brake_60.h

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/******************************************************************************
 * Copyright 2017 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.
 *****************************************************************************/

#pragma once

#include "modules/canbus/proto/chassis_detail.pb.h"
#include "modules/drivers/canbus/can_comm/protocol_data.h"

namespace apollo {
namespace canbus {
namespace lincoln {

class Brake60 : public ::apollo::drivers::canbus::ProtocolData<
                    ::apollo::canbus::ChassisDetail> {
 public:
  static const int32_t ID;
  uint32_t GetPeriod() const override;

  void UpdateData(uint8_t *data) override;

  void Reset() override;

  Brake60 *set_pedal(double pcmd);

  Brake60 *set_enable();

  Brake60 *set_disable();

 private:
  Brake60 *enable_boo_cmd();

  Brake60 *disable_boo_cmd();

  void set_pedal_p(uint8_t *data, double pedal);

  void set_boo_cmd_p(uint8_t *bytes, bool boo_cmd);

  void set_enable_p(uint8_t *bytes, bool en);

  void set_clear_driver_override_flag_p(uint8_t *bytes, bool clear);

  void set_ignore_driver_override_p(uint8_t *bytes, bool ignore);

  /*
   * config detail: {'name': 'count', 'offset': 0.0, 'precision': 1.0, 'len': 8,
   * 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|255]',
   * 'bit': 56, 'type': 'int', 'order': 'intel', 'physical_unit': '""'}
   */
  void set_watchdog_counter_p(uint8_t *data, int32_t count);

 private:
  double pedal_cmd_ = 0.0;
  bool boo_cmd_ = false;
  bool pedal_enable_ = false;
  bool clear_driver_override_flag_ = false;
  bool ignore_driver_override_ = false;
  int32_t watchdog_counter_ = 0.0;
};

}  // namespace lincoln
}  // namespace canbus
}  // namespace apollo