pacmod_core.cpp

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// Copyright (c) 2019 AutonomouStuff, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.

#include <pacmod/pacmod_core.h>

#include <memory>

namespace AS
{
namespace Drivers
{
namespace PACMod
{

const int64_t TurnSignalCmdMsg::CAN_ID = 0x63;
const int64_t TurnSignalRptMsg::CAN_ID = 0x64;
const int64_t ShiftCmdMsg::CAN_ID = 0x65;
const int64_t ShiftRptMsg::CAN_ID = 0x66;
const int64_t AccelCmdMsg::CAN_ID = 0x67;
const int64_t AccelRptMsg::CAN_ID = 0x68;
const int64_t GlobalCmdMsg::CAN_ID = 0x69;
const int64_t GlobalRptMsg::CAN_ID = 0x6A;
const int64_t BrakeCmdMsg::CAN_ID = 0x6B;
const int64_t SteerCmdMsg::CAN_ID = 0x6D;
const int64_t BrakeRptMsg::CAN_ID = 0x6C;
const int64_t SteerRptMsg::CAN_ID = 0x6E;
const int64_t VehicleSpeedRptMsg::CAN_ID = 0x6F;
const int64_t BrakeMotorRpt1Msg::CAN_ID = 0x70;
const int64_t BrakeMotorRpt2Msg::CAN_ID = 0x71;
const int64_t BrakeMotorRpt3Msg::CAN_ID = 0x72;
const int64_t SteerMotorRpt1Msg::CAN_ID = 0x73;
const int64_t SteerMotorRpt2Msg::CAN_ID = 0x74;
const int64_t SteerMotorRpt3Msg::CAN_ID = 0x75;
const int64_t HeadlightCmdMsg::CAN_ID = 0x76;
const int64_t HeadlightRptMsg::CAN_ID = 0x77;
const int64_t HornCmdMsg::CAN_ID = 0x78;
const int64_t HornRptMsg::CAN_ID = 0x79;
const int64_t WheelSpeedRptMsg::CAN_ID = 0x7A;
const int64_t SteeringPIDRpt1Msg::CAN_ID = 0x7B;
const int64_t SteeringPIDRpt2Msg::CAN_ID = 0x7C;
const int64_t SteeringPIDRpt3Msg::CAN_ID = 0x7D;
const int64_t SteerRpt2Msg::CAN_ID = 0x7E;
const int64_t SteerRpt3Msg::CAN_ID = 0x7F;
const int64_t ParkingBrakeStatusRptMsg::CAN_ID = 0x80;
const int64_t YawRateRptMsg::CAN_ID = 0x81;
const int64_t LatLonHeadingRptMsg::CAN_ID = 0x82;
const int64_t DateTimeRptMsg::CAN_ID = 0x83;
const int64_t SteeringPIDRpt4Msg::CAN_ID = 0x84;
const int64_t WiperCmdMsg::CAN_ID = 0x90;
const int64_t WiperRptMsg::CAN_ID = 0x91;
const int64_t VinRptMsg::CAN_ID = 0xFF;

std::shared_ptr<PacmodTxMsg> PacmodTxMsg::make_message(const int64_t& can_id)
{
  switch (can_id)
  {
  case TurnSignalRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new TurnSignalRptMsg);
    break;
  case ShiftRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new ShiftRptMsg);
    break;
  case AccelRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new AccelRptMsg);
    break;
  case GlobalRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new GlobalRptMsg);
    break;
  case BrakeRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new BrakeRptMsg);
    break;
  case SteerRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteerRptMsg);
    break;
  case VehicleSpeedRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new VehicleSpeedRptMsg);
    break;
  case BrakeMotorRpt1Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new BrakeMotorRpt1Msg);
    break;
  case BrakeMotorRpt2Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new BrakeMotorRpt2Msg);
    break;
  case BrakeMotorRpt3Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new BrakeMotorRpt3Msg);
    break;
  case SteerMotorRpt1Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteerMotorRpt1Msg);
    break;
  case SteerMotorRpt2Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteerMotorRpt2Msg);
    break;
  case SteerMotorRpt3Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteerMotorRpt3Msg);
    break;
  case HeadlightRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new HeadlightRptMsg);
    break;
  case HornRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new HornRptMsg);
    break;
  case WheelSpeedRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new WheelSpeedRptMsg);
    break;
  case SteeringPIDRpt1Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteeringPIDRpt1Msg);
    break;
  case SteeringPIDRpt2Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteeringPIDRpt2Msg);
    break;
  case SteeringPIDRpt3Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteeringPIDRpt3Msg);
    break;
  case SteerRpt2Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteerRpt2Msg);
    break;
  case SteerRpt3Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteerRpt3Msg);
    break;
  case ParkingBrakeStatusRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new ParkingBrakeStatusRptMsg);
    break;
  case YawRateRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new YawRateRptMsg);
    break;
  case LatLonHeadingRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new LatLonHeadingRptMsg);
    break;
  case DateTimeRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new DateTimeRptMsg);
    break;
  case SteeringPIDRpt4Msg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new SteeringPIDRpt4Msg);
    break;
  case WiperRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new WiperRptMsg);
    break;
  case VinRptMsg::CAN_ID:
    return std::shared_ptr<PacmodTxMsg>(new VinRptMsg);
    break;
  default:
    return NULL;
  }
}

// TX Messages
void GlobalRptMsg::parse(uint8_t *in)
{
  enabled = in[0] & 0x01;
  override_active = ((in[0] & 0x02) >> 1) != 0;
  user_can_timeout = ((in[0] & 0x20) >> 5) != 0;
  brake_can_timeout = ((in[0] & 0x10) >> 4) != 0;
  steering_can_timeout = ((in[0] & 0x08) >> 3) != 0;
  vehicle_can_timeout = ((in[0] & 0x04) >> 2) != 0;
  user_can_read_errors = ((in[6] << 8) | in[7]);
}

void VinRptMsg::parse(uint8_t *in)
{
  std::ostringstream oss;
  oss << in[0] << in[1] << in[2];
  mfg_code = oss.str();

  if (mfg_code == "52C")
    mfg = "POLARIS INDUSTRIES INC.";
  else if (mfg_code == "3HS")
    mfg = "NAVISTAR, INC.";
  else if (mfg_code == "2T2")
    mfg = "TOYOTA MOTOR MANUFACTURING CANADA";

  model_year_code = in[3];

  if (model_year_code >= '1' && model_year_code <= '9')
  {
    model_year = 2000 + model_year_code;
  }
  else if (model_year_code >= 'A' && model_year_code < 'Z')
  {
    switch (model_year_code)
    {
    case 'A':
      model_year = 2010;
      break;
    case 'B':
      model_year = 2011;
      break;
    case 'C':
      model_year = 2012;
      break;
    case 'D':
      model_year = 2013;
      break;
    case 'E':
      model_year = 2014;
      break;
    case 'F':
      model_year = 2015;
      break;
    case 'G':
      model_year = 2016;
      break;
    case 'H':
      model_year = 2017;
      break;
    case 'J':
      model_year = 2018;
      break;
    case 'K':
      model_year = 2019;
      break;
    case 'L':
      model_year = 2020;
      break;
    case 'M':
      model_year = 2021;
      break;
    case 'N':
      model_year = 2022;
      break;
    case 'P':
      model_year = 2023;
      break;
    case 'R':
      model_year = 2024;
      break;
    case 'S':
      model_year = 2025;
      break;
    case 'T':
      model_year = 2026;
      break;
    case 'V':
      model_year = 2027;
      break;
    case 'W':
      model_year = 2028;
      break;
    case 'X':
      model_year = 2029;
      break;
    case 'Y':
      model_year = 2030;
      break;
    }
  }

  serial = (in[4] & 0x0F);
  serial = (serial << 8) | in[5];
  serial = (serial << 8) | in[6];
}

void SystemRptIntMsg::parse(uint8_t *in)
{
  manual_input = in[0];
  command = in[1];
  output = in[2];
}

void SystemRptFloatMsg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  manual_input = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[2]) << 8) | in[3];
  command = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[4]) << 8) | in[5];
  output = static_cast<double>(temp / 1000.0);
}

void VehicleSpeedRptMsg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  vehicle_speed = static_cast<double>(temp / 100.0);

  vehicle_speed_valid = (in[2] == 1);
  vehicle_speed_raw[0] = in[3];
  vehicle_speed_raw[1] = in[4];
}

void YawRateRptMsg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  yaw_rate = static_cast<double>(temp / 100.0);
}

void LatLonHeadingRptMsg::parse(uint8_t *in)
{
  latitude_degrees = static_cast<int8_t>(in[0]);
  latitude_minutes = in[1];
  latitude_seconds = in[2];
  longitude_degrees = static_cast<int8_t>(in[3]);
  longitude_minutes = in[4];
  longitude_seconds = in[5];
  heading = ((static_cast<int16_t>(in[6]) << 8) | in[7]) / 100.0;
}

void DateTimeRptMsg::parse(uint8_t *in)
{
  year = in[0];
  month = in[1];
  day = in[2];
  hour = in[3];
  minute = in[4];
  second = in[5];
}

void WheelSpeedRptMsg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  front_left_wheel_speed = static_cast<double>(temp / 100.0);

  temp = (static_cast<int16_t>(in[2]) << 8) | in[3];
  front_right_wheel_speed = static_cast<double>(temp / 100.0);

  temp = (static_cast<int16_t>(in[4]) << 8) | in[5];
  rear_left_wheel_speed = static_cast<double>(temp / 100.0);

  temp = (static_cast<int16_t>(in[6]) << 8) | in[7];
  rear_right_wheel_speed = static_cast<double>(temp / 100.0);
}

void MotorRpt1Msg::parse(uint8_t *in)
{
  int32_t temp;

  temp = (static_cast<int32_t>(in[0]) << 24) |
         (static_cast<int32_t>(in[1]) << 16) |
         (static_cast<int32_t>(in[2]) << 8) | in[3];
  current = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int32_t>(in[4]) << 24) |
         (static_cast<int32_t>(in[5]) << 16) |
         (static_cast<int32_t>(in[6]) << 8) | in[7];
  position = static_cast<double>(temp / 1000.0);
}

void MotorRpt2Msg::parse(uint8_t *in)
{
  int16_t temp16;
  int32_t temp32;

  temp16 = (static_cast<int16_t>(in[0]) << 8) | in[1];
  encoder_temp = static_cast<double>(temp16);

  temp16 = (static_cast<int16_t>(in[2]) << 8) | in[3];
  motor_temp = static_cast<double>(temp16);

  temp32 = (static_cast<int32_t>(in[7]) << 24) |
           (static_cast<int32_t>(in[6]) << 16) |
           (static_cast<int32_t>(in[5]) << 8) | in[4];
  velocity = static_cast<double>(temp32 / 1000.0);
}

void MotorRpt3Msg::parse(uint8_t *in)
{
  int32_t temp;

  temp = (static_cast<int32_t>(in[0]) << 24) |
         (static_cast<int32_t>(in[1]) << 16) |
         (static_cast<int32_t>(in[2]) << 8) | in[3];
  torque_output = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int32_t>(in[4]) << 24) |
         (static_cast<int32_t>(in[5]) << 16) |
         (static_cast<int32_t>(in[6]) << 8) | in[7];
  torque_input = static_cast<double>(temp / 1000.0);
}

void SteeringPIDRpt1Msg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  dt = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[2]) << 8) | in[3];
  kp = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[4]) << 8) | in[5];
  ki = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[6]) << 8) | in[7];
  kd = static_cast<double>(temp / 1000.0);
}

void SteeringPIDRpt2Msg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  p_term = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[2]) << 8) | in[3];
  i_term = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[4]) << 8) | in[5];
  d_term = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[6]) << 8) | in[7];
  all_terms = static_cast<double>(temp / 1000.0);
}

void SteeringPIDRpt3Msg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  new_torque = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[2]) << 8) | in[3];
  str_angle_desired = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[4]) << 8) | in[5];
  str_angle_actual = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[6]) << 8) | in[7];
  error = static_cast<double>(temp / 1000.0);
}

void SteeringPIDRpt4Msg::parse(uint8_t *in)
{
  int16_t temp;

  temp = (static_cast<int16_t>(in[0]) << 8) | in[1];
  angular_velocity = static_cast<double>(temp / 1000.0);

  temp = (static_cast<int16_t>(in[2]) << 8) | in[3];
  angular_acceleration = static_cast<double>(temp / 1000.0);
}

void ParkingBrakeStatusRptMsg::parse(uint8_t *in)
{
  parking_brake_engaged = (in[0] == 0x01);
}

// RX Messages
void GlobalCmdMsg::encode(bool enable, bool clear_override, bool ignore_overide)
{
  data.assign(8, 0);

  if (enable)
    data[0] |= 0x01;
  if (clear_override)
    data[0] |= 0x02;
  if (ignore_overide)
    data[0] |= 0x04;
}

void TurnSignalCmdMsg::encode(uint8_t turn_signal_cmd)
{
  data.assign(8, 0);
  data[0] = turn_signal_cmd;
}

void HeadlightCmdMsg::encode(uint8_t headlight_cmd)
{
  data.assign(8, 0);
  data[0] = headlight_cmd;
}

void HornCmdMsg::encode(uint8_t horn_cmd)
{
  data.assign(8, 0);
  data[0] = horn_cmd;
}

void WiperCmdMsg::encode(uint8_t wiper_cmd)
{
  data.assign(8, 0);
  data[0] = wiper_cmd;
}

void ShiftCmdMsg::encode(uint8_t shift_cmd)
{
  data.assign(8, 0);
  data[0] = shift_cmd;
}

void AccelCmdMsg::encode(double accel_cmd)
{
  data.assign(8, 0);
  uint16_t cmdInt = static_cast<uint16_t>(accel_cmd * 1000.0);
  data[0] = (cmdInt & 0xFF00) >> 8;
  data[1] = cmdInt & 0x00FF;
}

void SteerCmdMsg::encode(double steer_pos, double steer_spd)
{
  data.assign(8, 0);
  int32_t raw_pos = static_cast<int32_t>(1000.0 * steer_pos);
  uint32_t raw_spd = (uint32_t)(1000.0 * steer_spd);

  data[0] = (raw_pos & 0xFF000000) >> 24;
  data[1] = (raw_pos & 0x00FF0000) >> 16;
  data[2] = (raw_pos & 0x0000FF00) >> 8;
  data[3] = raw_pos & 0x000000FF;
  data[4] = (raw_spd & 0xFF000000) >> 24;
  data[5] = (raw_spd & 0x00FF0000) >> 16;
  data[6] = (raw_spd & 0x0000FF00) >> 8;
  data[7] = raw_spd & 0x000000FF;
}

void BrakeCmdMsg::encode(double brake_pct)
{
  data.assign(8, 0);
  uint16_t raw_pct = static_cast<uint16_t>(1000.0 * brake_pct);

  data[0] = (raw_pct & 0xFF00) >> 8;
  data[1] = (raw_pct & 0x00FF);
}

}  // namespace PACMod
}  // namespace Drivers
}  // namespace AS