Classes | Typedefs | Enumerations | Functions | Variables
dbw_mkz_can Namespace Reference

Classes

class  DbwNode
 
class  DbwNodelet
 
class  ModuleVersion
 
struct  MsgBrakeCmd
 
struct  MsgBrakeReport
 
struct  MsgGearCmd
 
struct  MsgGearReport
 
struct  MsgLicense
 
struct  MsgMiscCmd
 
struct  MsgMiscReport
 
struct  MsgReportAccel
 
struct  MsgReportBrakeInfo
 
struct  MsgReportDriverAssist
 
struct  MsgReportFuelLevel
 
struct  MsgReportGps1
 
struct  MsgReportGps2
 
struct  MsgReportGps3
 
struct  MsgReportGyro
 
struct  MsgReportSurround
 
struct  MsgReportThrottleInfo
 
struct  MsgReportTirePressure
 
struct  MsgReportWheelPosition
 
struct  MsgReportWheelSpeed
 
struct  MsgSteeringCmd
 
struct  MsgSteeringReport
 
struct  MsgThrottleCmd
 
struct  MsgThrottleReport
 
struct  MsgVersion
 
class  PlatformMap
 
class  PlatformVersion
 

Typedefs

typedef MsgMiscCmd MsgTurnSignalCmd
 

Enumerations

enum  {
  ID_BRAKE_CMD = 0x060, ID_BRAKE_REPORT = 0x061, ID_THROTTLE_CMD = 0x062, ID_THROTTLE_REPORT = 0x063,
  ID_STEERING_CMD = 0x064, ID_STEERING_REPORT = 0x065, ID_GEAR_CMD = 0x066, ID_GEAR_REPORT = 0x067,
  ID_MISC_CMD = 0x068, ID_MISC_REPORT = 0x069, ID_REPORT_WHEEL_SPEED = 0x06A, ID_REPORT_ACCEL = 0x06B,
  ID_REPORT_GYRO = 0x06C, ID_REPORT_GPS1 = 0x06D, ID_REPORT_GPS2 = 0x06E, ID_REPORT_GPS3 = 0x06F,
  ID_REPORT_WHEEL_POSITION = 0x070, ID_REPORT_TIRE_PRESSURE = 0x071, ID_REPORT_FUEL_LEVEL = 0x072, ID_REPORT_SURROUND = 0x073,
  ID_REPORT_BRAKE_INFO = 0x074, ID_REPORT_THROTTLE_INFO = 0x075, ID_REPORT_DRIVER_ASSIST = 0x079, ID_LICENSE = 0x07E,
  ID_VERSION = 0x07F
}
 
enum  LicenseMux {
  LIC_MUX_F0 = 0x00, LIC_MUX_F1 = 0x01, LIC_MUX_F2 = 0x02, LIC_MUX_F3 = 0x03,
  LIC_MUX_F4 = 0x04, LIC_MUX_F5 = 0x05, LIC_MUX_F6 = 0x06, LIC_MUX_F7 = 0x07,
  LIC_MUX_LDATE0 = 0x41, LIC_MUX_LDATE1 = 0x42, LIC_MUX_MAC = 0x80, LIC_MUX_BDATE0 = 0x81,
  LIC_MUX_BDATE1 = 0x82, LIC_MUX_VIN0 = 0x83, LIC_MUX_VIN1 = 0x84, LIC_MUX_VIN2 = 0x85
}
 
enum  Module {
  M_BPEC = 1, M_TPEC = 2, M_STEER = 3, M_SHIFT = 4,
  M_ABS = 5, M_BOO = 6, M_EPS = 7
}
 
enum  Platform {
  P_FORD_CD4 = 0x00, P_FORD_P5 = 0x01, P_FORD_C1 = 0x02, P_FORD_T6 = 0x03,
  P_FORD_U6 = 0x04, P_FORD_CD5 = 0x05, P_FORD_GE1 = 0x06, P_FORD_P702 = 0x07,
  P_FCA_RU = 0x10, P_FCA_WK2 = 0x11, P_POLARIS_GEM = 0x80, P_POLARIS_RZR = 0x81
}
 

Functions

static float brakePedalFromPercent (float percent)
 
static float brakePedalFromTorque (float torque)
 
static float brakeTorqueFromPedal (float pedal)
 
static void dispatchAssertSizes ()
 
static const char * moduleToString (Module x)
 
static bool operator!= (const PlatformVersion &x, const ModuleVersion &y)
 
static bool operator!= (const PlatformVersion &x, const PlatformMap &map)
 
static bool operator< (const PlatformVersion &x, const ModuleVersion &y)
 
static bool operator< (const PlatformVersion &x, const PlatformMap &map)
 
static bool operator<= (const PlatformVersion &x, const ModuleVersion &y)
 
static bool operator<= (const PlatformVersion &x, const PlatformMap &map)
 
static bool operator== (const PlatformVersion &x, const ModuleVersion &y)
 
static bool operator== (const PlatformVersion &x, const PlatformMap &map)
 
static bool operator> (const PlatformVersion &x, const ModuleVersion &y)
 
static bool operator> (const PlatformVersion &x, const PlatformMap &map)
 
static bool operator>= (const PlatformVersion &x, const ModuleVersion &y)
 
static bool operator>= (const PlatformVersion &x, const PlatformMap &map)
 
static const char * platformToString (Platform x)
 
static void sonarBuildPointCloud2 (sensor_msgs::PointCloud2 &cloud, const dbw_mkz_msgs::SurroundReport &surround)
 
static uint32_t sonarColorFromRange (float range)
 
static float sonarMetersFromBits (uint8_t bits)
 
static float throttlePedalFromPercent (float percent)
 
static float throttlePercentFromPedal (float pedal)
 

Variables

struct {
   float   dbw_mkz_can::pedal
 
   float   dbw_mkz_can::torque
 
} BRAKE_TABLE []
 
PlatformMap FIRMWARE_CMDTYPE ({ {PlatformVersion(P_FORD_CD4, M_BPEC, ModuleVersion(2, 0, 7))}, {PlatformVersion(P_FORD_CD4, M_TPEC, ModuleVersion(2, 0, 7))}, })
 
PlatformMap FIRMWARE_HIGH_RATE_LIMIT ({ {PlatformVersion(P_FORD_CD4, M_STEER, ModuleVersion(2, 2, 0))}, {PlatformVersion(P_FORD_P5, M_STEER, ModuleVersion(1, 1, 0))}, })
 
PlatformMap FIRMWARE_LATEST ({ {PlatformVersion(P_FORD_C1, M_TPEC, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_STEER, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_SHIFT, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_ABS, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_BOO, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_EPS, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_CD4, M_BPEC, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD4, M_TPEC, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD4, M_STEER, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD4, M_SHIFT, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD5, M_BOO, ModuleVersion(1, 2, 4))}, {PlatformVersion(P_FORD_CD5, M_TPEC, ModuleVersion(1, 2, 4))}, {PlatformVersion(P_FORD_CD5, M_STEER, ModuleVersion(1, 2, 4))}, {PlatformVersion(P_FORD_GE1, M_TPEC, ModuleVersion(1, 0, 4))}, {PlatformVersion(P_FORD_GE1, M_STEER, ModuleVersion(1, 0, 4))}, {PlatformVersion(P_FORD_GE1, M_SHIFT, ModuleVersion(1, 0, 4))}, {PlatformVersion(P_FORD_P5, M_TPEC, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_STEER, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_SHIFT, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_ABS, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_BOO, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P702, M_TPEC, ModuleVersion(0, 1, 4))}, {PlatformVersion(P_FORD_P702, M_STEER, ModuleVersion(0, 1, 4))}, {PlatformVersion(P_FORD_P702, M_SHIFT, ModuleVersion(0, 1, 4))}, {PlatformVersion(P_FORD_T6, M_TPEC, ModuleVersion(0, 3, 4))}, {PlatformVersion(P_FORD_T6, M_STEER, ModuleVersion(0, 3, 4))}, {PlatformVersion(P_FORD_T6, M_SHIFT, ModuleVersion(0, 3, 4))}, {PlatformVersion(P_FORD_U6, M_TPEC, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_STEER, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_SHIFT, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_ABS, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_BOO, ModuleVersion(1, 1, 4))}, })
 
PlatformMap FIRMWARE_TIMEOUT ({ {PlatformVersion(P_FORD_CD4, M_BPEC, ModuleVersion(2, 0, 0))}, {PlatformVersion(P_FORD_CD4, M_TPEC, ModuleVersion(2, 0, 0))}, {PlatformVersion(P_FORD_CD4, M_STEER, ModuleVersion(2, 0, 0))}, })
 
struct {
   float   dbw_mkz_can::a
 
   float   dbw_mkz_can::x
 
   float   dbw_mkz_can::y
 
   float   dbw_mkz_can::z
 
} SONAR_TABLE []
 
struct {
   float   dbw_mkz_can::pedal
 
   float   dbw_mkz_can::percent
 
} THROTTLE_TABLE []
 

Typedef Documentation

◆ MsgTurnSignalCmd

typedef MsgMiscCmd dbw_mkz_can::MsgTurnSignalCmd

Definition at line 201 of file dispatch.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum
Enumerator
ID_BRAKE_CMD 
ID_BRAKE_REPORT 
ID_THROTTLE_CMD 
ID_THROTTLE_REPORT 
ID_STEERING_CMD 
ID_STEERING_REPORT 
ID_GEAR_CMD 
ID_GEAR_REPORT 
ID_MISC_CMD 
ID_MISC_REPORT 
ID_REPORT_WHEEL_SPEED 
ID_REPORT_ACCEL 
ID_REPORT_GYRO 
ID_REPORT_GPS1 
ID_REPORT_GPS2 
ID_REPORT_GPS3 
ID_REPORT_WHEEL_POSITION 
ID_REPORT_TIRE_PRESSURE 
ID_REPORT_FUEL_LEVEL 
ID_REPORT_SURROUND 
ID_REPORT_BRAKE_INFO 
ID_REPORT_THROTTLE_INFO 
ID_REPORT_DRIVER_ASSIST 
ID_LICENSE 
ID_VERSION 

Definition at line 546 of file dispatch.h.

◆ LicenseMux

enum dbw_mkz_can::LicenseMux
Enumerator
LIC_MUX_F0 
LIC_MUX_F1 
LIC_MUX_F2 
LIC_MUX_F3 
LIC_MUX_F4 
LIC_MUX_F5 
LIC_MUX_F6 
LIC_MUX_F7 
LIC_MUX_LDATE0 
LIC_MUX_LDATE1 
LIC_MUX_MAC 
LIC_MUX_BDATE0 
LIC_MUX_BDATE1 
LIC_MUX_VIN0 
LIC_MUX_VIN1 
LIC_MUX_VIN2 

Definition at line 407 of file dispatch.h.

◆ Module

enum dbw_mkz_can::Module
Enumerator
M_BPEC 
M_TPEC 
M_STEER 
M_SHIFT 
M_ABS 
M_BOO 
M_EPS 

Definition at line 93 of file PlatformVersion.h.

◆ Platform

enum dbw_mkz_can::Platform
Enumerator
P_FORD_CD4 
P_FORD_P5 
P_FORD_C1 
P_FORD_T6 
P_FORD_U6 
P_FORD_CD5 
P_FORD_GE1 
P_FORD_P702 
P_FCA_RU 
P_FCA_WK2 
P_POLARIS_GEM 
P_POLARIS_RZR 

Definition at line 77 of file PlatformVersion.h.

Function Documentation

◆ brakePedalFromPercent()

static float dbw_mkz_can::brakePedalFromPercent ( float  percent)
inlinestatic

Definition at line 142 of file pedal_lut.h.

◆ brakePedalFromTorque()

static float dbw_mkz_can::brakePedalFromTorque ( float  torque)
inlinestatic

Definition at line 119 of file pedal_lut.h.

◆ brakeTorqueFromPedal()

static float dbw_mkz_can::brakeTorqueFromPedal ( float  pedal)
inlinestatic

Definition at line 96 of file pedal_lut.h.

◆ dispatchAssertSizes()

static void dbw_mkz_can::dispatchAssertSizes ( )
static

Definition at line 517 of file dispatch.h.

◆ moduleToString()

static const char* dbw_mkz_can::moduleToString ( Module  x)
static

Definition at line 121 of file PlatformVersion.h.

◆ operator!=() [1/2]

static bool dbw_mkz_can::operator!= ( const PlatformVersion &  x,
const ModuleVersion &  y 
)
static

Definition at line 153 of file PlatformVersion.h.

◆ operator!=() [2/2]

static bool dbw_mkz_can::operator!= ( const PlatformVersion &  x,
const PlatformMap &  map 
)
static

Definition at line 146 of file PlatformMap.h.

◆ operator<() [1/2]

static bool dbw_mkz_can::operator< ( const PlatformVersion &  x,
const ModuleVersion &  y 
)
static

Definition at line 148 of file PlatformVersion.h.

◆ operator<() [2/2]

static bool dbw_mkz_can::operator< ( const PlatformVersion &  x,
const PlatformMap &  map 
)
static

Definition at line 141 of file PlatformMap.h.

◆ operator<=() [1/2]

static bool dbw_mkz_can::operator<= ( const PlatformVersion &  x,
const ModuleVersion &  y 
)
static

Definition at line 150 of file PlatformVersion.h.

◆ operator<=() [2/2]

static bool dbw_mkz_can::operator<= ( const PlatformVersion &  x,
const PlatformMap &  map 
)
static

Definition at line 143 of file PlatformMap.h.

◆ operator==() [1/2]

static bool dbw_mkz_can::operator== ( const PlatformVersion &  x,
const ModuleVersion &  y 
)
static

Definition at line 152 of file PlatformVersion.h.

◆ operator==() [2/2]

static bool dbw_mkz_can::operator== ( const PlatformVersion &  x,
const PlatformMap &  map 
)
static

Definition at line 145 of file PlatformMap.h.

◆ operator>() [1/2]

static bool dbw_mkz_can::operator> ( const PlatformVersion &  x,
const ModuleVersion &  y 
)
static

Definition at line 149 of file PlatformVersion.h.

◆ operator>() [2/2]

static bool dbw_mkz_can::operator> ( const PlatformVersion &  x,
const PlatformMap &  map 
)
static

Definition at line 142 of file PlatformMap.h.

◆ operator>=() [1/2]

static bool dbw_mkz_can::operator>= ( const PlatformVersion &  x,
const ModuleVersion &  y 
)
static

Definition at line 151 of file PlatformVersion.h.

◆ operator>=() [2/2]

static bool dbw_mkz_can::operator>= ( const PlatformVersion &  x,
const PlatformMap &  map 
)
static

Definition at line 144 of file PlatformMap.h.

◆ platformToString()

static const char* dbw_mkz_can::platformToString ( Platform  x)
static

Definition at line 103 of file PlatformVersion.h.

◆ sonarBuildPointCloud2()

static void dbw_mkz_can::sonarBuildPointCloud2 ( sensor_msgs::PointCloud2 &  cloud,
const dbw_mkz_msgs::SurroundReport &  surround 
)
inlinestatic

Definition at line 102 of file sonar_lut.h.

◆ sonarColorFromRange()

static uint32_t dbw_mkz_can::sonarColorFromRange ( float  range)
inlinestatic

Definition at line 93 of file sonar_lut.h.

◆ sonarMetersFromBits()

static float dbw_mkz_can::sonarMetersFromBits ( uint8_t  bits)
inlinestatic

Definition at line 90 of file sonar_lut.h.

◆ throttlePedalFromPercent()

static float dbw_mkz_can::throttlePedalFromPercent ( float  percent)
inlinestatic

Definition at line 145 of file pedal_lut.h.

◆ throttlePercentFromPedal()

static float dbw_mkz_can::throttlePercentFromPedal ( float  pedal)
inlinestatic

Definition at line 168 of file pedal_lut.h.

Variable Documentation

◆ a

float dbw_mkz_can::a

Definition at line 107 of file sonar_lut.h.

◆ BRAKE_TABLE

const { ... } dbw_mkz_can::BRAKE_TABLE[]
Initial value:
= {
{0.150, 0},
{0.175, 0},
{0.184, 4},
{0.208, 108},
{0.211, 519},
{0.234, 521},
{0.246, 816},
{0.283, 1832},
{0.305, 2612},
{0.323, 3316},
{0.326, 3412},
{0.330, 3412},
}

◆ FIRMWARE_CMDTYPE

PlatformMap dbw_mkz_can::FIRMWARE_CMDTYPE({ {PlatformVersion(P_FORD_CD4, M_BPEC, ModuleVersion(2, 0, 7))}, {PlatformVersion(P_FORD_CD4, M_TPEC, ModuleVersion(2, 0, 7))}, })

◆ FIRMWARE_HIGH_RATE_LIMIT

PlatformMap dbw_mkz_can::FIRMWARE_HIGH_RATE_LIMIT({ {PlatformVersion(P_FORD_CD4, M_STEER, ModuleVersion(2, 2, 0))}, {PlatformVersion(P_FORD_P5, M_STEER, ModuleVersion(1, 1, 0))}, })

◆ FIRMWARE_LATEST

PlatformMap dbw_mkz_can::FIRMWARE_LATEST({ {PlatformVersion(P_FORD_C1, M_TPEC, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_STEER, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_SHIFT, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_ABS, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_BOO, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_C1, M_EPS, ModuleVersion(1, 3, 4))}, {PlatformVersion(P_FORD_CD4, M_BPEC, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD4, M_TPEC, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD4, M_STEER, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD4, M_SHIFT, ModuleVersion(2, 6, 4))}, {PlatformVersion(P_FORD_CD5, M_BOO, ModuleVersion(1, 2, 4))}, {PlatformVersion(P_FORD_CD5, M_TPEC, ModuleVersion(1, 2, 4))}, {PlatformVersion(P_FORD_CD5, M_STEER, ModuleVersion(1, 2, 4))}, {PlatformVersion(P_FORD_GE1, M_TPEC, ModuleVersion(1, 0, 4))}, {PlatformVersion(P_FORD_GE1, M_STEER, ModuleVersion(1, 0, 4))}, {PlatformVersion(P_FORD_GE1, M_SHIFT, ModuleVersion(1, 0, 4))}, {PlatformVersion(P_FORD_P5, M_TPEC, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_STEER, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_SHIFT, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_ABS, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P5, M_BOO, ModuleVersion(1, 5, 4))}, {PlatformVersion(P_FORD_P702, M_TPEC, ModuleVersion(0, 1, 4))}, {PlatformVersion(P_FORD_P702, M_STEER, ModuleVersion(0, 1, 4))}, {PlatformVersion(P_FORD_P702, M_SHIFT, ModuleVersion(0, 1, 4))}, {PlatformVersion(P_FORD_T6, M_TPEC, ModuleVersion(0, 3, 4))}, {PlatformVersion(P_FORD_T6, M_STEER, ModuleVersion(0, 3, 4))}, {PlatformVersion(P_FORD_T6, M_SHIFT, ModuleVersion(0, 3, 4))}, {PlatformVersion(P_FORD_U6, M_TPEC, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_STEER, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_SHIFT, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_ABS, ModuleVersion(1, 1, 4))}, {PlatformVersion(P_FORD_U6, M_BOO, ModuleVersion(1, 1, 4))}, })

◆ FIRMWARE_TIMEOUT

PlatformMap dbw_mkz_can::FIRMWARE_TIMEOUT({ {PlatformVersion(P_FORD_CD4, M_BPEC, ModuleVersion(2, 0, 0))}, {PlatformVersion(P_FORD_CD4, M_TPEC, ModuleVersion(2, 0, 0))}, {PlatformVersion(P_FORD_CD4, M_STEER, ModuleVersion(2, 0, 0))}, })

◆ pedal

float dbw_mkz_can::pedal

Definition at line 106 of file pedal_lut.h.

◆ percent

float dbw_mkz_can::percent

Definition at line 89 of file pedal_lut.h.

◆ SONAR_TABLE

const { ... } dbw_mkz_can::SONAR_TABLE[]
Initial value:
= {
{ 4.000, 0.900, 0.100, 0.500 * M_PI},
{ 4.000, 0.500, 0.100, 0.100 * M_PI},
{ 4.000, 0.200, 0.100, 0.000 * M_PI},
{ 4.000, -0.200, 0.100, 0.000 * M_PI},
{ 4.000, -0.500, 0.100, 1.900 * M_PI},
{ 4.000, -0.900, 0.100, 1.500 * M_PI},
{-1.000, 0.900, 0.100, 0.500 * M_PI},
{-1.000, 0.500, 0.100, 0.900 * M_PI},
{-1.000, 0.200, 0.100, 1.000 * M_PI},
{-1.000, -0.200, 0.100, 1.000 * M_PI},
{-1.000, -0.500, 0.100, 1.100 * M_PI},
{-1.000, -0.900, 0.100, 1.500 * M_PI},
}

◆ THROTTLE_TABLE

const { ... } dbw_mkz_can::THROTTLE_TABLE[]
Initial value:
= {
{0.150, 0.000},
{0.165, 0.001},
{0.166, 0.020},
{0.800, 1.000},
}

◆ torque

float dbw_mkz_can::torque

Definition at line 106 of file pedal_lut.h.

◆ x

float dbw_mkz_can::x

Definition at line 107 of file sonar_lut.h.

◆ y

float dbw_mkz_can::y

Definition at line 107 of file sonar_lut.h.

◆ z

float dbw_mkz_can::z

Definition at line 107 of file sonar_lut.h.


dbw_mkz_can
Author(s): Kevin Hallenbeck
autogenerated on Thu Jan 4 2024 03:46:24