Class that contains definitions of typical messages to send via CAN It serves only as an example of the usage of the strategy pattern, where the communicator is the strategy. More...

#include <communicator.hpp>

Collaboration diagram for Communicator:

Public Member Functions
	Communicator (SystemData *systemdata)
	Constructor for the Communicator class Initializes the Communicator with the given system data instance.

void	init ()
	Initializes the CAN bus.

Static Public Member Functions
static void	parse_message (const CAN_message_t &msg)
	Parses the message received from the CAN bus.

template<std::size_t N>
static int	send_message (unsigned len, const std::array< uint8_t, N > &buffer, unsigned id)
	Sends a message to the CAN bus.

static void	pc_callback (const uint8_t *buf)
	Callback for message from AS CU.

static void	res_state_callback (const uint8_t *buf)
	Callback RES default callback.

static void	res_ready_callback ()
	Callback for RES activation.

static void	bamocar_callback (const uint8_t *buf)
	Callback from inversor, for alive signal and data.

static void	steering_callback ()
	Callback for steering actuator information.

static void	dash_callback (const uint8_t *buf)
	Callback for dashboard.

static void	bms_callback (const uint8_t *buf)
	Callback for BMS messages.

static int	publish_state (int state_id)
	Publish AS State to CAN.

static int	publish_ebs_states (uint8_t ebs_state, bool is_redundancy=false)
	Publish EBS States to CAN.

static int	publish_mission (int mission_id)
	Publish AS Mission to CAN.

static int	publish_soc (uint8_t soc)
	Publish SOC to CAN.

static int	publish_asms_on (bool asms_on)
	Publish ASMS state to CAN.

static int	publish_debug_morning_log (const SystemData &system_data, uint8_t sate, uint8_t state_checkup)
	Publish AS Mission to CAN.

static int	publish_rpm ()
	Publish rl wheel rpm to CAN.

Static Public Attributes
static SystemData *	_systemData = nullptr

Detailed Description

Class that contains definitions of typical messages to send via CAN It serves only as an example of the usage of the strategy pattern, where the communicator is the strategy.

Definition at line 42 of file communicator.hpp.

Constructor & Destructor Documentation

◆ Communicator()

Communicator::Communicator ( SystemData * systemdata )

inlineexplicit

Constructor for the Communicator class Initializes the Communicator with the given system data instance.

Parameters

system_data Pointer to the SystemData instance.

Definition at line 146 of file communicator.hpp.

Member Function Documentation

◆ bamocar_callback()

void Communicator::bamocar_callback ( const uint8_t * buf )

inlinestatic

Callback from inversor, for alive signal and data.

Definition at line 199 of file communicator.hpp.

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◆ bms_callback()

void Communicator::bms_callback ( const uint8_t * buf )

inlinestatic

Callback for BMS messages.

Definition at line 250 of file communicator.hpp.

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◆ dash_callback()

void Communicator::dash_callback ( const uint8_t * buf )

inlinestatic

Callback for dashboard.

Definition at line 245 of file communicator.hpp.

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◆ init()

void Communicator::init ( )

Initializes the CAN bus.

Definition at line 148 of file communicator.hpp.

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◆ parse_message()

void Communicator::parse_message ( const CAN_message_t & msg )

inlinestatic

Parses the message received from the CAN bus.

Definition at line 254 of file communicator.hpp.

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◆ pc_callback()

void Communicator::pc_callback ( const uint8_t * buf )

inlinestatic

Callback for message from AS CU.

Definition at line 229 of file communicator.hpp.

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◆ publish_asms_on()

int Communicator::publish_asms_on ( bool asms_on )

inlinestatic

Publish ASMS state to CAN.

Definition at line 307 of file communicator.hpp.

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◆ publish_debug_morning_log()

int Communicator::publish_debug_morning_log	(	const SystemData &	system_data,
		uint8_t	sate,
		uint8_t	state_checkup
	)

inlinestatic

Publish AS Mission to CAN.

Definition at line 292 of file communicator.hpp.

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◆ publish_ebs_states()

int Communicator::publish_ebs_states	(	uint8_t	ebs_state,
		bool	is_redundancy = `false`
	)

inlinestatic

Publish EBS States to CAN.

Definition at line 337 of file communicator.hpp.

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◆ publish_mission()

int Communicator::publish_mission ( int mission_id )

inlinestatic

Publish AS Mission to CAN.

Definition at line 286 of file communicator.hpp.

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◆ publish_rpm()

int Communicator::publish_rpm ( )

inlinestatic

Publish rl wheel rpm to CAN.

Definition at line 313 of file communicator.hpp.

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◆ publish_soc()

int Communicator::publish_soc ( uint8_t soc )

inlinestatic

Publish SOC to CAN.

Definition at line 301 of file communicator.hpp.

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◆ publish_state()

int Communicator::publish_state ( int state_id )

inlinestatic

Publish AS State to CAN.

Definition at line 280 of file communicator.hpp.

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◆ res_ready_callback()

void Communicator::res_ready_callback ( )

inlinestatic

Callback for RES activation.

Definition at line 192 of file communicator.hpp.

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◆ res_state_callback()

void Communicator::res_state_callback ( const uint8_t * buf )

inlinestatic

Callback RES default callback.

Definition at line 165 of file communicator.hpp.

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◆ send_message()

template<std::size_t N>

int Communicator::send_message	(	unsigned	len,
		const std::array< uint8_t, N > &	buffer,
		unsigned	id
	)

inlinestatic

Sends a message to the CAN bus.

Parameters

len	Length of the message
buffer	Buffer containing the message
id	ID of the message

Returns: 0 if successful

Definition at line 355 of file communicator.hpp.

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◆ steering_callback()

void Communicator::steering_callback ( )

inlinestatic

Callback for steering actuator information.

Definition at line 241 of file communicator.hpp.

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Member Data Documentation

◆ _systemData

SystemData* Communicator::_systemData = nullptr

inlinestatic

Definition at line 49 of file communicator.hpp.

The documentation for this class was generated from the following file:

master/include/comm/communicator.hpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Communicator()

Member Function Documentation

◆ bamocar_callback()

◆ bms_callback()

◆ dash_callback()

◆ init()

◆ parse_message()

◆ pc_callback()

◆ publish_asms_on()

◆ publish_debug_morning_log()

◆ publish_ebs_states()

◆ publish_mission()

◆ publish_rpm()

◆ publish_soc()

◆ publish_state()

◆ res_ready_callback()

◆ res_state_callback()

◆ send_message()

◆ steering_callback()

Member Data Documentation

◆ _systemData