Canbus : update the vehicle factory and register it as GEM

ApolloAuto · Apr 5, 2018 · 0ce5dbf · 0ce5dbf
1 parent 02fc69c
commit 0ce5dbf
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Showing 3 changed files with 6 additions and 1 deletion.
diff --git a/modules/canbus/conf/canbus_conf.pb.txt b/modules/canbus/conf/canbus_conf.pb.txt
@@ -1,5 +1,5 @@
 vehicle_parameter {
-  brand: LINCOLN_MKZ
+  brand: GEM
   max_steer_angle: 470.0
   max_steer_angle_spd: 500.0
   min_steer_angle_spd: 100.0

diff --git a/modules/canbus/proto/vehicle_parameter.proto b/modules/canbus/proto/vehicle_parameter.proto
@@ -7,6 +7,7 @@ import "modules/canbus/proto/chassis.proto";
 message VehicleParameter {
   enum VehicleBrand {
     LINCOLN_MKZ = 0;
+    GEM = 1;
   }
 
   optional VehicleBrand brand = 1;

diff --git a/modules/canbus/vehicle/vehicle_factory.cc b/modules/canbus/vehicle/vehicle_factory.cc
@@ -16,6 +16,7 @@
 
 #include "modules/canbus/vehicle/vehicle_factory.h"
 #include "modules/canbus/proto/vehicle_parameter.pb.h"
+#include "modules/canbus/vehicle/gem/gem_vehicle_factory.h"
 #include "modules/canbus/vehicle/lincoln/lincoln_vehicle_factory.h"
 
 namespace apollo {
@@ -25,6 +26,9 @@ void VehicleFactory::RegisterVehicleFactory() {
   Register(VehicleParameter::LINCOLN_MKZ, []() -> AbstractVehicleFactory * {
     return new LincolnVehicleFactory();
   });
+  Register(VehicleParameter::GEM, []() -> AbstractVehicleFactory * {
+    return new GemVehicleFactory();
+  });
 }
 
 std::unique_ptr<AbstractVehicleFactory> VehicleFactory::CreateVehicle(