steering_control_a2.cc

浏览该文件的文档.

/******************************************************************************
 * 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/zhongyun/protocol/steering_control_a2.h"
 
#include "modules/drivers/canbus/common/byte.h"
 
namespace apollo {
namespace canbus {
namespace zhongyun {
 
using ::apollo::drivers::canbus::Byte;
 
const int32_t Steeringcontrola2::ID = 0xA2;
 
// public
Steeringcontrola2::Steeringcontrola2() { Reset(); }
 
uint32_t Steeringcontrola2::GetPeriod() const {
  // TODO(ChaoM) :  modify every protocol's period manually
  static const uint32_t PERIOD = 20 * 1000;
  return PERIOD;
}
 
void Steeringcontrola2::UpdateData(uint8_t* data) {
  set_p_steering_target(data, steering_target_);
  set_p_steering_enable_control(data, steering_enable_control_);
}
 
void Steeringcontrola2::Reset() {
  // TODO(ChaoM) :  you should check this manually
  steering_target_ = 0.0;
  steering_enable_control_ =
      Steering_control_a2::STEERING_ENABLE_CONTROL_STEERING_MANUALCONTROL;
}
 
Steeringcontrola2* Steeringcontrola2::set_steering_target(
    double steering_target) {
  steering_target_ = steering_target;
  return this;
}
 
// config detail: {'name': 'Steering_target', 'offset': -1638.35, 'precision':
// 0.05, 'len': 16, 'is_signed_var': False, 'physical_range': '[-32|32]', 'bit':
// 8, 'type': 'double', 'order': 'intel', 'physical_unit': 'deg'}
void Steeringcontrola2::set_p_steering_target(uint8_t* data,
                                              double steering_target) {
  steering_target = ProtocolData::BoundedValue(-32.0, 32.0, steering_target);
  int x = static_cast<int>((steering_target - -1638.350000) / 0.050000);
  uint8_t t = 0;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set0(data + 1);
  to_set0.set_value(t, 0, 8);
  x >>= 8;
 
  t = static_cast<uint8_t>(x & 0xFF);
  Byte to_set1(data + 2);
  to_set1.set_value(t, 0, 8);
}
 
Steeringcontrola2* Steeringcontrola2::set_steering_enable_control(
    Steering_control_a2::Steering_enable_controlType steering_enable_control) {
  steering_enable_control_ = steering_enable_control;
  return this;
}
 
// config detail: {'name': 'Steering_Enable_control', 'enum': {0:
// 'STEERING_ENABLE_CONTROL_STEERING_MANUALCONTROL', 1:
// 'STEERING_ENABLE_CONTROL_STEERING_AUTOCONTROL'}, 'precision': 1.0, 'len': 8,
// 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|1]', 'bit': 0,
// 'type': 'enum', 'order': 'intel', 'physical_unit': ''}
void Steeringcontrola2::set_p_steering_enable_control(
    uint8_t* data,
    Steering_control_a2::Steering_enable_controlType steering_enable_control) {
  int x = steering_enable_control;
 
  Byte to_set(data + 0);
  to_set.set_value(static_cast<uint8_t>(x), 0, 8);
}
 
}  // namespace zhongyun
}  // namespace canbus
}  // namespace apollo