brake_cmd_6b.cc

浏览该文件的文档.

/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/canbus_vehicle/gem/protocol/brake_cmd_6b.h"
 
#include "modules/drivers/canbus/common/byte.h"
 
namespace apollo {
namespace canbus {
namespace gem {
 
using ::apollo::drivers::canbus::Byte;
 
const int32_t Brakecmd6b::ID = 0x6B;
 
// public
Brakecmd6b::Brakecmd6b() { Reset(); }
 
uint32_t Brakecmd6b::GetPeriod() const {
  // TODO(QiL) :modify every protocol's period manually
  static const uint32_t PERIOD = 20 * 1000;
  return PERIOD;
}
 
void Brakecmd6b::UpdateData(uint8_t* data) {
  set_p_brake_cmd(data, brake_cmd_);
}
 
void Brakecmd6b::Reset() {
  // TODO(QiL) :you should check this manually
  brake_cmd_ = 0.0;
}
 
Brakecmd6b* Brakecmd6b::set_brake_cmd(double brake_cmd) {
  brake_cmd_ = brake_cmd;
  return this;
}
 
// config detail: {'name': 'BRAKE_CMD', 'offset': 0.0, 'precision': 0.001,
// 'len': 16, 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 7,
// 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
void Brakecmd6b::set_p_brake_cmd(uint8_t* data, double brake_cmd) {
  brake_cmd = ProtocolData::BoundedValue(0.0, 1.0, brake_cmd);
  int x = static_cast<int>(brake_cmd / 0.001000);
  uint8_t t = 0;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set0(data + 1);
  to_set0.set_value(t, 0, 8);
  x >>= 8;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set1(data + 0);
  to_set1.set_value(t, 0, 8);
}
 
}  // namespace gem
}  // namespace canbus
}  // namespace apollo