47 CanSender<::apollo::canbus::Wey>*
const can_sender,
48 MessageManager<::apollo::canbus::Wey>*
const message_manager)
override;
50 bool Start()
override;
68 void Emergency()
override;
80 void Brake(
double acceleration)
override;
84 void Throttle(
double throttle)
override;
88 void Acceleration(
double acc)
override;
92 void Steer(
double angle)
override;
97 void Steer(
double angle,
double angle_spd)
override;
107 bool VerifyID()
override;
108 void ResetProtocol();
109 bool CheckChassisError();
112 void SecurityDogThreadFunc();
113 virtual bool CheckResponse(
const int32_t flags,
bool need_wait);
114 void set_chassis_error_mask(
const int32_t mask);
115 int32_t chassis_error_mask();
128 std::unique_ptr<std::thread> thread_;
129 bool is_chassis_error_ =
false;
131 std::mutex chassis_error_code_mutex_;
134 std::mutex chassis_mask_mutex_;
135 int32_t chassis_error_mask_ = 0;