gem_controller.cc

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/******************************************************************************
 * 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.
 *****************************************************************************/
 
#include "modules/canbus_vehicle/gem/gem_controller.h"
 
#include <cmath>
 
#include "modules/canbus_vehicle/gem/proto/gem.pb.h"
#include "modules/common_msgs/basic_msgs/vehicle_signal.pb.h"
#include "cyber/common/log.h"
#include "cyber/time/time.h"
#include "modules/canbus/vehicle/vehicle_controller.h"
#include "modules/canbus_vehicle/gem/gem_message_manager.h"
#include "modules/drivers/canbus/can_comm/can_sender.h"
#include "modules/drivers/canbus/can_comm/protocol_data.h"
 
namespace apollo {
namespace canbus {
namespace gem {
 
// using ::apollo::canbus::gem;
using ::apollo::common::ErrorCode;
using ::apollo::common::VehicleSignal;
using ::apollo::control::ControlCommand;
using ::apollo::drivers::canbus::ProtocolData;
 
namespace {
 
const int32_t kMaxFailAttempt = 10;
const int32_t CHECK_RESPONSE_STEER_UNIT_FLAG = 1;
const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;
 
}  // namespace
 
ErrorCode GemController::Init(
    const VehicleParameter& params,
    CanSender<::apollo::canbus::Gem>* const can_sender,
    MessageManager<::apollo::canbus::Gem>* const message_manager) {
  if (is_initialized_) {
    AINFO << "GemController has already been initialized.";
    return ErrorCode::CANBUS_ERROR;
  }
  vehicle_params_.CopyFrom(
      common::VehicleConfigHelper::Instance()->GetConfig().vehicle_param());
  params_.CopyFrom(params);
  if (!params_.has_driving_mode()) {
    AERROR << "Vehicle conf pb not set driving_mode.";
    return ErrorCode::CANBUS_ERROR;
  }
 
  if (can_sender == nullptr) {
    AERROR << "Canbus sender is null.";
    return ErrorCode::CANBUS_ERROR;
  }
  can_sender_ = can_sender;
 
  if (message_manager == nullptr) {
    AERROR << "Protocol manager is null.";
    return ErrorCode::CANBUS_ERROR;
  }
  message_manager_ = message_manager;
 
  // Sender part
  brake_cmd_6b_ = dynamic_cast<Brakecmd6b*>(
      message_manager_->GetMutableProtocolDataById(Brakecmd6b::ID));
  if (brake_cmd_6b_ == nullptr) {
    AERROR << "Brakecmd6b does not exist in the GemMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  accel_cmd_67_ = dynamic_cast<Accelcmd67*>(
      message_manager_->GetMutableProtocolDataById(Accelcmd67::ID));
  if (accel_cmd_67_ == nullptr) {
    AERROR << "Accelcmd67 does not exist in the GemMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  steering_cmd_6d_ = dynamic_cast<Steeringcmd6d*>(
      message_manager_->GetMutableProtocolDataById(Steeringcmd6d::ID));
  if (steering_cmd_6d_ == nullptr) {
    AERROR << "Steeringcmd6d does not exist in the GemMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  shift_cmd_65_ = dynamic_cast<Shiftcmd65*>(
      message_manager_->GetMutableProtocolDataById(Shiftcmd65::ID));
  if (shift_cmd_65_ == nullptr) {
    AERROR << "Shiftcmd65 does not exist in the GemMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
  turn_cmd_63_ = dynamic_cast<Turncmd63*>(
      message_manager_->GetMutableProtocolDataById(Turncmd63::ID));
  if (turn_cmd_63_ == nullptr) {
    AERROR << "Turncmd63 does not exist in the GemMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
  global_cmd_69_ = dynamic_cast<Globalcmd69*>(
      message_manager_->GetMutableProtocolDataById(Globalcmd69::ID));
  if (global_cmd_69_ == nullptr) {
    AERROR << "Turncmd63 does not exist in the GemMessageManager!";
    return ErrorCode::CANBUS_ERROR;
  }
 
  can_sender_->AddMessage(Brakecmd6b::ID, brake_cmd_6b_, false);
  can_sender_->AddMessage(Accelcmd67::ID, accel_cmd_67_, false);
  can_sender_->AddMessage(Steeringcmd6d::ID, steering_cmd_6d_, false);
  can_sender_->AddMessage(Shiftcmd65::ID, shift_cmd_65_, false);
  can_sender_->AddMessage(Turncmd63::ID, turn_cmd_63_, false);
  can_sender_->AddMessage(Globalcmd69::ID, global_cmd_69_, false);
 
  // Need to sleep to ensure all messages received.
  AINFO << "GemController is initialized.";
 
  is_initialized_ = true;
  return ErrorCode::OK;
}
 
GemController::~GemController() {}
 
bool GemController::Start() {
  if (!is_initialized_) {
    AERROR << "GemController has NOT been initiated.";
    return false;
  }
  const auto& update_func = [this] { SecurityDogThreadFunc(); };
  thread_.reset(new std::thread(update_func));
 
  return true;
}
 
void GemController::Stop() {
  if (!is_initialized_) {
    AERROR << "GemController stops or starts improperly!";
    return;
  }
 
  if (thread_ != nullptr && thread_->joinable()) {
    thread_->join();
    thread_.reset();
    AINFO << "GemController stopped.";
  }
}
 
Chassis GemController::chassis() {
  chassis_.Clear();
 
  Gem chassis_detail;
  message_manager_->GetSensorData(&chassis_detail);
 
  // 21, 22, previously 1, 2
  if (driving_mode() == Chassis::EMERGENCY_MODE) {
    set_chassis_error_code(Chassis::NO_ERROR);
  }
 
  chassis_.set_driving_mode(driving_mode());
  chassis_.set_error_code(chassis_error_code());
 
  // 3
  chassis_.set_engine_started(true);
 
  // 5
  if (chassis_detail.has_vehicle_speed_rpt_6f() &&
      chassis_detail.vehicle_speed_rpt_6f().has_vehicle_speed()) {
    chassis_.set_speed_mps(static_cast<float>(
        chassis_detail.vehicle_speed_rpt_6f().vehicle_speed()));
  } else {
    chassis_.set_speed_mps(0);
  }
 
  // 7
  chassis_.set_fuel_range_m(0);
  // 8
  if (chassis_detail.has_accel_rpt_68() &&
      chassis_detail.accel_rpt_68().has_output_value()) {
    chassis_.set_throttle_percentage(
        static_cast<float>(chassis_detail.accel_rpt_68().output_value()));
  } else {
    chassis_.set_throttle_percentage(0);
  }
  // 9
  if (chassis_detail.has_brake_rpt_6c() &&
      chassis_detail.brake_rpt_6c().has_output_value()) {
    chassis_.set_brake_percentage(
        static_cast<float>(chassis_detail.brake_rpt_6c().output_value()));
  } else {
    chassis_.set_brake_percentage(0);
  }
 
  // 23, previously 10
  if (chassis_detail.has_shift_rpt_66() &&
      chassis_detail.shift_rpt_66().has_output_value()) {
    Chassis::GearPosition gear_pos = Chassis::GEAR_INVALID;
 
    if (chassis_detail.shift_rpt_66().output_value() ==
        Shift_rpt_66::OUTPUT_VALUE_NEUTRAL) {
      gear_pos = Chassis::GEAR_NEUTRAL;
    }
    if (chassis_detail.shift_rpt_66().output_value() ==
        Shift_rpt_66::OUTPUT_VALUE_REVERSE) {
      gear_pos = Chassis::GEAR_REVERSE;
    }
    if (chassis_detail.shift_rpt_66().output_value() ==
        Shift_rpt_66::OUTPUT_VALUE_FORWARD) {
      gear_pos = Chassis::GEAR_DRIVE;
    }
 
    chassis_.set_gear_location(gear_pos);
  } else {
    chassis_.set_gear_location(Chassis::GEAR_NONE);
  }
 
  // 11
  // TODO(QiL) : verify the unit here.
  if (chassis_detail.has_steering_rpt_1_6e() &&
      chassis_detail.steering_rpt_1_6e().has_output_value()) {
    chassis_.set_steering_percentage(
        static_cast<float>(chassis_detail.steering_rpt_1_6e().output_value() *
                           100.0 / vehicle_params_.max_steer_angle()));
  } else {
    chassis_.set_steering_percentage(0);
  }
 
  if (chassis_detail.has_global_rpt_6a() &&
      chassis_detail.global_rpt_6a().has_pacmod_status()) {
    if (chassis_detail.global_rpt_6a().pacmod_status() ==
        Global_rpt_6a::PACMOD_STATUS_CONTROL_ENABLED) {
      chassis_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);
      global_cmd_69_->set_clear_override(
          Global_cmd_69::CLEAR_OVERRIDE_DON_T_CLEAR_ACTIVE_OVERRIDES);
    } else {
      chassis_.set_driving_mode(Chassis::COMPLETE_MANUAL);
    }
  } else {
    chassis_.set_driving_mode(Chassis::COMPLETE_MANUAL);
  }
 
  // TODO(QiL) : implement the turn light signal here
 
  // 16, 17
  if (chassis_detail.has_light() &&
      chassis_detail.light().has_turn_light_type() &&
      chassis_detail.light().turn_light_type() != Light::TURN_LIGHT_OFF) {
    if (chassis_detail.light().turn_light_type() == Light::TURN_LEFT_ON) {
      chassis_.mutable_signal()->set_turn_signal(
          common::VehicleSignal::TURN_LEFT);
    } else if (chassis_detail.light().turn_light_type() ==
               Light::TURN_RIGHT_ON) {
      chassis_.mutable_signal()->set_turn_signal(
          common::VehicleSignal::TURN_RIGHT);
    } else {
      chassis_.mutable_signal()->set_turn_signal(
          common::VehicleSignal::TURN_NONE);
    }
  } else {
    chassis_.mutable_signal()->set_turn_signal(
        common::VehicleSignal::TURN_NONE);
  }
 
  // TODO(all): implement the rest here/
  // 26
  if (chassis_error_mask_) {
    chassis_.set_chassis_error_mask(chassis_error_mask_);
  }
 
  // Give engage_advice based on error_code and canbus feedback
  if (!chassis_error_mask_ && !chassis_.parking_brake() &&
      chassis_.throttle_percentage() == 0.0 &&
      chassis_.brake_percentage() != 0.0) {
    chassis_.mutable_engage_advice()->set_advice(
        apollo::common::EngageAdvice::READY_TO_ENGAGE);
  } else {
    chassis_.mutable_engage_advice()->set_advice(
        apollo::common::EngageAdvice::DISALLOW_ENGAGE);
    chassis_.mutable_engage_advice()->set_reason(
        "CANBUS not ready, firmware error or emergency button pressed!");
  }
 
  return chassis_;
}
 
bool GemController::VerifyID() { return true; }
 
void GemController::Emergency() {
  set_driving_mode(Chassis::EMERGENCY_MODE);
  ResetProtocol();
  set_chassis_error_code(Chassis::CHASSIS_ERROR);
}
 
ErrorCode GemController::EnableAutoMode() {
  if (driving_mode() == Chassis::COMPLETE_AUTO_DRIVE) {
    AINFO << "Already in COMPLETE_AUTO_DRIVE mode";
    return ErrorCode::OK;
  }
 
  global_cmd_69_->set_pacmod_enable(
      Global_cmd_69::PACMOD_ENABLE_CONTROL_ENABLED);
  global_cmd_69_->set_clear_override(
      Global_cmd_69::CLEAR_OVERRIDE_CLEAR_ACTIVE_OVERRIDES);
 
  can_sender_->Update();
  const int32_t flag =
      CHECK_RESPONSE_STEER_UNIT_FLAG | CHECK_RESPONSE_SPEED_UNIT_FLAG;
  if (!CheckResponse(flag, true)) {
    AERROR << "Failed to switch to COMPLETE_AUTO_DRIVE mode.";
    Emergency();
    set_chassis_error_code(Chassis::CHASSIS_ERROR);
    return ErrorCode::CANBUS_ERROR;
  }
  set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);
  AINFO << "Switch to COMPLETE_AUTO_DRIVE mode ok.";
  return ErrorCode::OK;
}
 
ErrorCode GemController::DisableAutoMode() {
  ResetProtocol();
  can_sender_->Update();
  set_driving_mode(Chassis::COMPLETE_MANUAL);
  set_chassis_error_code(Chassis::NO_ERROR);
  AINFO << "Switch to COMPLETE_MANUAL ok.";
  return ErrorCode::OK;
}
 
ErrorCode GemController::EnableSteeringOnlyMode() {
  AFATAL << "Not supported!";
  return ErrorCode::OK;
}
 
ErrorCode GemController::EnableSpeedOnlyMode() {
  AFATAL << "Not supported!";
  return ErrorCode::OK;
}
 
// NEUTRAL, REVERSE, DRIVE
void GemController::Gear(Chassis::GearPosition gear_position) {
  if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&
      driving_mode() != Chassis::AUTO_SPEED_ONLY) {
    AINFO << "This drive mode no need to set gear.";
    return;
  }
 
  switch (gear_position) {
    case Chassis::GEAR_NEUTRAL: {
      shift_cmd_65_->set_shift_cmd(Shift_cmd_65::SHIFT_CMD_NEUTRAL);
      break;
    }
    case Chassis::GEAR_REVERSE: {
      shift_cmd_65_->set_shift_cmd(Shift_cmd_65::SHIFT_CMD_REVERSE);
      break;
    }
    case Chassis::GEAR_DRIVE: {
      shift_cmd_65_->set_shift_cmd(Shift_cmd_65::SHIFT_CMD_FORWARD);
      break;
    }
    case Chassis::GEAR_INVALID: {
      AERROR << "Gear command is invalid!";
      shift_cmd_65_->set_shift_cmd(Shift_cmd_65::SHIFT_CMD_NEUTRAL);
      break;
    }
    default: {
      shift_cmd_65_->set_shift_cmd(Shift_cmd_65::SHIFT_CMD_NEUTRAL);
      break;
    }
  }
}
 
// brake with new acceleration
// acceleration:0.00~99.99, unit:
// acceleration:0.0 ~ 7.0, unit:m/s^2
// acceleration_spd:60 ~ 100, suggest: 90
// -> pedal
void GemController::Brake(double pedal) {
  // double real_value = params_.max_acc() * acceleration / 100;
  // TODO(QiL) Update brake value based on mode
  if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&
      driving_mode() != Chassis::AUTO_SPEED_ONLY) {
    AINFO << "The current drive mode does not need to set acceleration.";
    return;
  }
 
  brake_cmd_6b_->set_brake_cmd(pedal / 100.0);
}
 
// drive with old acceleration
// gas:0.00~99.99 unit:
void GemController::Throttle(double pedal) {
  if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&
      driving_mode() != Chassis::AUTO_SPEED_ONLY) {
    AINFO << "The current drive mode does not need to set acceleration.";
    return;
  }
 
  accel_cmd_67_->set_accel_cmd(pedal / 100.0);
}
 
// drive with acceleration/deceleration
// acc:-7.0 ~ 5.0, unit:m/s^2
void GemController::Acceleration(double acc) {
  if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&
      driving_mode() != Chassis::AUTO_SPEED_ONLY) {
    AINFO << "The current drive mode does not need to set acceleration.";
    return;
  }
  // None
}
 
// gem default, -470 ~ 470, left:+, right:-
// need to be compatible with control module, so reverse
// steering with old angle speed
// angle:-99.99~0.00~99.99, unit:, left:-, right:+
void GemController::Steer(double angle) {
  if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&
      driving_mode() != Chassis::AUTO_STEER_ONLY) {
    AINFO << "The current driving mode does not need to set steer.";
    return;
  }
 
  const double real_angle = vehicle_params_.max_steer_angle() * angle / 100.0;
 
  steering_cmd_6d_->set_position_value(real_angle)->set_speed_limit(9.0);
}
 
// steering with new angle speed
// angle:-99.99~0.00~99.99, unit:, left:-, right:+
// angle_spd:0.00~99.99, unit:deg/s
void GemController::Steer(double angle, double angle_spd) {
  if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&
      driving_mode() != Chassis::AUTO_STEER_ONLY) {
    AINFO << "The current driving mode does not need to set steer.";
    return;
  }
  const double real_angle = vehicle_params_.max_steer_angle() * angle / 100.0;
 
  const double real_angle_spd =
      ProtocolData<::apollo::canbus::Gem>::BoundedValue(
          vehicle_params_.min_steer_angle_rate(),
          vehicle_params_.max_steer_angle_rate(),
          vehicle_params_.max_steer_angle_rate() * angle_spd / 100.0);
  steering_cmd_6d_->set_position_value(real_angle)
      ->set_speed_limit(real_angle_spd);
}
 
void GemController::SetEpbBreak(const ControlCommand& command) {
  if (command.parking_brake()) {
    // None
  } else {
    // None
  }
}
ErrorCode GemController::HandleCustomOperation(
    const external_command::ChassisCommand& command) {
  return ErrorCode::OK;
}
 
void GemController::SetBeam(const VehicleSignal& vehicle_signal) {
  if (vehicle_signal.high_beam()) {
    // None
  } else if (vehicle_signal.low_beam()) {
    // None
  } else {
    // None
  }
}
 
void GemController::SetHorn(const VehicleSignal& vehicle_signal) {
  if (vehicle_signal.horn()) {
    // None
  } else {
    // None
  }
}
 
void GemController::SetTurningSignal(const VehicleSignal& vehicle_signal) {
  // Set Turn Signal
  auto signal = vehicle_signal.turn_signal();
  if (signal == common::VehicleSignal::TURN_LEFT) {
    turn_cmd_63_->set_turn_signal_cmd(Turn_cmd_63::TURN_SIGNAL_CMD_LEFT);
  } else if (signal == common::VehicleSignal::TURN_RIGHT) {
    turn_cmd_63_->set_turn_signal_cmd(Turn_cmd_63::TURN_SIGNAL_CMD_RIGHT);
  } else {
    turn_cmd_63_->set_turn_signal_cmd(Turn_cmd_63::TURN_SIGNAL_CMD_NONE);
  }
}
 
void GemController::ResetProtocol() { message_manager_->ResetSendMessages(); }
 
bool GemController::CheckChassisError() {
  // TODO(QiL) : implement it here
  return false;
}
 
void GemController::SecurityDogThreadFunc() {
  int32_t vertical_ctrl_fail = 0;
  int32_t horizontal_ctrl_fail = 0;
 
  if (can_sender_ == nullptr) {
    AERROR << "Failed to run SecurityDogThreadFunc() because can_sender_ is "
              "nullptr.";
    return;
  }
  while (!can_sender_->IsRunning()) {
    std::this_thread::yield();
  }
 
  std::chrono::duration<double, std::micro> default_period{50000};
  int64_t start = 0;
  int64_t end = 0;
  while (can_sender_->IsRunning()) {
    start = ::apollo::cyber::Time::Now().ToMicrosecond();
    const Chassis::DrivingMode mode = driving_mode();
    bool emergency_mode = false;
 
    // 1. horizontal control check
    if ((mode == Chassis::COMPLETE_AUTO_DRIVE ||
         mode == Chassis::AUTO_STEER_ONLY) &&
        !CheckResponse(CHECK_RESPONSE_STEER_UNIT_FLAG, false)) {
      ++horizontal_ctrl_fail;
      if (horizontal_ctrl_fail >= kMaxFailAttempt) {
        emergency_mode = true;
        set_chassis_error_code(Chassis::MANUAL_INTERVENTION);
      }
    } else {
      horizontal_ctrl_fail = 0;
    }
 
    // 2. vertical control check
    if ((mode == Chassis::COMPLETE_AUTO_DRIVE ||
         mode == Chassis::AUTO_SPEED_ONLY) &&
        !CheckResponse(CHECK_RESPONSE_SPEED_UNIT_FLAG, false)) {
      ++vertical_ctrl_fail;
      if (vertical_ctrl_fail >= kMaxFailAttempt) {
        emergency_mode = true;
        set_chassis_error_code(Chassis::MANUAL_INTERVENTION);
      }
    } else {
      vertical_ctrl_fail = 0;
    }
    if (CheckChassisError()) {
      set_chassis_error_code(Chassis::CHASSIS_ERROR);
      emergency_mode = true;
    }
 
    if (emergency_mode && mode != Chassis::EMERGENCY_MODE) {
      set_driving_mode(Chassis::EMERGENCY_MODE);
      message_manager_->ResetSendMessages();
    }
    end = ::apollo::cyber::Time::Now().ToMicrosecond();
    std::chrono::duration<double, std::micro> elapsed{end - start};
    if (elapsed < default_period) {
      std::this_thread::sleep_for(default_period - elapsed);
    } else {
      AERROR << "Too much time consumption in GemController looping process:"
             << elapsed.count();
    }
  }
}
 
bool GemController::CheckResponse(const int32_t flags, bool need_wait) {
  /* ADD YOUR OWN CAR CHASSIS OPERATION
   */
  return true;
}
 
void GemController::set_chassis_error_mask(const int32_t mask) {
  std::lock_guard<std::mutex> lock(chassis_mask_mutex_);
  chassis_error_mask_ = mask;
}
 
int32_t GemController::chassis_error_mask() {
  std::lock_guard<std::mutex> lock(chassis_mask_mutex_);
  return chassis_error_mask_;
}
 
Chassis::ErrorCode GemController::chassis_error_code() {
  std::lock_guard<std::mutex> lock(chassis_error_code_mutex_);
  return chassis_error_code_;
}
 
void GemController::set_chassis_error_code(
    const Chassis::ErrorCode& error_code) {
  std::lock_guard<std::mutex> lock(chassis_error_code_mutex_);
  chassis_error_code_ = error_code;
}
 
}  // namespace gem
}  // namespace canbus
}  // namespace apollo