text: /******************************************************************************
   * Copyright 2020 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/neolix_edu/protocol/ads_eps_command_56.h"
  
  #include "modules/drivers/canbus/common/byte.h"
  
  namespace apollo {
  namespace canbus {
  namespace neolix_edu {
  
  using ::apollo::drivers::canbus::Byte;
  
  const int32_t Adsepscommand56::ID = 0x56;
  
  // public
  Adsepscommand56::Adsepscommand56() { Reset(); }
  
  uint32_t Adsepscommand56::GetPeriod() const {
    // TODO(All) :  modify every protocol's period manually
    static const uint32_t PERIOD = 20 * 1000;
    return PERIOD;
  }
  
  void Adsepscommand56::UpdateData(uint8_t* data) {
    set_p_drive_enable(data, drive_enable_);
    set_p_auto_target_angle(data, auto_target_angle_);
    ++auto_drivercmd_alivecounter_;
    auto_drivercmd_alivecounter_ = (auto_drivercmd_alivecounter_) % 16;
    set_p_auto_drivercmd_alivecounter(data, auto_drivercmd_alivecounter_);
    auto_drivercmd_checksum_ =
        data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];
    set_p_auto_drivercmd_checksum(data, auto_drivercmd_checksum_);
  }
  
  void Adsepscommand56::Reset() {
    // TODO(All) :  you should check this manually
    drive_enable_ = false;
    auto_target_angle_ = 0.0;
    auto_drivercmd_alivecounter_ = 0;
    auto_drivercmd_checksum_ = 0;
  }
  
  Adsepscommand56* Adsepscommand56::set_drive_enable(bool drive_enable) {
    drive_enable_ = drive_enable;
    return this;
  }
  
  // config detail: {'description': '0x0:disable ;0x1:enable', 'offset': 0.0,
  // 'precision': 1.0, 'len': 1, 'name': 'Drive_Enable', 'is_signed_var': False,
  // 'physical_range': '[0|0]', 'bit': 0, 'type': 'bool', 'order': 'motorola',
  // 'physical_unit': ''}
  void Adsepscommand56::set_p_drive_enable(uint8_t* data, bool drive_enable) {
    int x = drive_enable;
  
    Byte to_set(data + 0);
    to_set.set_value(x, 0, 1);
  }
  
  Adsepscommand56* Adsepscommand56::set_auto_target_angle(
      double auto_target_angle) {
    auto_target_angle_ = -auto_target_angle;
    return this;
  }
  
  // config detail: {'name': 'AUTO_Target_Angle', 'offset': -2048.0, 'precision':
  // 0.0625, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|0]', 'bit':
  // 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
  void Adsepscommand56::set_p_auto_target_angle(uint8_t* data,
                                                double auto_target_angle) {
    auto_target_angle =
        ProtocolData::BoundedValue(-380.0, 380.0, auto_target_angle);
    int x = (auto_target_angle - -2048.000000) / 0.062500;
    uint8_t t = 0;
  
    t = x & 0xFF;
    Byte to_set0(data + 3);
    to_set0.set_value(t, 0, 8);
    x >>= 8;
  
    t = x & 0xFF;
    Byte to_set1(data + 2);
    to_set1.set_value(t, 0, 8);
  }
  
  Adsepscommand56* Adsepscommand56::set_auto_drivercmd_alivecounter(
      int auto_drivercmd_alivecounter) {
    auto_drivercmd_alivecounter_ = auto_drivercmd_alivecounter;
    return this;
  }
  
  // config detail: {'name': 'AUTO_DriverCmd_AliveCounter', 'offset': 0.0,
  // 'precision': 1.0, 'len': 4, 'is_signed_var': False, 'physical_range':
  // '[0|0]', 'bit': 51, 'type': 'int', 'order': 'motorola', 'physical_unit': ''}
  void Adsepscommand56::set_p_auto_drivercmd_alivecounter(
      uint8_t* data, int auto_drivercmd_alivecounter) {
    auto_drivercmd_alivecounter =
        ProtocolData::BoundedValue(0, 15, auto_drivercmd_alivecounter);
    int x = auto_drivercmd_alivecounter;
  
    Byte to_set(data + 6);
    to_set.set_value(x, 0, 4);
  }
  
  Adsepscommand56* Adsepscommand56::set_auto_drivercmd_checksum(
      int auto_drivercmd_checksum) {
    auto_drivercmd_checksum_ = auto_drivercmd_checksum;
    return this;
  }
  
  // config detail: {'name': 'AUTO_DriverCmd_CheckSum', 'offset': 0.0,
  // 'precision': 1.0, 'len': 8, 'is_signed_var': False, 'physical_range':
  // '[0|0]', 'bit': 63, 'type': 'int', 'order': 'motorola', 'physical_unit': ''}
  void Adsepscommand56::set_p_auto_drivercmd_checksum(
      uint8_t* data, int auto_drivercmd_checksum) {
    auto_drivercmd_checksum =
        ProtocolData::BoundedValue(0, 255, auto_drivercmd_checksum);
    int x = auto_drivercmd_checksum;
  
    Byte to_set(data + 7);
    to_set.set_value(x, 0, 8);
  }
  
  }  // namespace neolix_edu
  }  // namespace canbus
  }  // namespace apollo
  