Gnss refactor

modules/drivers/gnss/util/macros.h → modules/common/util/macros.h

@@ -21,18 +21,6 @@
 
 #include <cstddef>
 
-// Put this in the declarations for a class to be uncopyable.
-#define DISABLE_COPY(TypeName) TypeName(const TypeName &) = delete
-
-// Put this in the declarations for a class to be unassignable.
-#define DISABLE_ASSIGN(TypeName) void operator=(const TypeName &) = delete
-
-// A macro to disallow the copy constructor and operator= functions.
-// This should be used in the private: declarations for a class.
-#define DISABLE_COPY_AND_ASSIGN(TypeName) \
-  DISABLE_COPY(TypeName);                 \
-  DISABLE_ASSIGN(TypeName)
-
 // A macro to disallow all the implicit constructors, namely the
 // default constructor, copy constructor and operator= functions.
 //

modules/common/util/util.h

@@ -29,12 +29,13 @@
 #include <utility>
 #include <vector>
 
+#include "modules/common_msgs/basic_msgs/geometry.pb.h"
+#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
+
 #include "cyber/common/log.h"
 #include "cyber/common/types.h"
 #include "modules/common/configs/config_gflags.h"
 #include "modules/common/math/vec2d.h"
-#include "modules/common_msgs/basic_msgs/geometry.pb.h"
-#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
 
 /**
  * @namespace apollo::common::util
@@ -128,6 +129,7 @@ IsFloatEqual(T x, T y, int ulp = 2) {
          // unless the result is subnormal
          || std::fabs(x - y) < std::numeric_limits<T>::min();
 }
+
 }  // namespace util
 }  // namespace common
 }  // namespace apollo

modules/drivers/gnss/conf/gnss_conf.pb.txt

@@ -1,7 +1,7 @@
 data {
     format: NOVATEL_BINARY
     serial {
-        device: "/dev/novatel0"
+        device: "/dev/ttyACM0"
         baud_rate: 115200
     }
 }
@@ -22,15 +22,15 @@ data {
 rtk_to {
     format: NOVATEL_BINARY
     serial {
-        device: "/dev/novatel1"
+        device: "/dev/ttyACM1"
         baud_rate: 115200
     }
 }
 
 command {
     format: NOVATEL_BINARY
     serial {
-        device: "/dev/novatel2"
+        device: "/dev/ttyACM2"
         baud_rate: 115200
     }
 }
@@ -41,7 +41,7 @@ proj4_text: "+proj=utm +zone=10 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no
 
 tf {
     frame_id: "world"
-    child_frame_id: "novatel"
+    child_frame_id: "imu"
     enable: true
 }
 

modules/drivers/gnss/parser/BUILD

@@ -4,81 +4,58 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "gnss_parser",
+    name = "parser",
+    hdrs = [
+        "parser.h",
+    ],
     deps = [
-        ":data_parser",
-        ":novatel_parser",
-        ":rtcm_parsers",
+        "//cyber",
+        "//modules/drivers/gnss/proto:config_cc_proto",
+        ":data_buffer",
     ],
 )
 
 cc_library(
     name = "data_parser",
-    srcs = ["data_parser.cc"],
+    srcs = [
+        "data_parser.cc",
+    ],
     hdrs = [
         "data_parser.h",
-        "parser.h",
     ],
-    copts = ["-Ithird_party/rtklib"],
     deps = [
-        ":novatel_parser",
+        ":parser",
         "//cyber",
         "//modules/common/adapters:adapter_gflags",
         "//modules/common/util:util_tool",
+        "//modules/drivers/gnss/util:gnss_util",
         "//modules/common_msgs/sensor_msgs:gnss_best_pose_cc_proto",
         "//modules/common_msgs/sensor_msgs:gnss_cc_proto",
         "//modules/drivers/gnss/proto:gnss_status_cc_proto",
-        "//modules/drivers/gnss/util:gnss_util",
         "//modules/common_msgs/localization_msgs:gps_cc_proto",
         "//modules/common_msgs/localization_msgs:imu_cc_proto",
+        "//modules/common_msgs/localization_msgs:ins_cc_proto",
+        "//modules/common_msgs/localization_msgs:heading_cc_proto",
         "//modules/transform:transform_broadcaster",
         "@eigen",
         "@proj",
     ],
 )
 
-cc_library(
-    name = "novatel_parser",
-    srcs = ["novatel_parser.cc"],
-    hdrs = [
-        "novatel_messages.h",
-        "parser.h",
-        "rtcm_decode.h",
-    ],
-    copts = ["-Ithird_party/rtklib"],
-    deps = [
-        "//cyber",
-        "//modules/common/adapters:adapter_gflags",
-        "//modules/common_msgs/basic_msgs:error_code_cc_proto",
-        "//modules/common_msgs/basic_msgs:geometry_cc_proto",
-        "//modules/common_msgs/basic_msgs:header_cc_proto",
-        "//modules/drivers/gnss/proto:config_cc_proto",
-        "//modules/common_msgs/sensor_msgs:gnss_best_pose_cc_proto",
-        "//modules/common_msgs/sensor_msgs:gnss_cc_proto",
-        "//modules/common_msgs/sensor_msgs:gnss_raw_observation_cc_proto",
-        "//modules/common_msgs/sensor_msgs:heading_cc_proto",
-        "//modules/common_msgs/sensor_msgs:imu_cc_proto",
-        "//modules/common_msgs/sensor_msgs:ins_cc_proto",
-        "//modules/drivers/gnss/util:gnss_util",
-        "//third_party/rtklib",
-    ],
-)
-
 cc_library(
     name = "rtcm_parsers",
     srcs = [
-        "rtcm3_parser.cc",
         "rtcm_parser.cc",
     ],
     hdrs = [
         "parser.h",
-        "rtcm3_parser.h",
         "rtcm_decode.h",
         "rtcm_parser.h",
     ],
     copts = ["-Ithird_party/rtklib"],
     deps = [
         "//cyber",
+        "//modules/drivers/gnss/parser/rtcm3:rtcm3_parser",
         "//modules/common/adapters:adapter_gflags",
         "//modules/drivers/gnss/proto:config_cc_proto",
         "//modules/common_msgs/sensor_msgs:gnss_raw_observation_cc_proto",