steering_cmd_12c.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/lexus/protocol/steering_cmd_12c.h"
 
#include "modules/drivers/canbus/common/byte.h"
 
namespace apollo {
namespace canbus {
namespace lexus {
 
using ::apollo::drivers::canbus::Byte;
 
const int32_t Steeringcmd12c::ID = 0x12C;
 
// public
Steeringcmd12c::Steeringcmd12c() { Reset(); }
 
uint32_t Steeringcmd12c::GetPeriod() const {
  // TODO(QiL) : modify every protocol's period manually
  static const uint32_t PERIOD = 20 * 1000;
  return PERIOD;
}
 
void Steeringcmd12c::UpdateData(uint8_t* data) {
  set_p_ignore_overrides(data, ignore_overrides_);
  set_p_enable(data, enable_);
  set_p_clear_override(data, clear_override_);
  set_p_clear_faults(data, clear_faults_);
  set_p_position(data, position_);
  set_p_rotation_rate(data, rotation_rate_);
}
 
void Steeringcmd12c::Reset() {
  // TODO(QiL) : you should check this manually
  ignore_overrides_ = false;
  enable_ = false;
  clear_override_ = false;
  clear_faults_ = false;
  position_ = 0.0;
  rotation_rate_ = 0.0;
}
 
Steeringcmd12c* Steeringcmd12c::set_ignore_overrides(bool ignore_overrides) {
  ignore_overrides_ = ignore_overrides;
  return this;
}
 
// config detail: {'name': 'IGNORE_OVERRIDES', 'offset': 0.0, 'precision': 1.0,
// 'len': 1, 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 1,
// 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
void Steeringcmd12c::set_p_ignore_overrides(uint8_t* data,
                                            bool ignore_overrides) {
  uint8_t x = ignore_overrides;
 
  Byte to_set(data + 0);
  to_set.set_value(static_cast<uint8_t>(x), 1, 1);
}
 
Steeringcmd12c* Steeringcmd12c::set_enable(bool enable) {
  enable_ = enable;
  return this;
}
 
// config detail: {'name': 'ENABLE', 'offset': 0.0, 'precision': 1.0, 'len': 1,
// 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 0, 'type': 'bool',
// 'order': 'motorola', 'physical_unit': ''}
void Steeringcmd12c::set_p_enable(uint8_t* data, bool enable) {
  uint8_t x = enable;
 
  Byte to_set(data + 0);
  to_set.set_value(static_cast<uint8_t>(x), 0, 1);
}
 
Steeringcmd12c* Steeringcmd12c::set_clear_override(bool clear_override) {
  clear_override_ = clear_override;
  return this;
}
 
// config detail: {'name': 'CLEAR_OVERRIDE', 'offset': 0.0, 'precision': 1.0,
// 'len': 1, 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 2,
// 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
void Steeringcmd12c::set_p_clear_override(uint8_t* data, bool clear_override) {
  uint8_t x = clear_override;
 
  Byte to_set(data + 0);
  to_set.set_value(static_cast<uint8_t>(x), 2, 1);
}
 
Steeringcmd12c* Steeringcmd12c::set_clear_faults(bool clear_faults) {
  clear_faults_ = clear_faults;
  return this;
}
 
// config detail: {'name': 'CLEAR_FAULTS', 'offset': 0.0, 'precision': 1.0,
// 'len': 1, 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 3,
// 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
void Steeringcmd12c::set_p_clear_faults(uint8_t* data, bool clear_faults) {
  uint8_t x = clear_faults;
 
  Byte to_set(data + 0);
  to_set.set_value(static_cast<uint8_t>(x), 3, 1);
}
 
Steeringcmd12c* Steeringcmd12c::set_position(double position) {
  // TODO(AS): fix this direction and scaling.
  position_ = position;
  return this;
}
 
// config detail: {'name': 'POSITION', 'offset': 0.0, 'precision': 0.001, 'len':
// 16, 'is_signed_var': True, 'physical_range': '[-32.768|32.767]', 'bit': 15,
// 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad'}
void Steeringcmd12c::set_p_position(uint8_t* data, double position) {
  position = ProtocolData::BoundedValue(-32.768, 32.767, position);
  int x = static_cast<int>(position / -0.001000);
  uint8_t t = 0;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set0(data + 2);
  to_set0.set_value(t, 0, 8);
  x >>= 8;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set1(data + 1);
  to_set1.set_value(t, 0, 8);
}
 
Steeringcmd12c* Steeringcmd12c::set_rotation_rate(double rotation_rate) {
  rotation_rate_ = rotation_rate;
  return this;
}
 
// config detail: {'name': 'ROTATION_RATE', 'offset': 0.0, 'precision': 0.001,
// 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 31,
// 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad/s'}
void Steeringcmd12c::set_p_rotation_rate(uint8_t* data, double rotation_rate) {
  rotation_rate = ProtocolData::BoundedValue(0.0, 65.535, rotation_rate);
  int x = static_cast<int>(rotation_rate / 0.001000);
  uint8_t t = 0;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set0(data + 4);
  to_set0.set_value(t, 0, 8);
  x >>= 8;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set1(data + 3);
  to_set1.set_value(t, 0, 8);
}
 
}  // namespace lexus
}  // namespace canbus
}  // namespace apollo