19#include "modules/canbus_vehicle/devkit/proto/devkit.pb.h"
28 ::apollo::canbus::Devkit> {
30 static const int32_t
ID;
36 void Parse(
const std::uint8_t* bytes, int32_t length,
37 Devkit* chassis)
const override;
41 void Reset()
override;
72 void set_p_steer_en_ctrl(
79 void set_p_steer_angle_target(uint8_t* data,
int steer_angle_target);
85 void set_p_steer_angle_spd_target(uint8_t* data,
int steer_angle_spd_target);
90 void set_p_checksum_102(uint8_t* data,
int checksum_102);
94 const std::uint8_t* bytes,
const int32_t length)
const;
96 double steer_angle_target(
const std::uint8_t* bytes,
97 const int32_t length)
const;
99 double steer_angle_spd_target(
const std::uint8_t* bytes,
100 const int32_t length)
const;
102 int checksum_102(
const std::uint8_t* bytes,
const int32_t length)
const;
106 int steer_angle_target_;
107 int steer_angle_spd_target_;
Steeringcommand102 * set_steer_angle_spd_target(int steer_angle_spd_target)
Steeringcommand102 * set_checksum_102(int checksum_102)
uint32_t GetPeriod() const override
void UpdateData(uint8_t *data) override
void Parse(const std::uint8_t *bytes, int32_t length, Devkit *chassis) const override
Steeringcommand102 * set_steer_en_ctrl(Steering_command_102::Steer_en_ctrlType steer_en_ctrl)
Steeringcommand102 * set_steer_angle_target(int steer_angle_target)
This is the base class of protocol data.
The class of ProtocolData