Apollo 10.0
自动驾驶开放平台
brake_report_501.h
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2 * Copyright 2020 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
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8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#pragma once
18
19#include "modules/canbus_vehicle/devkit/proto/devkit.pb.h"
21
22namespace apollo {
23namespace canbus {
24namespace devkit {
25
27 ::apollo::canbus::Devkit> {
28 public:
29 static const int32_t ID;
31 void Parse(const std::uint8_t* bytes, int32_t length,
32 Devkit* chassis) const override;
33
34 private:
35 // config detail: {'name': 'Brake_Pedal_Actual', 'offset': 0.0, 'precision':
36 // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit':
37 // 31, 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
38 double brake_pedal_actual(const std::uint8_t* bytes,
39 const int32_t length) const;
40
41 // config detail: {'description': 'Brake system communication fault', 'enum':
42 // {0: 'BRAKE_FLT2_NO_FAULT', 1:
43 // 'BRAKE_FLT2_BRAKE_SYSTEM_COMUNICATION_FAULT'}, 'precision': 1.0, 'len': 8,
44 // 'name': 'Brake_FLT2', 'is_signed_var': False, 'offset': 0.0,
45 // 'physical_range': '[0|1]', 'bit': 23, 'type': 'enum', 'order': 'motorola',
46 // 'physical_unit': ''}
47 Brake_report_501::Brake_flt2Type brake_flt2(const std::uint8_t* bytes,
48 const int32_t length) const;
49
50 // config detail: {'description': 'Brake system hardware fault', 'enum': {0:
51 // 'BRAKE_FLT1_NO_FAULT', 1: 'BRAKE_FLT1_BRAKE_SYSTEM_HARDWARE_FAULT'},
52 // 'precision': 1.0, 'len': 8, 'name': 'Brake_FLT1', 'is_signed_var': False,
53 // 'offset': 0.0, 'physical_range': '[0|1]', 'bit': 15, 'type': 'enum',
54 // 'order': 'motorola', 'physical_unit': ''}
55 Brake_report_501::Brake_flt1Type brake_flt1(const std::uint8_t* bytes,
56 const int32_t length) const;
57
58 // config detail: {'name': 'Brake_EN_state', 'enum': {0:
59 // 'BRAKE_EN_STATE_MANUAL', 1: 'BRAKE_EN_STATE_AUTO', 2:
60 // 'BRAKE_EN_STATE_TAKEOVER', 3: 'BRAKE_EN_STATE_STANDBY'}, 'precision': 1.0,
61 // 'len': 2, 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|2]',
62 // 'bit': 1, 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
64 const std::uint8_t* bytes, const int32_t length) const;
65};
66
67} // namespace devkit
68} // namespace canbus
69} // namespace apollo
void Parse(const std::uint8_t *bytes, int32_t length, Devkit *chassis) const override
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData