apollo::canbus::lincoln::Gps6f类 参考

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

#include <gps_6f.h>

类 apollo::canbus::lincoln::Gps6f 继承关系图:

apollo::canbus::lincoln::Gps6f 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	altitude (const std::uint8_t *bytes, int32_t length) const
	get altitude from byte array config detail: {'name': 'altitude', 'offset': 0.0, 'precision': 0.25, 'len': 16, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 0, 'type': 'double', 'order': 'intel', 'physical_unit': '"m"'}
double	heading (const std::uint8_t *bytes, int32_t length) const
	get heading from byte array config detail: {'name': 'heading', 'offset': 0.0, 'precision': 0.01, 'len': 16, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': '"degrees"'}
int32_t	speed (const std::uint8_t *bytes, int32_t length) const
	get speed from byte array config detail: {'name': 'speed', 'offset': 0.0, 'precision': 1.0, 'len': 8, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 32, 'type': 'int', 'order': 'intel', 'physical_unit': '"mph"'}
double	hdop (const std::uint8_t *bytes, int32_t length) const
	get hdop from byte array config detail: {'name': 'hdop', 'offset': 0.0, 'precision': 0.2, 'len': 5, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 40, 'type': 'double', 'order': 'intel', 'physical_unit': '""'}
double	vdop (const std::uint8_t *bytes, int32_t length) const
	get vdop from byte array config detail: {'name': 'vdop', 'offset': 0.0, 'precision': 0.2, 'len': 5, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 48, 'type': 'double', 'order': 'intel', 'physical_unit': '""'}
int32_t	fix_quality (const std::uint8_t *bytes, int32_t length) const
	get fix quality from byte array config detail: {'name': 'quality', 'offset': 0.0, 'precision': 1.0, 'len': 3, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 56, 'type': 'int', 'order': 'intel', 'physical_unit': '""'}
int32_t	num_satellites (const std::uint8_t *bytes, int32_t length) const
	get number of satellites from byte array config detail: {'name': 'numsat', 'offset': 0.0, 'precision': 1.0, 'len': 5, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 59, 'type': 'int', '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 = 0x6F

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_6f.h 第 40 行定义.

成员函数说明

altitude()

double apollo::canbus::lincoln::Gps6f::altitude	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get altitude from byte array config detail: {'name': 'altitude', 'offset': 0.0, 'precision': 0.25, 'len': 16, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 0, 'type': 'double', 'order': 'intel', 'physical_unit': '"m"'}

参数

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

返回

the value of altitude

在文件 gps_6f.cc 第 56 行定义.

                                                                    {
  Byte high_frame(bytes + 1);
  int32_t high = high_frame.get_byte(0, 8);
  Byte low_frame(bytes + 0);
  int32_t low = low_frame.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  if (value > 0x7FFF) {
    value -= 0x10000;
  }
  return value * 0.250000;
}

fix_quality()

int32_t apollo::canbus::lincoln::Gps6f::fix_quality	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get fix quality from byte array config detail: {'name': 'quality', 'offset': 0.0, 'precision': 1.0, 'len': 3, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 56, 'type': 'int', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the value of fix quality

在文件 gps_6f.cc 第 95 行定义.

                                                                        {
  Byte frame(bytes + 7);
  int32_t x = frame.get_byte(0, 3);
  return x;
}

hdop()

double apollo::canbus::lincoln::Gps6f::hdop	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get hdop from byte array config detail: {'name': 'hdop', 'offset': 0.0, 'precision': 0.2, 'len': 5, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 40, 'type': 'double', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the value of hdop

在文件 gps_6f.cc 第 83 行定义.

                                                                {
  Byte frame(bytes + 5);
  int32_t x = frame.get_byte(0, 5);
  return x * 0.200000;
}

heading()

double apollo::canbus::lincoln::Gps6f::heading	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get heading from byte array config detail: {'name': 'heading', 'offset': 0.0, 'precision': 0.01, 'len': 16, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 16, '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 heading

在文件 gps_6f.cc 第 68 行定义.

                                                                   {
  Byte high_frame(bytes + 3);
  int32_t high = high_frame.get_byte(0, 8);
  Byte low_frame(bytes + 2);
  int32_t low = low_frame.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  return value * 0.010000;
}

num_satellites()

int32_t apollo::canbus::lincoln::Gps6f::num_satellites	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get number of satellites from byte array config detail: {'name': 'numsat', 'offset': 0.0, 'precision': 1.0, 'len': 5, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 59, 'type': 'int', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the number of satellites

在文件 gps_6f.cc 第 101 行定义.

                                                                           {
  Byte frame(bytes + 7);
  int32_t x = frame.get_byte(3, 5);
  return x;
}

Parse()

void apollo::canbus::lincoln::Gps6f::Parse ( const std::uint8_t *  bytes, int32_t  length, Lincoln *  chassis_detail  ) const

virtual

在文件 gps_6f.cc 第 29 行定义.

                                                 {
  chassis_detail->mutable_basic()->set_altitude(altitude(bytes, length));
  chassis_detail->mutable_basic()->set_heading(heading(bytes, length));
  // speed mph -> mps
  chassis_detail->mutable_basic()->set_gps_speed(speed(bytes, length) *
                                                 0.44704);
  chassis_detail->mutable_basic()->set_hdop(hdop(bytes, length));
  chassis_detail->mutable_basic()->set_vdop(vdop(bytes, length));
  switch (fix_quality(bytes, length)) {
    case 0:
      chassis_detail->mutable_basic()->set_quality(FIX_NO);
      break;
    case 1:
      chassis_detail->mutable_basic()->set_quality(FIX_2D);
      break;
    case 2:
      chassis_detail->mutable_basic()->set_quality(FIX_3D);
      break;
    default:
      chassis_detail->mutable_basic()->set_quality(FIX_INVALID);
      break;
  }
  chassis_detail->mutable_basic()->set_num_satellites(
      num_satellites(bytes, length));
}

speed()

int32_t apollo::canbus::lincoln::Gps6f::speed	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get speed from byte array config detail: {'name': 'speed', 'offset': 0.0, 'precision': 1.0, 'len': 8, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 32, 'type': 'int', 'order': 'intel', 'physical_unit': '"mph"'}

参数

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

返回

the value of speed

在文件 gps_6f.cc 第 77 行定义.

                                                                  {
  Byte frame(bytes + 4);
  int32_t x = frame.get_byte(0, 8);
  return x;
}

vdop()

double apollo::canbus::lincoln::Gps6f::vdop	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

get vdop from byte array config detail: {'name': 'vdop', 'offset': 0.0, 'precision': 0.2, 'len': 5, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 48, 'type': 'double', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the value of vdop

在文件 gps_6f.cc 第 89 行定义.

                                                                {
  Byte frame(bytes + 6);
  int32_t x = frame.get_byte(0, 5);
  return x * 0.200000;
}

类成员变量说明

ID

const int32_t apollo::canbus::lincoln::Gps6f::ID = 0x6F

static

在文件 gps_6f.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_6f.h
• modules/canbus_vehicle/lincoln/protocol/gps_6f.cc