apollo::canbus::lincoln::Gps6d类 参考

one of the protocol data of lincoln vehicle 更多...

#include <gps_6d.h>

类 apollo::canbus::lincoln::Gps6d 继承关系图:

apollo::canbus::lincoln::Gps6d 的协作图:

Public 成员函数
virtual void	Parse (const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
double	latitude (const std::uint8_t *bytes, int32_t length) const
	get latitude from byte array config detail: {'name': 'latitude', 'offset': 0.0, 'precision': 3.3333333e-07, 'len': 31, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 0, 'type': 'double', 'order': 'intel', 'physical_unit': '"degrees"'}
double	longitude (const std::uint8_t *bytes, int32_t length) const
	get longitude from byte array config detail: {'name': 'longitude', 'offset': 0.0, 'precision': 3.3333333e-07, 'len': 31, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 32, 'type': 'double', 'order': 'intel', 'physical_unit': '"degrees"'}
bool	is_valid (const std::uint8_t *bytes, int32_t length) const
	check is_valid from byte array config detail: {'name': 'valid', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 63, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}
Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Lincoln >
	ProtocolData ()=default
	construct protocol data.
virtual	~ProtocolData ()=default
	destruct protocol data.
virtual uint32_t	GetPeriod () const
virtual int32_t	GetLength () const
virtual void	Parse (const uint8_t *bytes, int32_t length, ::apollo::canbus::Lincoln *sensor_data) const
virtual void	UpdateData (uint8_t *data)
virtual void	UpdateData_Heartbeat (uint8_t *data)
virtual void	Reset ()

静态 Public 属性
static const int32_t	ID = 0x6D

额外继承的成员函数
静态 Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Lincoln >
static std::uint8_t	CalculateCheckSum (const uint8_t *input, const uint32_t length)
	static function, used to calculate the checksum of input array.
static T	BoundedValue (T lower, T upper, T val)

详细描述

one of the protocol data of lincoln vehicle

在文件 gps_6d.h 第 40 行定义.

成员函数说明

is_valid()

bool apollo::canbus::lincoln::Gps6d::is_valid	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check is_valid from byte array config detail: {'name': 'valid', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 63, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the boolean value of is_valid bit

在文件 gps_6d.cc 第 88 行定义.

                                                                  {
  Byte frame(bytes + 7);
  return frame.is_bit_1(7);
}

latitude()

double apollo::canbus::lincoln::Gps6d::latitude	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get latitude from byte array config detail: {'name': 'latitude', 'offset': 0.0, 'precision': 3.3333333e-07, 'len': 31, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 0, 'type': 'double', 'order': 'intel', 'physical_unit': '"degrees"'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the value of latitude

在文件 gps_6d.cc 第 36 行定义.

                                                                    {
  Byte frame_0(bytes + 3);
  int32_t value = frame_0.get_byte(0, 7);
 
  Byte frame_1(bytes + 2);
  int32_t t = frame_1.get_byte(0, 8);
  value <<= 8;
  value |= t;
 
  Byte frame_2(bytes + 1);
  t = frame_2.get_byte(0, 8);
  value <<= 8;
  value |= t;
 
  Byte frame_3(bytes);
  t = frame_3.get_byte(0, 8);
  value <<= 8;
  value |= t;
 
  if (value > 0x3FFFFFFF) {
    value -= 0x80000000;
  }
 
  return value * (1.000000 / 3.000000) * 1e-6;
}

longitude()

double apollo::canbus::lincoln::Gps6d::longitude	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get longitude from byte array config detail: {'name': 'longitude', 'offset': 0.0, 'precision': 3.3333333e-07, 'len': 31, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 32, 'type': 'double', 'order': 'intel', 'physical_unit': '"degrees"'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回

the value of longitude

在文件 gps_6d.cc 第 62 行定义.

                                                                     {
  Byte frame_0(bytes + 7);
  int32_t value = frame_0.get_byte(0, 7);
 
  Byte frame_1(bytes + 6);
  int32_t t = frame_1.get_byte(0, 8);
  value <<= 8;
  value |= t;
 
  Byte frame_2(bytes + 5);
  t = frame_2.get_byte(0, 8);
  value <<= 8;
  value |= t;
 
  Byte frame_3(bytes + 4);
  t = frame_3.get_byte(0, 8);
  value <<= 8;
  value |= t;
 
  if (value > 0x3FFFFFFF) {
    value -= 0x80000000;
  }
 
  return value * (1.000000 / 3.000000) * 1e-6;
}

Parse()

void apollo::canbus::lincoln::Gps6d::Parse ( const std::uint8_t *  bytes, int32_t  length, Lincoln *  chassis_detail  ) const

virtual

在文件 gps_6d.cc 第 29 行定义.

                                                 {
  chassis_detail->mutable_basic()->set_latitude(latitude(bytes, length));
  chassis_detail->mutable_basic()->set_longitude(longitude(bytes, length));
  chassis_detail->mutable_basic()->set_gps_valid(is_valid(bytes, length));
}

类成员变量说明

ID

const int32_t apollo::canbus::lincoln::Gps6d::ID = 0x6D

static

在文件 gps_6d.h 第 43 行定义.

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该类的文档由以下文件生成:

• modules/canbus_vehicle/lincoln/protocol/gps_6d.h
• modules/canbus_vehicle/lincoln/protocol/gps_6d.cc