apollo::canbus::demo::Vehiclemodecommand105类 参考

#include <vehicle_mode_command_105.h>

类 apollo::canbus::demo::Vehiclemodecommand105 继承关系图:

apollo::canbus::demo::Vehiclemodecommand105 的协作图:

Public 成员函数
	Vehiclemodecommand105 ()
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
Vehiclemodecommand105 *	set_heartbeat_105 (int heartbeat_105)
Vehiclemodecommand105 *	set_checksum_105 (int checksum_105)
Vehiclemodecommand105 *	set_turn_light_ctrl (Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl)
Vehiclemodecommand105 *	set_vin_req (Vehicle_mode_command_105::Vin_reqType vin_req)
Vehiclemodecommand105 *	set_drive_mode_ctrl (Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl)
Vehiclemodecommand105 *	set_steer_mode_ctrl (Vehicle_mode_command_105::Steer_mode_ctrlType steer_mode_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 = 0x105

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 vehicle_mode_command_105.h 第 27 行定义.

构造及析构函数说明

Vehiclemodecommand105()

apollo::canbus::demo::Vehiclemodecommand105::Vehiclemodecommand105

(

)

在文件 vehicle_mode_command_105.cc 第 30 行定义.

{ Reset(); }

成员函数说明

GetPeriod()

uint32_t apollo::canbus::demo::Vehiclemodecommand105::GetPeriod ( ) const

overridevirtual

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

在文件 vehicle_mode_command_105.cc 第 32 行定义.

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

Parse()

void apollo::canbus::demo::Vehiclemodecommand105::Parse ( const std::uint8_t *  bytes, int32_t  length, Demo *  chassis  ) const

override

在文件 vehicle_mode_command_105.cc 第 38 行定义.

                                                       {
  chassis->mutable_vehicle_mode_command_105()->set_heartbeat_105(
      heartbeat_105(bytes, length));
  chassis->mutable_vehicle_mode_command_105()->set_checksum_105(
      checksum_105(bytes, length));
  chassis->mutable_vehicle_mode_command_105()->set_turn_light_ctrl(
      turn_light_ctrl(bytes, length));
  chassis->mutable_vehicle_mode_command_105()->set_vin_req(
      vin_req(bytes, length));
  chassis->mutable_vehicle_mode_command_105()->set_drive_mode_ctrl(
      drive_mode_ctrl(bytes, length));
  chassis->mutable_vehicle_mode_command_105()->set_steer_mode_ctrl(
      steer_mode_ctrl(bytes, length));
}

Reset()

void apollo::canbus::demo::Vehiclemodecommand105::Reset ( )

overridevirtual

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

在文件 vehicle_mode_command_105.cc 第 71 行定义.

                                  {
  // TODO(All) :  you should check this manually
  heartbeat_105_ = 0;
  checksum_105_ = 0;
  turn_light_ctrl_ = Vehicle_mode_command_105::TURN_LIGHT_CTRL_TURNLAMP_OFF;
  vin_req_ = Vehicle_mode_command_105::VIN_REQ_VIN_REQ_DISABLE;
  drive_mode_ctrl_ =
      Vehicle_mode_command_105::DRIVE_MODE_CTRL_THROTTLE_PADDLE_DRIVE;
  steer_mode_ctrl_ = Vehicle_mode_command_105::STEER_MODE_CTRL_STANDARD_STEER;
}

set_checksum_105()

Vehiclemodecommand105 * apollo::canbus::demo::Vehiclemodecommand105::set_checksum_105

(

int

checksum_105

)

在文件 vehicle_mode_command_105.cc 第 100 行定义.

                      {
  checksum_105_ = checksum_105;
  return this;
}

set_drive_mode_ctrl()

Vehiclemodecommand105 * apollo::canbus::demo::Vehiclemodecommand105::set_drive_mode_ctrl

(

Vehicle_mode_command_105::Drive_mode_ctrlType

drive_mode_ctrl

)

在文件 vehicle_mode_command_105.cc 第 157 行定义.

                                                                 {
  drive_mode_ctrl_ = drive_mode_ctrl;
  return this;
}

set_heartbeat_105()

Vehiclemodecommand105 * apollo::canbus::demo::Vehiclemodecommand105::set_heartbeat_105

(

int

heartbeat_105

)

在文件 vehicle_mode_command_105.cc 第 82 行定义.

                       {
  heartbeat_105_ = heartbeat_105;
  return this;
}

set_steer_mode_ctrl()

Vehiclemodecommand105 * apollo::canbus::demo::Vehiclemodecommand105::set_steer_mode_ctrl

(

Vehicle_mode_command_105::Steer_mode_ctrlType

steer_mode_ctrl

)

在文件 vehicle_mode_command_105.cc 第 177 行定义.

                                                                 {
  steer_mode_ctrl_ = steer_mode_ctrl;
  return this;
}

set_turn_light_ctrl()

Vehiclemodecommand105 * apollo::canbus::demo::Vehiclemodecommand105::set_turn_light_ctrl

(

Vehicle_mode_command_105::Turn_light_ctrlType

turn_light_ctrl

)

在文件 vehicle_mode_command_105.cc 第 118 行定义.

                                                                 {
  turn_light_ctrl_ = turn_light_ctrl;
  return this;
}

set_vin_req()

Vehiclemodecommand105 * apollo::canbus::demo::Vehiclemodecommand105::set_vin_req

(

Vehicle_mode_command_105::Vin_reqType

vin_req

)

在文件 vehicle_mode_command_105.cc 第 139 行定义.

                                                 {
  vin_req_ = vin_req;
  return this;
}

UpdateData()

void apollo::canbus::demo::Vehiclemodecommand105::UpdateData ( uint8_t *  data )

overridevirtual

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

在文件 vehicle_mode_command_105.cc 第 64 行定义.

                                                    {
  set_p_turn_light_ctrl(data, turn_light_ctrl_);
  set_p_vin_req(data, vin_req_);
  set_p_drive_mode_ctrl(data, drive_mode_ctrl_);
  set_p_steer_mode_ctrl(data, steer_mode_ctrl_);
}

UpdateData_Heartbeat()

void apollo::canbus::demo::Vehiclemodecommand105::UpdateData_Heartbeat ( uint8_t *  data )

overridevirtual

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

在文件 vehicle_mode_command_105.cc 第 54 行定义.

                                                              {
  // TODO(All) : you should add the heartbeat manually
  ++heartbeat_105_;
  heartbeat_105_ = (heartbeat_105_) % 16;
  set_p_heartbeat_105(data, heartbeat_105_);
  checksum_105_ =
      data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];
  set_p_checksum_105(data, checksum_105_);
}

类成员变量说明

ID

const int32_t apollo::canbus::demo::Vehiclemodecommand105::ID = 0x105

static

在文件 vehicle_mode_command_105.h 第 30 行定义.

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该类的文档由以下文件生成:

• modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h
• modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.cc