Apollo 10.0
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gps_6f.h
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2 * Copyright 2017 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
22#pragma once
23
24#include "modules/canbus_vehicle/lincoln/proto/lincoln.pb.h"
26
31namespace apollo {
32namespace canbus {
33namespace lincoln {
34
41 ::apollo::canbus::Lincoln> {
42 public:
43 static const int32_t ID;
44
45 /*
46 * @brief parse received data
47 * @param bytes a pointer to the input bytes
48 * @param length the length of the input bytes
49 * @param timestamp the timestamp of input data
50 * @param chassis_detail the parsed chassis_detail
51 */
52 virtual void Parse(const std::uint8_t *bytes, int32_t length,
53 Lincoln *chassis_detail) const;
54
65 double altitude(const std::uint8_t *bytes, int32_t length) const;
66
77 double heading(const std::uint8_t *bytes, int32_t length) const;
78
88 int32_t speed(const std::uint8_t *bytes, int32_t length) const;
89
99 double hdop(const std::uint8_t *bytes, int32_t length) const;
100
110 double vdop(const std::uint8_t *bytes, int32_t length) const;
111
121 int32_t fix_quality(const std::uint8_t *bytes, int32_t length) const;
122
132 int32_t num_satellites(const std::uint8_t *bytes, int32_t length) const;
133};
134
135} // namespace lincoln
136} // namespace canbus
137} // namespace apollo
one of the protocol data of lincoln vehicle
Definition gps_6f.h:41
static const int32_t ID
Definition gps_6f.h:43
double vdop(const std::uint8_t *bytes, int32_t length) const
get vdop from byte array config detail: {'name': 'vdop', 'offset': 0.0, 'precision': 0....
Definition gps_6f.cc:89
int32_t num_satellites(const std::uint8_t *bytes, int32_t length) const
get number of satellites from byte array config detail: {'name': 'numsat', 'offset': 0....
Definition gps_6f.cc:101
int32_t speed(const std::uint8_t *bytes, int32_t length) const
get speed from byte array config detail: {'name': 'speed', 'offset': 0.0, 'precision': 1....
Definition gps_6f.cc:77
double hdop(const std::uint8_t *bytes, int32_t length) const
get hdop from byte array config detail: {'name': 'hdop', 'offset': 0.0, 'precision': 0....
Definition gps_6f.cc:83
virtual void Parse(const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
Definition gps_6f.cc:29
int32_t fix_quality(const std::uint8_t *bytes, int32_t length) const
get fix quality from byte array config detail: {'name': 'quality', 'offset': 0.0, 'precision': 1....
Definition gps_6f.cc:95
double altitude(const std::uint8_t *bytes, int32_t length) const
get altitude from byte array config detail: {'name': 'altitude', 'offset': 0.0, 'precision': 0....
Definition gps_6f.cc:56
double heading(const std::uint8_t *bytes, int32_t length) const
get heading from byte array config detail: {'name': 'heading', 'offset': 0.0, 'precision': 0....
Definition gps_6f.cc:68
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData