From 0088bc41b9e78897b57f66efff9a2fb9b768c9bd Mon Sep 17 00:00:00 2001
From: Qi Luo <qi.stephen.luo@gmail.com>
Date: Mon, 1 Jan 2018 20:49:35 -0800
Subject: [PATCH] Common & Canbus : Update drive state proto and publish from
 canbus (#2301)

* Common : Update drive state proto

* Canbus : publish drive state from canbus
---
 modules/canbus/proto/BUILD                        |  1 +
 modules/canbus/proto/chassis.proto                |  5 ++++-
 .../canbus/vehicle/lincoln/lincoln_controller.cc  | 15 ++++++++++++++-
 3 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/modules/canbus/proto/BUILD b/modules/canbus/proto/BUILD
index c28541faed..aadd709bf1 100644
--- a/modules/canbus/proto/BUILD
+++ b/modules/canbus/proto/BUILD
@@ -18,6 +18,7 @@ proto_library(
     deps = [
         "//modules/common/proto:common_proto_lib",
         "//modules/common/proto:header_proto_lib",
+        "//modules/common/proto:drive_state_proto_lib",
         "//modules/common/proto:vehicle_signal_proto_lib",
         "//modules/drivers/canbus/proto:canbus_proto_lib",
     ],
diff --git a/modules/canbus/proto/chassis.proto b/modules/canbus/proto/chassis.proto
index c6dd83bf2d..bac5c843c2 100644
--- a/modules/canbus/proto/chassis.proto
+++ b/modules/canbus/proto/chassis.proto
@@ -4,8 +4,9 @@ package apollo.canbus;
 
 import "modules/common/proto/header.proto";
 import "modules/common/proto/vehicle_signal.proto";
+import "modules/common/proto/drive_state.proto";
 
-// next id :28
+// next id :30
 message Chassis {
   enum DrivingMode {
     COMPLETE_MANUAL = 0;  // human drive
@@ -91,6 +92,8 @@ message Chassis {
 
   // Only available for Lincoln now
   optional ChassisGPS chassis_gps = 28;
+
+  optional apollo.common.EngageAdvice engage_advice = 29;
 }
 
 message ChassisGPS {
diff --git a/modules/canbus/vehicle/lincoln/lincoln_controller.cc b/modules/canbus/vehicle/lincoln/lincoln_controller.cc
index 3fa32a4e72..8034d3d9d6 100644
--- a/modules/canbus/vehicle/lincoln/lincoln_controller.cc
+++ b/modules/canbus/vehicle/lincoln/lincoln_controller.cc
@@ -298,13 +298,26 @@ Chassis LincolnController::chassis() {
     chassis_.mutable_chassis_gps()->set_gps_valid(false);
   }
 
-  // last vin number will be written into KVDB once.
+  // vin number will be written into KVDB once.
   if (chassis_detail.license().has_vin() && !received_vin_) {
     apollo::common::KVDB::Put("apollo:canbus:vin",
                               chassis_detail.license().vin());
     received_vin_ = true;
   }
 
+  // give engage_advice based on error_code and canbus feedback
+  if (!chassis_error_mask_ && !chassis_.parking_brake() &&
+      (chassis_.steering_percentage() != 0.0) &&
+      (chassis_.throttle_percentage() != 0.0) &&
+      (chassis_.brake_percentage() != 0.0)) {
+    chassis_.mutable_engage_advice()->set_advice(
+        apollo::common::EngageAdvice::READY_TO_ENGAGE);
+  } else {
+    chassis_.mutable_engage_advice()->set_advice(
+        apollo::common::EngageAdvice::DISALLOW_ENGAGE);
+    chassis_.mutable_engage_advice()->set_reason(
+        "CANBUS not ready, firmware error or emergency button pressed!");
+  }
   return chassis_;
 }
 
-- 
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