Apollo 10.0
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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
 
Brakecommand101set_brake_en_ctrl (Brake_command_101::Brake_en_ctrlType brake_en_ctrl)
 
Brakecommand101set_aeb_en_ctrl (Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl)
 
Brakecommand101set_brake_dec (double brake_dec)
 
Brakecommand101set_brake_pedal_target (double brake_pedal_target)
 
Brakecommand101set_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.h27 行定义.

构造及析构函数说明

◆ Brakecommand101()

apollo::canbus::devkit::Brakecommand101::Brakecommand101 ( )

在文件 brake_command_101.cc30 行定义.

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

在文件 brake_command_101.cc38 行定义.

39 {
40 chassis->mutable_brake_command_101()->set_brake_en_ctrl(
41 brake_en_ctrl(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(
45 brake_dec(bytes, length));
46 chassis->mutable_brake_command_101()->set_brake_pedal_target(
47 brake_pedal_target(bytes, length));
48 chassis->mutable_brake_command_101()->set_checksum_101(
49 checksum_101(bytes, length));
50}

◆ Reset()

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

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

在文件 brake_command_101.cc62 行定义.

62 {
63 // TODO(All) : you should check this manually
65 brake_dec_ = 0.0;
66 checksum_101_ = 0;
67 brake_pedal_target_ = 0.0;
69}

◆ 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.cc89 行定义.

90 {
91 aeb_en_ctrl_ = aeb_en_ctrl;
92 return this;
93}

◆ set_brake_dec()

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

在文件 brake_command_101.cc107 行定义.

107 {
108 brake_dec_ = brake_dec;
109 return this;
110}

◆ 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.cc71 行定义.

72 {
73 brake_en_ctrl_ = brake_en_ctrl;
74 return this;
75}

◆ set_brake_pedal_target()

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

在文件 brake_command_101.cc130 行定义.

131 {
132 brake_pedal_target_ = brake_pedal_target;
133 return this;
134}

◆ set_checksum_101()

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

在文件 brake_command_101.cc156 行定义.

156 {
157 checksum_101_ = checksum_101;
158 return this;
159}

◆ 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.cc52 行定义.

52 {
53 set_p_aeb_en_ctrl(data, aeb_en_ctrl_);
54 set_p_brake_dec(data, brake_dec_);
55 set_p_brake_pedal_target(data, brake_pedal_target_);
56 set_p_brake_en_ctrl(data, brake_en_ctrl_);
57 checksum_101_ =
58 data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];
59 set_p_checksum_101(data, checksum_101_);
60}

类成员变量说明

◆ ID

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

在文件 brake_command_101.h30 行定义.


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