26#include "modules/canbus_vehicle/lincoln/proto/lincoln.pb.h"
43 ::apollo::canbus::Lincoln> {
45 static const int32_t
ID;
53 virtual void Parse(
const std::uint8_t *bytes, int32_t length,
63 virtual void Parse(
const std::uint8_t *bytes, int32_t length,
64 const struct timeval ×tamp,
77 double steering_angle(
const std::uint8_t *bytes, int32_t length)
const;
90 int32_t length)
const;
101 double vehicle_speed(
const std::uint8_t *bytes, int32_t length)
const;
113 double epas_torque(
const std::uint8_t *bytes, int32_t length)
const;
124 bool is_enabled(
const std::uint8_t *bytes, int32_t length)
const;
158 int32_t length)
const;
one of the protocol data of lincoln vehicle
double epas_torque(const std::uint8_t *bytes, int32_t length) const
calculate epas torque based on byte array.
bool is_enabled(const std::uint8_t *bytes, int32_t length) const
check enabled bit based on byte array.
double reported_steering_angle_cmd(const std::uint8_t *bytes, int32_t length) const
calculate reported steering angle command based on byte array.
bool is_connector_fault(const std::uint8_t *bytes, int32_t length) const
check connector fault bit based on byte array.
bool is_channel_2_fault(const std::uint8_t *bytes, int32_t length) const
check channel 2 fault bit based on byte array.
virtual void Parse(const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
bool is_watchdog_counter_fault(const std::uint8_t *bytes, int32_t length) const
check watchdog counter fault based on byte array.
bool is_driver_activity(const std::uint8_t *bytes, int32_t length) const
check driver activity bit based on byte array.
bool is_driver_override(const std::uint8_t *bytes, int32_t length) const
check driver override bit based on byte array.
bool is_channel_1_fault(const std::uint8_t *bytes, int32_t length) const
check channel 1 fault bit based on byte array.
bool is_calibration_fault(const std::uint8_t *bytes, int32_t length) const
check calibration fault bit based on byte array.
double steering_angle(const std::uint8_t *bytes, int32_t length) const
calculate steering angle based on byte array.
double vehicle_speed(const std::uint8_t *bytes, int32_t length) const
calculate vehicle speed based on byte array.
This is the base class of protocol data.
The class of ProtocolData