ch_vehicle_factory.h

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/******************************************************************************
 * Copyright 2019 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 <memory>
 
#include "modules/canbus/proto/canbus_conf.pb.h"
#include "modules/canbus/proto/vehicle_parameter.pb.h"
#include "modules/canbus_vehicle/ch/proto/ch.pb.h"
#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
 
#include "cyber/cyber.h"
#include "modules/canbus/vehicle/abstract_vehicle_factory.h"
#include "modules/canbus/vehicle/vehicle_controller.h"
#include "modules/canbus_vehicle/ch/ch_controller.h"
#include "modules/canbus_vehicle/ch/ch_message_manager.h"
#include "modules/common/status/status.h"
#include "modules/drivers/canbus/can_client/can_client.h"
#include "modules/drivers/canbus/can_comm/can_receiver.h"
#include "modules/drivers/canbus/can_comm/can_sender.h"
#include "modules/drivers/canbus/can_comm/message_manager.h"
 
namespace apollo {
namespace canbus {
 
class ChVehicleFactory : public AbstractVehicleFactory {
 public:
  virtual ~ChVehicleFactory() = default;
 
  bool Init(const CanbusConf *canbus_conf) override;
 
  bool Start() override;
 
  void Stop() override;
 
  void UpdateCommand(
      const apollo::control::ControlCommand *control_command) override;
 
  void UpdateCommand(
      const apollo::external_command::ChassisCommand *chassis_command) override;
 
  Chassis publish_chassis() override;
 
  void PublishChassisDetail() override;
 
  void PublishChassisDetailSender() override;
 
  bool CheckChassisCommunicationFault() override;
 
 private:
  std::unique_ptr<VehicleController<::apollo::canbus::Ch>>
  CreateVehicleController();
 
  std::unique_ptr<MessageManager<::apollo::canbus::Ch>> CreateMessageManager();
 
  std::unique_ptr<::apollo::cyber::Node> node_ = nullptr;
  std::unique_ptr<apollo::drivers::canbus::CanClient> can_client_;
  CanSender<::apollo::canbus::Ch> can_sender_;
  apollo::drivers::canbus::CanReceiver<::apollo::canbus::Ch> can_receiver_;
  std::unique_ptr<MessageManager<::apollo::canbus::Ch>> message_manager_;
  std::unique_ptr<VehicleController<::apollo::canbus::Ch>> vehicle_controller_;
 
  std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Ch>>
      chassis_detail_writer_;
  std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Ch>>
      chassis_detail_sender_writer_;
};
 
CYBER_REGISTER_VEHICLEFACTORY(ChVehicleFactory)
 
}  // namespace canbus
}  // namespace apollo