apollo::drivers::canbus::MessageManager< SensorType > Class Template Reference

message manager manages protocols. It supports parse and can get protocol data by message id. More...

#include <message_manager.h>

Collaboration diagram for apollo::drivers::canbus::MessageManager< SensorType >:

Public Member Functions
	MessageManager ()
virtual	~MessageManager ()=default
virtual void	Parse (const uint32_t message_id, const uint8_t *data, int32_t length)
	parse data and store parsed info in protocol data More...
void	ClearSensorData ()
std::condition_variable *	GetMutableCVar ()
ProtocolData< SensorType > *	GetMutableProtocolDataById (const uint32_t message_id)
	get mutable protocol data by message id More...
common::ErrorCode	GetSensorData (SensorType *const sensor_data)
	get chassis detail. used lock_guard in this function to avoid concurrent read/write issue. More...
void	ResetSendMessages ()

Protected Member Functions
template<class T , bool need_check>
void	AddRecvProtocolData ()
template<class T , bool need_check>
void	AddSendProtocolData ()

Protected Attributes
std::vector< std::unique_ptr< ProtocolData< SensorType > > >	send_protocol_data_
std::vector< std::unique_ptr< ProtocolData< SensorType > > >	recv_protocol_data_
std::unordered_map< uint32_t, ProtocolData< SensorType > * >	protocol_data_map_
std::unordered_map< uint32_t, CheckIdArg >	check_ids_
std::set< uint32_t >	received_ids_
std::mutex	sensor_data_mutex_
SensorType	sensor_data_
bool	is_received_on_time_ = false
std::condition_variable	cvar_

Detailed Description

template<typename SensorType>
class apollo::drivers::canbus::MessageManager< SensorType >

message manager manages protocols. It supports parse and can get protocol data by message id.

Constructor & Destructor Documentation

MessageManager()

template<typename SensorType>

apollo::drivers::canbus::MessageManager< SensorType >::MessageManager ( )

inline

~MessageManager()

template<typename SensorType>

virtual apollo::drivers::canbus::MessageManager< SensorType >::~MessageManager ( )

virtualdefault

Member Function Documentation

AddRecvProtocolData()

template<typename SensorType >

template<class T , bool need_check>

void MessageManager::AddRecvProtocolData ( )

protected

AddSendProtocolData()

template<typename SensorType >

template<class T , bool need_check>

void MessageManager::AddSendProtocolData ( )

protected

ClearSensorData()

template<typename SensorType >

void MessageManager::ClearSensorData

(

)

GetMutableCVar()

template<typename SensorType >

std::condition_variable * MessageManager::GetMutableCVar

(

)

GetMutableProtocolDataById()

template<typename SensorType >

ProtocolData< SensorType > * MessageManager::GetMutableProtocolDataById

(

const uint32_t

message_id

)

get mutable protocol data by message id

Parameters

message_id

the id of the message

Returns

a pointer to the protocol data

GetSensorData()

template<typename SensorType>

ErrorCode MessageManager::GetSensorData

(

SensorType *const

sensor_data

)

get chassis detail. used lock_guard in this function to avoid concurrent read/write issue.

Parameters

chassis_detail

chassis_detail to be filled.

Parse()

template<typename SensorType >

void MessageManager::Parse ( const uint32_t  message_id, const uint8_t *  data, int32_t  length  )

virtual

parse data and store parsed info in protocol data

Parameters

message_id	the id of the message
data	a pointer to the data array to be parsed
length	the length of data array

Reimplemented in apollo::drivers::racobit_radar::RacobitRadarMessageManager, apollo::drivers::ultrasonic_radar::UltrasonicRadarMessageManager, and apollo::drivers::conti_radar::ContiRadarMessageManager.

ResetSendMessages()

template<typename SensorType >

void MessageManager::ResetSendMessages

(

)

Member Data Documentation

check_ids_

template<typename SensorType>

std::unordered_map<uint32_t, CheckIdArg> apollo::drivers::canbus::MessageManager< SensorType >::check_ids_

protected

cvar_

template<typename SensorType>

std::condition_variable apollo::drivers::canbus::MessageManager< SensorType >::cvar_

protected

is_received_on_time_

template<typename SensorType>

bool apollo::drivers::canbus::MessageManager< SensorType >::is_received_on_time_ = false

protected

protocol_data_map_

template<typename SensorType>

std::unordered_map<uint32_t, ProtocolData<SensorType> *> apollo::drivers::canbus::MessageManager< SensorType >::protocol_data_map_

protected

received_ids_

template<typename SensorType>

std::set<uint32_t> apollo::drivers::canbus::MessageManager< SensorType >::received_ids_

protected

recv_protocol_data_

template<typename SensorType>

std::vector<std::unique_ptr<ProtocolData<SensorType> > > apollo::drivers::canbus::MessageManager< SensorType >::recv_protocol_data_

protected

send_protocol_data_

template<typename SensorType>

std::vector<std::unique_ptr<ProtocolData<SensorType> > > apollo::drivers::canbus::MessageManager< SensorType >::send_protocol_data_

protected

sensor_data_

template<typename SensorType>

SensorType apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_

protected

sensor_data_mutex_

template<typename SensorType>

std::mutex apollo::drivers::canbus::MessageManager< SensorType >::sensor_data_mutex_

protected

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The documentation for this class was generated from the following file:

• modules/drivers/canbus/can_comm/message_manager.h