canbus_gflags.h

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/******************************************************************************
 * Copyright 2017 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.
 *****************************************************************************/
 
#pragma once
 
#include "gflags/gflags.h"
 
// System gflags
DECLARE_string(canbus_node_name);
DECLARE_string(canbus_module_name);
 
// data file
DECLARE_string(canbus_conf_file);
 
// Canbus gflags
DECLARE_double(chassis_freq);
 
// cmd input check
DECLARE_int64(min_cmd_interval);
DECLARE_int64(pad_msg_delay_interval);
DECLARE_int32(max_control_miss_num);
DECLARE_double(control_period);
DECLARE_int32(max_guardian_miss_num);
DECLARE_double(guardian_period);
DECLARE_bool(use_control_cmd_check);
DECLARE_bool(use_guardian_cmd_check);
DECLARE_double(estop_brake);
 
// chassis_detail message publish
DECLARE_bool(enable_chassis_detail_pub);
DECLARE_bool(enable_chassis_detail_sender_pub);
 
// canbus test files
DECLARE_string(canbus_test_file);
 
// canbus test files
DECLARE_bool(receive_guardian);
 
DECLARE_int32(guardian_cmd_pending_queue_size);
DECLARE_int32(control_cmd_pending_queue_size);
DECLARE_int32(chassis_cmd_pending_queue_size);
 
// enable forward Ultrasonic AEB
DECLARE_bool(enable_aeb);
 
// enabel chassis debug mode for such as ignore pad msg timestamp check
DECLARE_bool(chassis_debug_mode);
 
// vehicle factory dynamic library path and class name
DECLARE_string(load_vehicle_library);
DECLARE_string(load_vehicle_class_name);