apollo::monitor::GpsMonitor类 参考

#include <gps_monitor.h>

类 apollo::monitor::GpsMonitor 继承关系图:

apollo::monitor::GpsMonitor 的协作图:

Public 成员函数
	GpsMonitor ()
void	RunOnce (const double current_time) override
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 gps_monitor.h 第 23 行定义.

构造及析构函数说明

GpsMonitor()

apollo::monitor::GpsMonitor::GpsMonitor

(

)

在文件 gps_monitor.cc 第 36 行定义.

    : RecurrentRunner(FLAGS_gps_monitor_name, FLAGS_gps_monitor_interval) {}

成员函数说明

RunOnce()

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

overridevirtual

实现了 apollo::monitor::RecurrentRunner.

在文件 gps_monitor.cc 第 39 行定义.

                                                  {
  auto manager = MonitorManager::Instance();
  Component* component = apollo::common::util::FindOrNull(
      *manager->GetStatus()->mutable_components(), FLAGS_gps_component_name);
  if (component == nullptr) {
    // GPS is not monitored in current mode, skip.
    return;
  }
  ComponentStatus* component_status = component->mutable_other_status();
  component_status->clear_status();
 
  static auto gnss_best_pose_reader =
      manager->CreateReader<GnssBestPose>(FLAGS_gnss_best_pose_topic);
  gnss_best_pose_reader->Observe();
  const auto gnss_best_pose_status = gnss_best_pose_reader->GetLatestObserved();
  if (gnss_best_pose_status == nullptr) {
    SummaryMonitor::EscalateStatus(ComponentStatus::ERROR,
                                   "No GnssBestPose message", component_status);
    return;
  }
  switch (gnss_best_pose_status->sol_type()) {
    case SolutionType::NARROW_INT:
      SummaryMonitor::EscalateStatus(ComponentStatus::OK, "", component_status);
      break;
    case SolutionType::SINGLE:
      SummaryMonitor::EscalateStatus(
          ComponentStatus::WARN, "SolutionType is SINGLE", component_status);
      break;
    default:
      SummaryMonitor::EscalateStatus(ComponentStatus::ERROR,
                                     "SolutionType is wrong", component_status);
      break;
  }
}

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该类的文档由以下文件生成:

• modules/monitor/hardware/gps_monitor.h
• modules/monitor/hardware/gps_monitor.cc