Apollo 10.0
自动驾驶开放平台
pc_eps_204.h
浏览该文件的文档.
1/******************************************************************************
2 * Copyright 2019 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/ge3/proto/ge3.pb.h"
21
22namespace apollo {
23namespace canbus {
24namespace ge3 {
25
27 ::apollo::canbus::Ge3> {
28 public:
29 static const int32_t ID;
30
31 Pceps204();
32
33 uint32_t GetPeriod() const override;
34
35 void UpdateData(uint8_t* data) override;
36
37 void Reset() override;
38
39 // config detail: {'description': 'Steer speed request', 'offset': 0.0,
40 // 'precision': 1.0, 'len': 16, 'name': 'PC_SteerSpdReq', 'is_signed_var':
41 // False, 'physical_range': '[0|500]', 'bit': 31, 'type': 'int', 'order':
42 // 'motorola', 'physical_unit': 'deg/s'}
43 Pceps204* set_pc_steerspdreq(int pc_steerspdreq);
44
45 // config detail: {'description': 'Steer control enable', 'enum': {0:
46 // 'PC_STEERENABLE_DISABLE', 1: 'PC_STEERENABLE_ENABLE'}, 'precision': 1.0,
47 // 'len': 1, 'name': 'PC_SteerEnable', 'is_signed_var': False, 'offset': 0.0,
48 // 'physical_range': '[0|1]', 'bit': 7, 'type': 'enum', 'order': 'motorola',
49 // 'physical_unit': ''}
51
52 // config detail: {'description': 'Steer angle request', 'offset': -500.0,
53 // 'precision': 0.1, 'len': 16, 'name': 'PC_SteerAngReq', 'is_signed_var':
54 // False, 'physical_range': '[-500|500]', 'bit': 15, 'type': 'double',
55 // 'order': 'motorola', 'physical_unit': 'deg'}
56 Pceps204* set_pc_steerangreq(double pc_steerangreq);
57
58 private:
59 // config detail: {'description': 'Steer speed request', 'offset': 0.0,
60 // 'precision': 1.0, 'len': 16, 'name': 'PC_SteerSpdReq', 'is_signed_var':
61 // False, 'physical_range': '[0|500]', 'bit': 31, 'type': 'int', 'order':
62 // 'motorola', 'physical_unit': 'deg/s'}
63 void set_p_pc_steerspdreq(uint8_t* data, int pc_steerspdreq);
64
65 // config detail: {'description': 'Steer control enable', 'enum': {0:
66 // 'PC_STEERENABLE_DISABLE', 1: 'PC_STEERENABLE_ENABLE'}, 'precision': 1.0,
67 // 'len': 1, 'name': 'PC_SteerEnable', 'is_signed_var': False, 'offset': 0.0,
68 // 'physical_range': '[0|1]', 'bit': 7, 'type': 'enum', 'order': 'motorola',
69 // 'physical_unit': ''}
70 void set_p_pc_steerenable(uint8_t* data,
71 Pc_eps_204::Pc_steerenableType pc_steerenable);
72
73 // config detail: {'description': 'Steer angle request', 'offset': -500.0,
74 // 'precision': 0.1, 'len': 16, 'name': 'PC_SteerAngReq', 'is_signed_var':
75 // False, 'physical_range': '[-500|500]', 'bit': 15, 'type': 'double',
76 // 'order': 'motorola', 'physical_unit': 'deg'}
77 void set_p_pc_steerangreq(uint8_t* data, double pc_steerangreq);
78
79 private:
80 int pc_steerspdreq_;
81 Pc_eps_204::Pc_steerenableType pc_steerenable_;
82 double pc_steerangreq_;
83};
84
85} // namespace ge3
86} // namespace canbus
87} // namespace apollo
static const int32_t ID
Definition pc_eps_204.h:29
uint32_t GetPeriod() const override
Definition pc_eps_204.cc:31
Pceps204 * set_pc_steerangreq(double pc_steerangreq)
Definition pc_eps_204.cc:93
Pceps204 * set_pc_steerenable(Pc_eps_204::Pc_steerenableType pc_steerenable)
Definition pc_eps_204.cc:74
Pceps204 * set_pc_steerspdreq(int pc_steerspdreq)
Definition pc_eps_204.cc:50
void UpdateData(uint8_t *data) override
Definition pc_eps_204.cc:37
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData