apollo::canbus::VehicleController Class Reference

This is the interface class of vehicle controller. It defines pure virtual functions, and also some implemented common functions. More...

#include <vehicle_controller.h>

Inheritance diagram for apollo::canbus::VehicleController:

Collaboration diagram for apollo::canbus::VehicleController:

Public Member Functions
virtual	~VehicleController ()=default
virtual common::ErrorCode	Init (const VehicleParameter &params, CanSender< ChassisDetail > *const can_sender, MessageManager< ChassisDetail > *const message_manager)=0
	initialize the vehicle controller. More...
virtual bool	Start ()=0
	start the vehicle controller. More...
virtual void	Stop ()=0
	stop the vehicle controller. More...
virtual Chassis	chassis ()=0
	calculate and return the chassis. More...
virtual common::ErrorCode	Update (const control::ControlCommand &command)
	update the vehicle controller. More...
virtual common::ErrorCode	SetDrivingMode (const Chassis::DrivingMode &driving_mode)
	set vehicle to appointed driving mode. More...

Protected Member Functions
virtual Chassis::DrivingMode	driving_mode ()
virtual void	set_driving_mode (const Chassis::DrivingMode &driving_mode)

Protected Attributes
canbus::VehicleParameter	params_
common::VehicleParam	vehicle_params_
CanSender< ChassisDetail > *	can_sender_ = nullptr
MessageManager< ChassisDetail > *	message_manager_ = nullptr
bool	is_initialized_ = false
Chassis::DrivingMode	driving_mode_ = Chassis::COMPLETE_MANUAL
bool	is_reset_ = false
std::mutex	mode_mutex_

Detailed Description

This is the interface class of vehicle controller. It defines pure virtual functions, and also some implemented common functions.

Constructor & Destructor Documentation

~VehicleController()

virtual apollo::canbus::VehicleController::~VehicleController ( )

virtualdefault

Member Function Documentation

chassis()

virtual Chassis apollo::canbus::VehicleController::chassis ( )

pure virtual

calculate and return the chassis.

Returns

a copy of chassis. Use copy here to avoid multi-thread issues.

Implemented in apollo::canbus::lincoln::LincolnController, apollo::canbus::lexus::LexusController, apollo::canbus::gem::GemController, apollo::canbus::ch::ChController, apollo::canbus::transit::TransitController, apollo::canbus::wey::WeyController, apollo::canbus::zhongyun::ZhongyunController, apollo::canbus::devkit::DevkitController, apollo::canbus::neolix_edu::Neolix_eduController, and apollo::canbus::ge3::Ge3Controller.

driving_mode()

virtual Chassis::DrivingMode apollo::canbus::VehicleController::driving_mode ( )

protectedvirtual

Init()

virtual common::ErrorCode apollo::canbus::VehicleController::Init ( const VehicleParameter &  params, CanSender< ChassisDetail > *const  can_sender, MessageManager< ChassisDetail > *const  message_manager  )

pure virtual

initialize the vehicle controller.

Parameters

can_sender	a pointer to canbus sender.
message_manager	a pointer to the message_manager.

Returns

error_code

set_driving_mode()

virtual void apollo::canbus::VehicleController::set_driving_mode ( const Chassis::DrivingMode &  driving_mode )

protectedvirtual

SetDrivingMode()

virtual common::ErrorCode apollo::canbus::VehicleController::SetDrivingMode ( const Chassis::DrivingMode &  driving_mode )

virtual

set vehicle to appointed driving mode.

Parameters

driving

mode to be appointed.

Returns

error_code

Start()

virtual bool apollo::canbus::VehicleController::Start ( )

pure virtual

start the vehicle controller.

Returns

true if successfully started.

Implemented in apollo::canbus::lincoln::LincolnController, apollo::canbus::lexus::LexusController, apollo::canbus::gem::GemController, apollo::canbus::ch::ChController, apollo::canbus::transit::TransitController, apollo::canbus::wey::WeyController, apollo::canbus::zhongyun::ZhongyunController, apollo::canbus::devkit::DevkitController, apollo::canbus::neolix_edu::Neolix_eduController, and apollo::canbus::ge3::Ge3Controller.

Stop()

virtual void apollo::canbus::VehicleController::Stop ( )

pure virtual

stop the vehicle controller.

Implemented in apollo::canbus::lincoln::LincolnController, apollo::canbus::lexus::LexusController, apollo::canbus::gem::GemController, apollo::canbus::ch::ChController, apollo::canbus::transit::TransitController, apollo::canbus::wey::WeyController, apollo::canbus::zhongyun::ZhongyunController, apollo::canbus::devkit::DevkitController, apollo::canbus::neolix_edu::Neolix_eduController, and apollo::canbus::ge3::Ge3Controller.

Update()

virtual common::ErrorCode apollo::canbus::VehicleController::Update ( const control::ControlCommand &  command )

virtual

update the vehicle controller.

Parameters

command

the control command

Returns

error_code

Member Data Documentation

can_sender_

CanSender<ChassisDetail>* apollo::canbus::VehicleController::can_sender_ = nullptr

protected

driving_mode_

Chassis::DrivingMode apollo::canbus::VehicleController::driving_mode_ = Chassis::COMPLETE_MANUAL

protected

is_initialized_

bool apollo::canbus::VehicleController::is_initialized_ = false

protected

is_reset_

bool apollo::canbus::VehicleController::is_reset_ = false

protected

message_manager_

MessageManager<ChassisDetail>* apollo::canbus::VehicleController::message_manager_ = nullptr

protected

mode_mutex_

std::mutex apollo::canbus::VehicleController::mode_mutex_

protected

params_

canbus::VehicleParameter apollo::canbus::VehicleController::params_

protected

vehicle_params_

common::VehicleParam apollo::canbus::VehicleController::vehicle_params_

protected

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The documentation for this class was generated from the following file:

• modules/canbus/vehicle/vehicle_controller.h