Apollo 10.0
自动驾驶开放平台
steer_command_112.h
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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/ch/proto/ch.pb.h"
21
22namespace apollo {
23namespace canbus {
24namespace ch {
25
27 ::apollo::canbus::Ch> {
28 public:
29 static const int32_t ID;
30
32
33 uint32_t GetPeriod() const override;
34
35 void UpdateData(uint8_t* data) override;
36
37 void Reset() override;
38
39 // config detail: {'bit': 0, 'description': 'steering angle enable
40 // bit(Command)', 'enum': {0: 'STEER_ANGLE_EN_CTRL_DISABLE', 1:
41 // 'STEER_ANGLE_EN_CTRL_ENABLE'}, 'is_signed_var': False, 'len': 8, 'name':
42 // 'STEER_ANGLE_EN_CTRL', 'offset': 0.0, 'order': 'intel', 'physical_range':
43 // '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}
46
47 // config detail: {'bit': 8, 'description': 'Current steering angle(Command)',
48 // 'is_signed_var': True, 'len': 16, 'name': 'STEER_ANGLE_CMD', 'offset': 0.0,
49 // 'order': 'intel', 'physical_range': '[-0.524|0.524]', 'physical_unit':
50 // 'radian', 'precision': 0.001, 'type': 'double'}
51 Steercommand112* set_steer_angle_cmd(double steer_angle_cmd);
52
53 private:
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'}
59 void set_p_steer_angle_en_ctrl(
60 uint8_t* data,
62
63 // config detail: {'bit': 8, 'description': 'Current steering angle(Command)',
64 // 'is_signed_var': True, 'len': 16, 'name': 'STEER_ANGLE_CMD', 'offset': 0.0,
65 // 'order': 'intel', 'physical_range': '[-0.524|0.524]', 'physical_unit':
66 // 'radian', 'precision': 0.001, 'type': 'double'}
67 void set_p_steer_angle_cmd(uint8_t* data, double steer_angle_cmd);
68
69 private:
71 double steer_angle_cmd_;
72};
73
74} // namespace ch
75} // namespace canbus
76} // namespace apollo
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
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData