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.h 第 32 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.cc 第 30 行定义.

{}

~MotionInputSpeed300()

apollo::drivers::conti_radar::MotionInputSpeed300::~MotionInputSpeed300

(

)

在文件 motion_input_speed_300.cc 第 31 行定义.

{}

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.cc 第 33 行定义.

                                              {
  static const uint32_t PERIOD = 20 * 1000;
  return PERIOD;
}

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.cc 第 68 行定义.

{ speed_ = NAN; }

SetSpeed()

void apollo::drivers::conti_radar::MotionInputSpeed300::SetSpeed

(

const float &

speed

)

在文件 motion_input_speed_300.cc 第 70 行定义.

{ speed_ = speed; }

UpdateData()

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

overridevirtual

update the data

参数

data	a pointer to the data to be updated

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

在文件 motion_input_speed_300.cc 第 42 行定义.

                                                  {
  if (std::isnan(speed_)) {
    AWARN << "speed is nan";
    return;
  }
  uint32_t speed_direction = 0;
  if (fabs(speed_) < 0.02) {
    speed_direction = 0;
  } else if (speed_ < 0) {
    speed_direction = 2;
  } else {
    speed_direction = 1;
  }
  uint32_t speed_value = static_cast<uint32_t>(fabs(speed_) / 0.02);
  Byte frame_speed_direction(data);
  frame_speed_direction.set_value(
      static_cast<unsigned char>((speed_direction << 6) & 0x00C0) |
          static_cast<unsigned char>((speed_value & 0x1F00) >> 8),
      0, 8);
  Byte frame_speed(data + 1);
  frame_speed.set_value(static_cast<unsigned char>(speed_value & 0x00FF), 0, 8);
}

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.h 第 35 行定义.

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该类的文档由以下文件生成:

• modules/drivers/radar/conti_radar/protocol/motion_input_speed_300.h
• modules/drivers/radar/conti_radar/protocol/motion_input_speed_300.cc