steering_rpt_22c.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_rpt_22c.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 lexus {
 
using ::apollo::drivers::canbus::Byte;
 
Steeringrpt22c::Steeringrpt22c() {}
const int32_t Steeringrpt22c::ID = 0x22C;
 
void Steeringrpt22c::Parse(const std::uint8_t* bytes, int32_t length,
                           Lexus* chassis) const {
  chassis->mutable_steering_rpt_22c()->set_vehicle_fault(
      vehicle_fault(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_pacmod_fault(
      pacmod_fault(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_override_active(
      override_active(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_output_reported_fault(
      output_reported_fault(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_input_output_fault(
      input_output_fault(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_enabled(
      enabled(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_command_output_fault(
      command_output_fault(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_manual_input(
      manual_input(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_commanded_value(
      commanded_value(bytes, length));
  chassis->mutable_steering_rpt_22c()->set_output_value(
      output_value(bytes, length));
}
 
// config detail: {'name': 'vehicle_fault', 'offset': 0.0, 'precision': 1.0,
// 'len': 1, 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 6,
// 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
bool Steeringrpt22c::vehicle_fault(const std::uint8_t* bytes,
                                   int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(6, 1);
 
  bool ret = x;
  return ret;
}
 
// config detail: {'name': 'pacmod_fault', 'offset': 0.0, 'precision': 1.0,
// 'len': 1, 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 5,
// 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
bool Steeringrpt22c::pacmod_fault(const std::uint8_t* bytes,
                                  int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(5, 1);
 
  bool ret = x;
  return ret;
}
 
// config detail: {'name': 'override_active', 'offset': 0.0, 'precision': 1.0,
// 'len': 1, 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 1,
// 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
bool Steeringrpt22c::override_active(const std::uint8_t* bytes,
                                     int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(1, 1);
 
  bool ret = x;
  return ret;
}
 
// config detail: {'name': 'output_reported_fault', 'offset': 0.0,
// 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'physical_range':
// '[0|1]', 'bit': 4, 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
bool Steeringrpt22c::output_reported_fault(const std::uint8_t* bytes,
                                           int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(4, 1);
 
  bool ret = x;
  return ret;
}
 
// config detail: {'name': 'input_output_fault', 'offset': 0.0,
// 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'physical_range':
// '[0|1]', 'bit': 3, 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
bool Steeringrpt22c::input_output_fault(const std::uint8_t* bytes,
                                        int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(3, 1);
 
  bool ret = x;
  return ret;
}
 
// config detail: {'name': 'enabled', 'offset': 0.0, 'precision': 1.0, 'len': 1,
// 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 0, 'type': 'bool',
// 'order': 'motorola', 'physical_unit': ''}
bool Steeringrpt22c::enabled(const std::uint8_t* bytes, int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(0, 1);
 
  bool ret = x;
  return ret;
}
 
// config detail: {'name': 'command_output_fault', 'offset': 0.0,
// 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'physical_range':
// '[0|1]', 'bit': 2, 'type': 'bool', 'order': 'motorola', 'physical_unit': ''}
bool Steeringrpt22c::command_output_fault(const std::uint8_t* bytes,
                                          int32_t length) const {
  Byte t0(bytes + 0);
  int32_t x = t0.get_byte(2, 1);
 
  bool ret = x;
  return ret;
}
 
// config detail: {'name': 'manual_input', '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'}
double Steeringrpt22c::manual_input(const std::uint8_t* bytes,
                                    int32_t length) const {
  Byte t0(bytes + 1);
  int32_t x = t0.get_byte(0, 8);
 
  Byte t1(bytes + 2);
  int32_t t = t1.get_byte(0, 8);
  x <<= 8;
  x |= t;
 
  x <<= 16;
  x >>= 16;
 
  double ret = x * 0.001000;
  return ret;
}
 
// config detail: {'name': 'commanded_value', 'offset': 0.0, 'precision': 0.001,
// 'len': 16, 'is_signed_var': True, 'physical_range': '[-32.768|32.767]',
// 'bit': 31, 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad'}
double Steeringrpt22c::commanded_value(const std::uint8_t* bytes,
                                       int32_t length) const {
  Byte t0(bytes + 3);
  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 * 0.001000;
  return ret;
}
 
// config detail: {'name': 'output_value', 'offset': 0.0, 'precision': 0.001,
// 'len': 16, 'is_signed_var': True, 'physical_range': '[-32.768|32.767]',
// 'bit': 47, 'type': 'double', 'order': 'motorola', 'physical_unit': 'rad'}
double Steeringrpt22c::output_value(const std::uint8_t* bytes,
                                    int32_t length) const {
  Byte t0(bytes + 5);
  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;
 
  double ret = x * 0.001000;
  return ret;
}
}  // namespace lexus
}  // namespace canbus
}  // namespace apollo