ads_drive_command_50.h

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/******************************************************************************
 * Copyright 2020 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.
 *****************************************************************************/
 
#pragma once
 
#include "modules/canbus_vehicle/neolix_edu/proto/neolix_edu.pb.h"
 
#include "modules/drivers/canbus/can_comm/protocol_data.h"
 
namespace apollo {
namespace canbus {
namespace neolix_edu {
 
class Adsdrivecommand50 : public ::apollo::drivers::canbus::ProtocolData<
                              ::apollo::canbus::Neolix_edu> {
 public:
  static const int32_t ID;
 
  Adsdrivecommand50();
 
  uint32_t GetPeriod() const override;
 
  void Parse(const std::uint8_t* bytes, int32_t length,
             Neolix_edu* chassis) const override;
 
  void UpdateData(uint8_t* data) override;
 
  void Reset() override;
 
  // config detail: {'description': '0x0:disable ;0x1:enable', 'offset': 0.0,
  // 'precision': 1.0, 'len': 1, 'name': 'Drive_Enable', 'is_signed_var': False,
  // 'physical_range': '[0|0]', 'bit': 0, 'type': 'bool', 'order': 'motorola',
  // 'physical_unit': ''}
  Adsdrivecommand50* set_drive_enable(bool drive_enable);
 
  // config detail: {'description': '0x0:N ;0x1:D ;0x2:R ;0x3:Reserved ',
  // 'enum': {0: 'AUTO_SHIFT_COMMAND_N', 1: 'AUTO_SHIFT_COMMAND_D', 2:
  // 'AUTO_SHIFT_COMMAND_R', 3: 'AUTO_SHIFT_COMMAND_RESERVED'},
  // 'precision': 1.0, 'len': 2, 'name': 'AUTO_Shift_Command', 'is_signed_var':
  // False, 'offset': 0.0, 'physical_range': '[0|3]', 'bit': 9, 'type': 'enum',
  // 'order': 'motorola', 'physical_unit': ''}
  Adsdrivecommand50* set_auto_shift_command(
      Ads_drive_command_50::Auto_shift_commandType auto_shift_command);
 
  // config detail: {'name': 'AUTO_Drive_Torque', 'offset': -665.0, 'precision':
  // 0.02, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|0]', 'bit':
  // 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
  Adsdrivecommand50* set_auto_drive_torque(double auto_drive_torque);
 
  // config detail: {'name': 'AUTO_DriverCmd_AliveCounter', 'offset': 0.0,
  // 'precision': 1.0, 'len': 4, 'is_signed_var': False, 'physical_range':
  // '[0|0]', 'bit': 51, 'type': 'int', 'order': 'motorola', 'physical_unit':
  // ''}
  Adsdrivecommand50* set_auto_drivercmd_alivecounter(
      int auto_drivercmd_alivecounter);
 
  // config detail: {'name': 'AUTO_DriverCmd_CheckSum', 'offset': 0.0,
  // 'precision': 1.0, 'len': 8, 'is_signed_var': False, 'physical_range':
  // '[0|0]', 'bit': 63, 'type': 'int', 'order': 'motorola', 'physical_unit':
  // ''}
  Adsdrivecommand50* set_auto_drivercmd_checksum(int auto_drivercmd_checksum);
 
 private:
  // config detail: {'description': '0x0:disable ;0x1:enable', 'offset': 0.0,
  // 'precision': 1.0, 'len': 1, 'name': 'Drive_Enable', 'is_signed_var': False,
  // 'physical_range': '[0|0]', 'bit': 0, 'type': 'bool', 'order': 'motorola',
  // 'physical_unit': ''}
  void set_p_drive_enable(uint8_t* data, bool drive_enable);
 
  // config detail: {'description': '0x0:N ;0x1:D ;0x2:R ;0x3:Reserved ',
  // 'enum': {0: 'AUTO_SHIFT_COMMAND_N', 1: 'AUTO_SHIFT_COMMAND_D', 2:
  // 'AUTO_SHIFT_COMMAND_R', 3: 'AUTO_SHIFT_COMMAND_RESERVED'},
  // 'precision': 1.0, 'len': 2, 'name': 'AUTO_Shift_Command', 'is_signed_var':
  // False, 'offset': 0.0, 'physical_range': '[0|3]', 'bit': 9, 'type': 'enum',
  // 'order': 'motorola', 'physical_unit': ''}
  void set_p_auto_shift_command(
      uint8_t* data,
      Ads_drive_command_50::Auto_shift_commandType auto_shift_command);
 
  // config detail: {'name': 'AUTO_Drive_Torque', 'offset': -665.0, 'precision':
  // 0.02, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|0]', 'bit':
  // 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
  void set_p_auto_drive_torque(uint8_t* data, double auto_drive_torque);
 
  // config detail: {'name': 'AUTO_DriverCmd_AliveCounter', 'offset': 0.0,
  // 'precision': 1.0, 'len': 4, 'is_signed_var': False, 'physical_range':
  // '[0|0]', 'bit': 51, 'type': 'int', 'order': 'motorola', 'physical_unit':
  // ''}
  void set_p_auto_drivercmd_alivecounter(uint8_t* data,
                                         int auto_drivercmd_alivecounter);
 
  // config detail: {'name': 'AUTO_DriverCmd_CheckSum', 'offset': 0.0,
  // 'precision': 1.0, 'len': 8, 'is_signed_var': False, 'physical_range':
  // '[0|0]', 'bit': 63, 'type': 'int', 'order': 'motorola', 'physical_unit':
  // ''}
  void set_p_auto_drivercmd_checksum(uint8_t* data,
                                     int auto_drivercmd_checksum);
 
  bool drive_enable(const std::uint8_t* bytes, const int32_t length) const;
 
  Ads_drive_command_50::Auto_shift_commandType auto_shift_command(
      const std::uint8_t* bytes, int32_t length) const;
 
  double auto_drive_torque(const std::uint8_t* bytes, int32_t length) const;
 
 private:
  bool drive_enable_;
  Ads_drive_command_50::Auto_shift_commandType auto_shift_command_;
  double auto_drive_torque_;
  int auto_drivercmd_alivecounter_;
  int auto_drivercmd_checksum_;
};
 
}  // namespace neolix_edu
}  // namespace canbus
}  // namespace apollo