This class defines the message to send. More...
#include <can_sender.h>
Collaboration diagram for apollo::drivers::canbus::SenderMessage< SensorType >:
Public Member Functions | |
| SenderMessage (const uint32_t message_id, ProtocolData< SensorType > *protocol_data) | |
| Constructor which takes message ID and protocol data. More... | |
| SenderMessage (const uint32_t message_id, ProtocolData< SensorType > *protocol_data, bool init_with_one) | |
| Constructor which takes message ID and protocol data and and indicator whether to initialize all bits of the . More... | |
| virtual | ~SenderMessage ()=default |
| Destructor. More... | |
| void | UpdateCurrPeriod (const int32_t delta_period) |
| Update the current period for sending messages by a difference. More... | |
| void | Update () |
| Update the protocol data. But the updating process depends on the real type of protocol data which inherites ProtocolData. More... | |
| struct CanFrame | CanFrame () |
| Get the CAN frame to send. More... | |
| uint32_t | message_id () const |
| Get the message ID. More... | |
| int32_t | curr_period () const |
| Get the current period to send messages. It may be different from the period from protocol data by updating. More... | |
Detailed Description
template<typename SensorType>
class apollo::drivers::canbus::SenderMessage< SensorType >
This class defines the message to send.
Constructor & Destructor Documentation
◆ SenderMessage() [1/2]
template<typename SensorType >
| apollo::drivers::canbus::SenderMessage< SensorType >::SenderMessage | ( | const uint32_t | message_id, |
| ProtocolData< SensorType > * | protocol_data | ||
| ) |
Constructor which takes message ID and protocol data.
- Parameters
-
message_id The message ID. protocol_data A pointer of ProtocolData which contains the content to send.
◆ SenderMessage() [2/2]
template<typename SensorType >
| apollo::drivers::canbus::SenderMessage< SensorType >::SenderMessage | ( | const uint32_t | message_id, |
| ProtocolData< SensorType > * | protocol_data, | ||
| bool | init_with_one | ||
| ) |
Constructor which takes message ID and protocol data and and indicator whether to initialize all bits of the .
- Parameters
-
message_id The message ID. protocol_data A pointer of ProtocolData which contains the content to send. init_with_one If it is true, then initialize all bits in the protocol data as one.
◆ ~SenderMessage()
template<typename SensorType>
|
virtualdefault |
Destructor.
Member Function Documentation
◆ CanFrame()
template<typename SensorType >
| struct CanFrame apollo::drivers::canbus::SenderMessage< SensorType >::CanFrame | ( | ) |
Get the CAN frame to send.
- Returns
- The CAN frame to send.
◆ curr_period()
template<typename SensorType >
| int32_t apollo::drivers::canbus::SenderMessage< SensorType >::curr_period | ( | ) | const |
Get the current period to send messages. It may be different from the period from protocol data by updating.
- Returns
- The current period.
◆ message_id()
template<typename SensorType >
| uint32_t apollo::drivers::canbus::SenderMessage< SensorType >::message_id | ( | ) | const |
Get the message ID.
- Returns
- The message ID.
◆ Update()
template<typename SensorType >
| void apollo::drivers::canbus::SenderMessage< SensorType >::Update | ( | ) |
Update the protocol data. But the updating process depends on the real type of protocol data which inherites ProtocolData.
◆ UpdateCurrPeriod()
template<typename SensorType >
| void apollo::drivers::canbus::SenderMessage< SensorType >::UpdateCurrPeriod | ( | const int32_t | delta_period | ) |
Update the current period for sending messages by a difference.
- Parameters
-
delta_period Update the current period by reducing delta_period.
The documentation for this class was generated from the following file:
- modules/drivers/canbus/can_comm/can_sender.h
