apollo::canbus::devkit::Steeringcommand102类 参考

#include <steering_command_102.h>

类 apollo::canbus::devkit::Steeringcommand102 继承关系图:

apollo::canbus::devkit::Steeringcommand102 的协作图:

Public 成员函数
	Steeringcommand102 ()
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
Steeringcommand102 *	set_steer_en_ctrl (Steering_command_102::Steer_en_ctrlType steer_en_ctrl)
Steeringcommand102 *	set_steer_angle_target (int steer_angle_target)
Steeringcommand102 *	set_steer_angle_spd_target (int steer_angle_spd_target)
Steeringcommand102 *	set_checksum_102 (int checksum_102)
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 = 0x102

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 steering_command_102.h 第 27 行定义.

构造及析构函数说明

Steeringcommand102()

apollo::canbus::devkit::Steeringcommand102::Steeringcommand102

(

)

在文件 steering_command_102.cc 第 30 行定义.

{ Reset(); }

成员函数说明

GetPeriod()

uint32_t apollo::canbus::devkit::Steeringcommand102::GetPeriod ( ) const

overridevirtual

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

在文件 steering_command_102.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::Steeringcommand102::Parse ( const std::uint8_t *  bytes, int32_t  length, Devkit *  chassis  ) const

override

在文件 steering_command_102.cc 第 38 行定义.

                                                      {
  chassis->mutable_steering_command_102()->set_steer_en_ctrl(
      steer_en_ctrl(bytes, length));
  chassis->mutable_steering_command_102() ->set_steer_angle_target(
      steer_angle_target(bytes, length));
  chassis->mutable_steering_command_102()->set_steer_angle_spd_target(
      steer_angle_spd_target(bytes, length));
  chassis->mutable_steering_command_102()->set_checksum_102(
      checksum_102(bytes, length));
}

Reset()

void apollo::canbus::devkit::Steeringcommand102::Reset ( )

overridevirtual

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

在文件 steering_command_102.cc 第 59 行定义.

                               {
  // TODO(All) :  you should check this manually
  steer_en_ctrl_ = Steering_command_102::STEER_EN_CTRL_DISABLE;
  steer_angle_target_ = 0;
  steer_angle_spd_target_ = 0;
  checksum_102_ = 0;
}

set_checksum_102()

Steeringcommand102 * apollo::canbus::devkit::Steeringcommand102::set_checksum_102

(

int

checksum_102

)

在文件 steering_command_102.cc 第 132 行定义.

                                                                         {
  checksum_102_ = checksum_102;
  return this;
}

set_steer_angle_spd_target()

Steeringcommand102 * apollo::canbus::devkit::Steeringcommand102::set_steer_angle_spd_target

(

int

steer_angle_spd_target

)

在文件 steering_command_102.cc 第 112 行定义.

                                {
  steer_angle_spd_target_ = steer_angle_spd_target;
  return this;
}

set_steer_angle_target()

Steeringcommand102 * apollo::canbus::devkit::Steeringcommand102::set_steer_angle_target

(

int

steer_angle_target

)

在文件 steering_command_102.cc 第 85 行定义.

                            {
  steer_angle_target_ = steer_angle_target;
  return this;
}

set_steer_en_ctrl()

Steeringcommand102 * apollo::canbus::devkit::Steeringcommand102::set_steer_en_ctrl

(

Steering_command_102::Steer_en_ctrlType

steer_en_ctrl

)

在文件 steering_command_102.cc 第 67 行定义.

                                                         {
  steer_en_ctrl_ = steer_en_ctrl;
  return this;
}

UpdateData()

void apollo::canbus::devkit::Steeringcommand102::UpdateData ( uint8_t *  data )

overridevirtual

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

在文件 steering_command_102.cc 第 50 行定义.

                                                 {
  set_p_steer_en_ctrl(data, steer_en_ctrl_);
  set_p_steer_angle_target(data, steer_angle_target_);
  set_p_steer_angle_spd_target(data, steer_angle_spd_target_);
  checksum_102_ =
      data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];
  set_p_checksum_102(data, checksum_102_);
}

类成员变量说明

ID

const int32_t apollo::canbus::devkit::Steeringcommand102::ID = 0x102

static

在文件 steering_command_102.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/devkit/protocol/steering_command_102.h
• modules/canbus_vehicle/devkit/protocol/steering_command_102.cc