Apollo 10.0
自动驾驶开放平台
yaw_rate_rpt_40d.cc
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2 * Copyright 2018 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.
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8 * http://www.apache.org/licenses/LICENSE-2.0
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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
18
19#include "glog/logging.h"
20
23
24namespace apollo {
25namespace canbus {
26namespace lexus {
27
28using ::apollo::drivers::canbus::Byte;
29
31const int32_t Yawraterpt40d::ID = 0x40D;
32
33void Yawraterpt40d::Parse(const std::uint8_t* bytes, int32_t length,
34 Lexus* chassis) const {
35 chassis->mutable_yaw_rate_rpt_40d()->set_yaw_rate(
36 yaw_rate(bytes, length));
37}
38
39// config detail: {'name': 'yaw_rate', 'offset': 0.0, 'precision': 0.01, 'len':
40// 16, 'is_signed_var': True, 'physical_range': '[-327.68|327.67]', 'bit': 7,
41// 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad/s'}
42double Yawraterpt40d::yaw_rate(const std::uint8_t* bytes,
43 int32_t length) const {
44 Byte t0(bytes + 0);
45 int32_t x = t0.get_byte(0, 8);
46
47 Byte t1(bytes + 1);
48 int32_t t = t1.get_byte(0, 8);
49 x <<= 8;
50 x |= t;
51
52 x <<= 16;
53 x >>= 16;
54
55 double ret = x * 0.010000;
56 return ret;
57}
58} // namespace lexus
59} // namespace canbus
60} // namespace apollo
Defines the Byte class.
void Parse(const std::uint8_t *bytes, int32_t length, Lexus *chassis) const override
class register implement
Definition arena_queue.h:37