Decode_0A类 参考

#include <protocol_asensing.h>

类 Decode_0A 继承关系图:

Decode_0A 的协作图:

Public 成员函数
	Decode_0A ()
virtual	~Decode_0A ()
void	subData (const uint8_t *sub_address, int &index)
Public 成员函数 继承自 ProtocolAsensing
	ProtocolAsensing ()
virtual	~ProtocolAsensing ()
void	addData (const std::string &data)
void	clearCache ()
bool	registProtocol (const std::string &protocolFlag, int length, ProtocolAsensing *sub)
void	toQuaternion (double *rpy, double *quaterArray)
int	getLength (const std::string &flag)
uint32_t	getDataSize ()
void	changeLength (const std::string &flag, int len)
std::string	getProtocol ()

详细描述

在文件 protocol_asensing.h 第 121 行定义.

构造及析构函数说明

Decode_0A()

Decode_0A::Decode_0A ( )

explicit

在文件 decode_0A.cc 第 21 行定义.

                     {
  filename1 = "BDDB0A.csv";
  content1 =
      "GyroX_degps,GyroY_degps,GyroZ_degps,AccX_g,AccY_g,AccZ_g,T_deg[0],"
      "SysTime_ms";
 
  // createFileAndWrite(filename1, content1);
 
  registProtocol(m_type, m_length, this);
}

~Decode_0A()

Decode_0A::~Decode_0A ( )

virtual

在文件 decode_0A.cc 第 32 行定义.

{}

成员函数说明

subData()

void Decode_0A::subData ( const uint8_t *  sub_address, int &  index  )

virtual

重载 ProtocolAsensing .

在文件 decode_0A.cc 第 34 行定义.

                                                              {
  int sub_index = 3;
  uint8_t check_sum = 0;
  int dataLength = getLength(m_type);
  /* check xor */
  for (int i = 0; i < dataLength - 1; ++i) {
    check_sum ^= sub_address[i];
  }
 
  if (check_sum == sub_address[dataLength - 1]) {
    int16_t middle;
    sub_index = 3;
    // gyro
    float pubMsg_gx = toValue<float>(sub_address, sub_index);
    float m_msg_gx = pubMsg_gx;
    float pubMsg_gy = toValue<float>(sub_address, sub_index);
    float m_msg_gy = pubMsg_gy;
    float pubMsg_gz = toValue<float>(sub_address, sub_index);
    float m_msg_gz = pubMsg_gz;
 
    // acc
    float pubMsg_ax = toValue<float>(sub_address, sub_index);
    float m_msg_ax = pubMsg_ax;
    float pubMsg_ay = toValue<float>(sub_address, sub_index);
    float m_msg_ay = pubMsg_ay;
    float pubMsg_az = toValue<float>(sub_address, sub_index);
    float m_msg_az = pubMsg_az;
 
    // temp
    middle = toValue<int16_t>(sub_address, sub_index);
    float pubMsg_temperature = middle * 200.0 / 32768;
 
    // time
    uint32_t timiddle = toValue<uint32_t>(sub_address, sub_index);
    double time = timiddle * 2.5 * 0.0001;
 
    index += dataLength;
 
    // Do not write csv.
    // std::vector<std::string> data_w;
    // data_w.clear();
    // data_w.push_back(std::to_string(pubMsg_gx));
    // data_w.push_back(std::to_string(pubMsg_gy));
    // data_w.push_back(std::to_string(pubMsg_gz));
    // data_w.push_back(std::to_string(pubMsg_ax));
    // data_w.push_back(std::to_string(pubMsg_ay));
    // data_w.push_back(std::to_string(pubMsg_az));
    // data_w.push_back(std::to_string(pubMsg_temperature));
    // data_w.push_back(std::to_string(time));
    // if (AppendCsv(filename1, data_w)) {
    //   // std::cout << "数据成功写入到文件 " << filename << "\n";
    // } else {
    //   std::cerr << "写入文件时出现错误\n";
    // }
 
  } else {
    index += 3;
  }
}

---

该类的文档由以下文件生成:

• modules/drivers/gnss/parser/asensing_parser/protocol_asensing.h
• modules/drivers/gnss/parser/asensing_parser/decode_0A.cc