throttle_command_100.h

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/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include "modules/canbus_vehicle/devkit/proto/devkit.pb.h"
 
#include "modules/drivers/canbus/can_comm/protocol_data.h"
 
namespace apollo {
namespace canbus {
namespace devkit {
 
class Throttlecommand100 : public ::apollo::drivers::canbus::ProtocolData<
                               ::apollo::canbus::Devkit> {
 public:
  static const int32_t ID;
 
  Throttlecommand100();
 
  uint32_t GetPeriod() const override;
 
  void UpdateData(uint8_t* data) override;
 
  void Reset() override;
 
  void Parse(const std::uint8_t* bytes, int32_t length,
             Devkit* chassis) const override;
 
  // config detail: {'name': 'Throttle_EN_CTRL', 'enum': {0:
  // 'THROTTLE_EN_CTRL_DISABLE', 1: 'THROTTLE_EN_CTRL_ENABLE'},
  // 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'offset': 0.0,
  // 'physical_range': '[0|1]', 'bit': 0, 'type': 'enum', 'order': 'motorola',
  // 'physical_unit': ''}
  Throttlecommand100* set_throttle_en_ctrl(
      Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl);
 
  // config detail: {'name': 'Throttle_Acc', 'offset': 0.0, 'precision': 0.01,
  // 'len': 10, 'is_signed_var': False, 'physical_range': '[0|10]', 'bit': 15,
  // 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
  Throttlecommand100* set_throttle_acc(double throttle_acc);
 
  // config detail: {'name': 'Throttle_Pedal_Target', 'offset': 0.0,
  // 'precision': 0.1, 'len': 16, 'is_signed_var': False, 'physical_range':
  // '[0|100]', 'bit': 31, 'type': 'double', 'order': 'motorola',
  // 'physical_unit': '%'}
  Throttlecommand100* set_throttle_pedal_target(double throttle_pedal_target);
 
  // config detail: {'bit': 47, 'is_signed_var': False, 'len': 10, 'name':
  // 'Speed_Target', 'offset': 0.0, 'order': 'motorola', 'physical_range':
  // '[0|10.23]', 'physical_unit': 'm/s', 'precision': 0.01, 'type': 'double'}
  Throttlecommand100* set_speed_target(double speed_target);
 
  // config detail: {'name': 'CheckSum_100', 'offset': 0.0, 'precision': 1.0,
  // 'len': 8, 'is_signed_var': False, 'physical_range': '[0|255]', 'bit': 63,
  // 'type': 'int', 'order': 'motorola', 'physical_unit': ''}
  Throttlecommand100* set_checksum_100(int checksum_100);
 
 private:
  // config detail: {'name': 'Throttle_EN_CTRL', 'enum': {0:
  // 'THROTTLE_EN_CTRL_DISABLE', 1: 'THROTTLE_EN_CTRL_ENABLE'},
  // 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'offset': 0.0,
  // 'physical_range': '[0|1]', 'bit': 0, 'type': 'enum', 'order': 'motorola',
  // 'physical_unit': ''}
  void set_p_throttle_en_ctrl(
      uint8_t* data,
      Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl);
 
  // config detail: {'name': 'Throttle_Acc', 'offset': 0.0, 'precision': 0.01,
  // 'len': 10, 'is_signed_var': False, 'physical_range': '[0|10]', 'bit': 15,
  // 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
  void set_p_throttle_acc(uint8_t* data, double throttle_acc);
 
  // config detail: {'name': 'Throttle_Pedal_Target', 'offset': 0.0,
  // 'precision': 0.1, 'len': 16, 'is_signed_var': False, 'physical_range':
  // '[0|100]', 'bit': 31, 'type': 'double', 'order': 'motorola',
  // 'physical_unit': '%'}
  void set_p_throttle_pedal_target(uint8_t* data, double throttle_pedal_target);
 
  // config detail: {'bit': 47, 'is_signed_var': False, 'len': 10, 'name':
  // 'Speed_Target', 'offset': 0.0, 'order': 'motorola', 'physical_range':
  // '[0|10.23]', 'physical_unit': 'm/s', 'precision': 0.01, 'type': 'double'}
  void set_p_speed_target(uint8_t* data, double speed_target);
 
  // config detail: {'name': 'CheckSum_100', 'offset': 0.0, 'precision': 1.0,
  // 'len': 8, 'is_signed_var': False, 'physical_range': '[0|255]', 'bit': 63,
  // 'type': 'int', 'order': 'motorola', 'physical_unit': ''}
  void set_p_checksum_100(uint8_t* data, int checksum_100);
 
  Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl(
      const std::uint8_t* bytes, const int32_t length) const;
 
  double throttle_acc(const std::uint8_t* bytes, const int32_t length) const;
 
  double throttle_pedal_target(const std::uint8_t* bytes,
                               const int32_t length) const;
 
  double speed_target(const std::uint8_t* bytes, const int32_t length) const;
 
  int checksum_100(const std::uint8_t* bytes, const int32_t length) const;
 
 private:
  Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl_;
  double throttle_acc_;
  double throttle_pedal_target_;
  double speed_target_;
  int checksum_100_;
};
 
}  // namespace devkit
}  // namespace canbus
}  // namespace apollo