apollo::canbus::lincoln::Surround73类 参考

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

#include <surround_73.h>

类 apollo::canbus::lincoln::Surround73 继承关系图:

apollo::canbus::lincoln::Surround73 的协作图:

Public 成员函数
virtual void	Parse (const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
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 = 0x73

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 surround_73.h 第 40 行定义.

成员函数说明

Parse()

void apollo::canbus::lincoln::Surround73::Parse ( const std::uint8_t *  bytes, int32_t  length, Lincoln *  chassis_detail  ) const

virtual

在文件 surround_73.cc 第 29 行定义.

                                                      {
  // sonar left
  chassis_detail->mutable_surround()->set_cross_traffic_alert_left(
      is_cross_traffic_alert_left(bytes, length));
  chassis_detail->mutable_surround()->set_cross_traffic_alert_left_enabled(
      is_cross_traffic_alert_left_enabled(bytes, length));
 
  // blind spot left
  chassis_detail->mutable_surround()->set_blind_spot_left_alert(
      is_blind_spot_left_alert(bytes, length));
  chassis_detail->mutable_surround()->set_blind_spot_left_alert_enabled(
      is_blind_spot_left_alert_enabled(bytes, length));
 
  // sonar right
  chassis_detail->mutable_surround()->set_cross_traffic_alert_right(
      is_cross_traffic_alert_right(bytes, length));
  chassis_detail->mutable_surround()->set_cross_traffic_alert_left_enabled(
      is_cross_traffic_alert_left_enabled(bytes, length));
 
  // blind spot right
  chassis_detail->mutable_surround()->set_blind_spot_right_alert(
      is_blind_spot_right_alert(bytes, length));
  chassis_detail->mutable_surround()->set_blind_spot_right_alert_enabled(
      is_blind_spot_right_alert_enabled(bytes, length));
 
  // sonar00 ~ sonar11, output in meters
  chassis_detail->mutable_surround()->set_sonar00(sonar00(bytes, length));
  chassis_detail->mutable_surround()->set_sonar01(sonar01(bytes, length));
  chassis_detail->mutable_surround()->set_sonar02(sonar02(bytes, length));
  chassis_detail->mutable_surround()->set_sonar03(sonar03(bytes, length));
  chassis_detail->mutable_surround()->set_sonar04(sonar04(bytes, length));
  chassis_detail->mutable_surround()->set_sonar05(sonar05(bytes, length));
  chassis_detail->mutable_surround()->set_sonar06(sonar06(bytes, length));
  chassis_detail->mutable_surround()->set_sonar07(sonar07(bytes, length));
  chassis_detail->mutable_surround()->set_sonar08(sonar08(bytes, length));
  chassis_detail->mutable_surround()->set_sonar09(sonar09(bytes, length));
  chassis_detail->mutable_surround()->set_sonar10(sonar10(bytes, length));
  chassis_detail->mutable_surround()->set_sonar11(sonar11(bytes, length));
 
  // alternative representations.
  const int8_t kSonarNumbers = 12;
  chassis_detail->mutable_surround()->clear_sonar_range();
  for (std::int8_t i = 0; i < kSonarNumbers; ++i) {
    chassis_detail->mutable_surround()->add_sonar_range(
        sonars(bytes, i, length / 2));
  }
}

类成员变量说明

ID

const int32_t apollo::canbus::lincoln::Surround73::ID = 0x73

static

在文件 surround_73.h 第 43 行定义.

---

该类的文档由以下文件生成:

• modules/canbus_vehicle/lincoln/protocol/surround_73.h
• modules/canbus_vehicle/lincoln/protocol/surround_73.cc