apollo::drivers::nano_radar::NanoRadarMessageManager类 参考

#include <nano_radar_message_manager.h>

类 apollo::drivers::nano_radar::NanoRadarMessageManager 继承关系图:

apollo::drivers::nano_radar::NanoRadarMessageManager 的协作图:

Public 成员函数
	NanoRadarMessageManager (const std::shared_ptr< apollo::cyber::Writer< NanoRadar > > &writer)
virtual	~NanoRadarMessageManager ()
void	set_radar_conf (RadarConf radar_conf)
apollo::drivers::canbus::ProtocolData< NanoRadar > *	GetMutableProtocolDataById (const uint32_t message_id)
void	Parse (const uint32_t message_id, const uint8_t *data, int32_t length)
	parse data and store parsed info in receive protocol data
void	set_can_client (std::shared_ptr< apollo::drivers::canbus::CanClient > can_client)
Public 成员函数 继承自 apollo::drivers::canbus::MessageManager< NanoRadar >
	MessageManager ()
virtual	~MessageManager ()=default
virtual void	ParseSender (const uint32_t message_id, const uint8_t *data, int32_t length)
	parse data and store parsed info in send protocol data
void	ClearSensorData ()
void	ClearSensorRecvData ()
void	ClearSensorCheckRecvData ()
void	ClearSensorSenderData ()
void	ClearSensorCheckSenderData ()
std::condition_variable *	GetMutableCVar ()
ProtocolData< NanoRadar > *	GetMutableProtocolDataById (const uint32_t message_id)
	get mutable protocol data by message id
common::ErrorCode	GetSensorData (NanoRadar *const sensor_data)
	get chassis detail.
common::ErrorCode	GetSensorRecvData (NanoRadar *const sensor_recv_data)
	get chassis recv detail.
common::ErrorCode	GetSensorCheckRecvData (NanoRadar *const sensor_recv_data)
	get chassis recv detail.
common::ErrorCode	GetSensorSenderData (NanoRadar *const sensor_sender_data)
	get chassis sender detail.
common::ErrorCode	GetSensorCheckSenderData (NanoRadar *const sensor_sender_data)
	get chassis sender detail.
void	ResetSendMessages ()

额外继承的成员函数
Protected 成员函数 继承自 apollo::drivers::canbus::MessageManager< NanoRadar >
void	AddRecvProtocolData ()
void	AddSendProtocolData ()
Protected 属性 继承自 apollo::drivers::canbus::MessageManager< NanoRadar >
std::vector< std::unique_ptr< ProtocolData< NanoRadar > > >	send_protocol_data_
std::vector< std::unique_ptr< ProtocolData< NanoRadar > > >	recv_protocol_data_
std::unordered_map< uint32_t, ProtocolData< NanoRadar > * >	protocol_data_map_
std::unordered_map< uint32_t, ProtocolData< NanoRadar > * >	recv_protocol_data_map_
std::unordered_map< uint32_t, ProtocolData< NanoRadar > * >	sender_protocol_data_map_
std::unordered_map< uint32_t, CheckIdArg >	check_ids_
std::set< uint32_t >	received_ids_
std::mutex	sensor_data_mutex_
NanoRadar	sensor_data_
std::mutex	sensor_data_recv_mutex_
NanoRadar	sensor_recv_data_
std::mutex	sensor_data_check_recv_mutex_
NanoRadar	sensor_check_recv_data_
std::mutex	sensor_data_sender_mutex_
NanoRadar	sensor_sender_data_
std::mutex	sensor_data_check_sender_mutex_
NanoRadar	sensor_check_sender_data_
bool	is_received_on_time_
std::condition_variable	cvar_

详细描述

在文件 nano_radar_message_manager.h 第 38 行定义.

构造及析构函数说明

NanoRadarMessageManager()

apollo::drivers::nano_radar::NanoRadarMessageManager::NanoRadarMessageManager ( const std::shared_ptr< apollo::cyber::Writer< NanoRadar > > &  writer )

explicit

在文件 nano_radar_message_manager.cc 第 42 行定义.

    : nano_radar_writer_(writer) {
  AddRecvProtocolData<RadarState201, true>();
  AddRecvProtocolData<CollisionDetectionRegionState402, true>();
  AddRecvProtocolData<ObjectGeneralInfo60B, true>();
  AddRecvProtocolData<ObjectListStatus60A, true>();
  AddRecvProtocolData<SoftwareVersion700, true>();
}

~NanoRadarMessageManager()

virtual apollo::drivers::nano_radar::NanoRadarMessageManager::~NanoRadarMessageManager ( )

inlinevirtual

在文件 nano_radar_message_manager.h 第 43 行定义.

{}

成员函数说明

GetMutableProtocolDataById()

ProtocolData< NanoRadar > * apollo::drivers::nano_radar::NanoRadarMessageManager::GetMutableProtocolDataById

(

const uint32_t

message_id

)

在文件 nano_radar_message_manager.cc 第 61 行定义.

                               {
  uint32_t converted_message_id = message_id;
  if (protocol_data_map_.find(converted_message_id) ==
      protocol_data_map_.end()) {
    ADEBUG << "Unable to get protocol data because of invalid message_id:"
           << message_id;
    return nullptr;
  }
  return protocol_data_map_[converted_message_id];
}

Parse()

void apollo::drivers::nano_radar::NanoRadarMessageManager::Parse ( const uint32_t  message_id, const uint8_t *  data, int32_t  length  )

virtual

parse data and store parsed info in receive protocol data

参数

message_id	the id of the message
data	a pointer to the data array to be parsed
length	the length of data array

重载 apollo::drivers::canbus::MessageManager< NanoRadar > .

在文件 nano_radar_message_manager.cc 第 73 行定义.

                                                                         {
  ProtocolData<NanoRadar> *sensor_protocol_data =
      GetMutableProtocolDataById(message_id);
  if (sensor_protocol_data == nullptr) {
    return;
  }
 
  std::lock_guard<std::mutex> lock(sensor_data_mutex_);
  if (!is_configured_ && message_id != RadarState201::ID) {
    // read radar state message first
    return;
  }
 
  // trigger publishment
  if (message_id == ObjectListStatus60A::ID) {
    ADEBUG << sensor_data_.ShortDebugString();
    nano_radar_writer_->Write(sensor_data_);
    sensor_data_.Clear();
    // fill header when receive the general info message
    common::util::FillHeader("nano_radar", &sensor_data_);
  }
 
  sensor_protocol_data->Parse(data, length, &sensor_data_);
 
  if (message_id == RadarState201::ID) {
    ADEBUG << sensor_data_.ShortDebugString();
    if (sensor_data_.radar_state().send_quality() ==
            radar_config_.radar_conf().send_quality() &&
        sensor_data_.radar_state().send_ext_info() ==
            radar_config_.radar_conf().send_ext_info() &&
        sensor_data_.radar_state().max_distance() ==
            radar_config_.radar_conf().max_distance() &&
        sensor_data_.radar_state().output_type() ==
            radar_config_.radar_conf().output_type() &&
        sensor_data_.radar_state().rcs_threshold() ==
            radar_config_.radar_conf().rcs_threshold() &&
        sensor_data_.radar_state().radar_power() ==
            radar_config_.radar_conf().radar_power()) {
      is_configured_ = true;
    } else {
      AINFO << "configure radar again";
      SenderMessage<NanoRadar> sender_message200(RadarConfig200::ID,
                                                 &radar_config_);
      sender_message200.Update();
      can_client_->SendSingleFrame({sender_message200.CanFrame()});
    }
  }
 
  received_ids_.insert(message_id);
  // check if need to check period
  const auto it = check_ids_.find(message_id);
  if (it != check_ids_.end()) {
    const int64_t time = Time::Now().ToMicrosecond();
    it->second.real_period = time - it->second.last_time;
    // if period 1.5 large than base period, inc error_count
    const double period_multiplier = 1.5;
    if (it->second.real_period >
        (static_cast<double>(it->second.period) * period_multiplier)) {
      it->second.error_count += 1;
    } else {
      it->second.error_count = 0;
    }
    it->second.last_time = time;
  }
}

set_can_client()

void apollo::drivers::nano_radar::NanoRadarMessageManager::set_can_client

(

std::shared_ptr< apollo::drivers::canbus::CanClient >

can_client

)

在文件 nano_radar_message_manager.cc 第 56 行定义.

                                         {
  can_client_ = can_client;
}

set_radar_conf()

void apollo::drivers::nano_radar::NanoRadarMessageManager::set_radar_conf

(

RadarConf

radar_conf

)

在文件 nano_radar_message_manager.cc 第 52 行定义.

                                                                 {
  radar_config_.set_radar_conf(radar_conf);
}

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该类的文档由以下文件生成:

• modules/drivers/radar/nano_radar/nano_radar_message_manager.h
• modules/drivers/radar/nano_radar/nano_radar_message_manager.cc