apollo::canbus::devkit::Brakecommand101类 参考

#include <brake_command_101.h>

类 apollo::canbus::devkit::Brakecommand101 继承关系图:

apollo::canbus::devkit::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, Devkit *chassis) const override
void	UpdateData (uint8_t *data) override
void	Reset () override
Brakecommand101 *	set_brake_en_ctrl (Brake_command_101::Brake_en_ctrlType brake_en_ctrl)
Brakecommand101 *	set_aeb_en_ctrl (Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl)
Brakecommand101 *	set_brake_dec (double brake_dec)
Brakecommand101 *	set_brake_pedal_target (double brake_pedal_target)
Brakecommand101 *	set_checksum_101 (int checksum_101)
Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Devkit >
	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::Devkit *sensor_data) const
virtual void	UpdateData_Heartbeat (uint8_t *data)

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::Devkit >
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.h 第 27 行定义.

构造及析构函数说明

Brakecommand101()

apollo::canbus::devkit::Brakecommand101::Brakecommand101

(

)

在文件 brake_command_101.cc 第 30 行定义.

{ Reset(); }

成员函数说明

GetPeriod()

uint32_t apollo::canbus::devkit::Brakecommand101::GetPeriod ( ) const

overridevirtual

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

在文件 brake_command_101.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::devkit::Brakecommand101::Parse ( const std::uint8_t *  bytes, int32_t  length, Devkit *  chassis  ) const

override

在文件 brake_command_101.cc 第 38 行定义.

                                                      {
  chassis->mutable_brake_command_101()->set_brake_en_ctrl(
      brake_en_ctrl(bytes, length));
  chassis->mutable_brake_command_101()->set_aeb_en_ctrl(
      aeb_en_ctrl(bytes, length));
  chassis->mutable_brake_command_101()->set_brake_dec(
      brake_dec(bytes, length));
  chassis->mutable_brake_command_101()->set_brake_pedal_target(
      brake_pedal_target(bytes, length));
  chassis->mutable_brake_command_101()->set_checksum_101(
      checksum_101(bytes, length));
}

Reset()

void apollo::canbus::devkit::Brakecommand101::Reset ( )

overridevirtual

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

在文件 brake_command_101.cc 第 62 行定义.

                            {
  // TODO(All) :  you should check this manually
  aeb_en_ctrl_ = Brake_command_101::AEB_EN_CTRL_DISABLE_AEB;
  brake_dec_ = 0.0;
  checksum_101_ = 0;
  brake_pedal_target_ = 0.0;
  brake_en_ctrl_ = Brake_command_101::BRAKE_EN_CTRL_DISABLE;
}

set_aeb_en_ctrl()

Brakecommand101 * apollo::canbus::devkit::Brakecommand101::set_aeb_en_ctrl

(

Brake_command_101::Aeb_en_ctrlType

aeb_en_ctrl

)

在文件 brake_command_101.cc 第 89 行定义.

                                                  {
  aeb_en_ctrl_ = aeb_en_ctrl;
  return this;
}

set_brake_dec()

Brakecommand101 * apollo::canbus::devkit::Brakecommand101::set_brake_dec

(

double

brake_dec

)

在文件 brake_command_101.cc 第 107 行定义.

                                                                {
  brake_dec_ = brake_dec;
  return this;
}

set_brake_en_ctrl()

Brakecommand101 * apollo::canbus::devkit::Brakecommand101::set_brake_en_ctrl

(

Brake_command_101::Brake_en_ctrlType

brake_en_ctrl

)

在文件 brake_command_101.cc 第 71 行定义.

                                                      {
  brake_en_ctrl_ = brake_en_ctrl;
  return this;
}

set_brake_pedal_target()

Brakecommand101 * apollo::canbus::devkit::Brakecommand101::set_brake_pedal_target

(

double

brake_pedal_target

)

在文件 brake_command_101.cc 第 130 行定义.

                               {
  brake_pedal_target_ = brake_pedal_target;
  return this;
}

set_checksum_101()

Brakecommand101 * apollo::canbus::devkit::Brakecommand101::set_checksum_101

(

int

checksum_101

)

在文件 brake_command_101.cc 第 156 行定义.

                                                                   {
  checksum_101_ = checksum_101;
  return this;
}

UpdateData()

void apollo::canbus::devkit::Brakecommand101::UpdateData ( uint8_t *  data )

overridevirtual

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

在文件 brake_command_101.cc 第 52 行定义.

                                              {
  set_p_aeb_en_ctrl(data, aeb_en_ctrl_);
  set_p_brake_dec(data, brake_dec_);
  set_p_brake_pedal_target(data, brake_pedal_target_);
  set_p_brake_en_ctrl(data, brake_en_ctrl_);
  checksum_101_ =
      data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];
  set_p_checksum_101(data, checksum_101_);
}

类成员变量说明

ID

const int32_t apollo::canbus::devkit::Brakecommand101::ID = 0x101

static

在文件 brake_command_101.h 第 30 行定义.

---

该类的文档由以下文件生成:

• modules/canbus_vehicle/devkit/protocol/brake_command_101.h
• modules/canbus_vehicle/devkit/protocol/brake_command_101.cc