Apollo 10.0
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adc_motioncontrollimits1_12.h
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2 * Copyright 2018 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#pragma once
18
19#include "gtest/gtest.h"
20#include "modules/canbus_vehicle/transit/proto/transit.pb.h"
22
23namespace apollo {
24namespace canbus {
25namespace transit {
26
29 ::apollo::canbus::Transit> {
30 public:
31 static const int32_t ID;
32
34
35 uint32_t GetPeriod() const override;
36
37 void UpdateData(uint8_t* data) override;
38
39 void Reset() override;
40
41 FRIEND_TEST(Motioncontrollimits1_12_test, General);
42
43 // config detail: {'description': 'Set limit for throttle position', 'offset':
44 // 0.0, 'precision': 0.5, 'len': 8, 'name': 'ADC_CMD_ThrottleCommandLimit',
45 // 'is_signed_var': False, 'physical_range': '[0|100]', 'bit': 24, 'type':
46 // 'double', 'order': 'intel', 'physical_unit': '%'}
48 double adc_cmd_throttlecommandlimit);
49
50 // config detail: {'description': 'Set steering rate', 'offset': 0.0,
51 // 'precision': 0.05, 'len': 16, 'name': 'ADC_CMD_SteeringRate',
52 // 'is_signed_var': False, 'physical_range': '[0|3276.75]', 'bit': 0, 'type':
53 // 'double', 'order': 'intel', 'physical_unit': 'deg/s'}
55 double adc_cmd_steeringrate);
56
57 // config detail: {'description': 'Set limit for steering wheel angle. Applies
58 // in both positive and negative', 'offset': 0.0, 'precision': 5.0, 'len': 8,
59 // 'name': 'ADC_CMD_SteerWheelAngleLimit', 'is_signed_var': False,
60 // 'physical_range': '[0|1275]', 'bit': 16, 'type': 'double', 'order':
61 // 'intel', 'physical_unit': 'deg'}
63 double adc_cmd_steerwheelanglelimit);
64
65 private:
66 // config detail: {'description': 'Set limit for throttle position', 'offset':
67 // 0.0, 'precision': 0.5, 'len': 8, 'name': 'ADC_CMD_ThrottleCommandLimit',
68 // 'is_signed_var': False, 'physical_range': '[0|100]', 'bit': 24, 'type':
69 // 'double', 'order': 'intel', 'physical_unit': '%'}
70 void set_p_adc_cmd_throttlecommandlimit(uint8_t* data,
71 double adc_cmd_throttlecommandlimit);
72
73 // config detail: {'description': 'Set steering rate', 'offset': 0.0,
74 // 'precision': 0.05, 'len': 16, 'name': 'ADC_CMD_SteeringRate',
75 // 'is_signed_var': False, 'physical_range': '[0|3276.75]', 'bit': 0, 'type':
76 // 'double', 'order': 'intel', 'physical_unit': 'deg/s'}
77 void set_p_adc_cmd_steeringrate(uint8_t* data, double adc_cmd_steeringrate);
78
79 // config detail: {'description': 'Set limit for steering wheel angle. Applies
80 // in both positive and negative', 'offset': 0.0, 'precision': 5.0, 'len': 8,
81 // 'name': 'ADC_CMD_SteerWheelAngleLimit', 'is_signed_var': False,
82 // 'physical_range': '[0|1275]', 'bit': 16, 'type': 'double', 'order':
83 // 'intel', 'physical_unit': 'deg'}
84 void set_p_adc_cmd_steerwheelanglelimit(uint8_t* data,
85 double adc_cmd_steerwheelanglelimit);
86
87 private:
88 double adc_cmd_throttlecommandlimit_;
89 double adc_cmd_steeringrate_;
90 double adc_cmd_steerwheelanglelimit_;
91};
92
93} // namespace transit
94} // namespace canbus
95} // namespace apollo
Adcmotioncontrollimits112 * set_adc_cmd_steeringrate(double adc_cmd_steeringrate)
FRIEND_TEST(Motioncontrollimits1_12_test, General)
Adcmotioncontrollimits112 * set_adc_cmd_throttlecommandlimit(double adc_cmd_throttlecommandlimit)
Adcmotioncontrollimits112 * set_adc_cmd_steerwheelanglelimit(double adc_cmd_steerwheelanglelimit)
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData