百度apollo novatel_parser.cc部分解算代码

Parser::MessageType NovatelParser::GetMessage(MessagePtr* message_ptr) {//获取消息 放入栈中 调用PrepareMessage解析数据 yuphe2019040211if (data_ == nullptr) {return MessageType::NONE;}while (data_ < data_end_) {if (buffer_.empty()) {  // Looking for SYNC0if (*data_ == novatel::SYNC_0) {buffer_.push_back(*data_);}++data_;} else if (buffer_.size() == 1) {  // Looking for SYNC1if (*data_ == novatel::SYNC_1) {buffer_.push_back(*data_++);} else {buffer_.clear();}} else if (buffer_.size() == 2) {  // Looking for SYNC2switch (*data_) {case novatel::SYNC_2_LONG_HEADER:buffer_.push_back(*data_++);header_length_ = sizeof(novatel::LongHeader);break;case novatel::SYNC_2_SHORT_HEADER:buffer_.push_back(*data_++);header_length_ = sizeof(novatel::ShortHeader);break;default:buffer_.clear();}} else if (header_length_ > 0) {  // Working on header.if (buffer_.size() < header_length_) {buffer_.push_back(*data_++);} else {if (header_length_ == sizeof(novatel::LongHeader)) {total_length_ = header_length_ + novatel::CRC_LENGTH +reinterpret_cast<novatel::LongHeader*>(buffer_.data())->message_length;} else if (header_length_ == sizeof(novatel::ShortHeader)) {total_length_ =header_length_ + novatel::CRC_LENGTH +reinterpret_cast<novatel::ShortHeader*>(buffer_.data())->message_length;} else {AERROR << "Incorrect header_length_. Should never reach here.";buffer_.clear();}header_length_ = 0;}} else if (total_length_ > 0) {if (buffer_.size() < total_length_) {  // Working on body.buffer_.push_back(*data_++);continue;}MessageType type = PrepareMessage(message_ptr);//调用 处理buffer_.clear();total_length_ = 0;if (type != MessageType::NONE) {return type;}}}return MessageType::NONE;
}

下面是解析函数,case 语句中：

Parser::MessageType NovatelParser::PrepareMessage(MessagePtr* message_ptr) {//这一段是处理的函数if (!check_crc()) {AERROR << "CRC check failed.";return MessageType::NONE;}uint8_t* message = nullptr;novatel::MessageId message_id;uint16_t message_length;uint16_t gps_week;uint32_t gps_millisecs;if (buffer_[2] == novatel::SYNC_2_LONG_HEADER) {auto header = reinterpret_cast<const novatel::LongHeader*>(buffer_.data());message = buffer_.data() + sizeof(novatel::LongHeader);gps_week = header->gps_week;gps_millisecs = header->gps_millisecs;message_id = header->message_id;message_length = header->message_length;} else {auto header = reinterpret_cast<const novatel::ShortHeader*>(buffer_.data());message = buffer_.data() + sizeof(novatel::ShortHeader);gps_week = header->gps_week;gps_millisecs = header->gps_millisecs;message_id = header->message_id;message_length = header->message_length;}switch (message_id) {//消息类型case novatel::BESTGNSSPOS:if (message_length != sizeof(novatel::BestPos)) {AERROR << "Incorrect message_length";break;}if (HandleGnssBestpos(reinterpret_cast<novatel::BestPos*>(message),gps_week, gps_millisecs)) {*message_ptr = &bestpos_;return MessageType::BEST_GNSS_POS;}break;case novatel::BESTPOS:case novatel::PSRPOS:if (message_length != sizeof(novatel::BestPos)) {AERROR << "Incorrect message_length";break;}if (HandleBestPos(reinterpret_cast<novatel::BestPos*>(message), gps_week,gps_millisecs)) {*message_ptr = &gnss_;return MessageType::GNSS;}break;case novatel::BESTGNSSVEL:case novatel::BESTVEL:case novatel::PSRVEL:if (message_length != sizeof(novatel::BestVel)) {AERROR << "Incorrect message_length";break;}if (HandleBestVel(reinterpret_cast<novatel::BestVel*>(message), gps_week,gps_millisecs)) {*message_ptr = &gnss_;return MessageType::GNSS;}break;case novatel::CORRIMUDATA:case novatel::CORRIMUDATAS:if (message_length != sizeof(novatel::CorrImuData)) {AERROR << "Incorrect message_length";break;}if (HandleCorrImuData(reinterpret_cast<novatel::CorrImuData*>(message))) {*message_ptr = &ins_;return MessageType::INS;}break;case novatel::INSCOV:case novatel::INSCOVS:if (message_length != sizeof(novatel::InsCov)) {AERROR << "Incorrect message_length";break;}if (HandleInsCov(reinterpret_cast<novatel::InsCov*>(message))) {*message_ptr = &ins_;return MessageType::INS;}break;case novatel::INSPVA:case novatel::INSPVAS:if (message_length != sizeof(novatel::InsPva)) {AERROR << "Incorrect message_length";break;}if (HandleInsPva(reinterpret_cast<novatel::InsPva*>(message))) {*message_ptr = &ins_;return MessageType::INS;}break;case novatel::RAWIMUX:case novatel::RAWIMUSX:if (message_length != sizeof(novatel::RawImuX)) {AERROR << "Incorrect message_length";break;}if (HandleRawImuX(reinterpret_cast<novatel::RawImuX*>(message))) {*message_ptr = &imu_;return MessageType::IMU;}break;case novatel::RAWIMU:case novatel::RAWIMUS:if (message_length != sizeof(novatel::RawImu)) {AERROR << "Incorrect message_length";break;}if (HandleRawImu(reinterpret_cast<novatel::RawImu*>(message))) {*message_ptr = &imu_;return MessageType::IMU;}break;case novatel::INSPVAX:if (message_length != sizeof(novatel::InsPvaX)) {AERROR << "Incorrect message_length";break;}if (HandleInsPvax(reinterpret_cast<novatel::InsPvaX*>(message), gps_week,gps_millisecs)) {*message_ptr = &ins_stat_;return MessageType::INS_STAT;}break;case novatel::BDSEPHEMERIS:if (message_length != sizeof(novatel::BDS_Ephemeris)) {AERROR << "Incorrect BDSEPHEMERIS message_length";break;}if (HandleBdsEph(reinterpret_cast<novatel::BDS_Ephemeris*>(message))) {*message_ptr = &gnss_ephemeris_;return MessageType::BDSEPHEMERIDES;}break;case novatel::GPSEPHEMERIS:if (message_length != sizeof(novatel::GPS_Ephemeris)) {AERROR << "Incorrect GPSEPHEMERIS message_length";break;}if (HandleGpsEph(reinterpret_cast<novatel::GPS_Ephemeris*>(message))) {*message_ptr = &gnss_ephemeris_;return MessageType::GPSEPHEMERIDES;}break;case novatel::GLOEPHEMERIS:if (message_length != sizeof(novatel::GLO_Ephemeris)) {AERROR << "Incorrect GLOEPHEMERIS message length";break;}if (HandleGloEph(reinterpret_cast<novatel::GLO_Ephemeris*>(message))) {*message_ptr = &gnss_ephemeris_;return MessageType::GLOEPHEMERIDES;}break;case novatel::RANGE:if (DecodeGnssObservation(buffer_.data(),buffer_.data() + buffer_.size())) {*message_ptr = &gnss_observation_;return MessageType::OBSERVATION;}break;case novatel::HEADING:if (message_length != sizeof(novatel::Heading)) {AERROR << "Incorrect message_length";break;}if (HandleHeading(reinterpret_cast<novatel::Heading*>(message), gps_week,gps_millisecs)) {*message_ptr = &heading_;return MessageType::HEADING;}break;default:break;}return MessageType::NONE;
}

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