region_state_402.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 "math.h"
#include "modules/drivers/radar/nano_radar/protocol/region_state_402.h"
 
#include "glog/logging.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;
 
CollisionDetectionRegionState402::CollisionDetectionRegionState402() {}
const uint32_t CollisionDetectionRegionState402::ID = 0x402;
 
void CollisionDetectionRegionState402::Parse(const std::uint8_t* bytes,
                                             int32_t length,
                                             NanoRadar* nano_radar) const {
  auto state = nano_radar->mutable_radar_region_state();
  state->set_region_id(region_id(bytes, length));
  state->set_region_max_output_number(region_max_output_number(bytes, length));
  state->set_point1_longitude(point1_longitude(bytes, length));
  state->set_point1_lateral(floor(point1_lateral(bytes, length)));
  state->set_point2_longitude(point2_longitude(bytes, length));
  state->set_point2_lateral(floor(point2_lateral(bytes, length)));
}
 
int CollisionDetectionRegionState402::region_id(const std::uint8_t* bytes,
                                                int32_t length) const {
  Byte t0(bytes);
  uint32_t x = t0.get_byte(6, 2);
 
  int ret = x;
  return ret;
}
 
int CollisionDetectionRegionState402::region_max_output_number(
    const std::uint8_t* bytes, int32_t length) const {
  Byte t0(bytes);
  uint32_t x = t0.get_byte(0, 5);
 
  int ret = x;
  return ret;
}
 
double CollisionDetectionRegionState402::point1_longitude(
    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 * REGION_POINT_RES + REGION_POINT_LONG_MIN;
  return ret;
}
 
double CollisionDetectionRegionState402::point1_lateral(
    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 * REGION_POINT_RES + REGION_POINT_LAT_MIN;
  return ret;
}
 
double CollisionDetectionRegionState402::point2_longitude(
    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(3, 5);
 
  x <<= 5;
  x |= t;
 
  double ret = x * REGION_POINT_RES + REGION_POINT_LONG_MIN;
  return ret;
}
 
double CollisionDetectionRegionState402::point2_lateral(
    const std::uint8_t* bytes, int32_t length) const {
  Byte t0(bytes + 5);
  int32_t x = t0.get_byte(0, 3);
 
  Byte t1(bytes + 6);
  int32_t t = t1.get_byte(0, 8);
 
  x <<= 8;
  x |= t;
 
  double ret = x * REGION_POINT_RES + REGION_POINT_LAT_MIN;
  return ret;
}
 
}  // namespace nano_radar
}  // namespace drivers
}  // namespace apollo