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canbus: add the battery info in vehicle ch (ApolloAuto#12900)
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@macDure
macDure authored Nov 4, 2020
1 parent c5c0e52 commit 5f2d2c6
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Showing 5 changed files with 195 additions and 170 deletions.
247 changes: 124 additions & 123 deletions modules/canbus/proto/ch.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -3,26 +3,16 @@ syntax = "proto2";
package apollo.canbus;

// Coolhigh vehicle starts from here
message Control_command_115 {
// Control Message
enum Ctrl_cmdType {
CTRL_CMD_OUT_OF_CONTROL = 0;
CTRL_CMD_UNDER_CONTROL = 1;
}
// Take control(Command) [] [0|1]
optional Ctrl_cmdType ctrl_cmd = 1;
}

message Gear_command_114 {
message Throttle_command_110 {
// Control Message
enum Gear_cmdType {
GEAR_CMD_PARK = 1;
GEAR_CMD_REVERSE = 2;
GEAR_CMD_NEUTRAL = 3;
GEAR_CMD_DRIVE = 4;
enum Throttle_pedal_en_ctrlType {
THROTTLE_PEDAL_EN_CTRL_DISABLE = 0;
THROTTLE_PEDAL_EN_CTRL_ENABLE = 1;
}
// PRND control(Command) [] [1|4]
optional Gear_cmdType gear_cmd = 1;
// throttle pedal enable bit(Command) [] [0|1]
optional Throttle_pedal_en_ctrlType throttle_pedal_en_ctrl = 1;
// Percentage of throttle pedal(Command) [%] [0|100]
optional int32 throttle_pedal_cmd = 2;
}

message Brake_command_111 {
Expand All @@ -37,16 +27,16 @@ message Brake_command_111 {
optional int32 brake_pedal_cmd = 2;
}

message Throttle_command_110 {
message Steer_command_112 {
// Control Message
enum Throttle_pedal_en_ctrlType {
THROTTLE_PEDAL_EN_CTRL_DISABLE = 0;
THROTTLE_PEDAL_EN_CTRL_ENABLE = 1;
enum Steer_angle_en_ctrlType {
STEER_ANGLE_EN_CTRL_DISABLE = 0;
STEER_ANGLE_EN_CTRL_ENABLE = 1;
}
// throttle pedal enable bit(Command) [] [0|1]
optional Throttle_pedal_en_ctrlType throttle_pedal_en_ctrl = 1;
// Percentage of throttle pedal(Command) [%] [0|100]
optional int32 throttle_pedal_cmd = 2;
// steering angle enable bit(Command) [] [0|1]
optional Steer_angle_en_ctrlType steer_angle_en_ctrl = 1;
// Current steering angle(Command) [radian] [-0.524|0.524]
optional double steer_angle_cmd = 2;
}

message Turnsignal_command_113 {
Expand All @@ -60,16 +50,51 @@ message Turnsignal_command_113 {
optional Turn_signal_cmdType turn_signal_cmd = 1;
}

message Steer_command_112 {
message Gear_command_114 {
// Control Message
enum Steer_angle_en_ctrlType {
STEER_ANGLE_EN_CTRL_DISABLE = 0;
STEER_ANGLE_EN_CTRL_ENABLE = 1;
enum Gear_cmdType {
GEAR_CMD_PARK = 1;
GEAR_CMD_REVERSE = 2;
GEAR_CMD_NEUTRAL = 3;
GEAR_CMD_DRIVE = 4;
}
// steering angle enable bit(Command) [] [0|1]
optional Steer_angle_en_ctrlType steer_angle_en_ctrl = 1;
// Current steering angle(Command) [radian] [-0.524|0.524]
optional double steer_angle_cmd = 2;
// PRND control(Command) [] [1|4]
optional Gear_cmdType gear_cmd = 1;
}

message Control_command_115 {
// Control Message
enum Ctrl_cmdType {
CTRL_CMD_OUT_OF_CONTROL = 0;
CTRL_CMD_UNDER_CONTROL = 1;
}
// Take control(Command) [] [0|1]
optional Ctrl_cmdType ctrl_cmd = 1;
}

message Throttle_status__510 {
// Report Message
enum Throttle_pedal_en_stsType {
THROTTLE_PEDAL_EN_STS_DISABLE = 0;
THROTTLE_PEDAL_EN_STS_ENABLE = 1;
THROTTLE_PEDAL_EN_STS_TAKEOVER = 2;
}
enum Drive_motor_errType {
DRIVE_MOTOR_ERR_NOERR = 0;
DRIVE_MOTOR_ERR_DRV_MOTOR_ERR = 1;
}
enum Battery_bms_errType {
BATTERY_BMS_ERR_NOERR = 0;
BATTERY_BMS_ERR_BATTERY_ERR = 1;
}
// throttle pedal enable bit(Status) [] [0|2]
optional Throttle_pedal_en_stsType throttle_pedal_en_sts = 1;
// Percentage of throttle pedal(Status) [%] [0|100]
optional int32 throttle_pedal_sts = 2;
// [] [0|1]
optional Drive_motor_errType drive_motor_err = 3;
// [] [0|1]
optional Battery_bms_errType battery_bms_err = 4;
}

message Brake_status__511 {
Expand Down Expand Up @@ -99,7 +124,7 @@ message Brake_status__511 {
OVERSPD_ENV_NOENV = 0;
OVERSPD_ENV_OVERSPEED_ENV = 1;
}
// brake pedal enable bit(Status) [] [0|1]
// brake pedal enable bit(Status) [] [0|2]
optional Brake_pedal_en_stsType brake_pedal_en_sts = 1;
// Percentage of brake pedal(Status) [%] [0|100]
optional int32 brake_pedal_sts = 2;
Expand All @@ -115,42 +140,6 @@ message Brake_status__511 {
optional Overspd_envType overspd_env = 7;
}

message Throttle_status__510 {
// Report Message
enum Throttle_pedal_en_stsType {
THROTTLE_PEDAL_EN_STS_DISABLE = 0;
THROTTLE_PEDAL_EN_STS_ENABLE = 1;
THROTTLE_PEDAL_EN_STS_TAKEOVER = 2;
}
enum Drive_motor_errType {
DRIVE_MOTOR_ERR_NOERR = 0;
DRIVE_MOTOR_ERR_DRV_MOTOR_ERR = 1;
}
enum Battery_bms_errType {
BATTERY_BMS_ERR_NOERR = 0;
BATTERY_BMS_ERR_BATTERY_ERR = 1;
}
// throttle pedal enable bit(Status) [] [0|1]
optional Throttle_pedal_en_stsType throttle_pedal_en_sts = 1;
// Percentage of throttle pedal(Status) [%] [0|100]
optional int32 throttle_pedal_sts = 2;
// [] [0|1]
optional Drive_motor_errType drive_motor_err = 3;
// [] [0|1]
optional Battery_bms_errType battery_bms_err = 4;
}

message Turnsignal_status__513 {
// Report Message
enum Turn_signal_stsType {
TURN_SIGNAL_STS_NONE = 0;
TURN_SIGNAL_STS_LEFT = 1;
TURN_SIGNAL_STS_RIGHT = 2;
}
// Lighting control(Status) [] [0|2]
optional Turn_signal_stsType turn_signal_sts = 1;
}

message Steer_status__512 {
// Report Message
enum Steer_angle_en_stsType {
Expand All @@ -166,7 +155,7 @@ message Steer_status__512 {
SENSOR_ERR_NOERR = 0;
SENSOR_ERR_STEER_SENSOR_ERR = 1;
}
// steering angle enable bit(Status) [] [0|1]
// steering angle enable bit(Status) [] [0|2]
optional Steer_angle_en_stsType steer_angle_en_sts = 1;
// Current steering angle(Status) [radian] [-0.524|0.524]
optional double steer_angle_sts = 2;
Expand All @@ -176,22 +165,15 @@ message Steer_status__512 {
optional Sensor_errType sensor_err = 4;
}

message Ecu_status_1_515 {
message Turnsignal_status__513 {
// Report Message
enum Ctrl_stsType {
CTRL_STS_OUT_OF_CONTROL = 0;
CTRL_STS_UNDER_CONTROL = 1;
enum Turn_signal_stsType {
TURN_SIGNAL_STS_NONE = 0;
TURN_SIGNAL_STS_LEFT = 1;
TURN_SIGNAL_STS_RIGHT = 2;
}
// Current speed (Steering status) [m/s] [0|0]
optional double speed = 1;
// Current acceleration (Steering status) [m/s^2] [0|0]
optional double acc_speed = 2;
// Current Auto-mode state (Chassis status) [] [0|1]
optional Ctrl_stsType ctrl_sts = 3;
// Current chassis state (Chassis status) [] [0|255]
optional int32 chassis_sts = 4;
// Chassis error code (Chassis status) [] [0|65535]
optional int32 chassis_err = 5;
// Lighting control(Status) [] [0|2]
optional Turn_signal_stsType turn_signal_sts = 1;
}

message Gear_status_514 {
Expand All @@ -206,52 +188,71 @@ message Gear_status_514 {
optional Gear_stsType gear_sts = 1;
}

message Ecu_status_3_517 {
message Ecu_status_1_515 {
// Report Message
// Ultrasonic detection distance 1 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_1 = 1;
// Ultrasonic detection distance 2 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_2 = 2;
// Ultrasonic detection distance 3 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_3 = 3;
// Ultrasonic detection distance 4 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_4 = 4;
// Ultrasonic detection distance 5 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_5 = 5;
// Ultrasonic detection distance 6 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_6 = 6;
// Ultrasonic detection distance 7 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_7 = 7;
// Ultrasonic detection distance 8 (Ultrasound status) [cm] [0|0]
optional int32 ultrasound_dist_8 = 8;
enum Ctrl_stsType {
CTRL_STS_OUT_OF_CONTROL = 0;
CTRL_STS_UNDER_CONTROL = 1;
}
// Current speed (Steering status) [m/s] [0|0]
optional double speed = 1;
// Current acceleration (Steering status) [m/s^2] [0|0]
optional double acc_speed = 2;
// Current Auto-mode state (Chassis status) [] [0|1]
optional Ctrl_stsType ctrl_sts = 3;
// Current chassis state (Chassis status) [] [0|255]
optional int32 chassis_sts = 4;
// Chassis error code (Chassis status) [] [0|65535]
optional int32 chassis_err = 5;
}

message Ecu_status_2_516 {
// Report Message
// Percentage of battery remaining (BMS status) [%] [0|100]
optional int32 battery_remaining_capacity = 1;
optional int32 battery_soc = 1;
// Battery full capacity (BMS status) [Ah] [0|100]
optional int32 battery_capacity = 2;
// Current battery voltage (BMS status) [V] [0|80]
optional double battery_voltage = 2;
optional double battery_voltage = 3;
// Current battery current (BMS status) [A] [-60|60]
optional double battery_current = 3;
// Current battery temperature (BMS status) [?] [-40|110]
optional int32 battery_temperature = 4;
optional double battery_current = 4;
// Current battery temperature (BMS status) [℃] [-40|110]
optional int32 battery_temperature = 5;
}

message Ecu_status_3_517 {
// Report Message
// Ultrasonic detection distance 1 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_1 = 1;
// Ultrasonic detection distance 2 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_2 = 2;
// Ultrasonic detection distance 3 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_3 = 3;
// Ultrasonic detection distance 4 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_4 = 4;
// Ultrasonic detection distance 5 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_5 = 5;
// Ultrasonic detection distance 6 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_6 = 6;
// Ultrasonic detection distance 7 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_7 = 7;
// Ultrasonic detection distance 8 (Ultrasound status) [cm] [0|500]
optional double ultrasound_dist_8 = 8;
}

message Ch {
optional Control_command_115 control_command_115 = 1; // control message
optional Gear_command_114 gear_command_114 = 2; // control message
optional Brake_command_111 brake_command_111 = 3; // control message
optional Throttle_command_110 throttle_command_110 = 4; // control message
optional Turnsignal_command_113 turnsignal_command_113 =
5; // control message
optional Steer_command_112 steer_command_112 = 6; // control message
optional Brake_status__511 brake_status__511 = 7; // report message
optional Throttle_status__510 throttle_status__510 = 8; // report message
optional Turnsignal_status__513 turnsignal_status__513 = 9; // report message
optional Steer_status__512 steer_status__512 = 10; // report message
optional Ecu_status_1_515 ecu_status_1_515 = 11; // report message
optional Gear_status_514 gear_status_514 = 12; // report message
optional Ecu_status_3_517 ecu_status_3_517 = 13; // report message
optional Ecu_status_2_516 ecu_status_2_516 = 14; // report message
optional Throttle_command_110 throttle_command_110 = 1; // control message
optional Brake_command_111 brake_command_111 = 2; // control message
optional Steer_command_112 steer_command_112 = 3; // control message
optional Turnsignal_command_113 turnsignal_command_113 = 4; // control message
optional Gear_command_114 gear_command_114 = 5; // control message
optional Control_command_115 control_command_115 = 6; // control message
optional Throttle_status__510 throttle_status__510 = 7; // report message
optional Brake_status__511 brake_status__511 = 8; // report message
optional Steer_status__512 steer_status__512 = 9; // report message
optional Turnsignal_status__513 turnsignal_status__513 = 10; // report message
optional Gear_status_514 gear_status_514 = 11; // report message
optional Ecu_status_1_515 ecu_status_1_515 = 12; // report message
optional Ecu_status_2_516 ecu_status_2_516 = 13; // report message
optional Ecu_status_3_517 ecu_status_3_517 = 14; // report message
}
12 changes: 11 additions & 1 deletion modules/canbus/vehicle/ch/ch_controller.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,12 @@

#include "modules/canbus/vehicle/ch/ch_controller.h"

#include "modules/common/proto/vehicle_signal.pb.h"

#include "cyber/common/log.h"
#include "cyber/time/time.h"
#include "modules/canbus/vehicle/ch/ch_message_manager.h"
#include "modules/canbus/vehicle/vehicle_controller.h"
#include "modules/common/proto/vehicle_signal.pb.h"
#include "modules/drivers/canbus/can_comm/can_sender.h"
#include "modules/drivers/canbus/can_comm/protocol_data.h"

Expand Down Expand Up @@ -247,6 +248,15 @@ Chassis ChController::chassis() {
"CANBUS not ready, firmware error or emergency button pressed!");
}

// 27 battery soc
if (chassis_detail.ch().has_ecu_status_2_516() &&
chassis_detail.ch().ecu_status_2_516().has_battery_soc()) {
chassis_.set_battery_soc_percentage(
chassis_detail.ch().ecu_status_2_516().battery_soc());
} else {
chassis_.set_battery_soc_percentage(0);
}

return chassis_;
}

Expand Down
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