apollo::external_command::ChassisCommandProcessor类 参考

#include <chassis_command_processor.h>

类 apollo::external_command::ChassisCommandProcessor 继承关系图:

apollo::external_command::ChassisCommandProcessor 的协作图:

Public 成员函数
bool	Init (const std::shared_ptr< cyber::Node > &node) override
bool	GetCommandStatus (int64_t command_id, CommandStatus *status) const override
	Get the command status.
Public 成员函数 继承自 apollo::external_command::CommandProcessorBase
	CommandProcessorBase ()
virtual	~CommandProcessorBase ()=default

额外继承的成员函数
Protected 成员函数 继承自 apollo::external_command::CommandProcessorBase
const CommandProcessorConfig &	GetProcessorConfig () const
const std::shared_ptr< cyber::Node > &	Node () const

详细描述

在文件 chassis_command_processor.h 第 40 行定义.

成员函数说明

GetCommandStatus()

bool apollo::external_command::ChassisCommandProcessor::GetCommandStatus ( int64_t  command_id, CommandStatus *  status  ) const

overridevirtual

Get the command status.

参数

command_id	Id of the command.
status	Output command status.

实现了 apollo::external_command::CommandProcessorBase.

在文件 chassis_command_processor.cc 第 54 行定义.

                                                                                              {
    CHECK_NOTNULL(status);
    if (command_id != last_received_command_.command_id()) {
        return false;
    }
    status->set_command_id(command_id);
    auto* latest_chassis_status = message_reader_->GetMessage<apollo::canbus::Chassis>(chassis_status_name_);
    if (nullptr == latest_chassis_status) {
        status->set_status(apollo::external_command::CommandStatusType::ERROR);
        status->set_message("Cannot get chassis status!");
        return true;
    }
    // Process basic vehicle signals.
    if (last_received_command_.has_basic_signal()) {
        const auto& basic_signal = last_received_command_.basic_signal();
        // Check turn signal.
        if (basic_signal.has_turn_signal()) {
            if (!latest_chassis_status->has_signal() || !latest_chassis_status->signal().has_turn_signal()
                || latest_chassis_status->signal().turn_signal() != basic_signal.turn_signal()) {
                status->set_status(apollo::external_command::CommandStatusType::RUNNING);
                return true;
            }
        }
        // Check high beam.
        if (basic_signal.has_high_beam()) {
            if (!latest_chassis_status->has_signal() || !latest_chassis_status->signal().has_high_beam()
                || latest_chassis_status->signal().high_beam() != basic_signal.high_beam()) {
                status->set_status(apollo::external_command::CommandStatusType::RUNNING);
                return true;
            }
        }
        // Check low beam.
        if (basic_signal.has_low_beam()) {
            if (!latest_chassis_status->has_signal() || !latest_chassis_status->signal().has_low_beam()
                || latest_chassis_status->signal().low_beam() != basic_signal.low_beam()) {
                status->set_status(apollo::external_command::CommandStatusType::RUNNING);
                return true;
            }
        }
        // Check horn.
        if (basic_signal.has_horn()) {
            if (!latest_chassis_status->has_signal() || !latest_chassis_status->signal().has_horn()
                || latest_chassis_status->signal().horn() != basic_signal.horn()) {
                status->set_status(apollo::external_command::CommandStatusType::RUNNING);
                return true;
            }
        }
        // Check emergency light.
        if (basic_signal.has_emergency_light()) {
            if (!latest_chassis_status->has_signal() || !latest_chassis_status->signal().has_emergency_light()
                || latest_chassis_status->signal().emergency_light() != basic_signal.emergency_light()) {
                status->set_status(apollo::external_command::CommandStatusType::RUNNING);
                return true;
            }
        }
    }
    status->set_status(apollo::external_command::CommandStatusType::FINISHED);
    return true;
}

Init()

bool apollo::external_command::ChassisCommandProcessor::Init ( const std::shared_ptr< cyber::Node > &  node )

overridevirtual

重载 apollo::external_command::CommandProcessorBase .

在文件 chassis_command_processor.cc 第 31 行定义.

                                                                       {
    // hook: Apollo License Verification: v_apollo_park
    if (!CommandProcessorBase::Init(node)) {
        return false;
    }
    last_received_command_.set_command_id(-1);
    message_reader_ = MessageReader::Instance();
    const auto& config = GetProcessorConfig();
    command_service_ = node->CreateService<ChassisCommand, CommandStatus>(
            config.input_command_name(),
            [this](const std::shared_ptr<ChassisCommand>& command, std::shared_ptr<CommandStatus>& status) {
                this->OnCommand(command, status);
            });
    // Create writer for output command.
    CHECK(config.output_command_name().size() > 0 && config.input_command_status_name().size() > 0);
    auto message_writer = MessageWriter::Instance();
    chassis_command_writer_ = message_writer->RegisterMessage<ChassisCommand>(config.output_command_name().Get(0));
    chassis_status_name_ = config.input_command_status_name().Get(0);
    message_reader_->RegisterMessage<apollo::canbus::Chassis>(chassis_status_name_);
    return true;
}

---

该类的文档由以下文件生成:

• modules/external_command/command_processor/chassis_command_processor/chassis_command_processor.h
• modules/external_command/command_processor/chassis_command_processor/chassis_command_processor.cc