25#include "modules/canbus/proto/canbus_conf.pb.h"
26#include "modules/canbus/proto/vehicle_parameter.pb.h"
27#include "modules/canbus_vehicle/gem/proto/gem.pb.h"
28#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
67 bool Start()
override;
99 std::unique_ptr<VehicleController<::apollo::canbus::Gem>>
100 CreateVehicleController();
106 std::unique_ptr<MessageManager<::apollo::canbus::Gem>> CreateMessageManager();
108 std::unique_ptr<::apollo::cyber::Node> node_ =
nullptr;
109 std::unique_ptr<apollo::drivers::canbus::CanClient> can_client_;
110 CanSender<::apollo::canbus::Gem> can_sender_;
112 std::unique_ptr<MessageManager<::apollo::canbus::Gem>> message_manager_;
113 std::unique_ptr<VehicleController<::apollo::canbus::Gem>> vehicle_controller_;
115 std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Gem>>
116 chassis_detail_writer_;
#define CYBER_REGISTER_VEHICLEFACTORY(name)
Defines the CanFrame struct and CanClient interface.
Defines CanReceiver class.
Defines SenderMessage class and CanSender class.
this class is the abstract factory following the AbstractFactory design pattern.
this class is inherited from AbstractVehicleFactory.
void PublishChassisDetail() override
publish chassis for vehicle messages
void Stop() override
create ch vehicle controller
bool Init(const CanbusConf *canbus_conf) override
init vehicle factory
void UpdateCommand(const apollo::control::ControlCommand *control_command) override
update control command
Chassis publish_chassis() override
publish chassis messages
bool Start() override
start canclient, cansender, canreceiver, vehicle controller
virtual ~GemVehicleFactory()=default
destructor
The class of MessageManager
The class of VehicleController