32 Lincoln *chassis_detail)
const {
36 chassis_detail->mutable_vehicle_spd()->set_wheel_spd_fl(
37 front_left_wheel_speed(bytes, length));
38 chassis_detail->mutable_vehicle_spd()->set_is_wheel_spd_fl_valid(
true);
39 chassis_detail->mutable_vehicle_spd()->set_wheel_direction_fl(
40 wheel_direction_convert(front_left_wheel_speed(bytes, length)));
42 chassis_detail->mutable_vehicle_spd()->set_wheel_spd_fr(
43 front_right_wheel_speed(bytes, length));
44 chassis_detail->mutable_vehicle_spd()->set_is_wheel_spd_fr_valid(
true);
45 chassis_detail->mutable_vehicle_spd()->set_wheel_direction_fr(
46 wheel_direction_convert(front_right_wheel_speed(bytes, length)));
48 chassis_detail->mutable_vehicle_spd()->set_wheel_spd_rl(
49 rear_left_wheel_speed(bytes, length));
50 chassis_detail->mutable_vehicle_spd()->set_is_wheel_spd_rl_valid(
true);
51 chassis_detail->mutable_vehicle_spd()->set_wheel_direction_rl(
52 wheel_direction_convert(rear_left_wheel_speed(bytes, length)));
54 chassis_detail->mutable_vehicle_spd()->set_wheel_spd_rr(
55 rear_right_wheel_speed(bytes, length));
56 chassis_detail->mutable_vehicle_spd()->set_is_wheel_spd_rr_valid(
true);
57 chassis_detail->mutable_vehicle_spd()->set_wheel_direction_rr(
58 wheel_direction_convert(rear_right_wheel_speed(bytes, length)));
67 const struct timeval ×tamp,
68 Lincoln *chassis_detail)
const {
69 chassis_detail->mutable_vehicle_spd()->set_timestamp_sec(
70 static_cast<double>(timestamp.tv_sec) +
71 static_cast<double>(timestamp.tv_usec) / 1000000.0);
72 Parse(bytes, length, chassis_detail);