25#include "modules/canbus/proto/canbus_conf.pb.h"
26#include "modules/canbus/proto/vehicle_parameter.pb.h"
27#include "modules/canbus_vehicle/lincoln/proto/lincoln.pb.h"
28#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
68 bool Start()
override;
100 std::unique_ptr<VehicleController<::apollo::canbus::Lincoln>>
101 CreateVehicleController();
107 std::unique_ptr<MessageManager<::apollo::canbus::Lincoln>>
108 CreateMessageManager();
110 std::unique_ptr<::apollo::cyber::Node> node_ =
nullptr;
111 std::unique_ptr<apollo::drivers::canbus::CanClient> can_client_;
112 CanSender<::apollo::canbus::Lincoln> can_sender_;
114 std::unique_ptr<MessageManager<::apollo::canbus::Lincoln>> message_manager_;
115 std::unique_ptr<VehicleController<::apollo::canbus::Lincoln>>
118 std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Lincoln>>
119 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 UpdateCommand(const apollo::control::ControlCommand *control_command) override
update control command
void PublishChassisDetail() override
publish chassis for vehicle messages
bool Init(const CanbusConf *canbus_conf) override
init vehicle factory
Chassis publish_chassis() override
publish chassis messages
void Stop() override
stop canclient, cansender, canreceiver, vehicle controller
virtual ~LincolnVehicleFactory()=default
destructor
bool Start() override
start canclient, cansender, canreceiver, vehicle controller
The class of MessageManager
The class of VehicleController