apollo::drivers::velodyne::Velodyne64Driver类 参考

#include <driver.h>

类 apollo::drivers::velodyne::Velodyne64Driver 继承关系图:

apollo::drivers::velodyne::Velodyne64Driver 的协作图:

Public 成员函数
	Velodyne64Driver (const Config &config)
	Velodyne64Driver (const std::shared_ptr< cyber::Node > &node, const Config &config)
	~Velodyne64Driver ()
bool	Init () override
	Initialize the lidar driver.
bool	Poll (const std::shared_ptr< VelodyneScan > &scan) override
	poll the device
void	DevicePoll ()
Public 成员函数 继承自 apollo::drivers::velodyne::VelodyneDriver
	VelodyneDriver ()
	VelodyneDriver (const Config &config)
	VelodyneDriver (const std::shared_ptr< cyber::Node > &node, const Config &config)
virtual	~VelodyneDriver ()
bool	Init () override
	Initialize the lidar driver.
virtual void	PollPositioningPacket ()
void	SetPacketRate (const double packet_rate)
void	DevicePoll ()
Public 成员函数 继承自 apollo::drivers::lidar::LidarDriver
	LidarDriver ()
	Constructor
	LidarDriver (const std::shared_ptr<::apollo::cyber::Node > &node)
virtual	~LidarDriver ()=default
	Destructor

额外继承的成员函数
Protected 成员函数 继承自 apollo::drivers::velodyne::VelodyneDriver
virtual int	PollStandard (std::shared_ptr< VelodyneScan > scan)
bool	SetBaseTime ()
void	SetBaseTimeFromNmeaTime (NMEATimePtr nmea_time, uint64_t *basetime)
void	UpdateGpsTopHour (uint32_t current_time)
Protected 属性 继承自 apollo::drivers::velodyne::VelodyneDriver
std::thread	poll_thread_
Config	config_
std::shared_ptr< apollo::cyber::Writer< VelodyneScan > >	writer_
std::unique_ptr< Input >	input_ = nullptr
std::unique_ptr< Input >	positioning_input_ = nullptr
std::string	topic_
double	packet_rate_ = 0.0
uint64_t	basetime_ = 0
uint32_t	last_gps_time_ = 0
uint64_t	last_count_ = 0
std::thread	positioning_thread_
Protected 属性 继承自 apollo::drivers::lidar::LidarDriver
std::shared_ptr< cyber::Node >	node_
静态 Protected 属性 继承自 apollo::drivers::velodyne::VelodyneDriver
static uint64_t	sync_counter = 0

详细描述

在文件 driver.h 第 82 行定义.

构造及析构函数说明

Velodyne64Driver() [1/2]

apollo::drivers::velodyne::Velodyne64Driver::Velodyne64Driver ( const Config &  config )

inlineexplicit

在文件 driver.h 第 84 行定义.

: VelodyneDriver(config) {}

Velodyne64Driver() [2/2]

apollo::drivers::velodyne::Velodyne64Driver::Velodyne64Driver ( const std::shared_ptr< cyber::Node > &  node, const Config &  config  )

inline

在文件 driver.h 第 85 行定义.

                                                  {
    node_ = node;
    config_ = config;
  }

~Velodyne64Driver()

apollo::drivers::velodyne::Velodyne64Driver::~Velodyne64Driver

(

)

在文件 driver64.cc 第 28 行定义.

                                    {
  if (poll_thread_.joinable()) {
    poll_thread_.join();
  }
}

成员函数说明

DevicePoll()

void apollo::drivers::velodyne::Velodyne64Driver::DevicePoll

(

)

在文件 driver64.cc 第 133 行定义.

                                  {
  while (!apollo::cyber::IsShutdown()) {
    // poll device until end of file
    std::shared_ptr<VelodyneScan> scan = std::make_shared<VelodyneScan>();
    bool ret = Poll(scan);
    if (ret) {
      apollo::common::util::FillHeader("velodyne", scan.get());
      writer_->Write(scan);
    } else {
      AWARN << "device poll failed";
    }
  }
 
  AERROR << "CompVelodyneDriver thread exit";
}

Init()

bool apollo::drivers::velodyne::Velodyne64Driver::Init ( )

overridevirtual

Initialize the lidar driver.

返回

If the initialization is successful.

实现了 apollo::drivers::lidar::LidarDriver.

在文件 driver64.cc 第 34 行定义.

                            {
  const double frequency = config_.rpm() / 60.0;  // expected Hz rate
 
  // default number of packets for each scan is a single revolution
  // (fractions rounded up)
  config_.set_npackets(static_cast<int>(ceil(packet_rate_ / frequency)));
  AINFO << "publishing " << config_.npackets() << " packets per scan";
 
  input_.reset(new SocketInput());
  input_->init(config_.firing_data_port());
 
  if (node_ == NULL) {
    AERROR << "node is NULL";
    return false;
  }
  writer_ = node_->CreateWriter<VelodyneScan>(config_.scan_channel());
  poll_thread_ = std::thread(&Velodyne64Driver::DevicePoll, this);
  return true;
}

Poll()

bool apollo::drivers::velodyne::Velodyne64Driver::Poll ( const std::shared_ptr< VelodyneScan > &  scan )

overridevirtual

poll the device

返回

true unless end of file reached

重载 apollo::drivers::velodyne::VelodyneDriver .

在文件 driver64.cc 第 58 行定义.

                                                                   {
  // Allocate a new shared pointer for zero-copy sharing with other nodelets.
  int poll_result =
      config_.use_sensor_sync() ? PollStandardSync(scan) : PollStandard(scan);
 
  if (poll_result == SOCKET_TIMEOUT || poll_result == RECEIVE_FAIL) {
    return false;  // poll again
  }
 
  if (scan->firing_pkts().empty()) {
    AINFO << "Get an empty scan from port: " << config_.firing_data_port();
    return false;
  }
 
  // publish message using time of last packet read
  ADEBUG << "Publishing a full Velodyne scan.";
  scan->mutable_header()->set_timestamp_sec(cyber::Time().Now().ToSecond());
  scan->mutable_header()->set_frame_id(config_.frame_id());
  scan->set_model(config_.model());
  scan->set_mode(config_.mode());
  scan->set_basetime(basetime_);
 
  return true;
}

---

该类的文档由以下文件生成:

• modules/drivers/lidar/velodyne/driver/driver.h
• modules/drivers/lidar/velodyne/driver/driver64.cc