Apollo
10.0
自动驾驶开放平台
steer_command_112.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/ch/proto/ch.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
ch {
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class
Steercommand112
:
public
::apollo::drivers::canbus::ProtocolData
<
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::apollo::canbus::Ch> {
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public
:
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static
const
int32_t
ID
;
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Steercommand112
();
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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: {'bit': 0, 'description': 'steering angle enable
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// bit(Command)', 'enum': {0: 'STEER_ANGLE_EN_CTRL_DISABLE', 1:
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// 'STEER_ANGLE_EN_CTRL_ENABLE'}, 'is_signed_var': False, 'len': 8, 'name':
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// 'STEER_ANGLE_EN_CTRL', 'offset': 0.0, 'order': 'intel', 'physical_range':
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// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}
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Steercommand112
*
set_steer_angle_en_ctrl
(
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Steer_command_112::Steer_angle_en_ctrlType
steer_angle_en_ctrl);
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// config detail: {'bit': 8, 'description': 'Current steering angle(Command)',
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// 'is_signed_var': True, 'len': 16, 'name': 'STEER_ANGLE_CMD', 'offset': 0.0,
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// 'order': 'intel', 'physical_range': '[-0.524|0.524]', 'physical_unit':
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// 'radian', 'precision': 0.001, 'type': 'double'}
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Steercommand112
*
set_steer_angle_cmd
(
double
steer_angle_cmd);
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private
:
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// config detail: {'bit': 0, 'description': 'steering angle enable
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// bit(Command)', 'enum': {0: 'STEER_ANGLE_EN_CTRL_DISABLE', 1:
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// 'STEER_ANGLE_EN_CTRL_ENABLE'}, 'is_signed_var': False, 'len': 8, 'name':
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// 'STEER_ANGLE_EN_CTRL', 'offset': 0.0, 'order': 'intel', 'physical_range':
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// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}
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void
set_p_steer_angle_en_ctrl(
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uint8_t* data,
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Steer_command_112::Steer_angle_en_ctrlType
steer_angle_en_ctrl);
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// config detail: {'bit': 8, 'description': 'Current steering angle(Command)',
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// 'is_signed_var': True, 'len': 16, 'name': 'STEER_ANGLE_CMD', 'offset': 0.0,
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// 'order': 'intel', 'physical_range': '[-0.524|0.524]', 'physical_unit':
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// 'radian', 'precision': 0.001, 'type': 'double'}
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void
set_p_steer_angle_cmd(uint8_t* data,
double
steer_angle_cmd);
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private
:
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Steer_command_112::Steer_angle_en_ctrlType
steer_angle_en_ctrl_;
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double
steer_angle_cmd_;
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};
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}
// namespace ch
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}
// namespace canbus
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}
// namespace apollo
apollo::canbus::ch::Steercommand112
Definition
steer_command_112.h:27
apollo::canbus::ch::Steercommand112::Reset
void Reset() override
Definition
steer_command_112.cc:42
apollo::canbus::ch::Steercommand112::set_steer_angle_cmd
Steercommand112 * set_steer_angle_cmd(double steer_angle_cmd)
Definition
steer_command_112.cc:68
apollo::canbus::ch::Steercommand112::Steercommand112
Steercommand112()
Definition
steer_command_112.cc:29
apollo::canbus::ch::Steercommand112::set_steer_angle_en_ctrl
Steercommand112 * set_steer_angle_en_ctrl(Steer_command_112::Steer_angle_en_ctrlType steer_angle_en_ctrl)
Definition
steer_command_112.cc:48
apollo::canbus::ch::Steercommand112::ID
static const int32_t ID
Definition
steer_command_112.h:29
apollo::canbus::ch::Steercommand112::UpdateData
void UpdateData(uint8_t *data) override
Definition
steer_command_112.cc:37
apollo::canbus::ch::Steercommand112::GetPeriod
uint32_t GetPeriod() const override
Definition
steer_command_112.cc:31
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::Steer_command_112::Steer_angle_en_ctrlType
Steer_angle_en_ctrlType
Definition
ch.proto:32
modules
canbus_vehicle
ch
protocol
steer_command_112.h