docs: add a new vehicle_adaption_tutorial #8835
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mickeyouyou
reviewed
Jun 17, 2019
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| （2）驱动使能信号必须独立，不与转向模块使能信号相关联，需要满足：单独使能进入纵向自动驾驶模式，转向所处驾驶模式不发生变化，下发驱动控制信号，车辆能够响应相应的控制命令；单独使能退出驱动自动驾驶模式，转向所处驾驶模式不发生变化，下发驱动控制信号，车辆不响应； | ||
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| （3）**原则上驱动使能信号与制动、档位、驻车使能相互独立。**根据以往的实际经验，有些车辆在纵向驱动和制动使能信号归为一个信号，这样的特殊情况需要开发者额外注意，确保纵向的使能一定要与横向使能分开并独立，纵向各模块如果相互关联，则使能需要驱动、制动、档位、驻车一同进去自动驾驶模式，不使能一同退出自动驾驶模式。 |
mickeyouyou
reviewed
Jun 17, 2019
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| 添加`CheckResponse`逻辑，Apollo程序内增加了对车辆底层是否在自动驾驶模式的监控，即车辆横向、驱动、制动模块的驾驶模式反馈是否处于自动驾驶状态，如果在一个`CheckResponse`周期内，车辆某个模块驾驶模块反馈处于接管或者手动驾驶模式，则Apollo会控制车辆使能为紧急停车模式（`Emergency`），即各模块均控制为手动模式，确保控制车辆时的安全。不同的车辆`CheckResponse`周期可能不同，需要开发者根据情况通过设置`retry_num`设定`check`周期。 | ||
| 开发者可以不改原check代码方案，将3个驾驶模式反馈报文与apollo内`chassis_detial`做映射： |
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chassis_detail
已修改：6795d18
mickeyouyou
reviewed
Jun 17, 2019
| 这时在`apollo/modules/tools/gen_vehicle_protocol`目录下，会生成一个`output`文件夹，文件夹内有2个文件夹，一个是`proto`文件夹，一个是`vehicle`文件夹；这两个文件内的代码内容就是我们要适配canbus的基本代码模板了。我们需要把文件内的代码**拷贝**到apollo的canbus层内，进行代码适配添加。 | ||
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| **注意：**把这个output文件夹内生成的代码模板拷贝至相应的apollo目录后，要删除该文件夹，如果不删除该文件夹，后期编译apollo时会报错。该文件夹有保护权限，请在apollo的docker内执行删除代码： |
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已修改：6795d18
mickeyouyou
approved these changes
Jun 18, 2019
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