Apollo 10.0
自动驾驶开放平台
steer_command_112.cc
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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.
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
19
20namespace apollo {
21namespace canbus {
22namespace ch {
23
24using ::apollo::drivers::canbus::Byte;
25
26const int32_t Steercommand112::ID = 0x112;
27
28// public
30
32 // TODO(All) : modify every protocol's period manually
33 static const uint32_t PERIOD = 20 * 1000;
34 return PERIOD;
35}
36
37void Steercommand112::UpdateData(uint8_t* data) {
38 set_p_steer_angle_en_ctrl(data, steer_angle_en_ctrl_);
39 set_p_steer_angle_cmd(data, steer_angle_cmd_);
40}
41
43 // TODO(All) : you should check this manually
45 steer_angle_cmd_ = 0.0;
46}
47
50 steer_angle_en_ctrl_ = steer_angle_en_ctrl;
51 return this;
52}
53
54// config detail: {'bit': 0, 'description': 'steering angle enable
55// bit(Command)', 'enum': {0: 'STEER_ANGLE_EN_CTRL_DISABLE', 1:
56// 'STEER_ANGLE_EN_CTRL_ENABLE'}, 'is_signed_var': False, 'len': 8, 'name':
57// 'STEER_ANGLE_EN_CTRL', 'offset': 0.0, 'order': 'intel', 'physical_range':
58// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}
59void Steercommand112::set_p_steer_angle_en_ctrl(
60 uint8_t* data,
62 int x = steer_angle_en_ctrl;
63
64 Byte to_set(data + 0);
65 to_set.set_value(static_cast<uint8_t>(x), 0, 8);
66}
67
69 steer_angle_cmd_ = steer_angle_cmd;
70 return this;
71}
72
73// config detail: {'bit': 8, 'description': 'Current steering angle(Command)',
74// 'is_signed_var': True, 'len': 16, 'name': 'STEER_ANGLE_CMD', 'offset': 0.0,
75// 'order': 'intel', 'physical_range': '[-0.524|0.524]', 'physical_unit':
76// 'radian', 'precision': 0.001, 'type': 'double'}
77void Steercommand112::set_p_steer_angle_cmd(uint8_t* data,
78 double steer_angle_cmd) {
79 steer_angle_cmd = ProtocolData::BoundedValue(-0.524, 0.524, steer_angle_cmd);
80 int x = static_cast<int>(steer_angle_cmd / 0.001000);
81 uint8_t t = 0;
82
83 t = static_cast<uint8_t>(x & 0xFF);
84 Byte to_set0(data + 1);
85 to_set0.set_value(t, 0, 8);
86 x >>= 8;
87
88 t = static_cast<uint8_t>(x & 0xFF);
89 Byte to_set1(data + 2);
90 to_set1.set_value(t, 0, 8);
91}
92
93} // namespace ch
94} // namespace canbus
95} // namespace apollo
Defines the Byte class.
Steercommand112 * set_steer_angle_cmd(double steer_angle_cmd)
Steercommand112 * set_steer_angle_en_ctrl(Steer_command_112::Steer_angle_en_ctrlType steer_angle_en_ctrl)
void UpdateData(uint8_t *data) override
uint32_t GetPeriod() const override
class register implement
Definition arena_queue.h:37