def bus_msg()

in a2d2/src/ros_util.py [0:0]

• 27 lines of code
• 1 McCabe index (conditional complexity)

    def bus_msg(cls, row=None, frame_id=None):
        msg = Bus()

        ts = row[2]
        cls.set_ros_msg_header(ros_msg=msg, ts=ts, frame_id=frame_id)

        # linear accel
        msg.vehicle_kinematics.acceleration.x = row[3]
        msg.vehicle_kinematics.acceleration.y = row[4]
        msg.vehicle_kinematics.acceleration.z = row[5]

        # accelerator control
        msg.control.accelerator_pedal = row[6]
        msg.control.accelerator_pedal_gradient_sign = row[7]

        # angular velocity
        msg.vehicle_kinematics.angular_velocity.omega_x = row[8]
        msg.vehicle_kinematics.angular_velocity.omega_y = row[9]
        msg.vehicle_kinematics.angular_velocity.omega_z = row[10]

        # brake pressure
        msg.control.brake_pressure = row[11]

        # distance pulse
        msg.distance_pulse.front_left = row[12]
        msg.distance_pulse.front_right = row[13]
        msg.distance_pulse.rear_left = row[14]
        msg.distance_pulse.rear_right = row[15]

        # geo location
        msg.geo_loction.latitude = row[16]
        msg.geo_loction.latitude_direction = row[17]
        msg.geo_loction.longitude = row[18]
        msg.geo_loction.longitude_direction = row[19]

        # angular orientation
        msg.vehicle_kinematics.angular_orientation.pitch_angle = row[20]
        msg.vehicle_kinematics.angular_orientation.roll_angle = row[21]

        # steering 
        msg.control.steeering_angle_calculated = row[22]
        msg.control.steering_angle_calculated_sign = row[23]

        # vehicle speed
        msg.vehicle_kinematics.vehicle_speed = row[24]

        return msg