Apollo 10.0
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accel_6b.h
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2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
22#pragma once
23
24#include "modules/canbus_vehicle/lincoln/proto/lincoln.pb.h"
26
31namespace apollo {
32namespace canbus {
33namespace lincoln {
34
41 ::apollo::canbus::Lincoln> {
42 public:
43 static const int32_t ID;
44
45 /*
46 * @brief parse received data
47 * @param bytes a pointer to the input bytes
48 * @param length the length of the input bytes
49 * @param chassis_detail the parsed chassis_detail
50 */
51 virtual void Parse(const std::uint8_t *bytes, int32_t length,
52 Lincoln *chassis_detail) const;
53
54 private:
63 double lateral_acceleration(const std::uint8_t *bytes,
64 const int32_t length) const;
65
75 double longitudinal_acceleration(const std::uint8_t *bytes,
76 const int32_t length) const;
86 double vertical_acceleration(const std::uint8_t *bytes,
87 const int32_t length) const;
88
89 double parse_two_frames(const std::uint8_t low_byte,
90 const std::uint8_t high_byte) const;
91};
92
93} // namespace lincoln
94} // namespace canbus
95} // namespace apollo
one of the protocol data of lincoln vehicle
Definition accel_6b.h:41
static const int32_t ID
Definition accel_6b.h:43
virtual void Parse(const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
Definition accel_6b.cc:32
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData