std::string config_file_path_ = ""
 
std::vector< std::shared_ptr< ReaderBase > > readers_
 

详细描述

在文件 nano_radar_canbus_component.h55 行定义.

构造及析构函数说明

◆ NanoRadarCanbusComponent()

apollo::drivers::nano_radar::NanoRadarCanbusComponent::NanoRadarCanbusComponent ( )

◆ ~NanoRadarCanbusComponent()

apollo::drivers::nano_radar::NanoRadarCanbusComponent::~NanoRadarCanbusComponent ( )

在文件 nano_radar_canbus_component.cc49 行定义.

49{ Stop(); }

成员函数说明

◆ Init()

bool apollo::drivers::nano_radar::NanoRadarCanbusComponent::Init ( )
overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 nano_radar_canbus_component.cc51 行定义.

51 {
52 if (!GetProtoConfig(&nano_radar_conf_)) {
53 return OnError("Unable to load canbus conf file: " + ConfigFilePath());
54 }
55
56 AINFO << "The canbus conf file is loaded: " << ConfigFilePath();
57 ADEBUG << "Canbus_conf:" << nano_radar_conf_.ShortDebugString();
58
59 // Init can client
60 auto can_factory = CanClientFactory::Instance();
61 can_factory->RegisterCanClients();
62 can_client_ = can_factory->CreateCANClient(
63 nano_radar_conf_.can_conf().can_card_parameter());
64 if (!can_client_) {
65 return OnError("Failed to create can client.");
66 }
67 AINFO << "Can client is successfully created.";
68 nano_radar_writer_ =
69 node_->CreateWriter<NanoRadar>(nano_radar_conf_.radar_channel());
70
71 sensor_message_manager_ = std::unique_ptr<NanoRadarMessageManager>(
72 new NanoRadarMessageManager(nano_radar_writer_));
73 if (sensor_message_manager_ == nullptr) {
74 return OnError("Failed to create message manager.");
75 }
76 sensor_message_manager_->set_radar_conf(nano_radar_conf_.radar_conf());
77 sensor_message_manager_->set_can_client(can_client_);
78 AINFO << "Sensor message manager is successfully created.";
79
80 if (can_receiver_.Init(can_client_.get(), sensor_message_manager_.get(),
81 nano_radar_conf_.can_conf().enable_receiver_log()) !=
82 ErrorCode::OK) {
83 return OnError("Failed to init can receiver.");
84 }
85 AINFO << "The can receiver is successfully initialized.";
86
87 start_success_ = Start();
88 return start_success_;
89}
bool GetProtoConfig(T *config) const
const std::string & ConfigFilePath() const
std::shared_ptr< Node > node_
#define ADEBUG
Definition log.h:41
#define AINFO
Definition log.h:42
optional apollo::drivers::canbus::CANCardParameter can_card_parameter

该类的文档由以下文件生成: