Apollo
10.0
自动驾驶开放平台
scu_bcs_2_307.h
浏览该文件的文档.
1
/******************************************************************************
2
* Copyright 2019 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
17
#pragma once
18
19
#include "modules/canbus_vehicle/ge3/proto/ge3.pb.h"
20
#include "
modules/drivers/canbus/can_comm/protocol_data.h
"
21
22
namespace
apollo
{
23
namespace
canbus {
24
namespace
ge3 {
25
26
class
Scubcs2307
:
public
::apollo::drivers::canbus::ProtocolData
<
27
::apollo::canbus::Ge3> {
28
public
:
29
static
const
int32_t
ID
;
30
Scubcs2307
();
31
void
Parse
(
const
std::uint8_t* bytes, int32_t length,
32
Ge3
* chassis)
const override
;
33
34
private
:
35
// config detail: {'description': 'Vehicle speed valid data', 'enum': {0:
36
// 'BCS_VEHSPDVD_INVALID', 1: 'BCS_VEHSPDVD_VALID'}, 'precision': 1.0, 'len':
37
// 1, 'name': 'BCS_VehSpdVD', 'is_signed_var': False, 'offset': 0.0,
38
// 'physical_range': '[0|1]', 'bit': 40, 'type': 'enum', 'order': 'motorola',
39
// 'physical_unit': '-'}
40
Scu_bcs_2_307::Bcs_vehspdvdType
bcs_vehspdvd(
const
std::uint8_t* bytes,
41
const
int32_t length)
const
;
42
43
// config detail: {'description': 'Yaw rate', 'offset': -2.2243, 'precision':
44
// 0.0021326, 'len': 12, 'name': 'BCS_YawRate', 'is_signed_var': False,
45
// 'physical_range': '[-2.2243|2.2243]', 'bit': 55, 'type': 'double', 'order':
46
// 'motorola', 'physical_unit': 'rad/s'}
47
double
bcs_yawrate(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
48
49
// config detail: {'description': 'Vehicle speed', 'offset': 0.0, 'precision':
50
// 0.05625, 'len': 13, 'name': 'BCS_VehSpd', 'is_signed_var': False,
51
// 'physical_range': '[0|240]', 'bit': 39, 'type': 'double', 'order':
52
// 'motorola', 'physical_unit': 'km/h'}
53
double
bcs_vehspd(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
54
55
// config detail: {'description': 'Vehicle longitudinal acceleration',
56
// 'offset': -21.593, 'precision': 0.027126736, 'len': 12, 'name':
57
// 'BCS_VehLongAccel', 'is_signed_var': False, 'physical_range':
58
// '[-21.593|21.593]', 'bit': 23, 'type': 'double', 'order': 'motorola',
59
// 'physical_unit': 'm/s^2'}
60
double
bcs_vehlongaccel(
const
std::uint8_t* bytes,
61
const
int32_t length)
const
;
62
63
// config detail: {'description': 'Vehicle lateral acceleration', 'offset':
64
// -21.593, 'precision': 0.027126736, 'len': 12, 'name': 'BCS_VehLatAccel',
65
// 'is_signed_var': False, 'physical_range': '[-21.593|21.593]', 'bit': 7,
66
// 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
67
double
bcs_vehlataccel(
const
std::uint8_t* bytes,
const
int32_t length)
const
;
68
};
69
70
}
// namespace ge3
71
}
// namespace canbus
72
}
// namespace apollo
apollo::canbus::ge3::Scubcs2307
Definition
scu_bcs_2_307.h:27
apollo::canbus::ge3::Scubcs2307::ID
static const int32_t ID
Definition
scu_bcs_2_307.h:29
apollo::canbus::ge3::Scubcs2307::Parse
void Parse(const std::uint8_t *bytes, int32_t length, Ge3 *chassis) const override
Definition
scu_bcs_2_307.cc:31
apollo::canbus::ge3::Scubcs2307::Scubcs2307
Scubcs2307()
Definition
scu_bcs_2_307.cc:28
apollo::drivers::canbus::ProtocolData
This is the base class of protocol data.
Definition
protocol_data.h:44
apollo
class register implement
Definition
arena_queue.h:37
protocol_data.h
The class of ProtocolData
apollo::canbus::Ge3
Definition
ge3.proto:615
apollo::canbus::Scu_bcs_2_307::Bcs_vehspdvdType
Bcs_vehspdvdType
Definition
ge3.proto:437
modules
canbus_vehicle
ge3
protocol
scu_bcs_2_307.h