Apollo 10.0
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apollo::canbus::demo::Brakecommand101类 参考

#include <brake_command_101.h>

类 apollo::canbus::demo::Brakecommand101 继承关系图:
apollo::canbus::demo::Brakecommand101 的协作图:

Public 成员函数

 Brakecommand101 ()
 
uint32_t GetPeriod () const override
 
void Parse (const std::uint8_t *bytes, int32_t length, Demo *chassis) const override
 
void UpdateData_Heartbeat (uint8_t *data) override
 
void UpdateData (uint8_t *data) override
 
void Reset () override
 
Brakecommand101set_heartbeat_101 (int heartbeat_101)
 
Brakecommand101set_aeb_en_ctrl (Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl)
 
Brakecommand101set_brake_dec (double brake_dec)
 
Brakecommand101set_checksum_101 (int checksum_101)
 
Brakecommand101set_brake_pedal_target (double brake_pedal_target)
 
Brakecommand101set_brake_en_ctrl (Brake_command_101::Brake_en_ctrlType brake_en_ctrl)
 
- Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo >
 ProtocolData ()=default
 construct protocol data.
 
virtual ~ProtocolData ()=default
 destruct protocol data.
 
virtual int32_t GetLength () const
 
virtual void Parse (const uint8_t *bytes, int32_t length, ::apollo::canbus::Demo *sensor_data) const
 

静态 Public 属性

static const int32_t ID = 0x101
 

额外继承的成员函数

- 静态 Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo >
static std::uint8_t CalculateCheckSum (const uint8_t *input, const uint32_t length)
 static function, used to calculate the checksum of input array.
 
static T BoundedValue (T lower, T upper, T val)
 

详细描述

在文件 brake_command_101.h27 行定义.

构造及析构函数说明

◆ Brakecommand101()

apollo::canbus::demo::Brakecommand101::Brakecommand101 ( )

在文件 brake_command_101.cc30 行定义.

成员函数说明

◆ GetPeriod()

uint32_t apollo::canbus::demo::Brakecommand101::GetPeriod ( ) const
overridevirtual

重载 apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo > .

在文件 brake_command_101.cc32 行定义.

32 {
33 // TODO(All) : modify every protocol's period manually
34 static const uint32_t PERIOD = 20 * 1000;
35 return PERIOD;
36}

◆ Parse()

void apollo::canbus::demo::Brakecommand101::Parse ( const std::uint8_t *  bytes,
int32_t  length,
Demo chassis 
) const
override

在文件 brake_command_101.cc38 行定义.

39 {
40 chassis->mutable_brake_command_101()->set_heartbeat_101(
41 heartbeat_101(bytes, length));
42 chassis->mutable_brake_command_101()->set_aeb_en_ctrl(
43 aeb_en_ctrl(bytes, length));
44 chassis->mutable_brake_command_101()->set_brake_dec(brake_dec(bytes, length));
45 chassis->mutable_brake_command_101()->set_checksum_101(
46 checksum_101(bytes, length));
47 chassis->mutable_brake_command_101()->set_brake_pedal_target(
48 brake_pedal_target(bytes, length));
49 chassis->mutable_brake_command_101()->set_brake_en_ctrl(
50 brake_en_ctrl(bytes, length));
51}

◆ Reset()

void apollo::canbus::demo::Brakecommand101::Reset ( )
overridevirtual

重载 apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo > .

在文件 brake_command_101.cc70 行定义.

70 {
71 // TODO(All) : you should check this manually
72 heartbeat_101_ = 0;
74 brake_dec_ = 0.0;
75 checksum_101_ = 0;
76 brake_pedal_target_ = 0.0;
78}

◆ set_aeb_en_ctrl()

Brakecommand101 * apollo::canbus::demo::Brakecommand101::set_aeb_en_ctrl ( Brake_command_101::Aeb_en_ctrlType  aeb_en_ctrl)

在文件 brake_command_101.cc96 行定义.

97 {
98 aeb_en_ctrl_ = aeb_en_ctrl;
99 return this;
100}

◆ set_brake_dec()

Brakecommand101 * apollo::canbus::demo::Brakecommand101::set_brake_dec ( double  brake_dec)

在文件 brake_command_101.cc114 行定义.

114 {
115 brake_dec_ = brake_dec;
116 return this;
117}

◆ set_brake_en_ctrl()

Brakecommand101 * apollo::canbus::demo::Brakecommand101::set_brake_en_ctrl ( Brake_command_101::Brake_en_ctrlType  brake_en_ctrl)

在文件 brake_command_101.cc180 行定义.

181 {
182 brake_en_ctrl_ = brake_en_ctrl;
183 return this;
184}

◆ set_brake_pedal_target()

Brakecommand101 * apollo::canbus::demo::Brakecommand101::set_brake_pedal_target ( double  brake_pedal_target)

在文件 brake_command_101.cc153 行定义.

154 {
155 brake_pedal_target_ = brake_pedal_target;
156 return this;
157}

◆ set_checksum_101()

Brakecommand101 * apollo::canbus::demo::Brakecommand101::set_checksum_101 ( int  checksum_101)

在文件 brake_command_101.cc137 行定义.

137 {
138 checksum_101_ = checksum_101;
139 return this;
140}

◆ set_heartbeat_101()

Brakecommand101 * apollo::canbus::demo::Brakecommand101::set_heartbeat_101 ( int  heartbeat_101)

在文件 brake_command_101.cc80 行定义.

80 {
81 heartbeat_101_ = heartbeat_101;
82 return this;
83}

◆ UpdateData()

void apollo::canbus::demo::Brakecommand101::UpdateData ( uint8_t *  data)
overridevirtual

重载 apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo > .

在文件 brake_command_101.cc63 行定义.

63 {
64 set_p_aeb_en_ctrl(data, aeb_en_ctrl_);
65 set_p_brake_dec(data, brake_dec_);
66 set_p_brake_pedal_target(data, brake_pedal_target_);
67 set_p_brake_en_ctrl(data, brake_en_ctrl_);
68}

◆ UpdateData_Heartbeat()

void apollo::canbus::demo::Brakecommand101::UpdateData_Heartbeat ( uint8_t *  data)
overridevirtual

重载 apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo > .

在文件 brake_command_101.cc53 行定义.

53 {
54 // TODO(All) : you should add the heartbeat manually
55 ++heartbeat_101_;
56 heartbeat_101_ = (heartbeat_101_) % 16;
57 set_p_heartbeat_101(data, heartbeat_101_);
58 checksum_101_ =
59 data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];
60 set_p_checksum_101(data, checksum_101_);
61}

类成员变量说明

◆ ID

const int32_t apollo::canbus::demo::Brakecommand101::ID = 0x101
static

在文件 brake_command_101.h30 行定义.


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