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Canbus

Introduction

Canbus accepts and executes control module commands and collects the car's chassis status as feedback to control.

Input

  • Control commands

Output

  • Chassis status
  • Chassis detailed status

Implementation

The major components in canbus module are:

  • Vehicle: the vehicle itself, including its controller and message manager

  • CAN Client - CAN client has been moved to /modules/drivers/canbus since it is shared by different sensors utilizing the canbus protocol

You can implement your own CAN client in the folder can_client by inheriting from the CanClient class.

Note:
Do not forget to register your CAN client in `CanClientFactory`.

You can also implement your own vehicle controller and message manager in the folder vehicle by inheriting from VehicleController and MessageManager.

Note:
Do not forget to register your vehicle in `VehicleFactory`.