Apollo 10.0
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llc_diag_steeringcontrol_722.h
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1/******************************************************************************
2 * Copyright 2018 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#pragma once
18
19#include "modules/canbus_vehicle/transit/proto/transit.pb.h"
21
22namespace apollo {
23namespace canbus {
24namespace transit {
25
28 ::apollo::canbus::Transit> {
29 public:
30 static const int32_t ID;
31
33
34 uint32_t GetPeriod() const override;
35
36 void UpdateData(uint8_t* data) override;
37
38 void Reset() override;
39
40 // config detail: {'description': 'Brake control feedforward contribution',
41 // 'offset': 0.0, 'precision': 0.0002, 'len': 16, 'name':
42 // 'LLC_DBG_SteeringSensorPosition', 'is_signed_var': True, 'physical_range':
43 // '[-6.5536|6.5534]', 'bit': 40, 'type': 'double', 'order': 'intel',
44 // 'physical_unit': 'rev'}
46 double llc_dbg_steeringsensorposition);
47
48 // config detail: {'description': 'Brake control feedforward contribution',
49 // 'offset': 0.0, 'precision': 1.0, 'len': 16, 'name':
50 // 'LLC_DBG_SteeringRackInputTorque', 'is_signed_var': True, 'physical_range':
51 // '[-32768|32767]', 'bit': 24, 'type': 'int', 'order': 'intel',
52 // 'physical_unit': 'counts'}
54 int llc_dbg_steeringrackinputtorque);
55
56 // config detail: {'description': 'Brake control feedforward contribution',
57 // 'offset': 0.0, 'precision': 1e-05, 'len': 24, 'name':
58 // 'LLC_DBG_SteeringMotorPosition', 'is_signed_var': True, 'physical_range':
59 // '[-83.88608|83.88607]', 'bit': 0, 'type': 'double', 'order': 'intel',
60 // 'physical_unit': 'rev'}
62 double llc_dbg_steeringmotorposition);
63
64 private:
65 // config detail: {'description': 'Brake control feedforward contribution',
66 // 'offset': 0.0, 'precision': 0.0002, 'len': 16, 'name':
67 // 'LLC_DBG_SteeringSensorPosition', 'is_signed_var': True, 'physical_range':
68 // '[-6.5536|6.5534]', 'bit': 40, 'type': 'double', 'order': 'intel',
69 // 'physical_unit': 'rev'}
70 void set_p_llc_dbg_steeringsensorposition(
71 uint8_t* data, double llc_dbg_steeringsensorposition);
72
73 // config detail: {'description': 'Brake control feedforward contribution',
74 // 'offset': 0.0, 'precision': 1.0, 'len': 16, 'name':
75 // 'LLC_DBG_SteeringRackInputTorque', 'is_signed_var': True, 'physical_range':
76 // '[-32768|32767]', 'bit': 24, 'type': 'int', 'order': 'intel',
77 // 'physical_unit': 'counts'}
78 void set_p_llc_dbg_steeringrackinputtorque(
79 uint8_t* data, int llc_dbg_steeringrackinputtorque);
80
81 // config detail: {'description': 'Brake control feedforward contribution',
82 // 'offset': 0.0, 'precision': 1e-05, 'len': 24, 'name':
83 // 'LLC_DBG_SteeringMotorPosition', 'is_signed_var': True, 'physical_range':
84 // '[-83.88608|83.88607]', 'bit': 0, 'type': 'double', 'order': 'intel',
85 // 'physical_unit': 'rev'}
86 void set_p_llc_dbg_steeringmotorposition(
87 uint8_t* data, double llc_dbg_steeringmotorposition);
88
89 private:
90 double llc_dbg_steeringsensorposition_;
91 int llc_dbg_steeringrackinputtorque_;
92 double llc_dbg_steeringmotorposition_;
93};
94
95} // namespace transit
96} // namespace canbus
97} // namespace apollo
Llcdiagsteeringcontrol722 * set_llc_dbg_steeringsensorposition(double llc_dbg_steeringsensorposition)
Llcdiagsteeringcontrol722 * set_llc_dbg_steeringrackinputtorque(int llc_dbg_steeringrackinputtorque)
Llcdiagsteeringcontrol722 * set_llc_dbg_steeringmotorposition(double llc_dbg_steeringmotorposition)
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData