Apollo
10.0
自动驾驶开放平台
fbs1_243.h
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/******************************************************************************
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* Copyright 2019 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#pragma once
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#include "modules/canbus_vehicle/wey/proto/wey.pb.h"
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#include "
modules/drivers/canbus/can_comm/protocol_data.h
"
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namespace
apollo
{
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namespace
canbus {
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namespace
wey {
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class
Fbs1243
:
public
::apollo::drivers::canbus::ProtocolData
<
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::apollo::canbus::Wey> {
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public
:
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static
const
int32_t
ID
;
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Fbs1243
();
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void
Parse
(
const
std::uint8_t* bytes, int32_t length,
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Wey
* chassis)
const override
;
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private
:
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// config detail: {'description': 'Longitude acceleration', 'offset': -21.592,
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// 'precision': 0.00098, 'len': 16, 'name': 'LongitudeAcce',
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// 'is_signed_var': False, 'physical_range': '[-21.592|21.592]', 'bit': 7,
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// 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
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double
longitudeacce(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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// config detail: {'description': 'Indicates Lateral Acceleration',
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// 'offset': -21.592, 'precision': 0.00098, 'len': 16, 'name': 'LateralAcce',
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// 'is_signed_var': False, 'physical_range': '[-21.592|21.592]', 'bit': 23,
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// 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
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double
lateralacce(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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// config detail: {'description': 'Vehicle yaw rate', 'offset': -2.093,
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// 'precision': 0.00024, 'len': 16, 'name': 'VehDynYawRate',
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// 'is_signed_var': False, 'physical_range': '[-2.093|2.093]', 'bit': 39,
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// 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad/s'}
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double
vehdynyawrate(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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// config detail: {'description': 'Front left wheel speed', 'offset': 0.0,
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// 'precision': 0.05625, 'len': 13, 'name': 'FLWheelSpd',
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// 'is_signed_var': False, 'physical_range': '[0|299.98125]', 'bit': 55,
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// 'type': 'double', 'order': 'motorola', 'physical_unit': 'Km/h'}
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double
flwheelspd(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
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// config detail: {'description': 'Front right wheel Moving direction',
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// 'enum': {0: 'FRWHEELDIRECTION_INVALID', 1: 'FRWHEELDIRECTION_FORWARD',
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// 2: 'FRWHEELDIRECTION_BACKWARD', 3: 'FRWHEELDIRECTION_STOP'},
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// 'precision': 1.0, 'len': 2, 'name': 'FRWheelDirection',
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// 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|3]',
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// 'bit': 57, 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
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Fbs1_243::FrwheeldirectionType
frwheeldirection(
const
std::uint8_t* bytes,
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const
int32_t length)
const
;
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};
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}
// namespace wey
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}
// namespace canbus
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}
// namespace apollo
apollo::canbus::wey::Fbs1243
Definition
fbs1_243.h:27
apollo::canbus::wey::Fbs1243::ID
static const int32_t ID
Definition
fbs1_243.h:29
apollo::canbus::wey::Fbs1243::Fbs1243
Fbs1243()
Definition
fbs1_243.cc:30
apollo::canbus::wey::Fbs1243::Parse
void Parse(const std::uint8_t *bytes, int32_t length, Wey *chassis) const override
Definition
fbs1_243.cc:33
apollo::drivers::canbus::ProtocolData
This is the base class of protocol data.
Definition
protocol_data.h:44
apollo
class register implement
Definition
arena_queue.h:37
protocol_data.h
The class of ProtocolData
apollo::canbus::Fbs1_243::FrwheeldirectionType
FrwheeldirectionType
Definition
wey.proto:384
apollo::canbus::Wey
Definition
wey.proto:588
modules
canbus_vehicle
wey
protocol
fbs1_243.h