Apollo
10.0
自动驾驶开放平台
turnsignal_command_113.cc
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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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#include "
modules/canbus_vehicle/ch/protocol/turnsignal_command_113.h
"
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#include "
modules/drivers/canbus/common/byte.h
"
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namespace
apollo
{
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namespace
canbus {
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namespace
ch {
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using ::apollo::drivers::canbus::Byte;
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const
int32_t
Turnsignalcommand113::ID
= 0x113;
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// public
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Turnsignalcommand113::Turnsignalcommand113
() {
Reset
(); }
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uint32_t
Turnsignalcommand113::GetPeriod
()
const
{
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// TODO(All) : modify every protocol's period manually
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static
const
uint32_t PERIOD = 20 * 1000;
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return
PERIOD;
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}
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void
Turnsignalcommand113::UpdateData
(uint8_t* data) {
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set_p_turn_signal_cmd(data, turn_signal_cmd_);
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set_p_low_beam_cmd(data, low_beam_cmd_);
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}
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void
Turnsignalcommand113::Reset
() {
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// TODO(All) : you should check this manually
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turn_signal_cmd_ =
Turnsignal_command_113::TURN_SIGNAL_CMD_NONE
;
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low_beam_cmd_ =
Turnsignal_command_113::LOW_BEAM_CMD_OFF
;
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}
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Turnsignalcommand113
*
Turnsignalcommand113::set_turn_signal_cmd
(
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Turnsignal_command_113::Turn_signal_cmdType
turn_signal_cmd) {
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turn_signal_cmd_ = turn_signal_cmd;
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return
this
;
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}
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// config detail: {'bit': 0, 'description': 'Lighting control(Command)', 'enum':
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// {0: 'TURN_SIGNAL_CMD_NONE', 1: 'TURN_SIGNAL_CMD_LEFT', 2:
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// 'TURN_SIGNAL_CMD_RIGHT', 3: 'TURN_SIGNAL_CMD_HAZARD_WARNING_LAMPSTS'},
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// 'is_signed_var': False, 'len': 8, 'name': 'TURN_SIGNAL_CMD', 'offset': 0.0,
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// 'order': 'intel', 'physical_range': '[0|2]', 'physical_unit': '',
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// 'precision': 1.0, 'type': 'enum'}
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void
Turnsignalcommand113::set_p_turn_signal_cmd(
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uint8_t* data,
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Turnsignal_command_113::Turn_signal_cmdType
turn_signal_cmd) {
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int
x = turn_signal_cmd;
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Byte to_set(data + 0);
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to_set.set_value(
static_cast<
uint8_t
>
(x), 0, 8);
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}
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Turnsignalcommand113
*
Turnsignalcommand113::set_low_beam_cmd
(
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Turnsignal_command_113::Low_beam_cmdType
low_beam_cmd) {
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low_beam_cmd_ = low_beam_cmd;
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return
this
;
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}
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// config detail: {'bit': 8, 'description': 'Lighting control(Command)', 'enum':
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// {0: 'LOW_BEAM_CMD_OFF', 1: 'LOW_BEAM_CMD_ON'}, 'is_signed_var': False, 'len':
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// 2, 'name': 'LOW_BEAM_CMD', 'offset': 0.0, 'order': 'intel', 'physical_range':
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// '[0|2]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}
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void
Turnsignalcommand113::set_p_low_beam_cmd(
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uint8_t* data,
Turnsignal_command_113::Low_beam_cmdType
low_beam_cmd) {
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int
x = low_beam_cmd;
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Byte to_set(data + 1);
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to_set.set_value(
static_cast<
uint8_t
>
(x), 0, 2);
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}
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}
// namespace ch
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}
// namespace canbus
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}
// namespace apollo
byte.h
Defines the Byte class.
apollo::canbus::ch::Turnsignalcommand113
Definition
turnsignal_command_113.h:27
apollo::canbus::ch::Turnsignalcommand113::GetPeriod
uint32_t GetPeriod() const override
Definition
turnsignal_command_113.cc:31
apollo::canbus::ch::Turnsignalcommand113::Turnsignalcommand113
Turnsignalcommand113()
Definition
turnsignal_command_113.cc:29
apollo::canbus::ch::Turnsignalcommand113::UpdateData
void UpdateData(uint8_t *data) override
Definition
turnsignal_command_113.cc:37
apollo::canbus::ch::Turnsignalcommand113::set_turn_signal_cmd
Turnsignalcommand113 * set_turn_signal_cmd(Turnsignal_command_113::Turn_signal_cmdType turn_signal_cmd)
Definition
turnsignal_command_113.cc:48
apollo::canbus::ch::Turnsignalcommand113::Reset
void Reset() override
Definition
turnsignal_command_113.cc:42
apollo::canbus::ch::Turnsignalcommand113::set_low_beam_cmd
Turnsignalcommand113 * set_low_beam_cmd(Turnsignal_command_113::Low_beam_cmdType low_beam_cmd)
Definition
turnsignal_command_113.cc:69
apollo::canbus::ch::Turnsignalcommand113::ID
static const int32_t ID
Definition
turnsignal_command_113.h:29
apollo
class register implement
Definition
arena_queue.h:37
apollo::canbus::Turnsignal_command_113::Low_beam_cmdType
Low_beam_cmdType
Definition
ch.proto:44
apollo::canbus::Turnsignal_command_113::LOW_BEAM_CMD_OFF
@ LOW_BEAM_CMD_OFF
Definition
ch.proto:45
apollo::canbus::Turnsignal_command_113::Turn_signal_cmdType
Turn_signal_cmdType
Definition
ch.proto:48
apollo::canbus::Turnsignal_command_113::TURN_SIGNAL_CMD_NONE
@ TURN_SIGNAL_CMD_NONE
Definition
ch.proto:49
turnsignal_command_113.h
modules
canbus_vehicle
ch
protocol
turnsignal_command_113.cc