64 std::string
Name()
const;
81 void Clear()
override;
83 void PublishChassis();
85 void OnControlCommandCheck(
87 void OnChassisCommand(
89 void OnGuardianCommand(
91 void OnGuardianCommandCheck(
94 void ProcessTimeoutByClearCanSender();
95 void ProcessGuardianCmdTimeout(
99 std::shared_ptr<::apollo::canbus::AbstractVehicleFactory> vehicle_object_ =
101 std::shared_ptr<cyber::Reader<apollo::guardian::GuardianCommand>>
102 guardian_cmd_reader_;
103 std::shared_ptr<cyber::Reader<apollo::control::ControlCommand>>
104 control_command_reader_;
105 std::shared_ptr<cyber::Reader<apollo::external_command::ChassisCommand>>
106 chassis_command_reader_;
107 double last_timestamp_controlcmd_ = 0.0;
108 int64_t last_timestamp_chassiscmd_ = 0;
110 std::shared_ptr<cyber::Writer<Chassis>> chassis_writer_;
111 bool is_control_cmd_time_delay_ =
false;
112 bool is_control_cmd_time_delay_previous_ =
false;