Apollo 10.0
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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, CheckIdArgcheck_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.h38 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.cc42 行定义.

44 : nano_radar_writer_(writer) {
45 AddRecvProtocolData<RadarState201, true>();
46 AddRecvProtocolData<CollisionDetectionRegionState402, true>();
47 AddRecvProtocolData<ObjectGeneralInfo60B, true>();
48 AddRecvProtocolData<ObjectListStatus60A, true>();
49 AddRecvProtocolData<SoftwareVersion700, true>();
50}

◆ ~NanoRadarMessageManager()

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

在文件 nano_radar_message_manager.h43 行定义.

43{}

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.cc61 行定义.

62 {
63 uint32_t converted_message_id = message_id;
64 if (protocol_data_map_.find(converted_message_id) ==
65 protocol_data_map_.end()) {
66 ADEBUG << "Unable to get protocol data because of invalid message_id:"
67 << message_id;
68 return nullptr;
69 }
70 return protocol_data_map_[converted_message_id];
71}
std::unordered_map< uint32_t, ProtocolData< NanoRadar > * > protocol_data_map_
#define ADEBUG
Definition log.h:41

◆ 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_idthe id of the message
dataa pointer to the data array to be parsed
lengththe length of data array

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

在文件 nano_radar_message_manager.cc73 行定义.

74 {
75 ProtocolData<NanoRadar> *sensor_protocol_data =
77 if (sensor_protocol_data == nullptr) {
78 return;
79 }
80
81 std::lock_guard<std::mutex> lock(sensor_data_mutex_);
82 if (!is_configured_ && message_id != RadarState201::ID) {
83 // read radar state message first
84 return;
85 }
86
87 // trigger publishment
88 if (message_id == ObjectListStatus60A::ID) {
89 ADEBUG << sensor_data_.ShortDebugString();
90 nano_radar_writer_->Write(sensor_data_);
91 sensor_data_.Clear();
92 // fill header when receive the general info message
93 common::util::FillHeader("nano_radar", &sensor_data_);
94 }
95
96 sensor_protocol_data->Parse(data, length, &sensor_data_);
97
98 if (message_id == RadarState201::ID) {
99 ADEBUG << sensor_data_.ShortDebugString();
101 radar_config_.radar_conf().send_quality() &&
103 radar_config_.radar_conf().send_ext_info() &&
105 radar_config_.radar_conf().max_distance() &&
107 radar_config_.radar_conf().output_type() &&
109 radar_config_.radar_conf().rcs_threshold() &&
111 radar_config_.radar_conf().radar_power()) {
112 is_configured_ = true;
113 } else {
114 AINFO << "configure radar again";
115 SenderMessage<NanoRadar> sender_message200(RadarConfig200::ID,
116 &radar_config_);
117 sender_message200.Update();
118 can_client_->SendSingleFrame({sender_message200.CanFrame()});
119 }
120 }
121
122 received_ids_.insert(message_id);
123 // check if need to check period
124 const auto it = check_ids_.find(message_id);
125 if (it != check_ids_.end()) {
126 const int64_t time = Time::Now().ToMicrosecond();
127 it->second.real_period = time - it->second.last_time;
128 // if period 1.5 large than base period, inc error_count
129 const double period_multiplier = 1.5;
130 if (it->second.real_period >
131 (static_cast<double>(it->second.period) * period_multiplier)) {
132 it->second.error_count += 1;
133 } else {
134 it->second.error_count = 0;
135 }
136 it->second.last_time = time;
137 }
138}
uint64_t ToMicrosecond() const
convert time to microsecond (us).
Definition time.cc:85
static Time Now()
get the current time.
Definition time.cc:57
std::unordered_map< uint32_t, CheckIdArg > check_ids_
apollo::drivers::canbus::ProtocolData< NanoRadar > * GetMutableProtocolDataById(const uint32_t message_id)
#define AINFO
Definition log.h:42
optional RcsThreshold rcs_threshold
optional NanoRadarState_201 radar_state
optional NanoRadarState_201::OutputType output_type
optional NanoRadarState_201::RcsThreshold rcs_threshold

◆ 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.cc56 行定义.

57 {
58 can_client_ = can_client;
59}

◆ set_radar_conf()

void apollo::drivers::nano_radar::NanoRadarMessageManager::set_radar_conf ( RadarConf  radar_conf)

在文件 nano_radar_message_manager.cc52 行定义.

52 {
53 radar_config_.set_radar_conf(radar_conf);
54}
RadarConfig200 * set_radar_conf(RadarConf radar_conf)

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