18#include "glog/logging.h"
26using ::apollo::drivers::canbus::Byte;
33 chassis->mutable_scu_bcs_2_307()->set_bcs_vehspdvd(
34 bcs_vehspdvd(bytes, length));
35 chassis->mutable_scu_bcs_2_307()->set_bcs_yawrate(
36 bcs_yawrate(bytes, length));
37 chassis->mutable_scu_bcs_2_307()->set_bcs_vehspd(
38 bcs_vehspd(bytes, length));
39 chassis->mutable_scu_bcs_2_307()->set_bcs_vehlongaccel(
40 bcs_vehlongaccel(bytes, length));
41 chassis->mutable_scu_bcs_2_307()->set_bcs_vehlataccel(
42 bcs_vehlataccel(bytes, length));
51 const std::uint8_t* bytes, int32_t length)
const {
53 int32_t x = t0.get_byte(0, 1);
64double Scubcs2307::bcs_yawrate(
const std::uint8_t* bytes,
65 int32_t length)
const {
67 int32_t x = t0.get_byte(0, 8);
70 int32_t t = t1.get_byte(4, 4);
74 double ret = x * 0.002133 + -2.224300;
82double Scubcs2307::bcs_vehspd(
const std::uint8_t* bytes, int32_t length)
const {
84 int32_t x = t0.get_byte(0, 8);
87 int32_t t = t1.get_byte(3, 5);
91 double ret = x * 0.056250 / 3.6;
99double Scubcs2307::bcs_vehlongaccel(
const std::uint8_t* bytes,
100 int32_t length)
const {
102 int32_t x = t0.get_byte(0, 8);
105 int32_t t = t1.get_byte(4, 4);
109 double ret = x * 0.027127 + -21.593000;
117double Scubcs2307::bcs_vehlataccel(
const std::uint8_t* bytes,
118 int32_t length)
const {
120 int32_t x = t0.get_byte(0, 8);
123 int32_t t = t1.get_byte(4, 4);
127 double ret = x * 0.027127 + -21.593000;
void Parse(const std::uint8_t *bytes, int32_t length, Ge3 *chassis) const override