36using micros = std::chrono::microseconds;
44 : nano_radar_writer_(writer) {
45 AddRecvProtocolData<RadarState201, true>();
46 AddRecvProtocolData<CollisionDetectionRegionState402, true>();
47 AddRecvProtocolData<ObjectGeneralInfo60B, true>();
48 AddRecvProtocolData<ObjectListStatus60A, true>();
49 AddRecvProtocolData<SoftwareVersion700, true>();
57 std::shared_ptr<CanClient> can_client) {
58 can_client_ = can_client;
62 const uint32_t message_id) {
63 uint32_t converted_message_id = message_id;
66 ADEBUG <<
"Unable to get protocol data because of invalid message_id:"
74 const uint8_t *data, int32_t length) {
77 if (sensor_protocol_data ==
nullptr) {
112 is_configured_ =
true;
114 AINFO <<
"configure radar again";
117 sender_message200.
Update();
118 can_client_->SendSingleFrame({sender_message200.
CanFrame()});
127 it->second.real_period = time - it->second.last_time;
129 const double period_multiplier = 1.5;
130 if (it->second.real_period >
131 (
static_cast<double>(it->second.period) * period_multiplier)) {
132 it->second.error_count += 1;
134 it->second.error_count = 0;
136 it->second.last_time = time;
Cyber has builtin time type Time.
uint64_t ToMicrosecond() const
convert time to microsecond (us).
static Time Now()
get the current time.
The class which defines the CAN client to send and receive message.
std::unordered_map< uint32_t, ProtocolData< NanoRadar > * > protocol_data_map_
std::set< uint32_t > received_ids_
std::mutex sensor_data_mutex_
std::unordered_map< uint32_t, CheckIdArg > check_ids_
This is the base class of protocol data.
virtual void Parse(const uint8_t *bytes, int32_t length, SensorType *sensor_data) const
This class defines the message to send.
struct CanFrame CanFrame()
Get the CAN frame to send.
void Update()
Update the protocol data.
void Parse(const uint32_t message_id, const uint8_t *data, int32_t length)
parse data and store parsed info in receive protocol data
apollo::drivers::canbus::ProtocolData< NanoRadar > * GetMutableProtocolDataById(const uint32_t message_id)
NanoRadarMessageManager(const std::shared_ptr< apollo::cyber::Writer< NanoRadar > > &writer)
void set_radar_conf(RadarConf radar_conf)
void set_can_client(std::shared_ptr< apollo::drivers::canbus::CanClient > can_client)
RadarConfig200 * set_radar_conf(RadarConf radar_conf)
Some string util functions.
std::chrono::microseconds micros
The class of NanoRadarMessageManager
optional uint32 max_distance
optional bool send_ext_info
optional RcsThreshold rcs_threshold
optional bool send_quality
optional OutputType output_type
optional uint32 radar_power
optional NanoRadarState_201 radar_state
optional NanoRadarState_201::OutputType output_type
optional uint32 max_distance
optional bool send_ext_info
optional bool send_quality
optional NanoRadarState_201::RcsThreshold rcs_threshold
optional uint32 radar_power