Apollo 10.0
自动驾驶开放平台
brake_command_111.cc
浏览该文件的文档.
1/******************************************************************************
2 * Copyright 2019 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
19
20namespace apollo {
21namespace canbus {
22namespace ch {
23
24using ::apollo::drivers::canbus::Byte;
25
26const int32_t Brakecommand111::ID = 0x111;
27
28// public
30
32 // TODO(All) : modify every protocol's period manually
33 static const uint32_t PERIOD = 20 * 1000;
34 return PERIOD;
35}
36
37void Brakecommand111::UpdateData(uint8_t* data) {
38 set_p_brake_pedal_en_ctrl(data, brake_pedal_en_ctrl_);
39 set_p_brake_pedal_cmd(data, brake_pedal_cmd_);
40}
41
43 // TODO(All) : you should check this manually
45 brake_pedal_cmd_ = 0;
46}
47
50 brake_pedal_en_ctrl_ = brake_pedal_en_ctrl;
51 return this;
52}
53
54// config detail: {'bit': 0, 'description': 'brake pedal enable bit(Command)',
55// 'enum': {0: 'BRAKE_PEDAL_EN_CTRL_DISABLE', 1: 'BRAKE_PEDAL_EN_CTRL_ENABLE'},
56// 'is_signed_var': False, 'len': 8, 'name': 'BRAKE_PEDAL_EN_CTRL', 'offset':
57// 0.0, 'order': 'intel', 'physical_range': '[0|1]', 'physical_unit': '',
58// 'precision': 1.0, 'type': 'enum'}
59void Brakecommand111::set_p_brake_pedal_en_ctrl(
60 uint8_t* data,
62 int x = brake_pedal_en_ctrl;
63
64 Byte to_set(data + 0);
65 to_set.set_value(x, 0, 8);
66}
67
69 brake_pedal_cmd_ = brake_pedal_cmd;
70 return this;
71}
72
73// config detail: {'bit': 8, 'description': 'Percentage of brake
74// pedal(Command)', 'is_signed_var': False, 'len': 8, 'name': 'BRAKE_PEDAL_CMD',
75// 'offset': 0.0, 'order': 'intel', 'physical_range': '[0|100]',
76// 'physical_unit': '%', 'precision': 1.0, 'type': 'int'}
77void Brakecommand111::set_p_brake_pedal_cmd(uint8_t* data,
78 int brake_pedal_cmd) {
79 brake_pedal_cmd = ProtocolData::BoundedValue(0, 100, brake_pedal_cmd);
80 int x = brake_pedal_cmd;
81
82 Byte to_set(data + 1);
83 to_set.set_value(static_cast<uint8_t>(x), 0, 8);
84}
85
86} // namespace ch
87} // namespace canbus
88} // namespace apollo
Defines the Byte class.
Brakecommand111 * set_brake_pedal_cmd(int brake_pedal_cmd)
uint32_t GetPeriod() const override
Brakecommand111 * set_brake_pedal_en_ctrl(Brake_command_111::Brake_pedal_en_ctrlType brake_pedal_en_ctrl)
void UpdateData(uint8_t *data) override
class register implement
Definition arena_queue.h:37