ecu_status_2_516.cc

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/******************************************************************************
 * Copyright 2019 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.
 *****************************************************************************/
 
#include "modules/canbus_vehicle/ch/protocol/ecu_status_2_516.h"
#include "glog/logging.h"
#include "modules/drivers/canbus/common/byte.h"
#include "modules/drivers/canbus/common/canbus_consts.h"
 
namespace apollo {
namespace canbus {
namespace ch {
 
using ::apollo::drivers::canbus::Byte;
 
Ecustatus2516::Ecustatus2516() {}
const int32_t Ecustatus2516::ID = 0x516;
 
void Ecustatus2516::Parse(const std::uint8_t* bytes, int32_t length,
                          Ch* chassis) const {
  chassis->mutable_ecu_status_2_516()->set_battery_soc(
      battery_soc(bytes, length));
  chassis->mutable_ecu_status_2_516()->set_battery_capacity(
      battery_capacity(bytes, length));
  chassis->mutable_ecu_status_2_516()->set_battery_voltage(
      battery_voltage(bytes, length));
  chassis->mutable_ecu_status_2_516()->set_battery_current(
      battery_current(bytes, length));
  chassis->mutable_ecu_status_2_516()->set_battery_temperature(
      battery_temperature(bytes, length));
  chassis->mutable_ecu_status_2_516()->set_is_battery_soc_low(
      battery_soc(bytes, length) <= 15);
}
 
// config detail: {'bit': 0, 'description': 'Percentage of battery remaining
// (BMS status)', 'is_signed_var': False, 'len': 8, 'name': 'battery_soc',
// 'offset': 0.0, 'order': 'intel', 'physical_range': '[0|100]',
// 'physical_unit': '%', 'precision': 1.0, 'type': 'int'}
int Ecustatus2516::battery_soc(const std::uint8_t* bytes,
                               int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(0, 8);
 
  int ret = x;
  return ret;
}
 
// config detail: {'bit': 8, 'description': 'Battery full capacity (BMS
// status)', 'is_signed_var': False, 'len': 8, 'name': 'battery_capacity',
// 'offset': 0.0, 'order': 'intel', 'physical_range': '[0|100]',
// 'physical_unit': 'Ah', 'precision': 1.0, 'type': 'int'}
int Ecustatus2516::battery_capacity(const std::uint8_t* bytes,
                                    int32_t length) const {
  Byte t0(bytes + 1);
  int32_t x = t0.get_byte(0, 8);
 
  int ret = x;
  return ret;
}
 
// config detail: {'bit': 16, 'description': 'Current battery voltage (BMS
// status)', 'is_signed_var': False, 'len': 16, 'name': 'battery_voltage',
// 'offset': 0.0, 'order': 'intel', 'physical_range': '[0|80]', 'physical_unit':
// 'V', 'precision': 0.1, 'type': 'double'}
double Ecustatus2516::battery_voltage(const std::uint8_t* bytes,
                                      int32_t length) const {
  Byte t0(bytes + 3);
  int32_t x = t0.get_byte(0, 8);
 
  Byte t1(bytes + 2);
  int32_t t = t1.get_byte(0, 8);
  x <<= 8;
  x |= t;
 
  double ret = x * 0.100000;
  return ret;
}
 
// config detail: {'bit': 32, 'description': 'Current battery current (BMS
// status)', 'is_signed_var': True, 'len': 16, 'name': 'battery_current',
// 'offset': 0.0, 'order': 'intel', 'physical_range': '[-60|60]',
// 'physical_unit': 'A', 'precision': 0.1, 'type': 'double'}
double Ecustatus2516::battery_current(const std::uint8_t* bytes,
                                      int32_t length) const {
  Byte t0(bytes + 5);
  int32_t x = t0.get_byte(0, 8);
 
  Byte t1(bytes + 4);
  int32_t t = t1.get_byte(0, 8);
  x <<= 8;
  x |= t;
 
  x <<= 16;
  x >>= 16;
 
  double ret = x * 0.100000;
  return ret;
}
 
// config detail: {'bit': 48, 'description': 'Current battery temperature (BMS
// status)', 'is_signed_var': True, 'len': 16, 'name': 'battery_temperature',
// 'offset': 0.0, 'order': 'intel', 'physical_range': '[-40|110]',
// 'physical_unit': '℃', 'precision': 1.0, 'type': 'int'}
int Ecustatus2516::battery_temperature(const std::uint8_t* bytes,
                                       int32_t length) const {
  Byte t0(bytes + 7);
  int32_t x = t0.get_byte(0, 8);
 
  Byte t1(bytes + 6);
  int32_t t = t1.get_byte(0, 8);
  x <<= 8;
  x |= t;
 
  x <<= 16;
  x >>= 16;
 
  int ret = x;
  return ret;
}
}  // namespace ch
}  // namespace canbus
}  // namespace apollo