radar_config_200.h

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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.
 *****************************************************************************/
 
#pragma once
 
#include "modules/common_msgs/sensor_msgs/nano_radar.pb.h"
#include "modules/drivers/radar/nano_radar/proto/nano_radar_conf.pb.h"
 
#include "modules/drivers/canbus/can_comm/protocol_data.h"
 
namespace apollo {
namespace drivers {
namespace nano_radar {
 
using apollo::drivers::NanoRadar;
 
class RadarConfig200 : public apollo::drivers::canbus::ProtocolData<NanoRadar> {
 public:
  static const uint32_t ID;
  RadarConfig200();
  ~RadarConfig200();
  uint32_t GetPeriod() const override;
 
  void UpdateData(uint8_t* data) override;
 
  void Reset() override;
 
  RadarConfig200* set_max_distance_valid(bool valid);
  RadarConfig200* set_sensor_id_valid(bool valid);
  RadarConfig200* set_radar_power_valid(bool valid);
  RadarConfig200* set_output_type_valid(bool valid);
  RadarConfig200* set_send_quality_valid(bool valid);
  RadarConfig200* set_send_ext_info_valid(bool valid);
  RadarConfig200* set_sort_index_valid(bool valid);
  RadarConfig200* set_store_in_nvm_valid(bool valid);
  RadarConfig200* set_ctrl_relay_valid(bool valid);
  RadarConfig200* set_rcs_threshold_valid(bool valid);
  RadarConfig200* set_baudrate_valid(bool valid);
 
  RadarConfig200* set_max_distance(uint16_t data);
  RadarConfig200* set_sensor_id(uint8_t data);
  RadarConfig200* set_output_type(NanoRadarState_201::OutputType type);
  RadarConfig200* set_radar_power(uint8_t data);
  RadarConfig200* set_ctrl_relay(uint8_t data);
  RadarConfig200* set_send_ext_info(uint8_t data);
  RadarConfig200* set_send_quality(uint8_t data);
  RadarConfig200* set_sort_index(uint8_t data);
  RadarConfig200* set_store_in_nvm(uint8_t data);
  RadarConfig200* set_rcs_threshold(
      NanoRadarState_201::RcsThreshold rcs_theshold);
  RadarConfig200* set_baudrate(uint8_t data);
  RadarConfig200* set_radar_conf(RadarConf radar_conf);
  RadarConf radar_conf();
 
  void set_max_distance_valid_p(uint8_t* data, bool valid);
  void set_sensor_id_valid_p(uint8_t* data, bool valid);
  void set_radar_power_valid_p(uint8_t* data, bool valid);
  void set_output_type_valid_p(uint8_t* data, bool valid);
  void set_send_quality_valid_p(uint8_t* data, bool valid);
  void set_send_ext_info_valid_p(uint8_t* data, bool valid);
  void set_sort_index_valid_p(uint8_t* data, bool valid);
  void set_store_in_nvm_valid_p(uint8_t* data, bool valid);
  void set_ctrl_relay_valid_p(uint8_t* data, bool valid);
  void set_rcs_threshold_valid_p(uint8_t* data, bool valid);
  void set_baudrate_valid_p(uint8_t* data, bool valid);
 
  void set_max_distance_p(uint8_t* data, uint16_t value);
  void set_sensor_id_p(uint8_t* data, uint8_t value);
  void set_output_type_p(uint8_t* data, NanoRadarState_201::OutputType type);
  void set_radar_power_p(uint8_t* data, uint8_t value);
  void set_ctrl_relay_p(uint8_t* data, uint8_t value);
  void set_send_ext_info_p(uint8_t* data, uint8_t value);
  void set_send_quality_p(uint8_t* data, uint8_t value);
  void set_sort_index_p(uint8_t* data, uint8_t value);
  void set_store_in_nvm_p(uint8_t* data, uint8_t value);
  void set_rcs_threshold_p(uint8_t* data,
                           NanoRadarState_201::RcsThreshold rcs_theshold);
  void set_baudrate_p(uint8_t* data, uint8_t value);
 
 private:
  RadarConf radar_conf_;
};
 
}  // namespace nano_radar
}  // namespace drivers
}  // namespace apollo