canbus: neolix_edu add battery signals (ApolloAuto#13044)

modules/canbus/proto/neolix_edu.proto

@@ -86,10 +86,16 @@ message Vcu_powerstatus_214 {
   optional int32 vcu_powermodevalid = 2;
   // 0x0:NotActivate;0x1:Activate [bit] [0|1]
   optional bool replacebatterystateindication = 3;
+  // 0x0:Normal AEB;0x1:Forbidden [bit] [0|1]
+  optional bool forbidden_aeb_signal = 4;
+  // [A] [-400|910.68]
+  optional double bcu_chargedischargecurrent = 5;
+  // [V] [0|655.35]
+  optional double bcu_batt_internalvoltage = 6;
   // [bit] [0|15]
-  optional int32 vcu_driverinfo_alivecounter = 4;
+  optional int32 vcu_driverinfo_alivecounter = 7;
   // [bit] [0|255]
-  optional int32 vcu_driverinfo_checksum = 5;
+  optional int32 vcu_driverinfo_checksum = 8;
 }
 
 message Ads_light_horn_command_310 {

modules/canbus/vehicle/neolix_edu/neolix_edu_controller.cc

@@ -164,7 +164,7 @@ Chassis Neolix_eduController::chassis() {
   // 3
   chassis_.set_engine_started(true);
 
-  // 4 speed_mps
+  // 3 speed_mps
   if (chassis_detail.neolix_edu().has_aeb_frontwheelspeed_353() &&
       chassis_detail.neolix_edu().has_aeb_rearwheelspeed_354()) {
     auto wheelspeed = chassis_.mutable_wheel_speed();
@@ -185,7 +185,17 @@ Chassis Neolix_eduController::chassis() {
   } else {
     chassis_.set_speed_mps(0);
   }
-
+  // 4 SOC
+  if (chassis_detail.neolix_edu().has_vcu_vehicle_status_report_101() &&
+      chassis_detail.neolix_edu()
+          .vcu_vehicle_status_report_101()
+          .has_vcu_display_soc()) {
+    chassis_.set_battery_soc_percentage(chassis_detail.neolix_edu()
+                                            .vcu_vehicle_status_report_101()
+                                            .vcu_display_soc());
+  } else {
+    chassis_.set_battery_soc_percentage(0);
+  }
   // 5 steering
   if (chassis_detail.neolix_edu().has_vcu_eps_report_57() &&
       chassis_detail.neolix_edu().vcu_eps_report_57().has_vcu_real_angle()) {

modules/canbus/vehicle/neolix_edu/protocol/vcu_powerstatus_214.cc

@@ -42,6 +42,16 @@ void Vcupowerstatus214::Parse(const std::uint8_t* bytes, int32_t length,
       ->mutable_vcu_powerstatus_214()
       ->set_replacebatterystateindication(
           replacebatterystateindication(bytes, length));
+  chassis->mutable_neolix_edu()
+      ->mutable_vcu_powerstatus_214()
+      ->set_forbidden_aeb_signal(forbidden_aeb_signal(bytes, length));
+  chassis->mutable_neolix_edu()
+      ->mutable_vcu_powerstatus_214()
+      ->set_bcu_chargedischargecurrent(
+          bcu_chargedischargecurrent(bytes, length));
+  chassis->mutable_neolix_edu()
+      ->mutable_vcu_powerstatus_214()
+      ->set_bcu_batt_internalvoltage(bcu_batt_internalvoltage(bytes, length));
   chassis->mutable_neolix_edu()
       ->mutable_vcu_powerstatus_214()
       ->set_vcu_driverinfo_alivecounter(
@@ -92,6 +102,37 @@ bool Vcupowerstatus214::replacebatterystateindication(const std::uint8_t* bytes,
   return ret;
 }
 
+bool Vcupowerstatus214::forbidden_aeb_signal(const std::uint8_t* bytes,
+                                             const int32_t length) const {
+  Byte t0(bytes + 1);
+  int32_t x = t0.get_byte(7, 1);
+
+  bool ret = x;
+  return ret;
+}
+
+float Vcupowerstatus214::bcu_chargedischargecurrent(
+    const std::uint8_t* bytes, const int32_t length) const {
+  Byte t0(bytes + 2);
+  Byte t1(bytes + 3);
+  int32_t x1 = t0.get_byte(0, 8);
+  int32_t x2 = t1.get_byte(0, 8);
+
+  int ret = (x1 << 8 | x2) * 0.02 - 400;
+  return ret;
+}
+
+float Vcupowerstatus214::bcu_batt_internalvoltage(const std::uint8_t* bytes,
+                                                  const int32_t length) const {
+  Byte t0(bytes + 4);
+  Byte t1(bytes + 5);
+  int32_t x1 = t0.get_byte(0, 8);
+  int32_t x2 = t1.get_byte(0, 8);
+
+  int ret = (x1 << 8 | x2) * 0.01;
+  return ret;
+}
+
 // config detail: {'name': 'vcu_driverinfo_alivecounter', 'offset': 0.0,
 // 'precision': 1.0, 'len': 4, 'is_signed_var': False, 'physical_range':
 // '[0|15]', 'bit': 55, 'type': 'int', 'order': 'motorola', 'physical_unit':

modules/canbus/vehicle/neolix_edu/protocol/vcu_powerstatus_214.h

@@ -53,6 +53,27 @@ class Vcupowerstatus214 : public ::apollo::drivers::canbus::ProtocolData<
   bool replacebatterystateindication(const std::uint8_t* bytes,
                                      const int32_t length) const;
 
+  // config detail: {'description': '0x0:Normal AEB;0x1:Forbidden', 'offset':
+  // 0.0, 'precision': 1.0, 'len': 1, 'name': 'forbidden_aeb_signal',
+  // 'is_signed_var': False, 'physical_range': '[0|1]', 'bit': 15, 'type':
+  // 'bool', 'order': 'motorola', 'physical_unit': 'bit'}
+  bool forbidden_aeb_signal(const std::uint8_t* bytes,
+                            const int32_t length) const;
+
+  // config detail: {'description': ';', 'offset': -400, 'precision': 0.02,
+  // 'len': 16, 'name': 'chargedischargecurrent', 'is_signed_var': False,
+  // 'physical_range': '[-400|910.68]', 'bit': 40, 'type': 'double', 'order':
+  // 'motorola', 'physical_unit': ''}
+  float bcu_chargedischargecurrent(const std::uint8_t* bytes,
+                                   const int32_t length) const;
+
+  // config detail: {'description': ';', 'offset': 0, 'precision': 0.01,
+  // 'len': 16, 'name': 'batt_internalvoltage', 'is_signed_var': False,
+  // 'physical_range': '[0|655.35]', 'bit': 54, 'type': 'double', 'order':
+  // 'motorola', 'physical_unit': ''}
+  float bcu_batt_internalvoltage(const std::uint8_t* bytes,
+                                 const int32_t length) const;
+
   // config detail: {'name': 'VCU_DriverInfo_AliveCounter', 'offset': 0.0,
   // 'precision': 1.0, 'len': 4, 'is_signed_var': False, 'physical_range':
   // '[0|15]', 'bit': 55, 'type': 'int', 'order': 'motorola', 'physical_unit':