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scu_vcu_2_313.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
Scuvcu2313
:
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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Scuvcu2313
();
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void
Parse
(
const
std::uint8_t* bytes, int32_t length,
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Ge3
* chassis)
const override
;
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private
:
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// config detail: {'description': 'Max positive torque', 'offset': 0.0,
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// 'precision': 1.5, 'len': 11, 'name': 'VCU_TorqPosMax', 'is_signed_var':
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// False, 'physical_range': '[0|3000]', 'bit': 55, 'type': 'double', 'order':
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// 'motorola', 'physical_unit': 'Nm'}
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double
vcu_torqposmax(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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// config detail: {'description': 'Max negative torque', 'offset': -3000.0,
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// 'precision': 1.5, 'len': 11, 'name': 'VCU_TorqNegMax', 'is_signed_var':
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// False, 'physical_range': '[-3000|0]', 'bit': 39, 'type': 'double', 'order':
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// 'motorola', 'physical_unit': 'Nm'}
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double
vcu_torqnegmax(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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// config detail: {'description': 'Actual torque', 'offset': -3000.0,
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// 'precision': 1.5, 'len': 12, 'name': 'VCU_TorqAct', 'is_signed_var': False,
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// 'physical_range': '[-3000|3000]', 'bit': 23, 'type': 'double', 'order':
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// 'motorola', 'physical_unit': 'Nm'}
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double
vcu_torqact(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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// config detail: {'description': 'Engine speed', 'offset': 0.0,
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// 'precision': 1.0, 'len': 16, 'name': 'VCU_EngSpd', 'is_signed_var': False,
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// 'physical_range': '[0|65535]', 'bit': 7, 'type': 'int', 'order':
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// 'motorola', 'physical_unit': 'rpm'}
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int
vcu_engspd(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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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::Scuvcu2313
Definition
scu_vcu_2_313.h:27
apollo::canbus::ge3::Scuvcu2313::Parse
void Parse(const std::uint8_t *bytes, int32_t length, Ge3 *chassis) const override
Definition
scu_vcu_2_313.cc:31
apollo::canbus::ge3::Scuvcu2313::ID
static const int32_t ID
Definition
scu_vcu_2_313.h:29
apollo::canbus::ge3::Scuvcu2313::Scuvcu2313
Scuvcu2313()
Definition
scu_vcu_2_313.cc:28
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::Ge3
Definition
ge3.proto:615
modules
canbus_vehicle
ge3
protocol
scu_vcu_2_313.h