apollo::canbus::lincoln::Steering64类 参考

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

#include <steering_64.h>

类 apollo::canbus::lincoln::Steering64 继承关系图:

apollo::canbus::lincoln::Steering64 的协作图:

Public 成员函数
virtual uint32_t	GetPeriod () const
	get the data period
virtual void	UpdateData (uint8_t *data)
	update the data
virtual void	Reset ()
	reset the private variables
Steering64 *	set_enable ()
	set steering request enable to true
Steering64 *	set_disable ()
	set steering request disable to true
Steering64 *	set_steering_angle (double angle)
	set steering angle
Steering64 *	set_steering_angle_speed (double angle_speed)
	set steering angle speed
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 int32_t	GetLength () const
virtual void	Parse (const uint8_t *bytes, int32_t length, ::apollo::canbus::Lincoln *sensor_data) const
virtual void	UpdateData_Heartbeat (uint8_t *data)

静态 Public 属性
static const int32_t	ID = 0x64

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 steering_64.h 第 40 行定义.

成员函数说明

GetPeriod()

uint32_t apollo::canbus::lincoln::Steering64::GetPeriod ( ) const

virtual

get the data period

返回

the value of data period

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

在文件 steering_64.cc 第 29 行定义.

                                     {
  // receive rate??
  // receive timeout would trigger fault, letting en=0 and etc.
  static const uint32_t PERIOD = 10 * 1000;
  return PERIOD;
}

Reset()

void apollo::canbus::lincoln::Steering64::Reset ( )

virtual

reset the private variables

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

在文件 steering_64.cc 第 46 行定义.

                       {
  steering_angle_ = 0.0;
  steering_enable_ = false;
  clear_driver_override_flag_ = false;
  ignore_driver_override_ = false;
  steering_angle_speed_ = 0.0;
  watchdog_counter_ = 0;
  disable_audible_warning_ = false;
}

set_disable()

Steering64 * apollo::canbus::lincoln::Steering64::set_disable

(

)

set steering request disable to true

返回

a this pointer to the instance itself

在文件 steering_64.cc 第 66 行定义.

                                    {
  steering_enable_ = false;
  return this;
}

set_enable()

Steering64 * apollo::canbus::lincoln::Steering64::set_enable

(

)

set steering request enable to true

返回

a this pointer to the instance itself

在文件 steering_64.cc 第 61 行定义.

                                   {
  steering_enable_ = true;
  return this;
}

set_steering_angle()

Steering64 * apollo::canbus::lincoln::Steering64::set_steering_angle

(

double

angle

)

set steering angle

返回

a this pointer to the instance itself

在文件 steering_64.cc 第 56 行定义.

                                                       {
  steering_angle_ = angle;
  return this;
}

set_steering_angle_speed()

Steering64 * apollo::canbus::lincoln::Steering64::set_steering_angle_speed

(

double

angle_speed

)

set steering angle speed

返回

a this pointer to the instance itself

在文件 steering_64.cc 第 71 行定义.

                                                                   {
  steering_angle_speed_ = angle_speed;
  return this;
}

UpdateData()

void apollo::canbus::lincoln::Steering64::UpdateData ( uint8_t *  data )

virtual

update the data

参数

data	a pointer to the data to be updated

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

在文件 steering_64.cc 第 36 行定义.

                                         {
  set_steering_angle_p(data, steering_angle_);
  set_enable_p(data, steering_enable_);
  set_clear_driver_override_flag_p(data, clear_driver_override_flag_);
  set_ignore_driver_override_p(data, ignore_driver_override_);
  set_steering_angle_speed_p(data, steering_angle_speed_);
  set_watchdog_counter_p(data, watchdog_counter_);
  set_disable_audible_warning_p(data, disable_audible_warning_);
}

类成员变量说明

ID

const int32_t apollo::canbus::lincoln::Steering64::ID = 0x64

static

在文件 steering_64.h 第 43 行定义.

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该类的文档由以下文件生成:

• modules/canbus_vehicle/lincoln/protocol/steering_64.h
• modules/canbus_vehicle/lincoln/protocol/steering_64.cc