gear_66.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include "modules/canbus/proto/chassis_detail.pb.h"
#include "modules/drivers/canbus/can_comm/protocol_data.h"

namespace apollo {
namespace canbus {
namespace lincoln {

class Gear66 : public ::apollo::drivers::canbus::ProtocolData<
                   ::apollo::canbus::ChassisDetail> {
 public:
  static const int32_t ID;

  virtual uint32_t GetPeriod() const;

  virtual void UpdateData(uint8_t *data);

  virtual void Reset();

  Gear66 *set_gear_none();

  Gear66 *set_gear_park();

  Gear66 *set_gear_reverse();

  Gear66 *set_gear_neutral();

  Gear66 *set_gear_drive();

  Gear66 *set_gear_low();

 private:
  void set_gear_p(uint8_t *data, int32_t gear);

  void set_clear_driver_override_flag_p(uint8_t *bytes);

 private:
  int32_t gear_ = 0;
  bool update_ = false;
};

}  // namespace lincoln
}  // namespace canbus
}  // namespace apollo