apollo::canbus::lincoln::Throttle63类 参考

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

#include <throttle_63.h>

类 apollo::canbus::lincoln::Throttle63 继承关系图:

apollo::canbus::lincoln::Throttle63 的协作图:

Public 成员函数
virtual void	Parse (const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
double	pedal_input (const std::uint8_t *bytes, int32_t length) const
	calculate pedal input based on byte array.
double	pedal_cmd (const std::uint8_t *bytes, int32_t length) const
	calculate pedal command based on byte array.
double	pedal_output (const std::uint8_t *bytes, int32_t length) const
	calculate pedal output based on byte array.
int32_t	watchdog_counter_source (const std::uint8_t *bytes, int32_t length) const
	calculate watchdog counter source based on byte array.
bool	is_enabled (const std::uint8_t *bytes, int32_t length) const
	check enabled bit based on byte array.
bool	is_driver_override (const std::uint8_t *bytes, int32_t length) const
	check driver override bit based on byte array.
bool	is_driver_activity (const std::uint8_t *bytes, int32_t length) const
	check driver activity bit based on byte array.
bool	is_watchdog_counter_fault (const std::uint8_t *bytes, int32_t length) const
	check watchdog counter fault bit based on byte array.
bool	is_channel_1_fault (const std::uint8_t *bytes, int32_t length) const
	check channel 1 fault bit based on byte array.
bool	is_channel_2_fault (const std::uint8_t *bytes, int32_t length) const
	check channel 2 fault bit based on byte array.
bool	is_connector_fault (const std::uint8_t *bytes, int32_t length) const
	check connector fault bit based on byte array.
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 = 0x63

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 throttle_63.h 第 40 行定义.

成员函数说明

is_channel_1_fault()

bool apollo::canbus::lincoln::Throttle63::is_channel_1_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check channel 1 fault bit based on byte array.

config detail: {'name': 'flt1', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 60, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of channel 1 fault bit

在文件 throttle_63.cc 第 126 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(4);
}

is_channel_2_fault()

bool apollo::canbus::lincoln::Throttle63::is_channel_2_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check channel 2 fault bit based on byte array.

config detail: {'name': 'flt2', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 61, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of channel 2 fault bit

在文件 throttle_63.cc 第 132 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(5);
}

is_connector_fault()

bool apollo::canbus::lincoln::Throttle63::is_connector_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check connector fault bit based on byte array.

config detail: {'name': 'fltcon', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 63, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of connector fault bit

在文件 throttle_63.cc 第 138 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(7);
}

is_driver_activity()

bool apollo::canbus::lincoln::Throttle63::is_driver_activity	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check driver activity bit based on byte array.

config detail: {'name': 'driver', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 58, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of driver activity

在文件 throttle_63.cc 第 114 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(2);
}

is_driver_override()

bool apollo::canbus::lincoln::Throttle63::is_driver_override	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check driver override bit based on byte array.

config detail: {'name': 'override', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 57, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of driver override

在文件 throttle_63.cc 第 108 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(1);
}

is_enabled()

bool apollo::canbus::lincoln::Throttle63::is_enabled	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check enabled bit based on byte array.

config detail: {'name': 'en', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 56, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of enabled bit

在文件 throttle_63.cc 第 103 行定义.

                                                                         {
  Byte frame(bytes + 7);
  return frame.is_bit_1(0);
}

is_watchdog_counter_fault()

bool apollo::canbus::lincoln::Throttle63::is_watchdog_counter_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check watchdog counter fault bit based on byte array.

config detail: {'name': 'fltwdc', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 59, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of watchdog counter fault bit

在文件 throttle_63.cc 第 120 行定义.

                                                                 {
  Byte frame(bytes + 7);
  return frame.is_bit_1(3);
}

Parse()

void apollo::canbus::lincoln::Throttle63::Parse ( const std::uint8_t *  bytes, int32_t  length, Lincoln *  chassis_detail  ) const

virtual

在文件 throttle_63.cc 第 29 行定义.

                                                      {
  chassis_detail->mutable_gas()->set_throttle_input(pedal_input(bytes, length));
  chassis_detail->mutable_gas()->set_throttle_cmd(pedal_cmd(bytes, length));
  chassis_detail->mutable_gas()->set_throttle_output(
      pedal_output(bytes, length));
  chassis_detail->mutable_gas()->set_watchdog_source(
      watchdog_counter_source(bytes, length));
  chassis_detail->mutable_gas()->set_throttle_enabled(
      is_enabled(bytes, length));
  chassis_detail->mutable_gas()->set_driver_override(
      is_driver_override(bytes, length));
  chassis_detail->mutable_gas()->set_driver_activity(
      is_driver_activity(bytes, length));
  chassis_detail->mutable_gas()->set_watchdog_fault(
      is_watchdog_counter_fault(bytes, length));
  chassis_detail->mutable_gas()->set_channel_1_fault(
      is_channel_1_fault(bytes, length));
  chassis_detail->mutable_gas()->set_channel_2_fault(
      is_channel_2_fault(bytes, length));
  chassis_detail->mutable_gas()->set_connector_fault(
      is_connector_fault(bytes, length));
  chassis_detail->mutable_check_response()->set_is_vcu_online(
      !is_driver_override(bytes, length));
}

pedal_cmd()

double apollo::canbus::lincoln::Throttle63::pedal_cmd	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate pedal command based on byte array.

config detail: {'name': 'pc', 'offset': 0.0, 'precision': 1.52590218966964e-05, 'len': 16, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': '"%"'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the value of pedal command

在文件 throttle_63.cc 第 69 行定义.

                                                                          {
  // Pedal Command from the command message
  Byte frame_high(bytes + 3);
  int32_t high = frame_high.get_byte(0, 8);
  Byte frame_low(bytes + 2);
  int32_t low = frame_low.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  // control needs a value in range [0, 100] %
  double output = 100.0 * value * 1.52590218966964e-05;
  output = ProtocolData::BoundedValue(0.0, 100.0, output);
  return output;
}

pedal_input()

double apollo::canbus::lincoln::Throttle63::pedal_input	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate pedal input based on byte array.

config detail: {'name': 'pi', 'offset': 0.0, 'precision': 1.52590218966964e-05, 'len': 16, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 0, 'type': 'double', 'order': 'intel', 'physical_unit': '"%"'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the value of byte input

在文件 throttle_63.cc 第 55 行定义.

                                                     {
  // Pedal Input from the physical pedal
  Byte frame_high(bytes + 1);
  int32_t high = frame_high.get_byte(0, 8);
  Byte frame_low(bytes + 0);
  int32_t low = frame_low.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  // control needs a value in range [0, 100] %
  double output = 100.0 * value * 1.52590218966964e-05;
  output = ProtocolData::BoundedValue(0.0, 100.0, output);
  return output;
}

pedal_output()

double apollo::canbus::lincoln::Throttle63::pedal_output	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate pedal output based on byte array.

config detail: {'name': 'po', 'offset': 0.0, 'precision': 1.52590218966964e-05, 'len': 16, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 32, 'type': 'double', 'order': 'intel', 'physical_unit': '"%"'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the value of pedal output

在文件 throttle_63.cc 第 82 行定义.

                                                      {
  // Pedal Output is the maximum of PI and PC
  Byte frame_high(bytes + 5);
  int32_t high = frame_high.get_byte(0, 8);
  Byte frame_low(bytes + 4);
  int32_t low = frame_low.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  // control needs a value in range [0, 100] %
  double output = 100.0 * value * 1.52590218966964e-05;
  output = ProtocolData::BoundedValue(0.0, 100.0, output);
  return output;
}

watchdog_counter_source()

int32_t apollo::canbus::lincoln::Throttle63::watchdog_counter_source	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate watchdog counter source based on byte array.

config detail: {'name': 'wdcsrc', 'offset': 0.0, 'precision': 1.0, 'len': 4, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 52, 'type': 'int', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the value of watchdog counter source

在文件 throttle_63.cc 第 96 行定义.

                                                                  {
  Byte frame(bytes + 6);
  int32_t x = frame.get_byte(4, 4);
  return x;
}

类成员变量说明

ID

const int32_t apollo::canbus::lincoln::Throttle63::ID = 0x63

static

在文件 throttle_63.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/throttle_63.h
• modules/canbus_vehicle/lincoln/protocol/throttle_63.cc