fix(canbus/devkit): enter manual mode instead of chassis error if takeover (#88)

Signed-off-by: Pride Leong <[email protected]>

Author: lykling

modules/canbus/vehicle/devkit/devkit_controller.cc

@@ -18,12 +18,13 @@
 
 #include <string>
 
+#include "modules/common_msgs/basic_msgs/vehicle_signal.pb.h"
+
 #include "cyber/common/log.h"
 #include "cyber/time/time.h"
 #include "modules/canbus/common/canbus_gflags.h"
 #include "modules/canbus/vehicle/devkit/devkit_message_manager.h"
 #include "modules/canbus/vehicle/vehicle_controller.h"
-#include "modules/common_msgs/basic_msgs/vehicle_signal.pb.h"
 #include "modules/drivers/canbus/can_comm/can_sender.h"
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 
@@ -424,6 +425,16 @@ Chassis DevkitController::chassis() {
     chassis_.set_front_bumper_event(Chassis::BUMPER_INVALID);
   }
 
+  // if take over, reset to manual mode
+  if (chassis_detail.devkit().throttle_report_500().throttle_en_state() ==
+          Throttle_report_500::THROTTLE_EN_STATE_TAKEOVER ||
+      chassis_detail.devkit().brake_report_501().brake_en_state() ==
+          Brake_report_501::BRAKE_EN_STATE_TAKEOVER ||
+      chassis_detail.devkit().steering_report_502().steer_en_state() ==
+          Steering_report_502::STEER_EN_STATE_TAKEOVER) {
+    set_driving_mode(Chassis::COMPLETE_MANUAL);
+  }
+
   return chassis_;
 }
 

modules/canbus/vehicle/devkit/protocol/brake_report_501.cc

@@ -17,6 +17,7 @@
 #include "modules/canbus/vehicle/devkit/protocol/brake_report_501.h"
 
 #include "glog/logging.h"
+
 #include "modules/drivers/canbus/common/byte.h"
 #include "modules/drivers/canbus/common/canbus_consts.h"
 
@@ -40,7 +41,7 @@ void Brakereport501::Parse(const std::uint8_t* bytes, int32_t length,
   chassis->mutable_devkit()->mutable_brake_report_501()->set_brake_en_state(
       brake_en_state(bytes, length));
   chassis->mutable_check_response()->set_is_esp_online(
-      brake_en_state(bytes, length) == 1);
+      brake_flt1(bytes, length) == 0 && brake_flt2(bytes, length) == 0);
 }
 
 // config detail: {'name': 'brake_pedal_actual', 'offset': 0.0, 'precision':

modules/canbus/vehicle/devkit/protocol/steering_report_502.cc

@@ -17,6 +17,7 @@
 #include "modules/canbus/vehicle/devkit/protocol/steering_report_502.h"
 
 #include "glog/logging.h"
+
 #include "modules/drivers/canbus/common/byte.h"
 #include "modules/drivers/canbus/common/canbus_consts.h"
 
@@ -47,7 +48,7 @@ void Steeringreport502::Parse(const std::uint8_t* bytes, int32_t length,
       ->mutable_steering_report_502()
       ->set_steer_angle_actual(steer_angle_actual(bytes, length));
   chassis->mutable_check_response()->set_is_eps_online(
-      steer_en_state(bytes, length) == 1);
+      steer_flt1(bytes, length) == 0 && steer_flt2(bytes, length) == 0);
 }
 
 // config detail: {'bit': 47, 'is_signed_var': False, 'len': 16, 'name':

modules/canbus/vehicle/devkit/protocol/throttle_report_500.cc

@@ -17,6 +17,7 @@
 #include "modules/canbus/vehicle/devkit/protocol/throttle_report_500.h"
 
 #include "glog/logging.h"
+
 #include "modules/drivers/canbus/common/byte.h"
 #include "modules/drivers/canbus/common/canbus_consts.h"
 
@@ -42,7 +43,7 @@ void Throttlereport500::Parse(const std::uint8_t* bytes, int32_t length,
       ->mutable_throttle_report_500()
       ->set_throttle_en_state(throttle_en_state(bytes, length));
   chassis->mutable_check_response()->set_is_vcu_online(
-      throttle_en_state(bytes, length) == 1);
+      throttle_flt1(bytes, length) == 0 && throttle_flt2(bytes, length) == 0);
 }
 
 // config detail: {'name': 'throttle_pedal_actual', 'offset': 0.0, 'precision':