Apollo 10.0
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scu_eps_311.h
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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.
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10 * Unless required by applicable law or agreed to in writing, software
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.
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 Scueps311();
31 void Parse(const std::uint8_t* bytes, int32_t length,
32 Ge3* chassis) const override;
33
34 private:
35 // config detail: {'description': 'EPS interrupt index', 'enum': {0:
36 // 'EPS_INTIDX_NOINT', 1: 'EPS_INTIDX_OVERFLOW', 2: 'EPS_INTIDX_TIMEOUT', 3:
37 // 'EPS_INTIDX_STEERINT'}, 'precision': 1.0, 'len': 3, 'name': 'EPS_IntIdx',
38 // 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|7]', 'bit': 6,
39 // 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
40 Scu_eps_311::Eps_intidxType eps_intidx(const std::uint8_t* bytes,
41 const int32_t length) const;
42
43 // config detail: {'description': 'Steer angle speed', 'offset': 0.0,
44 // 'precision': 4.0, 'len': 8, 'name': 'EPS_SteerAngleSpd', 'is_signed_var':
45 // False, 'physical_range': '[0|1016]', 'bit': 15, 'type': 'double', 'order':
46 // 'motorola', 'physical_unit': 'deg/s'}
47 double eps_steeranglespd(const std::uint8_t* bytes,
48 const int32_t length) const;
49
50 // config detail: {'description': 'Steer angle Left + right -', 'offset':
51 // -780.0, 'precision': 0.1, 'len': 16, 'name': 'EPS_SteerAngle',
52 // 'is_signed_var': False, 'physical_range': '[-780|779.9]', 'bit': 23,
53 // 'type': 'double', 'order': 'motorola', 'physical_unit': 'deg'}
54 double eps_steerangle(const std::uint8_t* bytes, const int32_t length) const;
55
56 // config detail: {'description': 'EPS fault status', 'enum': {0:
57 // 'EPS_FAULTST_NORMAL', 1: 'EPS_FAULTST_FAULT'}, 'precision': 1.0, 'len': 1,
58 // 'name': 'EPS_FaultSt', 'is_signed_var': False, 'offset': 0.0,
59 // 'physical_range': '[0|1]', 'bit': 7, 'type': 'enum', 'order': 'motorola',
60 // 'physical_unit': ''}
61 Scu_eps_311::Eps_faultstType eps_faultst(const std::uint8_t* bytes,
62 const int32_t length) const;
63
64 // config detail: {'description': 'EPS drive mode', 'enum': {0:
65 // 'EPS_DRVMODE_INVALID', 1: 'EPS_DRVMODE_MANUAL', 2: 'EPS_DRVMODE_INTERRUPT',
66 // 3: 'EPS_DRVMODE_AUTO'}, 'precision': 1.0, 'len': 2, 'name': 'EPS_DrvMode',
67 // 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|3]', 'bit': 1,
68 // 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
69 Scu_eps_311::Eps_drvmodeType eps_drvmode(const std::uint8_t* bytes,
70 const int32_t length) const;
71};
72
73} // namespace ge3
74} // namespace canbus
75} // namespace apollo
static const int32_t ID
Definition scu_eps_311.h:29
void Parse(const std::uint8_t *bytes, int32_t length, Ge3 *chassis) const override
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData