Apollo 10.0
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apollo::drivers::conti_radar::MotionInputSpeed300类 参考

#include <motion_input_speed_300.h>

类 apollo::drivers::conti_radar::MotionInputSpeed300 继承关系图:
apollo::drivers::conti_radar::MotionInputSpeed300 的协作图:

Public 成员函数

 MotionInputSpeed300 ()
 
 ~MotionInputSpeed300 ()
 
uint32_t GetPeriod () const override
 get the data period
 
void UpdateData (uint8_t *data) override
 update the data
 
void Reset () override
 reset the private variables
 
void SetSpeed (const float &speed)
 
- Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ContiRadar >
 ProtocolData ()=default
 construct protocol data.
 
virtual ~ProtocolData ()=default
 destruct protocol data.
 
virtual int32_t GetLength () const
 
virtual void Parse (const uint8_t *bytes, int32_t length, ContiRadar *sensor_data) const
 
virtual void UpdateData_Heartbeat (uint8_t *data)
 

静态 Public 属性

static const uint32_t ID = 0x300
 

额外继承的成员函数

- 静态 Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ContiRadar >
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

在文件 motion_input_speed_300.h32 行定义.

构造及析构函数说明

◆ MotionInputSpeed300()

apollo::drivers::conti_radar::MotionInputSpeed300::MotionInputSpeed300 ( )

在文件 motion_input_speed_300.cc30 行定义.

30{}

◆ ~MotionInputSpeed300()

apollo::drivers::conti_radar::MotionInputSpeed300::~MotionInputSpeed300 ( )

在文件 motion_input_speed_300.cc31 行定义.

31{}

成员函数说明

◆ GetPeriod()

uint32_t apollo::drivers::conti_radar::MotionInputSpeed300::GetPeriod ( ) const
overridevirtual

get the data period

返回
the value of data period

重载 apollo::drivers::canbus::ProtocolData< ContiRadar > .

在文件 motion_input_speed_300.cc33 行定义.

33 {
34 static const uint32_t PERIOD = 20 * 1000;
35 return PERIOD;
36}

◆ Reset()

void apollo::drivers::conti_radar::MotionInputSpeed300::Reset ( )
overridevirtual

reset the private variables

重载 apollo::drivers::canbus::ProtocolData< ContiRadar > .

在文件 motion_input_speed_300.cc68 行定义.

68{ speed_ = NAN; }

◆ SetSpeed()

void apollo::drivers::conti_radar::MotionInputSpeed300::SetSpeed ( const float &  speed)

在文件 motion_input_speed_300.cc70 行定义.

70{ speed_ = speed; }

◆ UpdateData()

void apollo::drivers::conti_radar::MotionInputSpeed300::UpdateData ( uint8_t *  data)
overridevirtual

update the data

参数
dataa pointer to the data to be updated

重载 apollo::drivers::canbus::ProtocolData< ContiRadar > .

在文件 motion_input_speed_300.cc42 行定义.

42 {
43 if (std::isnan(speed_)) {
44 AWARN << "speed is nan";
45 return;
46 }
47 uint32_t speed_direction = 0;
48 if (fabs(speed_) < 0.02) {
49 speed_direction = 0;
50 } else if (speed_ < 0) {
51 speed_direction = 2;
52 } else {
53 speed_direction = 1;
54 }
55 uint32_t speed_value = static_cast<uint32_t>(fabs(speed_) / 0.02);
56 Byte frame_speed_direction(data);
57 frame_speed_direction.set_value(
58 static_cast<unsigned char>((speed_direction << 6) & 0x00C0) |
59 static_cast<unsigned char>((speed_value & 0x1F00) >> 8),
60 0, 8);
61 Byte frame_speed(data + 1);
62 frame_speed.set_value(static_cast<unsigned char>(speed_value & 0x00FF), 0, 8);
63}
#define AWARN
Definition log.h:43

类成员变量说明

◆ ID

const uint32_t apollo::drivers::conti_radar::MotionInputSpeed300::ID = 0x300
static

在文件 motion_input_speed_300.h35 行定义.


该类的文档由以下文件生成: