Apollo 10.0
自动驾驶开放平台
throttle_command_110.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 Throttlecommand110::ID = 0x110;
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 Throttlecommand110::UpdateData(uint8_t* data) {
38 set_p_throttle_pedal_en_ctrl(data, throttle_pedal_en_ctrl_);
39 set_p_throttle_pedal_cmd(data, throttle_pedal_cmd_);
40}
41
43 // TODO(All) : you should check this manually
44 throttle_pedal_en_ctrl_ =
46 throttle_pedal_cmd_ = 0;
47}
48
51 throttle_pedal_en_ctrl_ = throttle_pedal_en_ctrl;
52 return this;
53}
54
55// config detail: {'bit': 0, 'description': 'throttle pedal enable
56// bit(Command)', 'enum': {0: 'THROTTLE_PEDAL_EN_CTRL_DISABLE', 1:
57// 'THROTTLE_PEDAL_EN_CTRL_ENABLE'}, 'is_signed_var': False, 'len': 8, 'name':
58// 'THROTTLE_PEDAL_EN_CTRL', 'offset': 0.0, 'order': 'intel', 'physical_range':
59// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}
60void Throttlecommand110::set_p_throttle_pedal_en_ctrl(
61 uint8_t* data,
63 int x = throttle_pedal_en_ctrl;
64
65 Byte to_set(data + 0);
66 to_set.set_value(static_cast<uint8_t>(x), 0, 8);
67}
68
70 int throttle_pedal_cmd) {
71 throttle_pedal_cmd_ = throttle_pedal_cmd;
72 return this;
73}
74
75// config detail: {'bit': 8, 'description': 'Percentage of throttle
76// pedal(Command)', 'is_signed_var': False, 'len': 8, 'name':
77// 'THROTTLE_PEDAL_CMD', 'offset': 0.0, 'order': 'intel', 'physical_range':
78// '[0|100]', 'physical_unit': '%', 'precision': 1.0, 'type': 'int'}
79void Throttlecommand110::set_p_throttle_pedal_cmd(uint8_t* data,
80 int throttle_pedal_cmd) {
81 throttle_pedal_cmd = ProtocolData::BoundedValue(0, 100, throttle_pedal_cmd);
82 int x = throttle_pedal_cmd;
83
84 Byte to_set(data + 1);
85 to_set.set_value(static_cast<uint8_t>(x), 0, 8);
86}
87
88} // namespace ch
89} // namespace canbus
90} // namespace apollo
Defines the Byte class.
Throttlecommand110 * set_throttle_pedal_cmd(int throttle_pedal_cmd)
Throttlecommand110 * set_throttle_pedal_en_ctrl(Throttle_command_110::Throttle_pedal_en_ctrlType throttle_pedal_en_ctrl)
class register implement
Definition arena_queue.h:37