object_list_status_60a.cc

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/drivers/radar/conti_radar/protocol/object_list_status_60a.h"
 
#include "glog/logging.h"
 
#include "modules/drivers/canbus/common/byte.h"
#include "modules/drivers/canbus/common/canbus_consts.h"
 
namespace apollo {
namespace drivers {
namespace conti_radar {
 
using apollo::drivers::ContiRadarObs;
using apollo::drivers::canbus::Byte;
 
ObjectListStatus60A::ObjectListStatus60A() {}
const uint32_t ObjectListStatus60A::ID = 0x60A;
 
void ObjectListStatus60A::Parse(const std::uint8_t* bytes, int32_t length,
                                ContiRadar* conti_radar) const {
  auto status = conti_radar->mutable_object_list_status();
  auto num_of_obj = num_of_objects(bytes, length);
  status->set_nof_objects(num_of_obj);
  status->set_meas_counter(meas_counter(bytes, length));
  status->set_interface_version(interface_version(bytes, length));
  conti_radar->mutable_contiobs()->Reserve(num_of_obj);
}
 
int ObjectListStatus60A::num_of_objects(const std::uint8_t* bytes,
                                        int32_t length) const {
  Byte t0(bytes);
  int32_t x = t0.get_byte(0, 8);
 
  int ret = x;
  return ret;
}
 
int ObjectListStatus60A::meas_counter(const std::uint8_t* bytes,
                                      int32_t length) const {
  Byte t0(bytes + 2);
  uint32_t x = t0.get_byte(0, 8);
 
  Byte t1(bytes + 3);
  uint32_t t = t1.get_byte(0, 8);
  x <<= 8;
  x |= t;
 
  int ret = x;
  return ret;
}
 
int ObjectListStatus60A::interface_version(const std::uint8_t* bytes,
                                           int32_t length) const {
  Byte t0(bytes + 4);
  int32_t x = t0.get_byte(4, 4);
 
  int ret = x;
  return ret;
}
 
}  // namespace conti_radar
}  // namespace drivers
}  // namespace apollo