Apollo 中添加Radar

装好雷达后

1.在modules/canbus/vehicle/lincoln/protocol 下创建radar的解析类。

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 * Copyright 2017 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
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#include "modules/canbus/vehicle/lincoln/protocol/radar_302.h"

#include "modules/canbus/common/byte.h"

namespace apollo {
namespace canbus {
namespace lincoln {

const int32_t Radar302::ID = 0x302;

void Radar302::Parse(const std::uint8_t* bytes, int32_t length,
                       ChassisDetail* car_status) const {

  Byte frame_0(bytes + 0);
  int32_t b0 = frame_0.get_byte(0, 8);
  Byte frame_1(bytes + 1);
  int32_t b1 = frame_1.get_byte(0, 8);
  Byte frame_2(bytes + 2);
  int32_t b2 = frame_2.get_byte(0, 8);
  Byte frame_3(bytes + 3);
  int32_t b3 = frame_3.get_byte(0, 8);
  Byte frame_4(bytes + 4);
  int32_t b4 = frame_4.get_byte(0, 8);
  car_status->mutable_rtest()->set_rtest_flag(0); 
  car_status->mutable_rtest()->set_b0(b0);
  car_status->mutable_rtest()->set_b1(b1*2);
  car_status->mutable_rtest()->set_b2(b2*2);
  car_status->mutable_rtest()->set_b3(b3*2);
  car_status->mutable_rtest()->set_b4(b4*2);
  if (b0==0x40){
     if (b1<= 0x19 || b2<=0x64 || b3<=0x64 || b4<=0x19)
      {//2m
        car_status->mutable_rtest()->set_rtest_flag(1); 
      }
    }
    else{
        car_status->mutable_rtest()->set_rtest_flag(2); 
    }
}


}  // namespace lincoln
}  // namespace canbus
}  // namespace apollo

这里的逻辑是2m检测。

2.在build中注册

3.在message-manager中注册

4.之后在chassis.proto和chassis_detail.proto中添加标识值

5.在Lincoln_controller 中转换message

 

待补充……