Merge pull request #74 from chalmers-revere/pre-release

Pre release

ChangeLog

@@ -1,3 +1,4 @@
+0.8.0 - Supporting new messages from CAN dbc file
 0.7.1 - Updates to proxy-velodyne16 to handle SPC and CPC; new release 0.7.1
 0.7.0 - Changing CompactPointCloud from half_float to uint16_t
 0.6.0 - Improved CompactPointCloud handling in Velodyne 16, upgraded use-cases to docker-compose 1.9.0

VERSION

@@ -1 +1 @@
-0.7.1
+0.8.0

code/core/system/health/man/opendlv-core-system-health.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-system-health
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-system-health 1 "07 December 2016" "0.7.1" "opendlv-core-system-health man page"
+.TH opendlv-core-system-health 1 "13 December 2016" "0.8.0" "opendlv-core-system-health man page"
 
 .SH NAME
 opendlv-core-system-health \- This component checks the health of the runtime environment.

code/core/system/proxy-applanix/man/opendlv-core-system-proxy-applanix.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-applanix
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-applanix 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-applanix man page"
+.TH opendlv-core-proxy-applanix 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-applanix man page"
 
 .SH NAME
 opendlv-core-proxy-applanix \- This tool interfaces to GPS/IMU unit Applanix.

code/core/system/proxy-camera-axis/man/opendlv-core-system-proxy-camera-axis.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-camera-axis
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-camera-axis 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-camera-axis man page"
+.TH opendlv-core-proxy-camera-axis 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-camera-axis man page"
 
 .SH NAME
 opendlv-core-proxy-camera-axis \- This tool interfaces with Axis cameras.

code/core/system/proxy-camera/man/opendlv-core-system-proxy-camera.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-camera
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-camera 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-camera man page"
+.TH opendlv-core-proxy-camera 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-camera man page"
 
 .SH NAME
 opendlv-core-proxy-camera \- This tool interfaces with the FH16 truck.

code/core/system/proxy-fh16/man/opendlv-core-system-proxy-fh16.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-fh16truck
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-fh16truck 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-fh16truck man page"
+.TH opendlv-core-proxy-fh16truck 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-fh16truck man page"
 
 .SH NAME
 opendlv-core-proxy-fh16truck \- This tool interfaces with the FH16 truck.

code/core/system/proxy-fh16/src/CANMessageDataStore.cpp

@@ -116,16 +116,16 @@ void CanMessageDataStore::add(odcore::data::Container &container) {
         }
 
         const float steering = actuationRequest.getSteering();
-        opendlv::proxy::reverefh16::SteeringRequest steeringRequest;
-        steeringRequest.setEnableRequest(m_enabled);
-        steeringRequest.setSteeringRoadWheelAngle(steering);
+        opendlv::proxy::reverefh16::SteerRequest steerRequest;
+        steerRequest.setEnableRequest(m_enabled);
+        steerRequest.setSteeringRoadWheelAngle(steering);
 
         // Must be 33.535 to disable deltatorque.
-        steeringRequest.setSteeringDeltaTorque(33.535);
-        odcore::data::Container steeringRequestContainer(steeringRequest);
+        steerRequest.setSteeringDeltaTorque(33.535);
+        odcore::data::Container steerRequestContainer(steerRequest);
 
-        canmapping::opendlv::proxy::reverefh16::SteeringRequest steeringRequestMapping;
-        automotive::GenericCANMessage genericCanMessage = steeringRequestMapping.encode(steeringRequestContainer);
+        canmapping::opendlv::proxy::reverefh16::SteerRequest steerRequestMapping;
+        automotive::GenericCANMessage genericCanMessage = steerRequestMapping.encode(steerRequestContainer);
         m_canDevice->write(genericCanMessage);
     }
 }

code/core/system/proxy-fh16/src/ProxyFH16.cpp

@@ -151,14 +151,14 @@ void ProxyFH16::setUpRecordingMappedGenericCANMessage(const string &timeStampFor
         {
             stringstream fileName;
             fileName << "CID-" << getCID() << "_"
-                     << "can_mapped_data_id-" << opendlv::proxy::reverefh16::ManualControl::ID() << "_" << timeStampForFileName << ".csv";
+                     << "can_mapped_data_id-" << opendlv::proxy::reverefh16::ManualDriver::ID() << "_" << timeStampForFileName << ".csv";
 
             // Create map of CSV transformers.
             fstream *f = new fstream(fileName.str(), ios::out);
 
-            // Log ManualControl.
-            m_mapOfCSVFiles[opendlv::proxy::reverefh16::ManualControl::ID()] = shared_ptr< fstream >(f);
-            m_mapOfCSVVisitors[opendlv::proxy::reverefh16::ManualControl::ID()] = shared_ptr< CSVFromVisitableVisitor >(new CSVFromVisitableVisitor(*f));
+            // Log ManualDriver.
+            m_mapOfCSVFiles[opendlv::proxy::reverefh16::ManualDriver::ID()] = shared_ptr< fstream >(f);
+            m_mapOfCSVVisitors[opendlv::proxy::reverefh16::ManualDriver::ID()] = shared_ptr< CSVFromVisitableVisitor >(new CSVFromVisitableVisitor(*f));
         }
 
         {
@@ -177,14 +177,14 @@ void ProxyFH16::setUpRecordingMappedGenericCANMessage(const string &timeStampFor
         {
             stringstream fileName;
             fileName << "CID-" << getCID() << "_"
-                     << "can_mapped_data_id-" << opendlv::proxy::reverefh16::Propulsion::ID() << "_" << timeStampForFileName << ".csv";
+                     << "can_mapped_data_id-" << opendlv::proxy::reverefh16::VehicleSpeed::ID() << "_" << timeStampForFileName << ".csv";
 
             // Create map of CSV transformers.
             fstream *f = new fstream(fileName.str(), ios::out);
 
-            // Log Propulsion.
-            m_mapOfCSVFiles[opendlv::proxy::reverefh16::Propulsion::ID()] = shared_ptr< fstream >(f);
-            m_mapOfCSVVisitors[opendlv::proxy::reverefh16::Propulsion::ID()] = shared_ptr< CSVFromVisitableVisitor >(new CSVFromVisitableVisitor(*f));
+            // Log VehicleSpeed.
+            m_mapOfCSVFiles[opendlv::proxy::reverefh16::VehicleSpeed::ID()] = shared_ptr< fstream >(f);
+            m_mapOfCSVVisitors[opendlv::proxy::reverefh16::VehicleSpeed::ID()] = shared_ptr< CSVFromVisitableVisitor >(new CSVFromVisitableVisitor(*f));
         }
     }
 }
@@ -211,13 +211,13 @@ void ProxyFH16::disableCANRequests() {
     m_device->write(genericCanMessage);
 
     // Disable steering.
-    opendlv::proxy::reverefh16::SteeringRequest steeringRequest;
+    opendlv::proxy::reverefh16::SteerRequest steeringRequest;
     steeringRequest.setEnableRequest(false);
     steeringRequest.setSteeringRoadWheelAngle(0.0);
     steeringRequest.setSteeringDeltaTorque(0.0);
     Container steeringRequestContainer(steeringRequest);
 
-    canmapping::opendlv::proxy::reverefh16::SteeringRequest steeringRequestMapping;
+    canmapping::opendlv::proxy::reverefh16::SteerRequest steeringRequestMapping;
     genericCanMessage = steeringRequestMapping.encode(steeringRequestContainer);
     m_device->write(genericCanMessage);
 }
@@ -342,8 +342,8 @@ void ProxyFH16::dumpCSVData(Container &c) {
     if ((m_mapOfCSVFiles.count(c.getDataType()) == 1) &&
     (m_mapOfCSVVisitors.count(c.getDataType()) == 1)) {
         // We have a CSV file and a transformation available.
-        if (c.getDataType() == opendlv::proxy::reverefh16::ManualControl::ID()) {
-            opendlv::proxy::reverefh16::ManualControl temp = c.getData< opendlv::proxy::reverefh16::ManualControl >();
+        if (c.getDataType() == opendlv::proxy::reverefh16::ManualDriver::ID()) {
+            opendlv::proxy::reverefh16::ManualDriver temp = c.getData< opendlv::proxy::reverefh16::ManualDriver >();
             MessageFromVisitableVisitor mfvv;
             temp.accept(mfvv);
             Message m = mfvv.getMessage();
@@ -358,8 +358,8 @@ void ProxyFH16::dumpCSVData(Container &c) {
             m.addField(m_receivedTS_ptr);
             m.accept(*m_mapOfCSVVisitors[c.getDataType()]);
         }
-        if (c.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-            opendlv::proxy::reverefh16::Propulsion temp = c.getData< opendlv::proxy::reverefh16::Propulsion >();
+        if (c.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+            opendlv::proxy::reverefh16::VehicleSpeed temp = c.getData< opendlv::proxy::reverefh16::VehicleSpeed >();
             MessageFromVisitableVisitor mfvv;
             temp.accept(mfvv);
             Message m = mfvv.getMessage();

code/core/system/proxy-imu/man/opendlv-core-system-proxy-imu.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-imu
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-imu 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-imu man page"
+.TH opendlv-core-proxy-imu 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-imu man page"
 
 .SH NAME
 opendlv-core-proxy-imu \- This tool interfaces with a imu.

code/core/system/proxy-ledstrip/man/opendlv-core-system-proxy-ledstrip.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-ledstrip
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-ledstrip 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-ledstrip man page"
+.TH opendlv-core-proxy-ledstrip 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-ledstrip man page"
 
 .SH NAME
 opendlv-core-proxy-ledstrip \- This tool interfaces with an LED strip.

code/core/system/proxy-sick/man/opendlv-core-system-proxy-sick.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-sick
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-sick 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-sick man page"
+.TH opendlv-core-proxy-sick 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-sick man page"
 
 .SH NAME
 opendlv-core-proxy-sick \- This tool interfaces with the Sick lidar device.

code/core/system/proxy-trimble/man/opendlv-core-system-proxy-trimble.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-trimble
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-trimble 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-trimble man page"
+.TH opendlv-core-proxy-trimble 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-trimble man page"
 
 .SH NAME
 opendlv-core-proxy-trimble \- This tool interfaces to GPS/IMU unit Trimble.

code/core/system/proxy-v2v/man/opendlv-core-system-proxy-v2v.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-v2v
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-v2v 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-v2v man page"
+.TH opendlv-core-proxy-v2v 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-v2v man page"
 
 .SH NAME
 opendlv-core-proxy-v2v \- This tool interfaces with a V2V unit.

code/core/system/proxy-velodyne16/man/opendlv-core-system-proxy-velodyne16.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-velodyne16
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-velodyne16 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-velodyne man page"
+.TH opendlv-core-proxy-velodyne16 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-velodyne man page"
 
 .SH NAME
 opendlv-core-proxy-velodyne16 \- This tool interfaces with the FH16 truck.

code/core/system/proxy-velodyne64/man/opendlv-core-system-proxy-velodyne64.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-proxy-velodyne
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-proxy-velodyne 1 "07 December 2016" "0.7.1" "opendlv-core-proxy-velodyne man page"
+.TH opendlv-core-proxy-velodyne 1 "13 December 2016" "0.8.0" "opendlv-core-proxy-velodyne man page"
 
 .SH NAME
 opendlv-core-proxy-velodyne \- This tool interfaces with the FH16 truck.

code/core/system/ps3controller/man/opendlv-core-system-ps3controller.1

@@ -1,7 +1,7 @@
 .\" Manpage for opendlv-core-ps3controller
 .\" Author: Christian Berger <[email protected]>.
 
-.TH opendlv-core-ps3controller 1 "07 December 2016" "0.7.1" "opendlv-core-ps3controller man page"
+.TH opendlv-core-ps3controller 1 "13 December 2016" "0.8.0" "opendlv-core-ps3controller man page"
 
 .SH NAME
 opendlv-core-ps3controller \- This tool interfaces with the FH16 truck.

resources/can/fh16gw.dbc → resources/can/fh16gw_v6.dbc

@@ -36,12 +36,19 @@ BS_:
 BU_: Chalmers VehicleGateWay
 
 
-BO_ 264 Driveline: 5 Vector__XXX
- SG_ EngineTorque : 16|16@1+ (1,0) [0|0] "Nm" Vector__XXX
- SG_ EngineSpeed : 0|16@1+ (0.125,0) [0|0] "rpm" Vector__XXX
- SG_ CurrentGear : 32|8@1+ (1,-125) [-125|130] "" Vector__XXX
+BO_ 272 Trailer: 8 VehicleGateWay
 
-BO_ 262 ManualDriver: 4 VehicleGateWay
+BO_ 265 EnergyLevels: 3 VehicleGateWay
+ SG_ BatterySOC : 16|8@1+ (0.5,0) [0|0] "Percent" Vector__XXX
+ SG_ FuelLevel : 0|10@1+ (1,0) [0|350] "l" Vector__XXX
+
+BO_ 264 Driveline: 5 VehicleGateWay
+ SG_ EngineTorque : 16|16@1+ (1,0) [0|4000] "Nm" Vector__XXX
+ SG_ EngineSpeed : 0|16@1+ (0.125,0) [0|8191.875] "rpm" Vector__XXX
+ SG_ CurrentGear : 32|8@1+ (1,-125) [-4|12] "GearValue" Vector__XXX
+
+BO_ 262 ManualDriver: 5 VehicleGateWay
+ SG_ Doors : 32|3@1+ (1,0) [0|0] "" Vector__XXX
  SG_ TorsionBarTorque : 16|16@1+ (0.0009765625,-32) [-32|31.9990234375] "Nm" Vector__XXX
  SG_ BrakePedalPosition : 8|8@1+ (0.4,0) [0|102] "Percent" Vector__XXX
  SG_ AccelerationPedalPosition : 0|8@1+ (0.4,0) [0|102] "Percent" Vector__XXX
@@ -88,6 +95,14 @@ BO_ 257 WheelSpeeds1: 8 VehicleGateWay
 
 
 
+CM_ SG_ 262 Doors "0 - Idle
+1 - Both doors closed
+2 - Driver door opened
+3 - Passenger door opend
+4 - Both doors opened
+5-7 Error";
+CM_ SG_ 514 BrakeRequest "abs(BrakeRequest.phys) > 0.05 m/s^2 to actually apply brakes.
+This means Enable_BrakeRequest can be active without sending smal brake request to brakeECU.";
 CM_ SG_ 263 SteeringWheelAngle "65024 - 65279 Error ; 65280 - 65535 Not available";
 CM_ SG_ 261 DriveAxle2Load "65024 - 65279 Error ; 65280 - 65535 Not available";
 CM_ SG_ 261 DriveAxle1Load "65024 - 65279 Error ; 65280 - 65535 Not available";
@@ -111,6 +126,9 @@ BA_DEF_DEF_  "GenSigStartValue" 0;
 BA_DEF_DEF_  "GenMsgSendType" "Cyclic";
 BA_DEF_DEF_  "GenMsgCycleTime" 0;
 BA_DEF_DEF_  "BusType" "CAN";
+BA_ "GenMsgCycleTime" BO_ 272 20;
+BA_ "GenMsgCycleTime" BO_ 265 20;
+BA_ "GenMsgCycleTime" BO_ 264 20;
 BA_ "GenMsgCycleTime" BO_ 262 10;
 BA_ "GenMsgCycleTime" BO_ 515 10;
 BA_ "GenMsgCycleTime" BO_ 514 10;
@@ -121,9 +139,12 @@ BA_ "GenMsgCycleTime" BO_ 260 10;
 BA_ "GenMsgCycleTime" BO_ 259 100;
 BA_ "GenMsgCycleTime" BO_ 258 10;
 BA_ "GenMsgCycleTime" BO_ 257 20;
+BA_ "GenSigStartValue" SG_ 265 BatterySOC 255;
+BA_ "GenSigStartValue" SG_ 264 EngineSpeed 65535;
 BA_ "GenSigStartValue" SG_ 264 CurrentGear 125;
 BA_ "GenSigStartValue" SG_ 262 BrakePedalPosition 255;
 BA_ "GenSigStartValue" SG_ 262 AccelerationPedalPosition 255;
 BA_ "GenSigStartValue" SG_ 515 AccelerationRequestPedal 255;
-BA_ "GenSigStartValue" SG_ 263 SteeringWheelAngle 65535;
+BA_ "GenSigStartValue" SG_ 263 SteeringWheelAngle 32126.976;
 BA_ "GenSigStartValue" SG_ 263 RoadWheelAngle 32765.3997378768;
+

resources/can/fh16mapping.can

@@ -9,11 +9,17 @@ using ODVDFH16Truck;
 // In the following, all interesting CAN signals are listed.
 ///////////////////////////////////////////////////////////////////////////////
 
-driveline.enginetorque in 0x108 at bit 16 for 16 bit is unsigned little endian multiply by 1 add 0 with range [0, 0];
-driveline.enginespeed in 0x108 at bit 0 for 16 bit is unsigned little endian multiply by 0.125 add 0 with range [0, 0];
-driveline.currentgear in 0x108 at bit 32 for 8 bit is unsigned little endian multiply by 1 add -125 with range [-125, 130];
+// CAN message for energy level information.
+energylevels.batterysoc in 0x109 at bit 16 for 8 bit is unsigned little endian multiply by 0.5 add 0 with range [0, 0];
+energylevels.fuellevel in 0x109 at bit 0 for 10 bit is unsigned little endian multiply by 1 add 0 with range [0, 350];
+
+// CAN message for driveline information.
+driveline.enginetorque in 0x108 at bit 16 for 16 bit is unsigned little endian multiply by 1 add 0 with range [0, 4000];
+driveline.enginespeed in 0x108 at bit 0 for 16 bit is unsigned little endian multiply by 0.125 add 0 with range [0, 8191.875];
+driveline.currentgear in 0x108 at bit 32 for 8 bit is unsigned little endian multiply by 1 add -125 with range [-4, 12];
 
 // CAN message for manual driver.
+manualdriver.doors in 0x106 at bit 32 for 3 bit is unsigned little endian multiply by 1 add 0 with range [0, 0];
 manualdriver.torsionbartorque in 0x106 at bit 16 for 16 bit is unsigned little endian multiply by 0.0009765625 add -32 with range [-32, 31.9990234375];
 manualdriver.brakepedalposition in 0x106 at bit 8 for 8 bit is unsigned little endian multiply by 0.4 add 0 with range [0, 102];
 manualdriver.accelerationpedalposition in 0x106 at bit 0 for 8 bit is unsigned little endian multiply by 0.4 add 0 with range [0, 102];
@@ -72,16 +78,22 @@ wheelspeeds1.frontaxle1wheelspeedleft in 0x101 at bit 0 for 16 bit is unsigned l
 // made available as soon as all required CAN signals have been received
 // from the low-level CAN receiver regardless of the received order.
 ///////////////////////////////////////////////////////////////////////////////
-mapping opendlv.proxy.reverefh16.Driveline {
+unordered mapping opendlv.proxy.reverefh16.Energylevels {
+	energylevels.batterysoc : 1;
+	energylevels.fuellevel : 2;
+}
+
+unordered mapping opendlv.proxy.reverefh16.Driveline {
 	driveline.enginetorque : 1;
 	driveline.enginespeed : 2;
 	driveline.currentgear : 3;
 }
 
-unordered mapping opendlv.proxy.reverefh16.ManualControl {
+unordered mapping opendlv.proxy.reverefh16.ManualDriver {
     manualdriver.accelerationpedalposition : 1;
     manualdriver.brakepedalposition : 2;
     manualdriver.torsionbartorque : 3;
+	manualdriver.doors : 4;
 }
 
 unordered mapping opendlv.proxy.reverefh16.AccelerationRequest {
@@ -94,7 +106,7 @@ unordered mapping opendlv.proxy.reverefh16.BrakeRequest {
     brakerequest.brakerequest : 2;
 }
 
-unordered mapping opendlv.proxy.reverefh16.SteeringRequest {
+unordered mapping opendlv.proxy.reverefh16.SteerRequest {
     steerrequest.enable_steerreq : 1;
     steerrequest.steerreq_rwa : 2;
     steerrequest.steerreq_deltatrq : 3;
@@ -106,11 +118,11 @@ unordered mapping opendlv.proxy.reverefh16.Axles {
     axleloads.driveaxle2load : 3;
 }
 
-unordered mapping opendlv.proxy.reverefh16.Propulsion {
+unordered mapping opendlv.proxy.reverefh16.VehicleSpeed {
     vehiclespeed.vehiclespeedpropshaft : 1;
 }
 
-unordered mapping opendlv.proxy.reverefh16.VehicleState {
+unordered mapping opendlv.proxy.reverefh16.VehicleDynamics {
     vehicledynamics.acceleration_x : 1;
     vehicledynamics.acceleration_y : 2;
     vehicledynamics.yawrate : 3;