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10.0
自动驾驶开放平台
pc_eps_204.h
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/******************************************************************************
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* Copyright 2019 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#pragma once
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#include "modules/canbus_vehicle/ge3/proto/ge3.pb.h"
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#include "
modules/drivers/canbus/can_comm/protocol_data.h
"
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namespace
apollo
{
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namespace
canbus {
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namespace
ge3 {
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class
Pceps204
:
public
::apollo::drivers::canbus::ProtocolData
<
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::apollo::canbus::Ge3> {
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public
:
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static
const
int32_t
ID
;
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Pceps204
();
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uint32_t
GetPeriod
()
const override
;
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void
UpdateData
(uint8_t* data)
override
;
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void
Reset
()
override
;
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// config detail: {'description': 'Steer speed request', 'offset': 0.0,
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// 'precision': 1.0, 'len': 16, 'name': 'PC_SteerSpdReq', 'is_signed_var':
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// False, 'physical_range': '[0|500]', 'bit': 31, 'type': 'int', 'order':
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// 'motorola', 'physical_unit': 'deg/s'}
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Pceps204
*
set_pc_steerspdreq
(
int
pc_steerspdreq);
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// config detail: {'description': 'Steer control enable', 'enum': {0:
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// 'PC_STEERENABLE_DISABLE', 1: 'PC_STEERENABLE_ENABLE'}, 'precision': 1.0,
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// 'len': 1, 'name': 'PC_SteerEnable', 'is_signed_var': False, 'offset': 0.0,
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// 'physical_range': '[0|1]', 'bit': 7, 'type': 'enum', 'order': 'motorola',
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// 'physical_unit': ''}
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Pceps204
*
set_pc_steerenable
(
Pc_eps_204::Pc_steerenableType
pc_steerenable);
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// config detail: {'description': 'Steer angle request', 'offset': -500.0,
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// 'precision': 0.1, 'len': 16, 'name': 'PC_SteerAngReq', 'is_signed_var':
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// False, 'physical_range': '[-500|500]', 'bit': 15, 'type': 'double',
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// 'order': 'motorola', 'physical_unit': 'deg'}
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Pceps204
*
set_pc_steerangreq
(
double
pc_steerangreq);
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private
:
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// config detail: {'description': 'Steer speed request', 'offset': 0.0,
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// 'precision': 1.0, 'len': 16, 'name': 'PC_SteerSpdReq', 'is_signed_var':
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// False, 'physical_range': '[0|500]', 'bit': 31, 'type': 'int', 'order':
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// 'motorola', 'physical_unit': 'deg/s'}
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void
set_p_pc_steerspdreq(uint8_t* data,
int
pc_steerspdreq);
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// config detail: {'description': 'Steer control enable', 'enum': {0:
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// 'PC_STEERENABLE_DISABLE', 1: 'PC_STEERENABLE_ENABLE'}, 'precision': 1.0,
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// 'len': 1, 'name': 'PC_SteerEnable', 'is_signed_var': False, 'offset': 0.0,
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// 'physical_range': '[0|1]', 'bit': 7, 'type': 'enum', 'order': 'motorola',
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// 'physical_unit': ''}
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void
set_p_pc_steerenable(uint8_t* data,
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Pc_eps_204::Pc_steerenableType
pc_steerenable);
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// config detail: {'description': 'Steer angle request', 'offset': -500.0,
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// 'precision': 0.1, 'len': 16, 'name': 'PC_SteerAngReq', 'is_signed_var':
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// False, 'physical_range': '[-500|500]', 'bit': 15, 'type': 'double',
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// 'order': 'motorola', 'physical_unit': 'deg'}
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void
set_p_pc_steerangreq(uint8_t* data,
double
pc_steerangreq);
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private
:
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int
pc_steerspdreq_;
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Pc_eps_204::Pc_steerenableType
pc_steerenable_;
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double
pc_steerangreq_;
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};
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}
// namespace ge3
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}
// namespace canbus
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}
// namespace apollo
apollo::canbus::ge3::Pceps204
Definition
pc_eps_204.h:27
apollo::canbus::ge3::Pceps204::ID
static const int32_t ID
Definition
pc_eps_204.h:29
apollo::canbus::ge3::Pceps204::GetPeriod
uint32_t GetPeriod() const override
Definition
pc_eps_204.cc:31
apollo::canbus::ge3::Pceps204::Pceps204
Pceps204()
Definition
pc_eps_204.cc:29
apollo::canbus::ge3::Pceps204::set_pc_steerangreq
Pceps204 * set_pc_steerangreq(double pc_steerangreq)
Definition
pc_eps_204.cc:93
apollo::canbus::ge3::Pceps204::Reset
void Reset() override
Definition
pc_eps_204.cc:43
apollo::canbus::ge3::Pceps204::set_pc_steerenable
Pceps204 * set_pc_steerenable(Pc_eps_204::Pc_steerenableType pc_steerenable)
Definition
pc_eps_204.cc:74
apollo::canbus::ge3::Pceps204::set_pc_steerspdreq
Pceps204 * set_pc_steerspdreq(int pc_steerspdreq)
Definition
pc_eps_204.cc:50
apollo::canbus::ge3::Pceps204::UpdateData
void UpdateData(uint8_t *data) override
Definition
pc_eps_204.cc:37
apollo::drivers::canbus::ProtocolData
This is the base class of protocol data.
Definition
protocol_data.h:44
apollo
class register implement
Definition
arena_queue.h:37
protocol_data.h
The class of ProtocolData
apollo::canbus::Pc_eps_204::Pc_steerenableType
Pc_steerenableType
Definition
ge3.proto:201
modules
canbus_vehicle
ge3
protocol
pc_eps_204.h