30#include "modules/common_msgs/sensor_msgs/ultrasonic_radar.pb.h"
36namespace ultrasonic_radar {
38using ::apollo::drivers::canbus::MessageManager;
39using ::apollo::drivers::canbus::ProtocolData;
41using micros = std::chrono::microseconds;
42using ::apollo::common::ErrorCode;
49 const int entrance_num,
52 void Parse(
const uint32_t message_id,
const uint8_t *data, int32_t length);
56 int entrance_num_ = 0;
57 std::shared_ptr<cyber::Writer<Ultrasonic>> ultrasonic_radar_writer_;
58 std::shared_ptr<CanClient> can_client_;
Defines the CanClientFactory class.
Defines SenderMessage class and CanSender class.
Cyber has builtin time type Time.
The class which defines the CAN client to send and receive message.
This class defines the message to send.
void set_can_client(std::shared_ptr< CanClient > can_client)
virtual ~UltrasonicRadarMessageManager()=default
void Parse(const uint32_t message_id, const uint8_t *data, int32_t length)
The class of MessageManager
std::chrono::microseconds micros