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@@ -51,7 +51,7 @@ int Canbus::Init() {
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status1.uiVehHBrkStat = 1;
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- InitObd();
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+ InitServiceAndMsg();
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LOG(INFO)<<Name()<<" init end.";
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return ROBOT_SUCCESS;
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@@ -176,7 +176,7 @@ void Canbus::Stop() {
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}
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-void Canbus::InitObd()
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+void Canbus::InitServiceAndMsg()
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{
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obd.AccPsng = 0;
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obd.BrkPsng = 0;
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@@ -185,6 +185,31 @@ void Canbus::InitObd()
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obd.VehHBrkStat = 0;
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obd.VehSpd = 0;
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obd.VehSwStat = 0;
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+ T_ACTUATOR_ENABLE_REQUEST request;
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+ request.uiAccClchCtrReq = MOT_EN_REQ_ENABLE;
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+ request.uiAccMotEnReq = MOT_EN_REQ_ENABLE;
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+ request.uiBrkMotEnReq = MOT_EN_REQ_ENABLE;
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+ request.uiClchMotEnReq = ACC_CLCH_CTR_REQ_RELEASE;
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+ request.uiCtrMdReq= CTR_MD_REQ_HAND_DRIVE;
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+ request.uiEstpEnReq = ESTP_EN_REQ_DISABLE;
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+ request.uiPauseEnReq = PAUSE_EN_REQ_DISABLE;
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+ request.uiPmpEnReq = PMP_EN_REQ_DISABLE;
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+ request.uiStrMotEnReq = MOT_EN_REQ_ENABLE;
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+ request.uiXSftMotEnReq = MOT_EN_REQ_ENABLE;
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+ request.uiYSftMotEnReq = MOT_EN_REQ_ENABLE;
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+
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+ MessageCoder::CanMsgPackage((void*)&request, robot::common::ActuatorEnableReq, &canActuaEnableReqMsg);
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+
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+ T_RBT_MANAGER manager;
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+ manager.uiAccMotInt = FLT_CLR_RESET;
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+ manager.uiBrkMotInt = FLT_CLR_RESET;
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+ manager.uiClchMotInt = FLT_CLR_RESET;
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+ manager.uiFltClr = FLT_CLR_RESET;
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+ manager.uiStrMotInt= FLT_CLR_RESET;
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+ manager.uiXSftMotInt = FLT_CLR_RESET;
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+ manager.uiYSftMotInt = FLT_CLR_RESET;
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+
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+ MessageCoder::CanMsgPackage((void*)&manager, robot::common::RobotManager, &canRobotManagerMsg);
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}
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//read from CAN forever - until manual break
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