apollo::drivers::velodyne::VelodyneDriver Class Reference

#include <driver.h>

Inheritance diagram for apollo::drivers::velodyne::VelodyneDriver:

Collaboration diagram for apollo::drivers::velodyne::VelodyneDriver:

Public Member Functions
	VelodyneDriver ()
	VelodyneDriver (const Config &config)
	VelodyneDriver (const std::shared_ptr< cyber::Node > &node, const Config &config)
virtual	~VelodyneDriver ()
virtual bool	Poll (const std::shared_ptr< VelodyneScan > &scan)
bool	Init () override
	Initialize the lidar driver. More...
virtual void	PollPositioningPacket ()
void	SetPacketRate (const double packet_rate)
void	DevicePoll ()
Public Member Functions inherited from apollo::drivers::lidar::LidarDriver
	LidarDriver ()
	Constructor. More...
	LidarDriver (const std::shared_ptr<::apollo::cyber::Node > &node)
virtual	~LidarDriver ()=default
	Destructor. More...

Protected Member Functions
virtual int	PollStandard (std::shared_ptr< VelodyneScan > scan)
bool	SetBaseTime ()
void	SetBaseTimeFromNmeaTime (NMEATimePtr nmea_time, uint64_t *basetime)
void	UpdateGpsTopHour (uint32_t current_time)

Protected Attributes
std::thread	poll_thread_
Config	config_
std::shared_ptr< apollo::cyber::Writer< VelodyneScan > >	writer_
std::unique_ptr< Input >	input_ = nullptr
std::unique_ptr< Input >	positioning_input_ = nullptr
std::string	topic_
double	packet_rate_ = 0.0
uint64_t	basetime_ = 0
uint32_t	last_gps_time_ = 0
uint64_t	last_count_ = 0
std::thread	positioning_thread_
Protected Attributes inherited from apollo::drivers::lidar::LidarDriver
std::shared_ptr< cyber::Node >	node_

Static Protected Attributes
static uint64_t	sync_counter

Constructor & Destructor Documentation

VelodyneDriver() [1/3]

apollo::drivers::velodyne::VelodyneDriver::VelodyneDriver ( )

inline

VelodyneDriver() [2/3]

apollo::drivers::velodyne::VelodyneDriver::VelodyneDriver ( const Config &  config )

inlineexplicit

VelodyneDriver() [3/3]

apollo::drivers::velodyne::VelodyneDriver::VelodyneDriver ( const std::shared_ptr< cyber::Node > &  node, const Config &  config  )

inline

~VelodyneDriver()

virtual apollo::drivers::velodyne::VelodyneDriver::~VelodyneDriver ( )

virtual

Member Function Documentation

DevicePoll()

void apollo::drivers::velodyne::VelodyneDriver::DevicePoll

(

)

Init()

bool apollo::drivers::velodyne::VelodyneDriver::Init ( )

overridevirtual

Initialize the lidar driver.

Returns

If the initialization is successful.

Implements apollo::drivers::lidar::LidarDriver.

Reimplemented in apollo::drivers::velodyne::Velodyne64Driver.

Poll()

virtual bool apollo::drivers::velodyne::VelodyneDriver::Poll ( const std::shared_ptr< VelodyneScan > &  scan )

virtual

Reimplemented in apollo::drivers::velodyne::Velodyne64Driver.

PollPositioningPacket()

virtual void apollo::drivers::velodyne::VelodyneDriver::PollPositioningPacket ( )

virtual

PollStandard()

virtual int apollo::drivers::velodyne::VelodyneDriver::PollStandard ( std::shared_ptr< VelodyneScan >  scan )

protectedvirtual

SetBaseTime()

bool apollo::drivers::velodyne::VelodyneDriver::SetBaseTime ( )

protected

SetBaseTimeFromNmeaTime()

void apollo::drivers::velodyne::VelodyneDriver::SetBaseTimeFromNmeaTime ( NMEATimePtr  nmea_time, uint64_t *  basetime  )

protected

SetPacketRate()

void apollo::drivers::velodyne::VelodyneDriver::SetPacketRate ( const double  packet_rate )

inline

UpdateGpsTopHour()

void apollo::drivers::velodyne::VelodyneDriver::UpdateGpsTopHour ( uint32_t  current_time )

protected

Member Data Documentation

basetime_

uint64_t apollo::drivers::velodyne::VelodyneDriver::basetime_ = 0

protected

config_

Config apollo::drivers::velodyne::VelodyneDriver::config_

protected

input_

std::unique_ptr<Input> apollo::drivers::velodyne::VelodyneDriver::input_ = nullptr

protected

last_count_

uint64_t apollo::drivers::velodyne::VelodyneDriver::last_count_ = 0

protected

last_gps_time_

uint32_t apollo::drivers::velodyne::VelodyneDriver::last_gps_time_ = 0

protected

packet_rate_

double apollo::drivers::velodyne::VelodyneDriver::packet_rate_ = 0.0

protected

poll_thread_

std::thread apollo::drivers::velodyne::VelodyneDriver::poll_thread_

protected

positioning_input_

std::unique_ptr<Input> apollo::drivers::velodyne::VelodyneDriver::positioning_input_ = nullptr

protected

positioning_thread_

std::thread apollo::drivers::velodyne::VelodyneDriver::positioning_thread_

protected

sync_counter

uint64_t apollo::drivers::velodyne::VelodyneDriver::sync_counter

staticprotected

topic_

std::string apollo::drivers::velodyne::VelodyneDriver::topic_

protected

writer_

std::shared_ptr<apollo::cyber::Writer<VelodyneScan> > apollo::drivers::velodyne::VelodyneDriver::writer_

protected

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

• modules/drivers/lidar/velodyne/driver/driver.h