Apollo 10.0
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apollo::canbus::lincoln::Brakeinfo74类 参考

one of the protocol data of lincoln vehicle 更多...

#include <brakeinfo_74.h>

类 apollo::canbus::lincoln::Brakeinfo74 继承关系图:
apollo::canbus::lincoln::Brakeinfo74 的协作图:

Public 成员函数

void Parse (const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const override
 
- Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Lincoln >
 ProtocolData ()=default
 construct protocol data.
 
virtual ~ProtocolData ()=default
 destruct protocol data.
 
virtual uint32_t GetPeriod () const
 
virtual int32_t GetLength () const
 
virtual void Parse (const uint8_t *bytes, int32_t length, ::apollo::canbus::Lincoln *sensor_data) const
 
virtual void UpdateData (uint8_t *data)
 
virtual void UpdateData_Heartbeat (uint8_t *data)
 
virtual void Reset ()
 

静态 Public 属性

static const int32_t ID = 0x74
 

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::Lincoln >
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

one of the protocol data of lincoln vehicle

在文件 brakeinfo_74.h 第 40 行定义.

成员函数说明

◆ Parse()

void apollo::canbus::lincoln::Brakeinfo74::Parse ( const std::uint8_t *  bytes,
int32_t  length,
Lincoln *  chassis_detail 
) const
override

在文件 brakeinfo_74.cc 第 29 行定义.

30 {
31 chassis_detail->mutable_brake()->set_brake_torque_req(
32 braking_torque_request(bytes, length));
33 switch (hill_start_assist_status(bytes, length)) {
34 case 0:
35 chassis_detail->mutable_brake()->set_hsa_status(Brake::HSA_INACTIVE);
36 break;
37 case 1:
38 chassis_detail->mutable_brake()->set_hsa_status(
39 Brake::HSA_FINDING_GRADIENT);
40 break;
41 case 2:
42 chassis_detail->mutable_brake()->set_hsa_status(
43 Brake::HSA_ACTIVE_PRESSED);
44 break;
45 case 3:
46 chassis_detail->mutable_brake()->set_hsa_status(
47 Brake::HSA_ACTIVE_RELEASED);
48 break;
49 case 4:
50 chassis_detail->mutable_brake()->set_hsa_status(Brake::HSA_FAST_RELEASE);
51 break;
52 case 5:
53 chassis_detail->mutable_brake()->set_hsa_status(Brake::HSA_SLOW_RELEASE);
54 break;
55 case 6:
56 chassis_detail->mutable_brake()->set_hsa_status(Brake::HSA_FAILED);
57 break;
58 case 7:
59 chassis_detail->mutable_brake()->set_hsa_status(Brake::HSA_UNDEFINED);
60 break;
61 }
62 chassis_detail->mutable_vehicle_spd()->set_is_vehicle_standstill(
63 is_vehicle_stationary(bytes, length));
64 chassis_detail->mutable_brake()->set_brake_torque_act(
65 braking_torque_actual(bytes, length));
66 switch (hill_start_assist_mode(bytes, length)) {
67 case 0:
68 chassis_detail->mutable_brake()->set_hsa_mode(Brake::HSA_OFF);
69 break;
70 case 1:
71 chassis_detail->mutable_brake()->set_hsa_mode(Brake::HSA_AUTO);
72 break;
73 case 2:
74 chassis_detail->mutable_brake()->set_hsa_mode(Brake::HSA_MANUAL);
75 break;
76 case 3:
77 chassis_detail->mutable_brake()->set_hsa_mode(Brake::HSA_MODE_UNDEFINED);
78 break;
79 }
80 switch (parking_brake_status(bytes, length)) {
81 case 0:
82 chassis_detail->mutable_epb()->set_parking_brake_status(Epb::PBRAKE_OFF);
83 break;
84 case 1:
85 chassis_detail->mutable_epb()->set_parking_brake_status(
86 Epb::PBRAKE_TRANSITION);
87 break;
88 case 2:
89 chassis_detail->mutable_epb()->set_parking_brake_status(Epb::PBRAKE_ON);
90 break;
91 case 3:
92 chassis_detail->mutable_epb()->set_parking_brake_status(
93 Epb::PBRAKE_FAULT);
94 break;
95 }
96 chassis_detail->mutable_brake()->set_wheel_torque_act(
97 wheel_torque_actual(bytes, length));
98 chassis_detail->mutable_vehicle_spd()->set_acc_est(
99 acceleration_over_ground(bytes, length));
100 chassis_detail->mutable_esp()->set_is_abs_active(
101 is_abs_active(bytes, length));
102 chassis_detail->mutable_esp()->set_is_abs_enabled(
103 is_abs_enabled(bytes, length));
104 chassis_detail->mutable_esp()->set_is_stab_active(
105 is_stability_control_active(bytes, length));
106 chassis_detail->mutable_esp()->set_is_stab_enabled(
107 is_stability_control_enabled(bytes, length));
108 chassis_detail->mutable_esp()->set_is_trac_active(
109 is_traction_control_active(bytes, length));
110 chassis_detail->mutable_esp()->set_is_trac_enabled(
111 is_traction_control_enabled(bytes, length));
112}

类成员变量说明

◆ ID

const int32_t apollo::canbus::lincoln::Brakeinfo74::ID = 0x74
static

在文件 brakeinfo_74.h 第 43 行定义.

该类的文档由以下文件生成: