text: /******************************************************************************
   * Copyright 2018 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.
   *****************************************************************************/
  
  #ifndef MODULES_DRIVERS_RADAR_RACOBIT_RADAR_PROTOCOL_CLUSER_QUALITY_INFO_702_H_
  #define MODULES_DRIVERS_RADAR_RACOBIT_RADAR_PROTOCOL_CLUSER_QUALITY_INFO_702_H_
  
  #include "modules/drivers/canbus/can_comm/protocol_data.h"
  #include "modules/drivers/proto/racobit_radar.pb.h"
  
  namespace apollo {
  namespace drivers {
  namespace racobit_radar {
  
  using apollo::drivers::RacobitRadar;
  
  class ClusterQualityInfo702
      : public apollo::drivers::canbus::ProtocolData<RacobitRadar> {
   public:
    static const uint32_t ID;
    ClusterQualityInfo702();
    void Parse(const std::uint8_t* bytes, int32_t length,
               RacobitRadar* racobit_radar) const override;
  
   private:
    int target_id(const std::uint8_t* bytes, int32_t length) const;
  
    int longitude_dist_rms(const std::uint8_t* bytes, int32_t length) const;
  
    int lateral_dist_rms(const std::uint8_t* bytes, int32_t length) const;
  
    int longitude_vel_rms(const std::uint8_t* bytes, int32_t length) const;
  
    int pdh0(const std::uint8_t* bytes, int32_t length) const;
  
    int ambig_state(const std::uint8_t* bytes, int32_t length) const;
  
    int invalid_state(const std::uint8_t* bytes, int32_t length) const;
  
    int lateral_vel_rms(const std::uint8_t* bytes, int32_t length) const;
  };
  
  }  // namespace racobit_radar
  }  // namespace drivers
  }  // namespace apollo
  
  #endif  // MODULES_CANBUS_VEHICL_ESR_PROTOCOL_CLUSER_QUALITY_INFO_702_H_
  