Apollo  6.0
Open source self driving car software
throttle_62.h
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16 
22 #pragma once
23 
24 #include "modules/canbus/proto/chassis_detail.pb.h"
26 
31 namespace apollo {
32 namespace canbus {
33 namespace lincoln {
34 
41  ::apollo::canbus::ChassisDetail> {
42  public:
43  static const int32_t ID;
44 
49  virtual uint32_t GetPeriod() const;
50 
55  virtual void UpdateData(uint8_t *data);
56 
60  virtual void Reset();
61 
66  Throttle62 *set_pedal(double pcmd);
67 
73 
79 
85 
86  private:
93  void set_pedal_p(uint8_t *data, double pcmd);
94 
100  void set_enable_p(uint8_t *bytes, bool en);
101 
107  void set_clear_driver_override_flag_p(uint8_t *bytes, bool clear);
108 
114  void set_ignore_driver_override_p(uint8_t *bytes, bool ignore);
115 
121  void set_watchdog_counter_p(uint8_t *data, int32_t count);
122 
123  private:
124  double pedal_cmd_ = 0.0;
125  bool pedal_enable_ = false;
126  bool clear_driver_override_flag_ = false;
127  bool ignore_driver_override_ = false;
128  int32_t watchdog_counter_ = 0;
129 };
130 
131 } // namespace lincoln
132 } // namespace canbus
133 } // namespace apollo
Throttle62 * set_disable()
set disable
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
one of the protocol data of lincoln vehicle
Definition: throttle_62.h:40
virtual void UpdateData(uint8_t *data)
update the data
This is the base class of protocol data.
Definition: protocol_data.h:44
virtual uint32_t GetPeriod() const
get the data period
Throttle62 * set_pedal(double pcmd)
set pedal based on pedal command
Throttle62 * set_enable_ignore_driver_override()
set enable ignore driver override
static const int32_t ID
Definition: throttle_62.h:43
virtual void Reset()
reset the private variables
The class of ProtocolData.
Throttle62 * set_enable()
set enable