Apollo 10.0
自动驾驶开放平台
apollo::canbus::devkit::Vehiclemodecommand105类 参考

#include <vehicle_mode_command_105.h>

类 apollo::canbus::devkit::Vehiclemodecommand105 继承关系图:
apollo::canbus::devkit::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, Devkit *chassis) const override
 
void UpdateData (uint8_t *data) override
 
void Reset () override
 
Vehiclemodecommand105set_checksum_105 (int checksum_105)
 
Vehiclemodecommand105set_turn_light_ctrl (Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl)
 
Vehiclemodecommand105set_vin_req (Vehicle_mode_command_105::Vin_reqType vin_req)
 
Vehiclemodecommand105set_drive_mode_ctrl (Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl)
 
Vehiclemodecommand105set_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::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 = 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::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 vehicle_mode_command_105.h27 行定义.

构造及析构函数说明

◆ Vehiclemodecommand105()

apollo::canbus::devkit::Vehiclemodecommand105::Vehiclemodecommand105 ( )

成员函数说明

◆ GetPeriod()

uint32_t apollo::canbus::devkit::Vehiclemodecommand105::GetPeriod ( ) const
overridevirtual

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

在文件 vehicle_mode_command_105.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::Vehiclemodecommand105::Parse ( const std::uint8_t *  bytes,
int32_t  length,
Devkit chassis 
) const
override

在文件 vehicle_mode_command_105.cc38 行定义.

39 {
40 chassis->mutable_vehicle_mode_command_105()->set_turn_light_ctrl(
41 turn_light_ctrl(bytes, length));
42 chassis->mutable_vehicle_mode_command_105()->set_vin_req(
43 vin_req(bytes, length));
44 chassis->mutable_vehicle_mode_command_105()->set_drive_mode_ctrl(
45 drive_mode_ctrl(bytes, length));
46 chassis->mutable_vehicle_mode_command_105()->set_steer_mode_ctrl(
47 steer_mode_ctrl(bytes, length));
48 chassis->mutable_vehicle_mode_command_105()->set_checksum_105(
49 checksum_105(bytes, length));
50}

◆ Reset()

void apollo::canbus::devkit::Vehiclemodecommand105::Reset ( )
overridevirtual

◆ set_checksum_105()

Vehiclemodecommand105 * apollo::canbus::devkit::Vehiclemodecommand105::set_checksum_105 ( int  checksum_105)

在文件 vehicle_mode_command_105.cc72 行定义.

73 {
74 checksum_105_ = checksum_105;
75 return this;
76}

◆ set_drive_mode_ctrl()

Vehiclemodecommand105 * apollo::canbus::devkit::Vehiclemodecommand105::set_drive_mode_ctrl ( Vehicle_mode_command_105::Drive_mode_ctrlType  drive_mode_ctrl)

在文件 vehicle_mode_command_105.cc129 行定义.

130 {
131 drive_mode_ctrl_ = drive_mode_ctrl;
132 return this;
133}

◆ set_steer_mode_ctrl()

Vehiclemodecommand105 * apollo::canbus::devkit::Vehiclemodecommand105::set_steer_mode_ctrl ( Vehicle_mode_command_105::Steer_mode_ctrlType  steer_mode_ctrl)

在文件 vehicle_mode_command_105.cc149 行定义.

150 {
151 steer_mode_ctrl_ = steer_mode_ctrl;
152 return this;
153}

◆ set_turn_light_ctrl()

Vehiclemodecommand105 * apollo::canbus::devkit::Vehiclemodecommand105::set_turn_light_ctrl ( Vehicle_mode_command_105::Turn_light_ctrlType  turn_light_ctrl)

在文件 vehicle_mode_command_105.cc90 行定义.

91 {
92 turn_light_ctrl_ = turn_light_ctrl;
93 return this;
94}

◆ set_vin_req()

Vehiclemodecommand105 * apollo::canbus::devkit::Vehiclemodecommand105::set_vin_req ( Vehicle_mode_command_105::Vin_reqType  vin_req)

在文件 vehicle_mode_command_105.cc111 行定义.

112 {
113 vin_req_ = vin_req;
114 return this;
115}

◆ UpdateData()

void apollo::canbus::devkit::Vehiclemodecommand105::UpdateData ( uint8_t *  data)
overridevirtual

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

在文件 vehicle_mode_command_105.cc52 行定义.

52 {
53 set_p_turn_light_ctrl(data, turn_light_ctrl_);
54 set_p_vin_req(data, vin_req_);
55 set_p_drive_mode_ctrl(data, drive_mode_ctrl_);
56 set_p_steer_mode_ctrl(data, steer_mode_ctrl_);
57 checksum_105_ =
58 data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];
59 set_p_checksum_105(data, checksum_105_);
60}

类成员变量说明

◆ ID

const int32_t apollo::canbus::devkit::Vehiclemodecommand105::ID = 0x105
static

在文件 vehicle_mode_command_105.h30 行定义.


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