54 CanSender<::apollo::canbus::Lexus>*
const can_sender,
55 MessageManager<::apollo::canbus::Lexus>*
const message_manager)
override;
57 bool Start()
override;
76 void Emergency()
override;
88 void Brake(
double acceleration)
override;
92 void Throttle(
double throttle)
override;
96 void Acceleration(
double acc)
override;
100 void Steer(
double angle)
override;
105 void Steer(
double angle,
double angle_spd)
override;
115 bool VerifyID()
override;
116 void ResetProtocol();
117 bool CheckChassisError();
120 void SecurityDogThreadFunc();
121 virtual bool CheckResponse(
const int32_t flags,
bool need_wait);
122 void set_chassis_error_mask(
const int32_t mask);
123 int32_t chassis_error_mask();
143 std::unique_ptr<std::thread> thread_;
144 bool is_chassis_error_ =
false;
146 std::mutex chassis_error_code_mutex_;
149 std::mutex chassis_mask_mutex_;
150 int32_t chassis_error_mask_ = 0;