Apollo
10.0
自动驾驶开放平台
yaw_rate_rpt_40d.cc
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/******************************************************************************
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* Copyright 2018 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#include "
modules/canbus_vehicle/lexus/protocol/yaw_rate_rpt_40d.h
"
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#include "glog/logging.h"
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#include "
modules/drivers/canbus/common/byte.h
"
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#include "
modules/drivers/canbus/common/canbus_consts.h
"
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namespace
apollo
{
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namespace
canbus {
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namespace
lexus {
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using ::apollo::drivers::canbus::Byte;
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Yawraterpt40d::Yawraterpt40d
() {}
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const
int32_t
Yawraterpt40d::ID
= 0x40D;
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void
Yawraterpt40d::Parse
(
const
std::uint8_t* bytes, int32_t length,
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Lexus
* chassis)
const
{
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chassis->mutable_yaw_rate_rpt_40d()->set_yaw_rate(
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yaw_rate(bytes, length));
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}
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// config detail: {'name': 'yaw_rate', 'offset': 0.0, 'precision': 0.01, 'len':
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// 16, 'is_signed_var': True, 'physical_range': '[-327.68|327.67]', 'bit': 7,
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// 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad/s'}
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double
Yawraterpt40d::yaw_rate(
const
std::uint8_t* bytes,
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int32_t length)
const
{
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Byte t0(bytes + 0);
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int32_t x = t0.get_byte(0, 8);
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Byte t1(bytes + 1);
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int32_t t = t1.get_byte(0, 8);
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x <<= 8;
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x |= t;
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x <<= 16;
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x >>= 16;
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double
ret = x * 0.010000;
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return
ret;
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}
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}
// namespace lexus
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}
// namespace canbus
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}
// namespace apollo
byte.h
Defines the Byte class.
canbus_consts.h
apollo::canbus::lexus::Yawraterpt40d::ID
static const int32_t ID
Definition
yaw_rate_rpt_40d.h:29
apollo::canbus::lexus::Yawraterpt40d::Parse
void Parse(const std::uint8_t *bytes, int32_t length, Lexus *chassis) const override
Definition
yaw_rate_rpt_40d.cc:33
apollo::canbus::lexus::Yawraterpt40d::Yawraterpt40d
Yawraterpt40d()
Definition
yaw_rate_rpt_40d.cc:30
apollo
class register implement
Definition
arena_queue.h:37
apollo::canbus::Lexus
Definition
lexus.proto:1278
yaw_rate_rpt_40d.h
modules
canbus_vehicle
lexus
protocol
yaw_rate_rpt_40d.cc