apollo::canbus::zhongyun::ZhongyunController Class Reference

#include <zhongyun_controller.h>

Inheritance diagram for apollo::canbus::zhongyun::ZhongyunController:

Collaboration diagram for apollo::canbus::zhongyun::ZhongyunController:

Public Member Functions
	ZhongyunController ()
virtual	~ZhongyunController ()
::apollo::common::ErrorCode	Init (const VehicleParameter &params, CanSender<::apollo::canbus::ChassisDetail > *const can_sender, MessageManager<::apollo::canbus::ChassisDetail > *const message_manager) override
bool	Start () override
	start the vehicle controller. More...
void	Stop () override
	stop the vehicle controller. More...
Chassis	chassis () override
	calculate and return the chassis. More...
	FRIEND_TEST (ZhongyunControllerTest, SetDrivingMode)
	FRIEND_TEST (ZhongyunControllerTest, Status)
	FRIEND_TEST (ZhongyunControllerTest, UpdateDrivingMode)
Public Member Functions inherited from apollo::canbus::VehicleController
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 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...

Additional Inherited Members
Protected Member Functions inherited from apollo::canbus::VehicleController
virtual Chassis::DrivingMode	driving_mode ()
virtual void	set_driving_mode (const Chassis::DrivingMode &driving_mode)
Protected Attributes inherited from apollo::canbus::VehicleController
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_

Constructor & Destructor Documentation

ZhongyunController()

apollo::canbus::zhongyun::ZhongyunController::ZhongyunController ( )

inline

~ZhongyunController()

virtual apollo::canbus::zhongyun::ZhongyunController::~ZhongyunController ( )

virtual

Member Function Documentation

chassis()

Chassis apollo::canbus::zhongyun::ZhongyunController::chassis ( )

overridevirtual

calculate and return the chassis.

Returns

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

Implements apollo::canbus::VehicleController.

FRIEND_TEST() [1/3]

apollo::canbus::zhongyun::ZhongyunController::FRIEND_TEST	(	ZhongyunControllerTest	,
		SetDrivingMode
	)

FRIEND_TEST() [2/3]

apollo::canbus::zhongyun::ZhongyunController::FRIEND_TEST	(	ZhongyunControllerTest	,
		Status
	)

FRIEND_TEST() [3/3]

apollo::canbus::zhongyun::ZhongyunController::FRIEND_TEST	(	ZhongyunControllerTest	,
		UpdateDrivingMode
	)

Init()

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

override

Start()

bool apollo::canbus::zhongyun::ZhongyunController::Start ( )

overridevirtual

start the vehicle controller.

Returns

true if successfully started.

Implements apollo::canbus::VehicleController.

Stop()

void apollo::canbus::zhongyun::ZhongyunController::Stop ( )

overridevirtual

stop the vehicle controller.

Implements apollo::canbus::VehicleController.

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

• modules/canbus/vehicle/zhongyun/zhongyun_controller.h