lincoln_controller.h

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/******************************************************************************
 * Copyright 2017 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 <memory>
#include <thread>
 
#include "gtest/gtest_prod.h"
 
#include "modules/canbus/proto/canbus_conf.pb.h"
#include "modules/canbus/proto/vehicle_parameter.pb.h"
#include "modules/canbus_vehicle/lincoln/proto/lincoln.pb.h"
#include "modules/common_msgs/basic_msgs/error_code.pb.h"
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
 
#include "cyber/common/macros.h"
#include "modules/canbus/vehicle/vehicle_controller.h"
#include "modules/canbus_vehicle/lincoln/protocol/brake_60.h"
#include "modules/canbus_vehicle/lincoln/protocol/gear_66.h"
#include "modules/canbus_vehicle/lincoln/protocol/steering_64.h"
#include "modules/canbus_vehicle/lincoln/protocol/throttle_62.h"
#include "modules/canbus_vehicle/lincoln/protocol/turnsignal_68.h"
 
namespace apollo {
namespace canbus {
namespace lincoln {
 
class LincolnController final
    : public VehicleController<::apollo::canbus::Lincoln> {
 public:
  common::ErrorCode Init(const VehicleParameter &params,
                         CanSender<::apollo::canbus::Lincoln> *const can_sender,
                         MessageManager<::apollo::canbus::Lincoln>
                             *const message_manager) override;
 
  bool Start() override;
 
  void Stop() override;
 
  Chassis chassis() override;
 
  FRIEND_TEST(LincolnControllerTest, SetDrivingMode);
  FRIEND_TEST(LincolnControllerTest, Status);
  FRIEND_TEST(LincolnControllerTest, UpdateDrivingMode);
 
 private:
  // main logical function for operation the car enter or exit the auto driving
  void Emergency() override;
  common::ErrorCode EnableAutoMode() override;
  common::ErrorCode DisableAutoMode() override;
  common::ErrorCode EnableSteeringOnlyMode() override;
  common::ErrorCode EnableSpeedOnlyMode() override;
 
  // NEUTRAL, REVERSE, DRIVE
  void Gear(Chassis::GearPosition state) override;
 
  // brake with new acceleration
  // acceleration:0.00~99.99, unit:%
  // acceleration_spd: 60 ~ 100, suggest: 90
  void Brake(double acceleration) override;
 
  // drive with old acceleration
  // gas:0.00~99.99 unit:%
  void Throttle(double throttle) override;
 
  // drive with acceleration/deceleration
  // acc:-7.0~5.0 unit:m/s^2
  void Acceleration(double acc) override;
 
  // steering with old angle speed
  // angle:-99.99~0.00~99.99, unit:%, left:+, right:-
  void Steer(double angle) override;
 
  // 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 Steer(double angle, double angle_spd) override;
 
  // set Electrical Park Brake
  void SetEpbBreak(const control::ControlCommand &command) override;
  common::ErrorCode HandleCustomOperation(
      const external_command::ChassisCommand &command) override;
  void SetBeam(const common::VehicleSignal &signal) override;
  void SetHorn(const common::VehicleSignal &signal) override;
  void SetTurningSignal(const common::VehicleSignal &signal) override;
 
  bool VerifyID() override;
  void ResetProtocol();
  bool CheckChassisError();
  bool CheckSafetyError(const canbus::Lincoln &chassis);
 
 private:
  void SecurityDogThreadFunc();
  virtual bool CheckResponse(const int32_t flags, bool need_wait);
  void set_chassis_error_mask(const int32_t mask);
  int32_t chassis_error_mask();
  Chassis::ErrorCode chassis_error_code();
  void set_chassis_error_code(const Chassis::ErrorCode &error_code);
 
 private:
  // control protocol
  Brake60 *brake_60_ = nullptr;
  Throttle62 *throttle_62_ = nullptr;
  Steering64 *steering_64_ = nullptr;
  Gear66 *gear_66_ = nullptr;
  Turnsignal68 *turnsignal_68_ = nullptr;
 
  Chassis chassis_;
  std::unique_ptr<std::thread> thread_;
  bool is_chassis_error_ = false;
 
  std::mutex chassis_error_code_mutex_;
  Chassis::ErrorCode chassis_error_code_ = Chassis::NO_ERROR;
 
  std::mutex chassis_mask_mutex_;
  int32_t chassis_error_mask_ = 0;
 
  bool received_vin_ = false;
 
  canbus::Chassis::GearPosition gear_tmp_;
};
 
}  // namespace lincoln
}  // namespace canbus
}  // namespace apollo