35 {
36 int id = target_id(bytes, length);
37 for (int i = 0; i < racobit_radar->contiobs_size(); ++i) {
38 if (racobit_radar->contiobs(i).obstacle_id() == id) {
39 auto racobit_obs = racobit_radar->mutable_contiobs(i);
40 racobit_obs->set_longitude_dist_rms(
41 LINEAR_RMS[longitude_dist_rms(bytes, length)]);
42 racobit_obs->set_lateral_dist_rms(
44 racobit_obs->set_longitude_vel_rms(
46 racobit_obs->set_lateral_vel_rms(
48 racobit_obs->set_probexist(
PROBOFEXIST[pdh0(bytes, length)]);
49 switch (invalid_state(bytes, length)) {
50 case 0x01:
51 case 0x02:
52 case 0x03:
53 case 0x06:
54 case 0x07:
55 case 0x0E:
57 default:
58 break;
59 }
60 switch (ambig_state(bytes, length)) {
61 case 0x00:
62 case 0x01:
63 case 0x02:
65 default:
66 break;
67 }
68 }
69 }
70}
const double LINEAR_RMS[32]
const double PROBOFEXIST[8]