#include <demo_controller.h>

类 apollo::canbus::demo::DemoController 继承关系图:

apollo::canbus::demo::DemoController 的协作图:

Public 成员函数
	DemoController ()

virtual	~DemoController ()

::apollo::common::ErrorCode	Init (const VehicleParameter &params, CanSender<::apollo::canbus::Demo > const can_sender, MessageManager<::apollo::canbus::Demo > const message_manager) override

bool	Start () override
	start the vehicle controller.

void	Stop () override
	stop the vehicle controller.

Chassis	chassis () override
	calculate and return the chassis.

void	AddSendMessage () override
	add the sender message.

Public 成员函数继承自 apollo::canbus::VehicleController<::apollo::canbus::Demo >
virtual	~VehicleController ()=default

virtual common::ErrorCode	Init (const VehicleParameter &params, CanSender< ::apollo::canbus::Demo > const can_sender, MessageManager< ::apollo::canbus::Demo > const message_manager)=0
	initialize the vehicle controller.

virtual common::ErrorCode	Update (const control::ControlCommand &command)
	update the vehicle controller.

virtual common::ErrorCode	Update (const external_command::ChassisCommand &command)

virtual common::ErrorCode	SetDrivingMode (const Chassis::DrivingMode &driving_mode)
	set vehicle to appointed driving mode.

virtual bool	CheckChassisCommunicationError ()

virtual ::apollo::canbus::Demo	GetNewRecvChassisDetail ()

virtual ::apollo::canbus::Demo	GetNewSenderChassisDetail ()

virtual Chassis::DrivingMode	driving_mode ()

额外继承的成员函数
Protected 成员函数继承自 apollo::canbus::VehicleController<::apollo::canbus::Demo >
virtual void	set_driving_mode (const Chassis::DrivingMode &driving_mode)

Protected 属性继承自 apollo::canbus::VehicleController<::apollo::canbus::Demo >
common::VehicleSignal	last_chassis_command_

common::VehicleSignal	last_control_command_

canbus::VehicleParameter	params_

common::VehicleParam	vehicle_params_

CanSender< ::apollo::canbus::Demo > *	can_sender_

CanReceiver< ::apollo::canbus::Demo > *	can_receiver_

MessageManager< ::apollo::canbus::Demo > *	message_manager_

bool	is_initialized_

Chassis::DrivingMode	driving_mode_

bool	is_reset_

std::mutex	mode_mutex_

uint32_t	lost_chassis_reveive_detail_count_

bool	is_need_count_

size_t	sender_data_size_previous_

int64_t	start_time_

bool	is_chassis_communication_error_

详细描述

在文件 demo_controller.h 第 40 行定义.

构造及析构函数说明

◆ DemoController()

apollo::canbus::demo::DemoController::DemoController ( )

inline

在文件 demo_controller.h 第 42 行定义.

42{}

◆ ~DemoController()

apollo::canbus::demo::DemoController::~DemoController ( )

virtual

在文件 demo_controller.cc 第 135 行定义.

135{}

成员函数说明

◆ AddSendMessage()

void apollo::canbus::demo::DemoController::AddSendMessage ( )

overridevirtual

add the sender message.

重载 apollo::canbus::VehicleController<::apollo::canbus::Demo > .

在文件 demo_controller.cc 第 45 行定义.

                                    {
  can_sender_->AddMessage(Brakecommand101::ID, brake_command_101_, false);
  can_sender_->AddMessage(Gearcommand103::ID, gear_command_103_, false);
  can_sender_->AddMessage(Parkcommand104::ID, park_command_104_, false);
  can_sender_->AddMessage(Steeringcommand102::ID, steering_command_102_, false);
  can_sender_->AddMessage(Throttlecommand100::ID, throttle_command_100_, false);
  can_sender_->AddMessage(Vehiclemodecommand105::ID, vehicle_mode_command_105_,
                          false);
}

◆ chassis()

Chassis apollo::canbus::demo::DemoController::chassis ( )

overridevirtual

calculate and return the chassis.

返回: a copy of chassis. Use copy here to avoid multi-thread issues.

实现了 apollo::canbus::VehicleController<::apollo::canbus::Demo >.

在文件 demo_controller.cc 第 161 行定义.

                                {
  chassis_.Clear();
  Demo chassis_detail = GetNewRecvChassisDetail();
 
  // 1, 2
  // if (driving_mode() == Chassis::EMERGENCY_MODE) {
  //   set_chassis_error_code(Chassis::NO_ERROR);
  // }
  chassis_.set_driving_mode(driving_mode());
  chassis_.set_error_code(chassis_error_code());
 
  // 3
  chassis_.set_engine_started(true);
 
  // 4 chassis spd
  if (chassis_detail.has_vcu_report_505() &&
      chassis_detail.vcu_report_505().has_speed()) {
    chassis_.set_speed_mps(
        static_cast<float>(chassis_detail.vcu_report_505().speed()));
  } else {
    chassis_.set_speed_mps(0);
  }
 
  // 5 throttle
  if (chassis_detail.has_throttle_report_500() &&
      chassis_detail.throttle_report_500().has_throttle_pedal_actual()) {
    chassis_.set_throttle_percentage(static_cast<float>(
        chassis_detail.throttle_report_500().throttle_pedal_actual()));
  } else {
    chassis_.set_throttle_percentage(0);
  }
 
  // 6 brake
  if (chassis_detail.has_brake_report_501() &&
      chassis_detail.brake_report_501().has_brake_pedal_actual()) {
    chassis_.set_brake_percentage(static_cast<float>(
        chassis_detail.brake_report_501().brake_pedal_actual()));
  } else {
    chassis_.set_brake_percentage(0);
  }
 
  // 7 gear
  if (chassis_detail.has_gear_report_503() &&
      chassis_detail.gear_report_503().has_gear_actual()) {
    Chassis::GearPosition gear_pos = Chassis::GEAR_INVALID;
 
    if (chassis_detail.gear_report_503().gear_actual() ==
        Gear_report_503::GEAR_ACTUAL_NEUTRAL) {
      gear_pos = Chassis::GEAR_NEUTRAL;
    }
    if (chassis_detail.gear_report_503().gear_actual() ==
        Gear_report_503::GEAR_ACTUAL_REVERSE) {
      gear_pos = Chassis::GEAR_REVERSE;
    }
    if (chassis_detail.gear_report_503().gear_actual() ==
        Gear_report_503::GEAR_ACTUAL_DRIVE) {
      gear_pos = Chassis::GEAR_DRIVE;
    }
    if (chassis_detail.gear_report_503().gear_actual() ==
        Gear_report_503::GEAR_ACTUAL_PARK) {
      gear_pos = Chassis::GEAR_PARKING;
    }
 
    chassis_.set_gear_location(gear_pos);
  } else {
    chassis_.set_gear_location(Chassis::GEAR_NONE);
  }
 
  // 8 steer
  if (chassis_detail.has_steering_report_502() &&
      chassis_detail.steering_report_502().has_steer_angle_actual()) {
    chassis_.set_steering_percentage(static_cast<float>(
        chassis_detail.steering_report_502().steer_angle_actual() * 100.0 /
        vehicle_params_.max_steer_angle()));
  } else {
    chassis_.set_steering_percentage(0);
  }
 
  // 9 checkresponse signal
  // 9 checkresponse signal
  // 9 checkresponse signal
  if (chassis_detail.has_brake_report_501() &&
      chassis_detail.brake_report_501().has_brake_en_state()) {
    chassis_.mutable_check_response()->set_is_esp_online(
        chassis_detail.brake_report_501().brake_en_state() == 1);
  }
 
  if (chassis_detail.has_steering_report_502() &&
      chassis_detail.steering_report_502().has_steer_en_state()) {
    chassis_.mutable_check_response()->set_is_eps_online(
        chassis_detail.steering_report_502().steer_en_state() == 1);
  }
 
  if (chassis_detail.has_throttle_report_500() &&
      chassis_detail.throttle_report_500().has_throttle_en_state()) {
    chassis_.mutable_check_response()->set_is_vcu_online(
        chassis_detail.throttle_report_500().throttle_en_state() == 1);
  }
 
  // check chassis error
  if (CheckChassisError()) {
    chassis_.mutable_engage_advice()->set_advice(
        apollo::common::EngageAdvice::DISALLOW_ENGAGE);
    chassis_.mutable_engage_advice()->set_reason(
        "Chassis has some fault, please check the chassis_detail.");
  }
 
  // check the chassis detail lost
  if (is_chassis_communication_error_) {
    chassis_.mutable_engage_advice()->set_advice(
        apollo::common::EngageAdvice::DISALLOW_ENGAGE);
    chassis_.mutable_engage_advice()->set_reason(
        "demo chassis detail is lost! Please check the communication error.");
    set_chassis_error_code(Chassis::CHASSIS_CAN_LOST);
    set_driving_mode(Chassis::EMERGENCY_MODE);
  }
 
  /* ADD YOUR OWN CAR CHASSIS OPERATION
  // 14 battery soc
  // 16 sonor list
  // 17 set vin
  // 18,19 bumper event
  // 20 add checkresponse signal
  */
 
  return chassis_;
}

◆ Init()

ErrorCode apollo::canbus::demo::DemoController::Init	(	const VehicleParameter &	params,
		CanSender<::apollo::canbus::Demo > *const	can_sender,
		MessageManager<::apollo::canbus::Demo > *const	message_manager
	)

override

在文件 demo_controller.cc 第 55 行定义.

                                                             {
  if (is_initialized_) {
    AINFO << "DemoController has already been initiated.";
    return ErrorCode::CANBUS_ERROR;
  }
 
  vehicle_params_.CopyFrom(
      common::VehicleConfigHelper::Instance()->GetConfig().vehicle_param());
  params_.CopyFrom(params);
  if (!params_.has_driving_mode()) {
    AERROR << "Vehicle conf pb not set driving_mode.";
    return ErrorCode::CANBUS_ERROR;
  }
 
  if (can_sender == nullptr) {
    AERROR << "Canbus sender is null.";
    return ErrorCode::CANBUS_ERROR;
  }
  can_sender_ = can_sender;
 
  if (message_manager == nullptr) {
    AERROR << "protocol manager is null.";
    return ErrorCode::CANBUS_ERROR;
  }
  message_manager_ = message_manager;
 
  // sender part
  brake_command_101_ = dynamic_cast<Brakecommand101*>(
      message_manager_->GetMutableProtocolDataById(Brakecommand101::ID));
  if (brake_command_101_ == nullptr) {
    AERROR << "Brakecommand101 does not exist in the DemoMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  gear_command_103_ = dynamic_cast<Gearcommand103*>(
      message_manager_->GetMutableProtocolDataById(Gearcommand103::ID));
  if (gear_command_103_ == nullptr) {
    AERROR << "Gearcommand103 does not exist in the DemoMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  park_command_104_ = dynamic_cast<Parkcommand104*>(
      message_manager_->GetMutableProtocolDataById(Parkcommand104::ID));
  if (park_command_104_ == nullptr) {
    AERROR << "Parkcommand104 does not exist in the DemoMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  steering_command_102_ = dynamic_cast<Steeringcommand102*>(
      message_manager_->GetMutableProtocolDataById(Steeringcommand102::ID));
  if (steering_command_102_ == nullptr) {
    AERROR << "Steeringcommand102 does not exist in the DemoMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  throttle_command_100_ = dynamic_cast<Throttlecommand100*>(
      message_manager_->GetMutableProtocolDataById(Throttlecommand100::ID));
  if (throttle_command_100_ == nullptr) {
    AERROR << "Throttlecommand100 does not exist in the DemoMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  vehicle_mode_command_105_ = dynamic_cast<Vehiclemodecommand105*>(
      message_manager_->GetMutableProtocolDataById(Vehiclemodecommand105::ID));
  if (vehicle_mode_command_105_ == nullptr) {
    AERROR << "Vehiclemodecommand105 does not exist in the DemoMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  AddSendMessage();
 
  AINFO << "DemoController is initialized.";
 
  is_initialized_ = true;
  return ErrorCode::OK;
}

◆ Start()

bool apollo::canbus::demo::DemoController::Start ( )

overridevirtual

start the vehicle controller.

返回: true if successfully started.

实现了 apollo::canbus::VehicleController<::apollo::canbus::Demo >.

在文件 demo_controller.cc 第 137 行定义.

                           {
  if (!is_initialized_) {
    AERROR << "DemoController has NOT been initiated.";
    return false;
  }
  const auto& update_func = [this] { SecurityDogThreadFunc(); };
  thread_.reset(new std::thread(update_func));
 
  return true;
}

◆ Stop()

void apollo::canbus::demo::DemoController::Stop ( )

overridevirtual

stop the vehicle controller.

实现了 apollo::canbus::VehicleController<::apollo::canbus::Demo >.

在文件 demo_controller.cc 第 148 行定义.

                          {
  if (!is_initialized_) {
    AERROR << "DemoController stops or starts improperly!";
    return;
  }
 
  if (thread_ != nullptr && thread_->joinable()) {
    thread_->join();
    thread_.reset();
    AINFO << "DemoController stopped.";
  }
}

该类的文档由以下文件生成:

modules/canbus_vehicle/demo/demo_controller.h
modules/canbus_vehicle/demo/demo_controller.cc

Public 成员函数

额外继承的成员函数

详细描述

构造及析构函数说明

◆ DemoController()

◆ ~DemoController()

成员函数说明

◆ AddSendMessage()

◆ chassis()

◆ Init()

◆ Start()

◆ Stop()