Apollo 10.0
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fbs1_243.h
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1/******************************************************************************
2 * Copyright 2019 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#pragma once
18
19#include "modules/canbus_vehicle/wey/proto/wey.pb.h"
21
22namespace apollo {
23namespace canbus {
24namespace wey {
25
27 ::apollo::canbus::Wey> {
28 public:
29 static const int32_t ID;
30 Fbs1243();
31 void Parse(const std::uint8_t* bytes, int32_t length,
32 Wey* chassis) const override;
33
34 private:
35 // config detail: {'description': 'Longitude acceleration', 'offset': -21.592,
36 // 'precision': 0.00098, 'len': 16, 'name': 'LongitudeAcce',
37 // 'is_signed_var': False, 'physical_range': '[-21.592|21.592]', 'bit': 7,
38 // 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
39 double longitudeacce(const std::uint8_t* bytes, const int32_t length) const;
40
41 // config detail: {'description': 'Indicates Lateral Acceleration',
42 // 'offset': -21.592, 'precision': 0.00098, 'len': 16, 'name': 'LateralAcce',
43 // 'is_signed_var': False, 'physical_range': '[-21.592|21.592]', 'bit': 23,
44 // 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
45 double lateralacce(const std::uint8_t* bytes, const int32_t length) const;
46
47 // config detail: {'description': 'Vehicle yaw rate', 'offset': -2.093,
48 // 'precision': 0.00024, 'len': 16, 'name': 'VehDynYawRate',
49 // 'is_signed_var': False, 'physical_range': '[-2.093|2.093]', 'bit': 39,
50 // 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad/s'}
51 double vehdynyawrate(const std::uint8_t* bytes, const int32_t length) const;
52
53 // config detail: {'description': 'Front left wheel speed', 'offset': 0.0,
54 // 'precision': 0.05625, 'len': 13, 'name': 'FLWheelSpd',
55 // 'is_signed_var': False, 'physical_range': '[0|299.98125]', 'bit': 55,
56 // 'type': 'double', 'order': 'motorola', 'physical_unit': 'Km/h'}
57 double flwheelspd(const std::uint8_t* bytes, const int32_t length) const;
58
59 // config detail: {'description': 'Front right wheel Moving direction',
60 // 'enum': {0: 'FRWHEELDIRECTION_INVALID', 1: 'FRWHEELDIRECTION_FORWARD',
61 // 2: 'FRWHEELDIRECTION_BACKWARD', 3: 'FRWHEELDIRECTION_STOP'},
62 // 'precision': 1.0, 'len': 2, 'name': 'FRWheelDirection',
63 // 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|3]',
64 // 'bit': 57, 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
65 Fbs1_243::FrwheeldirectionType frwheeldirection(const std::uint8_t* bytes,
66 const int32_t length) const;
67};
68
69} // namespace wey
70} // namespace canbus
71} // namespace apollo
static const int32_t ID
Definition fbs1_243.h:29
void Parse(const std::uint8_t *bytes, int32_t length, Wey *chassis) const override
Definition fbs1_243.cc:33
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData