object_general_info_60b.cc

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/******************************************************************************
 * Copyright 2021 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/nano_radar/protocol/object_general_info_60b.h"
 
#include "glog/logging.h"
 
#include "cyber/time/time.h"
#include "modules/drivers/canbus/common/byte.h"
#include "modules/drivers/canbus/common/canbus_consts.h"
#include "modules/drivers/radar/nano_radar/protocol/const_vars.h"
 
namespace apollo {
namespace drivers {
namespace nano_radar {
 
using apollo::drivers::canbus::Byte;
 
ObjectGeneralInfo60B::ObjectGeneralInfo60B() {}
const uint32_t ObjectGeneralInfo60B::ID = 0x60B;
 
void ObjectGeneralInfo60B::Parse(const std::uint8_t* bytes, int32_t length,
                                 NanoRadar* nano_radar) const {
  int obj_id = object_id(bytes, length);
  auto conti_obs = nano_radar->add_contiobs();
  conti_obs->set_clusterortrack(false);
  conti_obs->set_obstacle_id(obj_id);
  conti_obs->set_longitude_dist(longitude_dist(bytes, length));
  conti_obs->set_lateral_dist(lateral_dist(bytes, length));
  conti_obs->set_longitude_vel(longitude_vel(bytes, length));
  conti_obs->set_lateral_vel(lateral_vel(bytes, length));
  conti_obs->set_rcs(rcs(bytes, length));
  conti_obs->set_dynprop(dynprop(bytes, length));
  // double long_dist = longitude_dist(bytes, length);
  // double lat_dist = lateral_dist(bytes, length);
  double obs_range = obstacle_range(longitude_dist(bytes, length),
                                    lateral_dist(bytes, length));
  double obs_angle = obstacle_angle(longitude_dist(bytes, length),
                                    lateral_dist(bytes, length));
  double obs_vel = obstacle_velocity(longitude_vel(bytes, length),
                                     lateral_vel(bytes, length), obs_angle);
  // conti_obs->set_obstacle_range(obstacle_range(longitude_dist(bytes,
  // length),lateral_dist(bytes, length))); double obs_angle =
  // obstacle_angle(longitude_dist(),lateral_dist()); double long_vel =
  // longitude_vel(bytes, length); double lat_vel = lateral_vel(bytes, length);
  // double obs_vel = obstacle_velocity(longitude_dist(),lat_dist,obs_angle);
  conti_obs->set_obstacle_range(obs_range);
  conti_obs->set_obstacle_vel(obs_vel);
  conti_obs->set_obstacle_angle(obs_angle);
  double timestamp = apollo::cyber::Time::Now().ToSecond();
  auto header = conti_obs->mutable_header();
  header->CopyFrom(nano_radar->header());
  header->set_timestamp_sec(timestamp);
}
 
int ObjectGeneralInfo60B::object_id(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;
}
 
double ObjectGeneralInfo60B::longitude_dist(const std::uint8_t* bytes,
                                            int32_t length) const {
  Byte t0(bytes + 1);
  int32_t x = t0.get_byte(0, 8);
 
  Byte t1(bytes + 2);
  int32_t t = t1.get_byte(3, 5);
 
  x <<= 5;
  x |= t;
 
  double ret = x * OBJECT_DIST_RES + OBJECT_DIST_LONG_MIN;
  return ret;
}
 
double ObjectGeneralInfo60B::lateral_dist(const std::uint8_t* bytes,
                                          int32_t length) const {
  Byte t0(bytes + 2);
  int32_t x = t0.get_byte(0, 3);
 
  Byte t1(bytes + 3);
  int32_t t = t1.get_byte(0, 8);
 
  x <<= 8;
  x |= t;
 
  double ret = x * OBJECT_DIST_RES + OBJECT_DIST_LAT_MIN;
  return ret;
}
 
double ObjectGeneralInfo60B::longitude_vel(const std::uint8_t* bytes,
                                           int32_t length) const {
  Byte t0(bytes + 4);
  int32_t x = t0.get_byte(0, 8);
  Byte t1(bytes + 5);
  int32_t t = t1.get_byte(6, 2);
 
  x <<= 2;
  x |= t;
  double ret = x * OBJECT_VREL_RES + OBJECT_VREL_LONG_MIN;
  return ret;
}
 
double ObjectGeneralInfo60B::lateral_vel(const std::uint8_t* bytes,
                                         int32_t length) const {
  Byte t0(bytes + 5);
  int32_t x = t0.get_byte(0, 6);
 
  Byte t1(bytes + 6);
  int32_t t = t1.get_byte(5, 3);
 
  x <<= 3;
  x |= t;
 
  double ret = x * OBJECT_VREL_RES + OBJECT_VREL_LAT_MIN;
  return ret;
}
 
double ObjectGeneralInfo60B::rcs(const std::uint8_t* bytes,
                                 int32_t length) const {
  Byte t0(bytes + 7);
  int32_t x = t0.get_byte(0, 8);
 
  double ret = x * OBJECT_RCS_RES + OBJECT_RCS_MIN;
  return ret;
}
 
int ObjectGeneralInfo60B::dynprop(const std::uint8_t* bytes,
                                  int32_t length) const {
  Byte t0(bytes + 6);
  int32_t x = t0.get_byte(0, 3);
 
  int ret = x;
  return ret;
}
 
double ObjectGeneralInfo60B::obstacle_range(double long_dist,
                                            double lat_dist) const {
  double ret = sqrt(long_dist * long_dist + lat_dist * lat_dist);
 
  return ret;
}
 
double ObjectGeneralInfo60B::obstacle_velocity(double long_vel, double lat_vel,
                                               double obj_angle) const {
  double ret = long_vel * cos(obj_angle) + lat_vel * sin(obj_angle);
 
  return ret;
}
 
double ObjectGeneralInfo60B::obstacle_angle(double long_dist,
                                            double lat_dist) const {
  double angle = atan(lat_dist / long_dist);
 
  double ret = angle / M_PI * 180;
  return ret;
}
 
}  // namespace nano_radar
}  // namespace drivers
}  // namespace apollo