Apollo 10.0
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apollo::drivers::velodyne::Input类 参考abstract

Pure virtual Velodyne input base class 更多...

#include <input.h>

类 apollo::drivers::velodyne::Input 继承关系图:
apollo::drivers::velodyne::Input 的协作图:

Public 成员函数

 Input ()
 
virtual ~Input ()
 
virtual int get_firing_data_packet (VelodynePacket *pkt)=0
 Read one Velodyne packet.
 
virtual int get_positioning_data_packet (NMEATimePtr nmea_time)=0
 
virtual void init ()
 
virtual void init (const int &port)
 

Protected 成员函数

bool exract_nmea_time_from_packet (NMEATimePtr nmea_time, const uint8_t *bytes)
 

详细描述

Pure virtual Velodyne input base class

在文件 input.h49 行定义.

构造及析构函数说明

◆ Input()

apollo::drivers::velodyne::Input::Input ( )
inline

在文件 input.h51 行定义.

51{}

◆ ~Input()

virtual apollo::drivers::velodyne::Input::~Input ( )
inlinevirtual

在文件 input.h52 行定义.

52{}

成员函数说明

◆ exract_nmea_time_from_packet()

bool apollo::drivers::velodyne::Input::exract_nmea_time_from_packet ( NMEATimePtr  nmea_time,
const uint8_t *  bytes 
)
protected

在文件 input.cc23 行定义.

24 {
25 unsigned int gprmc_index = 206;
26
27 int field_count = 0;
28 int time_field_index = 0;
29 int validity_field_index = 0;
30 int date_field_index = 0;
31 while (++gprmc_index < POSITIONING_DATA_PACKET_SIZE - 6 &&
32 bytes[gprmc_index] != '*') {
33 if (bytes[gprmc_index] == ',') {
34 ++field_count;
35 if (field_count == 1 && time_field_index == 0) {
36 time_field_index = gprmc_index + 1;
37 } else if (field_count == 2 && validity_field_index == 0) {
38 validity_field_index = gprmc_index + 1;
39 if (bytes[validity_field_index] == 'V') {
40 AERROR << "NAV receiver warning, GPS info is invalid!";
41 return false;
42 }
43 } else if (field_count == 9 && date_field_index == 0) {
44 date_field_index = gprmc_index + 1;
45 break;
46 }
47 }
48 }
49
50 if (gprmc_index == POSITIONING_DATA_PACKET_SIZE - 6) {
51 return false;
52 }
53
54 nmea_time->year =
55 static_cast<uint16_t>((bytes[date_field_index + 4] - '0') * 10 +
56 (bytes[date_field_index + 5] - '0'));
57 nmea_time->mon =
58 static_cast<uint16_t>((bytes[date_field_index + 2] - '0') * 10 +
59 (bytes[date_field_index + 3] - '0'));
60 nmea_time->day = static_cast<uint16_t>((bytes[date_field_index] - '0') * 10 +
61 (bytes[date_field_index + 1] - '0'));
62 nmea_time->hour = static_cast<uint16_t>((bytes[time_field_index] - '0') * 10 +
63 (bytes[time_field_index + 1] - '0'));
64 nmea_time->min =
65 static_cast<uint16_t>((bytes[time_field_index + 2] - '0') * 10 +
66 (bytes[time_field_index + 3] - '0'));
67 nmea_time->sec =
68 static_cast<uint16_t>((bytes[time_field_index + 4] - '0') * 10 +
69 (bytes[time_field_index + 5] - '0'));
70
71 if (nmea_time->year < 0 || nmea_time->year > 99 || nmea_time->mon > 12 ||
72 nmea_time->mon < 1 || nmea_time->day > 31 || nmea_time->day < 1 ||
73 nmea_time->hour > 23 || nmea_time->hour < 0 || nmea_time->min > 59 ||
74 nmea_time->min < 0 || nmea_time->sec > 59 || nmea_time->sec < 0) {
75 AERROR << "Invalid GPS time: " << nmea_time->year << "-" << nmea_time->mon
76 << "-" << nmea_time->day << " " << nmea_time->hour << ":"
77 << nmea_time->min << ":" << nmea_time->sec
78 << ", make sure have connected to GPS device";
79 return false;
80 }
81 return true;
82}
#define AERROR
Definition log.h:44

◆ get_firing_data_packet()

virtual int apollo::drivers::velodyne::Input::get_firing_data_packet ( VelodynePacket pkt)
pure virtual

Read one Velodyne packet.

参数
pktpoints to VelodynePacket message
返回
0 if successful, -1 if end of file > 0 if incomplete packet (is this possible?)

apollo::drivers::velodyne::SocketInput 内被实现.

◆ get_positioning_data_packet()

virtual int apollo::drivers::velodyne::Input::get_positioning_data_packet ( NMEATimePtr  nmea_time)
pure virtual

◆ init() [1/2]

virtual void apollo::drivers::velodyne::Input::init ( )
inlinevirtual

在文件 input.h64 行定义.

64{}

◆ init() [2/2]

virtual void apollo::drivers::velodyne::Input::init ( const int &  port)
inlinevirtual

apollo::drivers::velodyne::SocketInput 重载.

在文件 input.h65 行定义.

65{}

该类的文档由以下文件生成: