change controller_yunle_jd03.

src/controller/controller_yunle_jd03/.gitignore

@@ -0,0 +1,74 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+CMakeLists.txt.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/controller/controller_yunle_jd03/controller_yunle_jd03.pro

@@ -0,0 +1,54 @@
+QT = core
+
+CONFIG += c++17 cmdline
+
+# You can make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        dbcsigpacker.cpp \
+        jd03.cpp \
+        main.cpp \
+        yunle_jd03.cpp
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+#include($$PWD/control/control.pri)
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}
+
+!include(../../../include/ivprotobuf.pri ) {
+    error( "Couldn't find the ivprotobuf.pri file!" )
+}
+
+!include(../../../include/ivboost.pri ) {
+    error( "Couldn't find the ivboost.pri file!" )
+}
+
+!include(../controllercommon/controllercommon.pri ) {
+    error( "Couldn't find the controllercommon.pri.pri file!" )
+}
+
+#DEFINES += TESTBRAKE
+#DEFINES += PIDTEST
+
+INCLUDEPATH += $$PWD/../controllercommon
+
+
+LIBS += -livprotoif
+
+LIBS += -lcandbc
+
+HEADERS += \
+    dbcsigpacker.h \
+    jd03.h \
+    yunle_jd03.h
+
+RESOURCES += \
+    sterraes.qrc

src/controller/controller_yunle_jd03/dbcsigpacker.cpp

@@ -0,0 +1,80 @@
+#include "dbcsigpacker.h"
+
+#include <iostream>
+
+
+dbcsigpacker::dbcsigpacker(std::string strdbcname){
+    mpPacker =  new CANPacker(strdbcname);
+    mpdbc = mpPacker->GetDBC();
+    InitSig();
+}
+
+dbcsigpacker::dbcsigpacker(std::string strdbcname,std::istringstream & strsteam){
+    mpPacker = new CANPacker(strdbcname,strsteam);
+    mpdbc = mpPacker->GetDBC();
+    InitSig();
+}
+
+void dbcsigpacker::SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue){
+
+    if(mmapMsgSig.count(strmsgname)<=0)
+    {
+        std::cout<<" SetMsgSignal no message "<<strmsgname<<std::endl;
+        return;
+    }
+
+    iv::MsgSig & xMsgSig = mmapMsgSig[strmsgname];
+
+    int i;
+    int nsize = static_cast<int>(xMsgSig.mvectorSPV.size());
+    for(i=0;i<nsize;i++){
+        if(xMsgSig.mvectorSPV[i].name == strsigname){
+            xMsgSig.mvectorSPV[i].value = fvalue;
+            return;
+        }
+    }
+
+    std::cout<<" Msg "<<strmsgname<<" no signal "<<strsigname<<std::endl;
+
+}
+
+void dbcsigpacker::InitSig()
+{
+    if(mpdbc == NULL){
+        std::cout<<"dbc is null"<<std::endl;
+        return;
+    }
+
+    unsigned int nMsgSize =  mpdbc->msgs.size();
+    unsigned int i;
+    for(i=0;i<nMsgSize;i++){
+        iv::MsgSig xmsgsig;
+        xmsgsig.mid = mpdbc->msgs[i].address;
+        xmsgsig.mstrmsgname = mpdbc->msgs[i].name;
+        unsigned int nSigSize = mpdbc->msgs[i].sigs.size();
+        unsigned int j;
+        for(j=0;j<nSigSize;j++){
+            SignalPackValue spv;
+            spv.name = mpdbc->msgs[i].sigs[j].name;
+            spv.value = 0;
+            xmsgsig.mvectorSPV.push_back(spv);
+        }
+        mmapMsgSig.insert(std::pair<std::string,iv::MsgSig>(xmsgsig.mstrmsgname,xmsgsig));
+    }
+
+
+}
+
+std::vector<uint8_t> dbcsigpacker::GetPack(std::string  strmsgname){
+    std::vector<uint8_t> xPack;
+    if(mmapMsgSig.count(strmsgname)<=0)
+    {
+        std::cout<<" GetPack no message "<<strmsgname<<std::endl;
+        return xPack;
+    }
+
+    iv::MsgSig & xMsgSig = mmapMsgSig[strmsgname];
+    xPack = mpPacker->pack(xMsgSig.mid,xMsgSig.mvectorSPV);
+    return xPack;
+
+}

src/controller/controller_yunle_jd03/dbcsigpacker.h

@@ -0,0 +1,37 @@
+#ifndef DBCSIGPACKER_H
+#define DBCSIGPACKER_H
+
+#include <map>
+#include <vector>
+#include "candbc.h"
+
+namespace iv {
+struct MsgSig
+{
+    unsigned int mid;  //can message id
+    std::string mstrmsgname;  //can message name
+    std::vector<SignalPackValue> mvectorSPV;
+};
+
+}
+
+class dbcsigpacker
+{
+public:
+    dbcsigpacker(std::string strdbcname);
+    dbcsigpacker(std::string strdbcname,std::istringstream & strsteam);
+
+private:
+    CANPacker * mpPacker;
+    const DBC * mpdbc;
+    std::map<std::string,iv::MsgSig> mmapMsgSig;
+
+private:
+    void InitSig();
+
+public:
+    void SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue);
+    std::vector<uint8_t> GetPack(std::string  strmsgname);
+};
+
+#endif // DBCSIGPACKER_H

src/controller/controller_yunle_jd03/jd03.cpp

@@ -0,0 +1,1535 @@
+char Yunle03CAN_dbc[] = {
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+  0x5f, 0x20, 0x38, 0x31, 0x20, 0x30, 0x3b, 0x0d, 0x0a, 0x0d, 0x0a
+};
+unsigned int Yunle03CAN_dbc_len = 18383;

src/controller/controller_yunle_jd03/jd03.h

@@ -0,0 +1,8 @@
+#ifndef JD03_H
+#define JD03_H
+
+extern char Yunle03CAN_dbc[];
+extern unsigned int Yunle03CAN_dbc_len;
+
+
+#endif

src/controller/controller_yunle_jd03/main.cpp

@@ -0,0 +1,505 @@
+#include <QCoreApplication>
+
+#include <QTime>
+
+#include <QMutex>
+
+#include "xmlparam.h"
+#include "modulecomm.h"
+#include "ivbacktrace.h"
+#include "ivversion.h"
+
+#include "canmsg.pb.h"
+#include "decition.pb.h"
+#include "chassis.pb.h"
+
+#include "torquebrake.h"
+
+#include <thread>
+#include <math.h>
+
+#ifdef Q_OS_LINUX
+#include <signal.h>
+#endif
+
+#include "candbc.h"
+#include "jd03.h"
+#include "yunle_jd03.h"
+#include "dbcsigpacker.h"
+
+std::string gstrdbcpath;
+bool gbUseOutDBC;
+
+yunle_jd03 * gpyunle;
+
+static void * gpacansend;
+static void * gpadecition;
+static void * gpachassis;
+
+static std::string gstrmemdecition;
+static std::string gstrmemcansend;
+static std::string gstrmemchassis;
+static bool gbSendRun = true;
+
+static bool gbChassisEPS = false;
+
+static iv::brain::decition gdecition_def;
+static iv::brain::decition gdecition;
+
+static QTime gTime;
+static int gnLastSendTime = 0;
+static int gnLastRecvDecTime = -1000;
+static int gnDecitionNum = 0; //when is zero,send default;
+const int gnDecitionNumMax = 100;
+static int gnIndex = 0;
+
+static bool gbHaveVehSpd = false;
+static double gfVehSpd = 0.0;
+
+static bool gbHaveWheelAngle = false;
+static double gfWheelAngle = 0.0;
+
+static double gfWheelSpeedLim = 300; //300 degrees per second
+
+
+static QMutex gMutex;
+
+static std::thread * gpsendthread = NULL;
+
+unsigned char SCU_1[8];// 0x121
+
+static int gnState = 0; //0 not act  1 act
+
+
+double gfWheelReq = 0.0;
+double gfTorqueReq = 0.0;
+double gfBrakeReq = 0.0;
+
+
+static bool gbSendBrake = false;
+
+static double gfVehAcc = 0.0;
+
+void SetMsgSignal(std::string strmsgname,std::string strsigname,double fvalue){
+    gpyunle->SetMsgSignal(strmsgname,strsigname,fvalue);
+}
+
+
+void ExecSend();
+
+
+void executeDecition(const iv::brain::decition &decition)
+{
+    double fwheel = decition.wheelangle();
+    if(fwheel<-430)fwheel = 430;
+    if(fwheel>380)fwheel = 380;
+
+    double ftorque = decition.torque() ;
+    if((ftorque>30)&&(ftorque<150))ftorque = 150;
+    double fbrake = decition.brake();
+
+
+    double fwheelratio = 430.0/120.0;
+    double fvelreq = decition.speed();
+
+    SetMsgSignal("SCU_1","SCU_Drive_Mode_Req",0.0);
+    SetMsgSignal("SCU_1","SCU_Steering_Wheel_Angle_JD01_F",fwheel/fwheelratio);
+    SetMsgSignal("SCU_1","SCU_ShiftLevel_Req",1.0);
+    SetMsgSignal("SCU_1","SCU_Target_Speed",fvelreq);
+
+    if(fbrake<(-0.0001))
+    {
+        SetMsgSignal("SCU_1","SCU_Brk_En",1.0);
+    }
+    else
+    {
+        SetMsgSignal("SCU_1","SCU_Brk_En",0.0);
+    }
+
+    if(decition.leftlamp())
+    {
+        SetMsgSignal("SCU_1","GW_Left_Turn_Light_Req",1.0);
+    }
+
+    if(decition.rightlamp())
+    {
+        SetMsgSignal("SCU_1","GW_Right_Turn_Light_Req",1.0);
+    }
+
+
+
+
+}
+
+void Activate()
+{
+
+}
+
+void UnAcitvate()
+{
+
+
+}
+
+void UpdateChassis(const char *strdata, const unsigned int nSize, const unsigned int index, const QDateTime *dt, const char *strmemname)
+{
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    iv::chassis xchassis;
+    //    static int ncount = 0;
+    if(!xchassis.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"iv::decition::BrainDecition::UpdateChassis ParseFrom Array Error."<<std::endl;
+        return;
+    }
+
+    if(xchassis.has_epsmode())
+    {
+        if(xchassis.epsmode() == 0)
+        {
+            gbChassisEPS = true;
+        }
+    }
+
+    if(xchassis.has_vel())
+    {
+        gfVehSpd = xchassis.vel();
+        gbHaveVehSpd = true;
+        //      std::cout<<" gf Veh speed : "<<gfVehSpd<<std::endl;
+    }
+
+    if(xchassis.has_angle_feedback())
+    {
+        gfWheelAngle = xchassis.angle_feedback();
+        gbHaveWheelAngle = true;
+    }
+}
+
+
+void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+    (void)index;
+    (void)dt;
+    (void)strmemname;
+    static qint64 oldtime = QDateTime::currentMSecsSinceEpoch();
+    iv::brain::decition xdecition;
+
+    if(!xdecition.ParseFromArray(strdata,nSize))
+    {
+        std::cout<<"ListenDecition parse error."<<std::endl;
+        return;
+    }
+
+
+
+    //    if(xdecition.gear() != 4)
+    //    {
+    //        qDebug("not D");
+    //    }
+    xdecition.set_angle_mode(1);
+    xdecition.set_angle_active(1);
+    xdecition.set_acc_active(1);
+    xdecition.set_brake_active(1);
+    //    xdecition.set_brake_type(1);
+    xdecition.set_auto_mode(3);
+
+
+//    std::cout<<"decition acc: "<<xdecition.accelerator()<<std::endl;
+
+    //   xdecition.set_wheelangle(45.0);
+
+    if((oldtime - QDateTime::currentMSecsSinceEpoch())<-100)qDebug("dection time is %lld diff is %lld ",QDateTime::currentMSecsSinceEpoch(),oldtime - QDateTime::currentMSecsSinceEpoch());
+    oldtime = QDateTime::currentMSecsSinceEpoch();
+    gMutex.lock();
+    gdecition.CopyFrom(xdecition);
+    gMutex.unlock();
+    gnDecitionNum = gnDecitionNumMax;
+    gbChassisEPS = false;
+
+}
+
+
+void PrepareMsg()
+{
+    gpyunle->GetSCU1Data(SCU_1);
+}
+
+void ExecSend()
+{
+    PrepareMsg();
+
+    iv::can::canmsg xmsg;
+    iv::can::canraw xraw;
+
+
+    xraw.set_id(0x121);
+    xraw.set_data(SCU_1,8);
+    xraw.set_bext(false);
+    xraw.set_bremote(false);
+    xraw.set_len(24);
+    iv::can::canraw * pxraw195 = xmsg.add_rawmsg();
+    pxraw195->CopyFrom(xraw);
+
+
+
+    xmsg.set_channel(0);
+    xmsg.set_index(gnIndex);
+
+    gnIndex++;
+    xmsg.set_mstime(QDateTime::currentMSecsSinceEpoch());
+    int ndatasize = xmsg.ByteSize();
+    char * strser = new char[ndatasize];
+    std::shared_ptr<char> pstrser;
+    pstrser.reset(strser);
+    if(xmsg.SerializeToArray(strser,ndatasize))
+    {
+        iv::modulecomm::ModuleSendMsg(gpacansend,strser,ndatasize);
+    }
+    else
+    {
+        std::cout<<"ExecSend serialize error."<<std::endl;
+    }
+
+
+}
+
+void initial()
+{
+    for (uint8_t i = 0; i < 24; i++) //CAN  to  canfd
+    {
+        //byte_36E[i] = 0;
+    }
+}
+
+
+void sendthread()
+{
+    initial();
+    iv::brain::decition xdecition;
+
+    UnAcitvate();
+    //   UnAcitvate();
+
+    int nstate = 0; //0 Un 1 Activate
+    //    Activate();
+    while(gbSendRun)
+    {
+        if(gnDecitionNum <= 0)
+        {
+            if(nstate == 1)
+            {
+                UnAcitvate();
+                nstate = 0;
+            }
+            xdecition.CopyFrom(gdecition_def);
+        }
+        else
+        {
+            if(nstate == 0)
+            {
+                Activate();
+                nstate = 1;
+            }
+            gMutex.lock();
+            xdecition.CopyFrom(gdecition);
+            gMutex.unlock();
+            gnDecitionNum--;
+        }
+
+        executeDecition(xdecition);
+        if(gbChassisEPS == false) ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    UnAcitvate();
+}
+
+#ifdef Q_OS_LINUX
+void sig_int(int signo)
+{
+    (void)signo;
+    gbSendRun = false;
+    gpsendthread->join();
+
+    iv::modulecomm::Unregister(gpacansend);
+    iv::modulecomm::Unregister(gpachassis);
+    iv::modulecomm::Unregister(gpadecition);
+
+    std::cout<<" controller exit."<<std::endl;
+    exit(0);
+}
+#endif
+
+
+// void processStream(std::istream& stream) {
+
+//     std::string line;
+
+//     while (std::getline(stream, line)) {
+
+//         std::cout << "Read line: " << line << std::endl;
+
+//     }
+
+// }
+
+
+
+void LoadXML(std::string strxmlpath){
+    iv::xmlparam::Xmlparam xp(strxmlpath);
+    gbUseOutDBC = xp.GetParam("UseOutDBC",false);
+    gstrdbcpath = xp.GetParam("dbcpath","./ADCC_CH.dbc");
+}
+
+void Listencanrecv0()
+{
+    void * pblambda = iv::modulecomm::RegisterRecv("canrecv0",[](const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname){
+        (void)strdata;
+        (void)nSize;
+        (void)index;
+        (void)dt;
+        (void)strmemname;
+        iv::can::canmsg xmsg;
+        if(false == xmsg.ParseFromArray(strdata,nSize))
+        {
+            std::cout<<"controller Listencan0 fail."<<std::endl;
+            return;
+        }
+
+        int i;
+        for(i=0;i<xmsg.rawmsg_size();i++)
+        {
+            iv::can::canraw * praw = xmsg.mutable_rawmsg(i);
+            if(praw->id() == 0x14f)
+            {
+                unsigned char byte[24];
+                if(praw->len() == 24)
+                {
+                    memcpy(byte,praw->data().data(),24);
+                    unsigned int value;
+                    value = byte[2]&0x01;
+                    if(value == 0)
+                    {
+                         gbSendBrake = true;//std::cout<<" brake available."<<std::endl;
+                    }
+                    else
+                    {
+                        gbSendBrake = false;//std::cout<<" warning: no brake unavailable."<<std::endl;
+                    }
+
+                }
+            }
+
+            if(praw->id() == 0x21)
+            {
+                unsigned char xdata[8];
+                if(praw->len() == 8)
+                {
+                    memcpy(xdata,praw->data().data(),8);
+                    unsigned int value;
+                    value = xdata[2]&0xff;
+                    value = value<<8;
+                    value =value + (xdata[3]&0xff);
+                    double facc = value;
+                    facc = facc * 0.001 - 2.0;
+
+  //                  std::cout<<" acc : "<<gfVehAcc<<std::endl;
+                }
+            }
+        }
+    });
+
+    (void)pblambda;
+
+
+}
+
+
+#include <QFile>
+#include <QTextStream>
+#include <strings.h>
+#include <streambuf>
+#include <sstream>
+
+#include <iostream>
+#include <istream>
+#include <fstream>
+int main(int argc, char *argv[])
+{
+
+ //    std::istringstream iss("First line.\nSecond line.\n");
+
+
+
+    // // 将 iss 传递给 processStream，这是合法的
+
+    // processStream(iss);
+
+    RegisterIVBackTrace();
+    showversion("controller_changan_shenlan");
+    QCoreApplication a(argc, argv);
+
+    QString strpath = QCoreApplication::applicationDirPath();
+
+    if(argc < 2)
+        strpath = strpath + "/controller_chery_sterra_es_fcm.xml";
+    else
+        strpath = argv[1];
+    std::cout<<strpath.toStdString()<<std::endl;
+
+    LoadXML(strpath.toStdString());
+
+
+    std::string str_fcm(Yunle03CAN_dbc);
+    std::istringstream iss(str_fcm);
+    gpyunle = new yunle_jd03(std::string(":/yunle03.dbc"),iss);
+
+
+    //    gdecition_def.set_accelerator(-0.5);
+    gdecition_def.set_brake(-1.0);
+    gdecition_def.set_rightlamp(false);
+    gdecition_def.set_leftlamp(false);
+    gdecition_def.set_wheelangle(0);
+    gdecition_def.set_speed(0.0);
+
+    gdecition_def.set_angle_mode(0);
+    gdecition_def.set_angle_active(0);
+    gdecition_def.set_acc_active(0);
+    //    gdecition_def.set_brake_active(1);
+    gdecition_def.set_brake_type(0);
+    gdecition_def.set_auto_mode(0);
+
+
+    iv::xmlparam::Xmlparam xp(strpath.toStdString());
+
+    gstrmemcansend = xp.GetParam("cansend","cansend0");
+    gstrmemdecition = xp.GetParam("dection","deciton");
+    gstrmemchassis = xp.GetParam("chassismsgname","chassis");
+
+
+
+    gpacansend = iv::modulecomm::RegisterSend(gstrmemcansend.data(),10000,1);
+    gpadecition = iv::modulecomm::RegisterRecv(gstrmemdecition.data(),ListenDeciton);
+    gpachassis = iv::modulecomm::RegisterRecv(gstrmemchassis.data(),UpdateChassis);
+
+#ifdef TORQUEBRAKETEST
+    EnableTorqueBrakeTest();
+#endif
+
+//    testes();
+//    return 0;
+
+    Listencanrecv0();
+
+    std::thread xthread(sendthread);
+
+    gpsendthread = &xthread;
+
+#ifdef Q_OS_LINUX
+    signal(SIGINT, sig_int);
+    signal(SIGTERM,sig_int);
+#endif
+
+    return a.exec();
+}

src/controller/controller_yunle_jd03/sterraes.qrc

@@ -0,0 +1,4 @@
+<RCC>
+    <qresource prefix="/">
+    </qresource>
+</RCC>

src/controller/controller_yunle_jd03/yunle_jd03.cpp

@@ -0,0 +1,40 @@
+#include "yunle_jd03.h"
+
+#include <iostream>
+#include <memory>
+#include <string.h>
+
+
+yunle_jd03::yunle_jd03(std::string strdbcname) {
+
+    mpdbcsigpacker = new dbcsigpacker(strdbcname);
+    // mpPacker =  new CANPacker(strdbcname);
+    // initsig();
+}
+
+yunle_jd03::yunle_jd03(std::string strdbcname,std::istringstream & strsteam)
+{
+    mpdbcsigpacker = new dbcsigpacker(strdbcname,strsteam);
+
+    // mpPacker = new CANPacker(strdbcname,strsteam);=
+    // initsig();
+}
+
+void yunle_jd03::SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue){
+
+    mpdbcsigpacker->SetMsgSignal(strmsgname,strsigname,fvalue);
+}
+
+void yunle_jd03::GetSCU1Data(unsigned char * pdata)
+{
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("SCU_1");
+
+    if(xpack.size()<8){
+        std::cout<<"GetSCU1Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+    int i;
+    for(i=0;i<8;i++)pdata[i] = xpack[i];
+}
+
+

src/controller/controller_yunle_jd03/yunle_jd03.h

@@ -0,0 +1,30 @@
+#ifndef YUNLE_JD03_H
+#define YUNLE_JD03_H
+
+#include <vector>
+#include "candbc.h"
+#include "dbcsigpacker.h"
+
+
+class yunle_jd03
+{
+public:
+    yunle_jd03(std::string strdbcname);
+    yunle_jd03(std::string strdbcname,std::istringstream & strsteam);
+
+
+private:
+    dbcsigpacker * mpdbcsigpacker;
+
+
+public:
+    void SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue);
+
+
+public:
+    void GetSCU1Data(unsigned char * pdata);
+
+
+};
+
+#endif // YUNLE_JD03_H