Apollo 10.0
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llc_motioncommandfeedback1_22.h
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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
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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
14 * limitations under the License.
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16
17#pragma once
18
19#include "gtest/gtest_prod.h"
20#include "modules/canbus_vehicle/transit/proto/transit.pb.h"
22
23namespace apollo {
24namespace canbus {
25namespace transit {
26
29 ::apollo::canbus::Transit> {
30 public:
31 static const int32_t ID;
33 void Parse(const std::uint8_t* bytes, int32_t length,
34 Transit* chassis) const override;
35 FRIEND_TEST(Motioncommandfeedback1_22_test, General);
36
37 private:
38 // config detail: {'description': 'Steering angle setpoint (after limits)',
39 // 'offset': 0.0, 'precision': 0.05, 'len': 16, 'name':
40 // 'LLC_FBK_SteeringAngleSetpoint', 'is_signed_var': True, 'physical_range':
41 // '[-1638.4|1638.35]', 'bit': 21, 'type': 'double', 'order': 'intel',
42 // 'physical_unit': 'deg'}
43 double llc_fbk_steeringanglesetpoint(const std::uint8_t* bytes,
44 const int32_t length) const;
45
46 // config detail: {'description': 'Current throttle setpoint (after limits)',
47 // 'offset': 0.0, 'precision': 0.1, 'len': 10, 'name':
48 // 'LLC_FBK_ThrottleSetpoint', 'is_signed_var': False, 'physical_range':
49 // '[0|102.3]', 'bit': 11, 'type': 'double', 'order': 'intel',
50 // 'physical_unit': '%'}
51 double llc_fbk_throttlesetpoint(const std::uint8_t* bytes,
52 const int32_t length) const;
53
54 // config detail: {'description': 'Front brake pressure setpoint (after
55 // limits)', 'offset': 0.0, 'precision': 0.0556, 'len': 11, 'name':
56 // 'LLC_FBK_BrakePercentSetpoint', 'is_signed_var': False, 'physical_range':
57 // '[0|113.8132]', 'bit': 0, 'type': 'double', 'order': 'intel',
58 // 'physical_unit': '%'}
59 double llc_fbk_brakepercentsetpoint(const std::uint8_t* bytes,
60 const int32_t length) const;
61
62 // config detail: {'description': 'Motion command feedback 2 heartbeat
63 // counter', 'offset': 0.0, 'precision': 1.0, 'len': 2, 'name':
64 // 'LLC_MotionCommandFeedback1_Count', 'is_signed_var': False,
65 // 'physical_range': '[0|3]', 'bit': 54, 'type': 'int', 'order': 'intel',
66 // 'physical_unit': ''}
67 int llc_motioncommandfeedback1_count(const std::uint8_t* bytes,
68 const int32_t length) const;
69
70 // config detail: {'description': 'Motion command feedback 1 checksum',
71 // 'offset': 0.0, 'precision': 1.0, 'len': 8, 'name':
72 // 'LLC_MotionCommandFeedback1_Check', 'is_signed_var': False,
73 // 'physical_range': '[0|255]', 'bit': 56, 'type': 'int', 'order': 'intel',
74 // 'physical_unit': ''}
75 int llc_motioncommandfeedback1_check(const std::uint8_t* bytes,
76 const int32_t length) const;
77};
78
79} // namespace transit
80} // namespace canbus
81} // namespace apollo
void Parse(const std::uint8_t *bytes, int32_t length, Transit *chassis) const override
FRIEND_TEST(Motioncommandfeedback1_22_test, General)
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData