steering_64.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 Steering64 : 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();

  Steering64 *set_enable();

  Steering64 *set_disable();

  Steering64 *set_steering_angle(double angle);

  Steering64 *set_steering_angle_speed(double angle_speed);

 private:
  void set_steering_angle_p(uint8_t *data, double angle);

  void set_enable_p(uint8_t *bytes, bool enable);

  void set_clear_driver_override_flag_p(uint8_t *bytes, bool clear);

  void set_ignore_driver_override_p(uint8_t *bytes, bool ignore);

  void set_steering_angle_speed_p(uint8_t *data, double angle_speed);

  void set_watchdog_counter_p(uint8_t *data, int32_t count);

  void set_disable_audible_warning_p(uint8_t *data, bool disable);

 private:
  double steering_angle_ = 0.0;
  bool steering_enable_ = false;
  bool clear_driver_override_flag_ = false;
  bool ignore_driver_override_ = false;
  double steering_angle_speed_ = 0.0;
  int32_t watchdog_counter_ = 0;
  bool disable_audible_warning_ = false;
};

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