Apollo  6.0
Open source self driving car software
fbs4_235.h
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16 
17 #pragma once
18 
19 #include "modules/canbus/proto/chassis_detail.pb.h"
21 
22 namespace apollo {
23 namespace canbus {
24 namespace wey {
25 
27  ::apollo::canbus::ChassisDetail> {
28  public:
29  static const int32_t ID;
30  Fbs4235();
31  void Parse(const std::uint8_t* bytes, int32_t length,
32  ChassisDetail* chassis) const override;
33 
34  private:
35  // config detail: {'description': 'angle of steering wheel ', 'offset': 0.0,
36  // 'precision': 0.1, 'len': 15, 'name': 'SteerWheelAngle',
37  // 'is_signed_var': False, 'physical_range': '[0|780]', 'bit': 15,
38  // 'type': 'double', 'order': 'motorola', 'physical_unit': '\xa1\xe3'}
39  double steerwheelangle(const std::uint8_t* bytes, const int32_t length) const;
40 
41  // config detail: {'description': 'steering wheel rotation speed',
42  // 'offset': 0.0, 'precision': 0.1, 'len': 15, 'name': 'SteerWheelSpd',
43  // 'is_signed_var': False, 'physical_range': '[0|1016]', 'bit': 39,
44  // 'type': 'double', 'order': 'motorola', 'physical_unit': '\xa1\xe3/s'}
45  double steerwheelspd(const std::uint8_t* bytes, const int32_t length) const;
46 };
47 
48 } // namespace wey
49 } // namespace canbus
50 } // namespace apollo
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
This is the base class of protocol data.
Definition: protocol_data.h:44
void Parse(const std::uint8_t *bytes, int32_t length, ChassisDetail *chassis) const override
static const int32_t ID
Definition: fbs4_235.h:29
The class of ProtocolData.
Definition: fbs4_235.h:26