DrivebrainETHInterface Class Reference

#include <DrivebrainETHInterface.h>

Collaboration diagram for DrivebrainETHInterface:

Public Member Functions
	DrivebrainETHInterface ()
void	receive_pb_msg (const hytech_msgs_MCUCommandData &msg_in, unsigned long curr_millis)
hytech_msgs_MCUOutputData	make_db_msg (const SharedCarState_s &shared_state)
DrivebrainData_s	get_latest_data ()

Private Attributes
DrivebrainData_s	_latest_data = {}

Detailed Description

Definition at line 6 of file DrivebrainETHInterface.h.

Constructor & Destructor Documentation

DrivebrainETHInterface()

DrivebrainETHInterface::DrivebrainETHInterface ( )

inline

Definition at line 9 of file DrivebrainETHInterface.h.

                            {
        _latest_data.last_receive_time_millis = -1;
        _latest_data.DB_prev_MCU_recv_millis = -1;
    };

Member Function Documentation

get_latest_data()

DrivebrainData_s DrivebrainETHInterface::get_latest_data ( )

inline

Definition at line 17 of file DrivebrainETHInterface.h.

{ return _latest_data; }

make_db_msg()

hytech_msgs_MCUOutputData DrivebrainETHInterface::make_db_msg

(

const SharedCarState_s &

shared_state

)

Definition at line 5 of file DrivebrainETHInterface.cpp.

{
    hytech_msgs_MCUOutputData out;
    out.accel_percent = shared_state.pedals_data.accelPercent;
    out.brake_percent = shared_state.pedals_data.regenPercent;
 
    out.has_rpm_data = true;
    out.rpm_data.FL = shared_state.drivetrain_data.measuredSpeeds[0];
    out.rpm_data.FR = shared_state.drivetrain_data.measuredSpeeds[1];
    out.rpm_data.RL = shared_state.drivetrain_data.measuredSpeeds[2];
    out.rpm_data.RR = shared_state.drivetrain_data.measuredSpeeds[3];
    out.steering_angle_deg = shared_state.steering_data.angle;
    out.MCU_recv_millis = _latest_data.last_receive_time_millis;
    out.load_cell_data = {shared_state.raw_loadcell_data.raw_load_cell_data.FL,
                          shared_state.raw_loadcell_data.raw_load_cell_data.FR,
                          shared_state.raw_loadcell_data.raw_load_cell_data.RL,
                          shared_state.raw_loadcell_data.raw_load_cell_data.RR};
    out.has_load_cell_data = true;
 
    out.timing_failure_active = shared_state.drivebrain_timing_failure;
    return out;
}

receive_pb_msg()

void DrivebrainETHInterface::receive_pb_msg	(	const hytech_msgs_MCUCommandData &	msg_in,
		unsigned long	curr_millis
	)

Definition at line 28 of file DrivebrainETHInterface.cpp.

{
    veh_vec<float> nm_lim(msg_in.torque_limit_nm.FL, msg_in.torque_limit_nm.FR, msg_in.torque_limit_nm.RL, msg_in.torque_limit_nm.RR);
    veh_vec<float> speed_set(msg_in.desired_rpms.FL, msg_in.desired_rpms.FR, msg_in.desired_rpms.RL, msg_in.desired_rpms.RR);
    _latest_data.torque_limits_nm = nm_lim;
    _latest_data.speed_setpoints_rpm = speed_set;
    _latest_data.DB_prev_MCU_recv_millis = msg_in.prev_MCU_recv_millis;
    _latest_data.last_receive_time_millis = curr_millis; // current tick millis
}

Member Data Documentation

_latest_data

DrivebrainData_s DrivebrainETHInterface::_latest_data = {}

private

Definition at line 21 of file DrivebrainETHInterface.h.

---

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

• lib/interfaces/include/DrivebrainETHInterface.h
• lib/interfaces/src/DrivebrainETHInterface.cpp