apollo::monitor::FunctionalSafetyMonitor类 参考

#include <functional_safety_monitor.h>

类 apollo::monitor::FunctionalSafetyMonitor 继承关系图:

apollo::monitor::FunctionalSafetyMonitor 的协作图:

Public 成员函数
	FunctionalSafetyMonitor ()
void	RunOnce (const double current_time)
Public 成员函数 继承自 apollo::monitor::RecurrentRunner
	RecurrentRunner (const std::string &name, const double interval)
virtual	~RecurrentRunner ()=default
void	Tick (const double current_time)

额外继承的成员函数
Protected 属性 继承自 apollo::monitor::RecurrentRunner
std::string	name_
unsigned int	round_count_ = 0

详细描述

在文件 functional_safety_monitor.h 第 27 行定义.

构造及析构函数说明

FunctionalSafetyMonitor()

apollo::monitor::FunctionalSafetyMonitor::FunctionalSafetyMonitor

(

)

在文件 functional_safety_monitor.cc 第 46 行定义.

    : RecurrentRunner(FLAGS_functional_safety_monitor_name, 0) {}

成员函数说明

RunOnce()

void apollo::monitor::FunctionalSafetyMonitor::RunOnce ( const double  current_time )

virtual

实现了 apollo::monitor::RecurrentRunner.

在文件 functional_safety_monitor.cc 第 49 行定义.

                                                               {
  auto* system_status = MonitorManager::Instance()->GetStatus();
  // Everything looks good or has been handled properly.
  if (CheckSafety()) {
    system_status->clear_passenger_msg();
    system_status->clear_safety_mode_trigger_time();
    system_status->clear_require_emergency_stop();
    return;
  }
  if (system_status->require_emergency_stop()) {
    // EStop has already been triggered.
    return;
  }
 
  // Newly entered safety mode.
  system_status->set_passenger_msg("Error! Please disengage.");
  if (!system_status->has_safety_mode_trigger_time()) {
    system_status->set_safety_mode_trigger_time(current_time);
    return;
  }
 
  // Trigger EStop if no action was taken in time.
  if (system_status->safety_mode_trigger_time() +
          FLAGS_safety_mode_seconds_before_estop <
      current_time) {
    system_status->set_require_emergency_stop(true);
  }
}

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该类的文档由以下文件生成:

• modules/monitor/software/functional_safety_monitor.h
• modules/monitor/software/functional_safety_monitor.cc