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@@ -1,3 +1,8 @@
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+/******************************************************************************
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+ * Copyright 2020 The siasun Transport Authors. All Rights Reserved.
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+ * Author: limengqi
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+ * Licensed under the Apache License, Version 1.0 (the "License");
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+ *****************************************************************************/
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#include "messagecoder.h"
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#include"candatatype.h"
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#include"string.h"
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@@ -23,10 +28,10 @@ void MessageCoder::CharReverse(unsigned char * s, int n)
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void MessageCoder::CanMsgAnalyseID_5F2(unsigned char * ucData, T_ACTUATOR_ENABLE_REQUEST *tActEnableReq)
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{
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T_CONTROL_CMD_5F2 tCtrCmd5F2 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tCtrCmd5F2, ucCanMsgSrc, CAN_MSG_LEN);
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tCtrCmd5F2, ucData, CAN_MSG_LEN);
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tActEnableReq->uiAccClchCtrReq = tCtrCmd5F2.uiAccClchCtrReq;
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tActEnableReq->uiAccMotEnReq = tCtrCmd5F2.uiAccMotEnReq;
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tActEnableReq->uiBrkMotEnReq = tCtrCmd5F2.uiBrkMotEnReq;
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@@ -46,10 +51,10 @@ void MessageCoder::CanMsgAnalyseID_5F5(unsigned char * ucData, T_STR_ACT_CTR_REQ
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T_CONTROL_CMD_5F5 tCtrCmd5F5 = { 0 };
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T_CONTROL_CMD_5F5_UNION tCtrCmd5F5Union;
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- unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tCtrCmd5F5, ucCanMsgSrc, CAN_MSG_LEN);
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tCtrCmd5F5, ucData, CAN_MSG_LEN);
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memset(&tCtrCmd5F5Union, 0, sizeof(T_CONTROL_CMD_5F5_UNION));
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tCtrCmd5F5Union.tCtrCmd5F5Src.iStrSpdCtrReqL = tCtrCmd5F5.iStrSpdCtrReqL;
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@@ -65,11 +70,11 @@ void MessageCoder::CanMsgAnalyseID_5F5(unsigned char * ucData, T_STR_ACT_CTR_REQ
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void MessageCoder::CanMsgAnalyseID_6F1(unsigned char * ucData, T_VEHICLE_STATUS_1 * tVehicleStat1)
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{
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T_STATE_IN_6F1 tStatIn6F1 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatIn6F1, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatIn6F1, ucData, CAN_MSG_LEN);
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tVehicleStat1->uiAccPsng = tStatIn6F1.uiAccPsng;
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tVehicleStat1->uiBrkPsng = tStatIn6F1.uiBrkPsng;
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@@ -86,11 +91,11 @@ void MessageCoder::CanMsgAnalyseID_6F2(unsigned char * ucData, T_VEHICLE_STATUS_
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{
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T_STATE_IN_6F2 tStatIn6F2 = { 0 };
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T_STATE_IN_6F2_UNION tStatIn6F2Union;
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatIn6F2, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatIn6F2, ucData, CAN_MSG_LEN);
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memset(&tStatIn6F2Union, 0, sizeof(T_STATE_IN_6F2_UNION));
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tStatIn6F2Union.tStateIn6F2Src.iStrAngGrdL = tStatIn6F2.iStrAngGrdL;
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@@ -106,11 +111,11 @@ void MessageCoder::CanMsgAnalyseID_6F2(unsigned char * ucData, T_VEHICLE_STATUS_
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void MessageCoder::CanMsgAnalyseID_6F3(unsigned char * ucData, T_VEHICLE_STATUS_3 * tVehicleStat3)
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{
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T_STATE_IN_6F3 tStatIn6F3 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatIn6F3, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatIn6F3, ucData, CAN_MSG_LEN);
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tVehicleStat3->uiVehBatQut = tStatIn6F3.uiVehBatQut;
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tVehicleStat3->uiVehBatCur = tStatIn6F3.uiVehBatCur;
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@@ -121,11 +126,11 @@ void MessageCoder::CanMsgAnalyseID_6F3(unsigned char * ucData, T_VEHICLE_STATUS_
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void MessageCoder::CanMsgAnalyseID_6F4(unsigned char * ucData, T_COMPUTER_STATUS * tComputerStat)
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{
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T_STATE_IN_6F4 tStatIn6F4 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatIn6F4, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatIn6F4, ucData, CAN_MSG_LEN);
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tComputerStat->uiCmpStat = tStatIn6F4.uiCmpStat;
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}
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@@ -134,11 +139,11 @@ void MessageCoder::CanMsgAnalyseID_6F4(unsigned char * ucData, T_COMPUTER_STATUS
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void MessageCoder::CanMsgAnalyseID_6E0(unsigned char * ucData, T_RBT_ACT_PSNG * tRbtActPsng)
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{
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T_STATE_OUT_6E0 tStatout6E0 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E0, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E0, ucData, CAN_MSG_LEN);
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T_STATE_OUT_6E0_UNION tStateOut6E0Union;
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memset(&tStateOut6E0Union, 0, sizeof(T_STATE_OUT_6E0_UNION));
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@@ -155,11 +160,11 @@ void MessageCoder::CanMsgAnalyseID_6E0(unsigned char * ucData, T_RBT_ACT_PSNG *
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void MessageCoder::CanMsgAnalyseID_6E1(unsigned char * ucData, T_ACC_BRK_PSNG * tAccBrkPsng)
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{
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T_STATE_OUT_6E1 tStatout6E1 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E1, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E1, ucData, CAN_MSG_LEN);
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tAccBrkPsng->uiClbtAccPsng0 = tStatout6E1.uiClbtAccPsng0;
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tAccBrkPsng->uiClbtAccPsngMax = tStatout6E1.uiClbtAccPsngMax;
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@@ -171,11 +176,11 @@ void MessageCoder::CanMsgAnalyseID_6E1(unsigned char * ucData, T_ACC_BRK_PSNG *
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void MessageCoder::CanMsgAnalyseID_6E2(unsigned char * ucData, T_STR_LRN_PSNG * tStrLrnPsng)
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{
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T_STATE_OUT_6E2 tStatout6E2 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E2, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E2, ucData, CAN_MSG_LEN);
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T_STATE_OUT_6E2_UNION tStateOut6E2Union;
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memset(&tStateOut6E2Union,0,sizeof(T_STATE_OUT_6E2_UNION));
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@@ -191,11 +196,11 @@ void MessageCoder::CanMsgAnalyseID_6E2(unsigned char * ucData, T_STR_LRN_PSNG *
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void MessageCoder::CanMsgAnalyseID_6E3(unsigned char * ucData, T_SFT_LRN_PST_1 * tSftLrnPst1)
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{
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T_STATE_OUT_6E3 tStatout6E3 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E3, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E3, ucData, CAN_MSG_LEN);
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T_STATE_OUT_6E3_UNION tStateOut6E3Union;
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memset(&tStateOut6E3Union,0,sizeof(T_STATE_OUT_6E3_UNION));
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@@ -215,11 +220,11 @@ void MessageCoder::CanMsgAnalyseID_6E3(unsigned char * ucData, T_SFT_LRN_PST_1 *
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void MessageCoder::CanMsgAnalyseID_6E4(unsigned char * ucData, T_CTR_POW_STATUS * tCtrPowStatus)
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{
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T_STATE_OUT_6E4 tStatout6E4 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E4, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E4, ucData, CAN_MSG_LEN);
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tCtrPowStatus->uiAccCtrPowStat = tStatout6E4.uiAccCtrPowStat;
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tCtrPowStatus->uiBrkCtrPowStat = tStatout6E4.uiBrkCtrPowStat;
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@@ -234,11 +239,11 @@ void MessageCoder::CanMsgAnalyseID_6E4(unsigned char * ucData, T_CTR_POW_STATUS
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void MessageCoder::CanMsgAnalyseID_6E5(unsigned char * ucData, T_ACT_ENABLE_STATUS * tActEnableStatus)
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{
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T_STATE_OUT_6E5 tStatout6E5 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E5, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E5, ucData, CAN_MSG_LEN);
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tActEnableStatus->uiAccClchCtrStat = tStatout6E5.uiAccClchCtrStat;
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tActEnableStatus->uiAccMotEnStat = tStatout6E5.uiAccMotEnStat;
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@@ -255,11 +260,11 @@ void MessageCoder::CanMsgAnalyseID_6E5(unsigned char * ucData, T_ACT_ENABLE_STAT
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void MessageCoder::CanMsgAnalyseID_6E6(unsigned char * ucData, T_ACC_CTR_STATUS * tAccCtrStatus)
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{
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T_STATE_OUT_6E6 tStatout6E6 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E6, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E6, ucData, CAN_MSG_LEN);
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tAccCtrStatus->iAccDspSpd = tStatout6E6.iAccDspSpd;
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tAccCtrStatus->iAccMotSpd = tStatout6E6.iAccMotSpd;
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@@ -270,11 +275,11 @@ void MessageCoder::CanMsgAnalyseID_6E6(unsigned char * ucData, T_ACC_CTR_STATUS
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void MessageCoder::CanMsgAnalyseID_6E7(unsigned char * ucData, T_BRK_CTR_STATUS * tBrkCtrStatus)
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{
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T_STATE_OUT_6E7 tStatout6E7 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E7, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E7, ucData, CAN_MSG_LEN);
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tBrkCtrStatus->iBrkDspSpd = tStatout6E7.iBrkDspSpd;
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tBrkCtrStatus->iBrkFoc = tStatout6E7.iBrkFoc;
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@@ -288,11 +293,11 @@ void MessageCoder::CanMsgAnalyseID_6E7(unsigned char * ucData, T_BRK_CTR_STATUS
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void MessageCoder::CanMsgAnalyseID_6E8(unsigned char * ucData, T_CLCH_CTR_STATUS * tClchCtrStatus)
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{
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T_STATE_OUT_6E8 tStatout6E8 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E8, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E8, ucData, CAN_MSG_LEN);
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T_STATE_OUT_6E8_UNION tStateOut6E8Union;
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memset(&tStateOut6E8Union,0,sizeof(T_STATE_OUT_6E8_UNION));
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@@ -309,11 +314,11 @@ void MessageCoder::CanMsgAnalyseID_6E8(unsigned char * ucData, T_CLCH_CTR_STATUS
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void MessageCoder::CanMsgAnalyseID_6E9(unsigned char * ucData, T_STR_STATUS * tStrStatus)
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{
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T_STATE_OUT_6E9 tStatout6E9 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6E9, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6E9, ucData, CAN_MSG_LEN);
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T_STATE_OUT_6E9_UNION tStateOut6E9Union;
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memset(&tStateOut6E9Union,0,sizeof(T_STATE_OUT_6E9_UNION));
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@@ -331,11 +336,11 @@ void MessageCoder::CanMsgAnalyseID_6E9(unsigned char * ucData, T_STR_STATUS * tS
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void MessageCoder::CanMsgAnalyseID_6EA(unsigned char * ucData, T_SFT_STATUS * tSftStatus)
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{
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T_STATE_OUT_6EA tStatout6EA = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6EA, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6EA, ucData, CAN_MSG_LEN);
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T_STATE_OUT_6EA_UNION tStateOut6EAUnion;
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memset(&tStateOut6EAUnion, 0, sizeof(T_STATE_OUT_6EA_UNION));
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@@ -357,11 +362,11 @@ void MessageCoder::CanMsgAnalyseID_6EA(unsigned char * ucData, T_SFT_STATUS * tS
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void MessageCoder::CanMsgAnalyseID_6EB(unsigned char * ucData, T_SYS_INFO_1 * tSysInfo1)
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{
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T_STATE_OUT_6EB tStatout6EB = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6EB, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6EB, ucData, CAN_MSG_LEN);
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tSysInfo1->uiAccMotCur = tStatout6EB.uiAccMotCur;
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tSysInfo1->uiBrkMotCur = tStatout6EB.uiBrkMotCur;
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@@ -376,11 +381,11 @@ void MessageCoder::CanMsgAnalyseID_6EB(unsigned char * ucData, T_SYS_INFO_1 * tS
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void MessageCoder::CanMsgAnalyseID_6ED(unsigned char * ucData, T_SYS_INFO_2 * tSysInfo2)
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{
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T_STATE_OUT_6ED tStatout6ED = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6ED, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6ED, ucData, CAN_MSG_LEN);
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tSysInfo2->uiAccCtrAlive = tStatout6ED.uiAccCtrAlive;
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tSysInfo2->uiAccMotClbr = tStatout6ED.uiAccMotClbr;
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@@ -396,6 +401,7 @@ void MessageCoder::CanMsgAnalyseID_6ED(unsigned char * ucData, T_SYS_INFO_2 * tS
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tSysInfo2->uiXSftMotClbr = tStatout6ED.uiXSftMotClbr;
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tSysInfo2->uiYSftArmCtrAlive = tStatout6ED.uiYSftArmCtrAlive;
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tSysInfo2->uiYSftMotClbr = tStatout6ED.uiYSftMotClbr;
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+ tSysInfo2->uiRbtCfgMdStat = tStatout6ED.uiRbtCfgMdStat;
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}
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@@ -403,11 +409,11 @@ void MessageCoder::CanMsgAnalyseID_6ED(unsigned char * ucData, T_SYS_INFO_2 * tS
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void MessageCoder::CanMsgAnalyseID_6EE(unsigned char * ucData, T_SYS_LRN * tSysLrn)
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{
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T_STATE_OUT_6EE tStatout6EE = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6EE, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6EE, ucData, CAN_MSG_LEN);
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tSysLrn->uiAcc0LrnStat = tStatout6EE.uiAcc0LrnStat;
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tSysLrn->uiAccLrnStat = tStatout6EE.uiAccLrnStat;
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@@ -428,11 +434,11 @@ void MessageCoder::CanMsgAnalyseID_6EE(unsigned char * ucData, T_SYS_LRN * tSysL
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void MessageCoder::CanMsgAnalyseID_6EF(unsigned char * ucData, T_SFT_LRN_PST_2 * tSFtLrnPst2)
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{
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T_STATE_OUT_6EF tStatout6EF = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6EF, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6EF, ucData, CAN_MSG_LEN);
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T_STATE_OUT_6EF_UNION tStateOut6EFUnion;
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memset(&tStateOut6EFUnion, 0, sizeof(T_STATE_OUT_6EF_UNION));
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@@ -452,11 +458,11 @@ void MessageCoder::CanMsgAnalyseID_6EF(unsigned char * ucData, T_SFT_LRN_PST_2 *
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void MessageCoder::CanMsgAnalyseID_6D0(unsigned char * ucData, T_SYS_MONITOR * tSysMonitor)
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{
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T_STATE_OUT_6D0 tStatout6D0 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatout6D0, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatout6D0, ucData, CAN_MSG_LEN);
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tSysMonitor->iCtrTmp = tStatout6D0.iCtrTmp;
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tSysMonitor->uiAccClchAbnStat = tStatout6D0.uiAccClchAbnStat;
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@@ -483,11 +489,11 @@ void MessageCoder::CanMsgAnalyseID_6D0(unsigned char * ucData, T_SYS_MONITOR * t
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void MessageCoder::CanMsgAnalyseID_6D1(unsigned char * ucData, T_SYS_ERR * tSysErr)
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{
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T_STATE_OUT_6D1 tStatOut6D1 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tStatOut6D1, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tStatOut6D1, ucData, CAN_MSG_LEN);
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tSysErr->uiSysErra = tStatOut6D1.uiSysErra;
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tSysErr->uiSysErrb = tStatOut6D1.uiSysErrb;
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@@ -521,11 +527,11 @@ void MessageCoder::CanMsgAnalyseID_6D1(unsigned char * ucData, T_SYS_ERR * tSysE
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void MessageCoder::CanMsgAnalyseID_6D7(unsigned char * ucData, T_STEER_PST_TIME_REQ * tSteerPstTimeReq)
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{
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T_CONTROL_CMD_6D7 tCtrCmd6D7 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tCtrCmd6D7, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tCtrCmd6D7, ucData, CAN_MSG_LEN);
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tSteerPstTimeReq->uiNumReq = tCtrCmd6D7.uiNumReq;
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tSteerPstTimeReq->uiSeqIdReq = tCtrCmd6D7.uiSeqIdReq;
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@@ -535,11 +541,11 @@ void MessageCoder::CanMsgAnalyseID_6D7(unsigned char * ucData, T_STEER_PST_TIME_
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void MessageCoder::CanMsgAnalyseID_2E0(unsigned char * ucData, T_ESTOP_INFO * tEstopInfo)
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{
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T_ESTOP_2E0 tEstop2E0 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tEstop2E0, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tEstop2E0, ucData, CAN_MSG_LEN);
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tEstopInfo->uiEstpAbnStat = tEstop2E0.uiEstpAbnStat;
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tEstopInfo->uiEstpAlive = tEstop2E0.uiEstpAlive;
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@@ -551,11 +557,11 @@ void MessageCoder::CanMsgAnalyseID_2E0(unsigned char * ucData, T_ESTOP_INFO * tE
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void MessageCoder::CanMsgAnalyseID_2E1(unsigned char * ucData, T_ESTOP_ERR * tEstopErr)
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{
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T_ESTOP_2E1 tEstop2E1 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tEstop2E1, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tEstop2E1, ucData, CAN_MSG_LEN);
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tEstopErr->uiEspErra = tEstop2E1.uiEspErra;
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tEstopErr->uiEspErrb = tEstop2E1.uiEspErrb;
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@@ -573,11 +579,11 @@ void MessageCoder::CanMsgAnalyseID_2E1(unsigned char * ucData, T_ESTOP_ERR * tEs
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void MessageCoder::CanMsgAnalyseErr(unsigned char * ucData, T_MOT_CTR_ERR * tMotCtrErr)
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{
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T_CTR_ERR_CODE tCtrErrCode = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- CharReverse(ucCanMsgSrc,8);
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- memcpy(&tCtrErrCode, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucData,8);
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+ memcpy(&tCtrErrCode, ucData, CAN_MSG_LEN);
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tMotCtrErr->uiErra = tCtrErrCode.a;
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tMotCtrErr->uiErraa = tCtrErrCode.aa;
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@@ -620,10 +626,10 @@ void MessageCoder::CanMsgAnalyseErr(unsigned char * ucData, T_MOT_CTR_ERR * tMot
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void MessageCoder::OBDAnalyseID_1A1(unsigned char *ucData, T_OBD_ACC_PSNG *tOBDAccPsng)
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{
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T_OBD_1A1 tOBD1A1 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD1A1, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD1A1, ucData, CAN_MSG_LEN);
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tOBDAccPsng->obdAccPsng = (tOBD1A1.obdAccPsng *1000) / OBD_ACC_PSNG_RATIO;
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@@ -633,10 +639,10 @@ void MessageCoder::OBDAnalyseID_1A1(unsigned char *ucData, T_OBD_ACC_PSNG *tOBDA
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void MessageCoder::OBDAnalyseID_0F1(unsigned char *ucData, T_OBD_BRK_PSNG *tOBDBrkPsng)
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{
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T_OBD_0F1 tOBD0F1 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD0F1, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD0F1, ucData, CAN_MSG_LEN);
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tOBDBrkPsng->obdBrkPsng = (tOBD0F1.obdBrkPsng *1000) / OBD_BRK_PSNG_RATIO;
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}
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@@ -645,10 +651,10 @@ void MessageCoder::OBDAnalyseID_0F1(unsigned char *ucData, T_OBD_BRK_PSNG *tOBDB
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void MessageCoder::OBDAnalyseID_135(unsigned char *ucData, T_OBD_SFT_PSNG *tOBDSftPsng)
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{
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T_OBD_135 tOBD135 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD135, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD135, ucData, CAN_MSG_LEN);
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switch(tOBD135.obdSftPsng)
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{
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@@ -674,10 +680,10 @@ void MessageCoder::OBDAnalyseID_135(unsigned char *ucData, T_OBD_SFT_PSNG *tOBDS
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void MessageCoder::OBDAnalyseID_1F1(unsigned char *ucData, T_OBD_VEH_BRK_STAT *tOBDVehBrkStat)
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{
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T_OBD_1F1 tOBD1F1 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD1F1, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD1F1, ucData, CAN_MSG_LEN);
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tOBDVehBrkStat->obdVehHBrkStat = tOBD1F1.obdVehHBrkStat;
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}
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@@ -686,10 +692,10 @@ void MessageCoder::OBDAnalyseID_1F1(unsigned char *ucData, T_OBD_VEH_BRK_STAT *t
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void MessageCoder::OBDAnalyseID_121(unsigned char *ucData, T_OBD_VEH_SW_STAT *tOBDVehSwStat)
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{
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T_OBD_121 tOBD121 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD121, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD121, ucData, CAN_MSG_LEN);
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switch (tOBD121.obdVehSwStat) {
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case 4:
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@@ -714,10 +720,10 @@ void MessageCoder::OBDAnalyseID_121(unsigned char *ucData, T_OBD_VEH_SW_STAT *tO
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void MessageCoder::OBDAnalyseID_1E5(unsigned char *ucData, T_OBD_STR_ANG *tOBDStrAng)
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{
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T_OBD_1E5 tOBD1E5 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD1E5, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD1E5, ucData, CAN_MSG_LEN);
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T_OBD_1E5_UNION tObd1e5Union;
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memset(&tObd1e5Union,0,sizeof(T_OBD_1E5_UNION));
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@@ -739,10 +745,10 @@ void MessageCoder::OBDAnalyseID_0C9(unsigned char *ucData, T_OBD_ENG_SPD *tOBDEn
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// tOBDEngSpd->obdEngSpd = tOBD0C9.obdEngSpd / OBD_ENG_SPD_RATIO;
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T_OBD_0C9 tOBD0C9 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD0C9, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD0C9, ucData, CAN_MSG_LEN);
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T_OBD_0C9_UNION tObd0c9Union;
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memset(&tObd0c9Union,0,sizeof(T_OBD_0C9_UNION));
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@@ -764,10 +770,10 @@ void MessageCoder::OBDAnalyseID_3E9(unsigned char *ucData, T_OBD_VEH_SPD *tOBDVe
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// tOBDVehSpd->obdVehSpd = tOBD3E9.obdVehSpd / OBD_VEH_SPD_RATIO;
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T_OBD_3E9 tOBD3E9 = { 0 };
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- unsigned char ucCanMsgSrc[8] = { 0 };
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+// unsigned char ucCanMsgSrc[8] = { 0 };
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- memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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- memcpy(&tOBD3E9, ucCanMsgSrc, CAN_MSG_LEN);
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+// memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ memcpy(&tOBD3E9, ucData, CAN_MSG_LEN);
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T_OBD_3E9_UNION tObd3e9Union;
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memset(&tObd3e9Union,0,sizeof(T_OBD_3E9_UNION));
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@@ -1023,6 +1029,8 @@ void MessageCoder::CanMsgPackageID_5FC(T_ACT_CTR_LIMT * tActCtrLimt, TPCANMsg *t
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tCtrCmd5FC.uiAccMaxLimt = tActCtrLimt->uiAccMaxLimt;
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tCtrCmd5FC.uiBrkMaxLimt = tActCtrLimt->uiBrkMaxLimt;
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tCtrCmd5FC.uiSftType = tActCtrLimt->uiSftType;
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+ tCtrCmd5FC.uiRbtAplySenro = tActCtrLimt->uiRbtAplySenro;
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+ tCtrCmd5FC.uiRbtCfgMd = tActCtrLimt->uiRbtCfgMd;
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memcpy(ucCanMsgSrc, &tCtrCmd5FC, CAN_MSG_LEN);
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CharReverse(ucCanMsgSrc,8);
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@@ -1174,6 +1182,22 @@ void MessageCoder::CanMsgPackageID_7F7(T_VEHICLE_START * tVehicleStart, TPCANMsg
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tCanMsg->MSGTYPE = MSGTYPE_STANDARD;
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}
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+//坡度模板--数据组包
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+void MessageCoder::CanMsgPackageID_70F(T_Slope_MODE *tSlopeMODE,TPCANMsg *tCanMsg)
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+{
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+ T_CONTROL_CMD_70F tCtrCmd70F = {0};
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+ unsigned char ucCanMsgSrc[8] = {0};
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+
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+ tCtrCmd70F.iSlopeReq = tSlopeMODE->iSlopeReq;
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+
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+ memcpy(ucCanMsgSrc, &tCtrCmd70F, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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+ memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
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+ tCanMsg->ID = robot::common::SlopeMODE;
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+ tCanMsg->LEN = 8;
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+ tCanMsg->MSGTYPE = MSGTYPE_STANDARD;
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+}
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+
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//车辆状态1--数据组包
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void MessageCoder::CanMsgPackageID_6F1(T_VEHICLE_STATUS_1 *tVehicleStatus1, TPCANMsg *tCanMsg)
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@@ -1509,6 +1533,9 @@ void MessageCoder::CanMsgPackage(void * p, int id, TPCANMsg *tCanMsg)
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case robot::common::VehicleStart://车辆一键启动
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CanMsgPackageID_7F7((T_VEHICLE_START *)p,tCanMsg);
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break;
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+ case robot::common::SlopeMODE: //坡度模板
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+ CanMsgPackageID_70F((T_Slope_MODE *)p,tCanMsg);
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+ break;
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case robot::common::VehicleStatus1://车辆状态1
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CanMsgPackageID_6F1((T_VEHICLE_STATUS_1 *)p,tCanMsg);
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break;
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