wheelspeed_report_51e.h

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/******************************************************************************
 * Copyright 2019 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/canbus_vehicle/ch/proto/ch.pb.h"
#include "modules/drivers/canbus/can_comm/protocol_data.h"
 
namespace apollo {
namespace canbus {
namespace ch {
 
class Wheelspeedreport51e : public ::apollo::drivers::canbus::ProtocolData<
                                ::apollo::canbus::Ch> {
 public:
  static const int32_t ID;
  Wheelspeedreport51e();
  void Parse(const std::uint8_t* bytes, int32_t length,
             Ch* chassis) const override;
 
 private:
  // config detail: {'bit': 48, 'description': 'wheel speed rear right',
  // 'is_signed_var': True, 'len': 16, 'name': 'RR', 'offset': 0.0, 'order':
  // 'intel', 'physical_range': '[-327.68|327.67]', 'physical_unit': 'm/s',
  // 'precision': 0.01, 'type': 'double'}
  double rr(const std::uint8_t* bytes, const int32_t length) const;
 
  // config detail: {'bit': 32, 'description': 'wheel speed rear left',
  // 'is_signed_var': True, 'len': 16, 'name': 'RL', 'offset': 0.0, 'order':
  // 'intel', 'physical_range': '[-327.68|327.67]', 'physical_unit': 'm/s',
  // 'precision': 0.01, 'type': 'double'}
  double rl(const std::uint8_t* bytes, const int32_t length) const;
 
  // config detail: {'bit': 16, 'description': 'wheel speed front right',
  // 'is_signed_var': True, 'len': 16, 'name': 'FR', 'offset': 0.0, 'order':
  // 'intel', 'physical_range': '[-327.68|327.67]', 'physical_unit': 'm/s',
  // 'precision': 0.01, 'type': 'double'}
  double fr(const std::uint8_t* bytes, const int32_t length) const;
 
  // config detail: {'bit': 0, 'description': 'wheel speed front left',
  // 'is_signed_var': True, 'len': 16, 'name': 'FL', 'offset': 0.0, 'order':
  // 'intel', 'physical_range': '[-327.68|327.67]', 'physical_unit': 'm/s',
  // 'precision': 0.01, 'type': 'double'}
  double fl(const std::uint8_t* bytes, const int32_t length) const;
};
 
}  // namespace ch
}  // namespace canbus
}  // namespace apollo