canbus: devkit protocol: add the AEB state and some signals' unit

modules/canbus/proto/devkit.proto

@@ -4,25 +4,25 @@ package apollo.canbus;
 
 message Wheelspeed_report_506 {
 // Report Message
-  // [] [0|65.535]
+  // [m/s] [0|65.535]
   optional double rr = 1;
-  // [] [0|65.535]
+  // [m/s] [0|65.535]
   optional double rl = 2;
-  // [] [0|65.535]
+  // [m/s] [0|65.535]
   optional double fr = 3;
-  // [] [0|65.535]
+  // [m/s] [0|65.535]
   optional double fl = 4;
 }
 
 message Ultr_sensor_1_507 {
 // Report Message
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss9_tof_direct = 1;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss8_tof_direct = 2;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss11_tof_direct = 3;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss10_tof_direct = 4;
 }
 
@@ -34,7 +34,7 @@ message Steering_command_102 {
   }
   // [] [0|1]
   optional Steer_en_ctrlType steer_en_ctrl = 1;
-  // [] [-500|500]
+  // [deg] [-500|500]
   optional double steer_angle_target = 2;
   // [] [0|250]
   optional int32 steer_angle_spd = 3;
@@ -69,11 +69,11 @@ message Throttle_command_100 {
     THROTTLE_EN_CTRL_DISABLE = 0;
     THROTTLE_EN_CTRL_ENABLE = 1;
   }
-  // [] [0|10]
+  // [m/s^2] [0|10]
   optional double throttle_acc = 1;
   // [] [0|255]
   optional int32 checksum_110 = 2;
-  // [] [0|100]
+  // [%] [0|100]
   optional double throttle_pedal_target = 3;
   // [] [0|1]
   optional Throttle_en_ctrlType throttle_en_ctrl = 4;
@@ -85,11 +85,11 @@ message Brake_command_101 {
     BRAKE_EN_CTRL_DISABLE = 0;
     BRAKE_EN_CTRL_ENABLE = 1;
   }
-  // [] [0|10.23]
+  // [m/s^2] [0|10]
   optional double brake_dec = 1;
   // [] [0|255]
   optional int32 checksum_111 = 2;
-  // [] [0|100]
+  // [%] [0|100]
   optional double brake_pedal_target = 3;
   // [] [0|1]
   optional Brake_en_ctrlType brake_en_ctrl = 4;
@@ -115,49 +115,49 @@ message Park_command_104 {
 
 message Ultr_sensor_2_508 {
 // Report Message
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss9_tof_indirect = 1;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss8_tof_indirect = 2;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss11_tof_indirect = 3;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss10_tof_indirect = 4;
 }
 
 message Ultr_sensor_3_509 {
 // Report Message
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss5_tof_direct = 1;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss4_tof_direct = 2;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss3_tof_direct = 3;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss2_tof_direct = 4;
 }
 
 message Ultr_sensor_5_511 {
 // Report Message
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss7_tof_direct = 1;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss6_tof_direct = 2;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss1_tof_direct = 3;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss0_tof_direct = 4;
 }
 
 message Ultr_sensor_4_510 {
 // Report Message
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss5_tof_indirect = 1;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss4_tof_indirect = 2;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss3_tof_indirect = 3;
-  // [] [0|65535]
+  // [cm] [0|65535]
   optional double uiuss2_tof_indirect = 4;
 }
 
@@ -179,10 +179,36 @@ message Park_report_504 {
 
 message Vcu_report_505 {
 // Report Message
-  // [] [-10|10]
-  optional double acc = 1;
-  // [] [0|65.535]
-  optional double speed = 2;
+  enum Vehicle_mode_stateType {
+    VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE = 0;
+    VEHICLE_MODE_STATE_AUTO_MODE = 1;
+    VEHICLE_MODE_STATE_EMERGENCY_MODE = 2;
+    VEHICLE_MODE_STATE_STANDBY_MODE = 3;
+  }
+  enum Frontcrash_stateType {
+    FRONTCRASH_STATE_NO_EVENT = 0;
+    FRONTCRASH_STATE_CRASH_EVENT = 1;
+  }
+  enum Backcrash_stateType {
+    BACKCRASH_STATE_NO_EVENT = 0;
+    BACKCRASH_STATE_CRASH_EVENT = 1;
+  }
+  enum Aeb_stateType {
+    AEB_STATE_INCTIVE = 0;
+    AEB_STATE_ACTIVE = 1;
+  }
+  // [] [0|0]
+  optional Vehicle_mode_stateType vehicle_mode_state = 1;
+  // [] [0|0]
+  optional Frontcrash_stateType frontcrash_state = 2;
+  // [] [0|0]
+  optional Backcrash_stateType backcrash_state = 3;
+  // [] [0|0]
+  optional Aeb_stateType aeb_state = 4;
+  // [m/s^2] [-10|10]
+  optional double acc = 5;
+  // [m/s] [0|65.535]
+  optional double speed = 6;
 }
 
 message Steering_report_502 {
@@ -201,7 +227,7 @@ message Steering_report_502 {
     STEER_EN_STATE_TAKEOVER = 2;
     STEER_EN_STATE_STANDBY = 3;
   }
-  // [] [0|0]
+  // [deg/s] [0|250]
   optional int32 steer_angle_spd_actual = 1;
   // Steer system communication fault [] [0|1]
   optional Steer_flt2Type steer_flt2 = 2;
@@ -209,7 +235,7 @@ message Steering_report_502 {
   optional Steer_flt1Type steer_flt1 = 3;
   // [] [0|2]
   optional Steer_en_stateType steer_en_state = 4;
-  // [] [-500|500]
+  // [deg] [-500|500]
   optional double steer_angle_actual = 5;
 }
 
@@ -248,7 +274,7 @@ message Throttle_report_500 {
     THROTTLE_EN_STATE_TAKEOVER = 2;
     THROTTLE_EN_STATE_STANDBY = 3;
   }
-  // [] [0|100]
+  // [%] [0|100]
   optional double throttle_pedal_actual = 1;
   // Drive system communication fault [] [0|1]
   optional Throttle_flt2Type throttle_flt2 = 2;
@@ -274,7 +300,7 @@ message Brake_report_501 {
     BRAKE_EN_STATE_TAKEOVER = 2;
     BRAKE_EN_STATE_STANDBY = 3;
   }
-  // [] [0|100]
+  // [%] [0|100]
   optional double brake_pedal_actual = 1;
   // Brake system communication fault [] [0|1]
   optional Brake_flt2Type brake_flt2 = 2;

modules/canbus/vehicle/devkit/protocol/brake_command_101.cc

@@ -59,7 +59,7 @@ Brakecommand101* Brakecommand101::set_brake_dec(double brake_dec) {
 
 // config detail: {'name': 'Brake_Dec', 'offset': 0.0, 'precision': 0.01, 'len':
 // 10, 'is_signed_var': False, 'physical_range': '[0|10]', 'bit': 15, 'type':
-// 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
 void Brakecommand101::set_p_brake_dec(uint8_t* data, double brake_dec) {
   brake_dec = ProtocolData::BoundedValue(0.0, 10.0, brake_dec);
   int x = brake_dec / 0.010000;
@@ -99,7 +99,7 @@ Brakecommand101* Brakecommand101::set_brake_pedal_target(
 
 // config detail: {'name': 'Brake_Pedal_Target', 'offset': 0.0, 'precision':
 // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit':
-// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
 void Brakecommand101::set_p_brake_pedal_target(uint8_t* data,
                                                double brake_pedal_target) {
   brake_pedal_target =

modules/canbus/vehicle/devkit/protocol/brake_command_101.h

@@ -38,7 +38,7 @@ class Brakecommand101 : public ::apollo::drivers::canbus::ProtocolData<
 
   // config detail: {'name': 'Brake_Dec', 'offset': 0.0, 'precision': 0.01,
   // 'len': 10, 'is_signed_var': False, 'physical_range': '[0|10.00]', 'bit':
-  // 15, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 15, 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
   Brakecommand101* set_brake_dec(double brake_dec);
 
   // config detail: {'name': 'CheckSum_111', 'offset': 0.0, 'precision': 1.0,
@@ -48,7 +48,7 @@ class Brakecommand101 : public ::apollo::drivers::canbus::ProtocolData<
 
   // config detail: {'name': 'Brake_Pedal_Target', 'offset': 0.0, 'precision':
   // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit':
-  // 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 31, 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
   Brakecommand101* set_brake_pedal_target(double brake_pedal_target);
 
   // config detail: {'name': 'Brake_EN_CTRL', 'enum': {0:

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

@@ -45,7 +45,7 @@ void Brakereport501::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'brake_pedal_actual', 'offset': 0.0, 'precision':
 // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit':
-// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
 double Brakereport501::brake_pedal_actual(const std::uint8_t* bytes,
                                           int32_t length) const {
   Byte t0(bytes + 3);

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

@@ -34,7 +34,7 @@ class Brakereport501 : public ::apollo::drivers::canbus::ProtocolData<
  private:
   // config detail: {'name': 'Brake_Pedal_Actual', 'offset': 0.0, 'precision':
   // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit':
-  // 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 31, 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
   double brake_pedal_actual(const std::uint8_t* bytes,
                             const int32_t length) const;
 

modules/canbus/vehicle/devkit/protocol/steering_command_102.cc

@@ -78,7 +78,7 @@ Steeringcommand102* Steeringcommand102::set_steer_angle_target(
 
 // config detail: {'name': 'Steer_ANGLE_Target', 'offset': -500.0, 'precision':
 // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[-500|500]',
-// 'bit': 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 31, 'type': 'double', 'order': 'motorola', 'physical_unit': 'deg'}
 void Steeringcommand102::set_p_steer_angle_target(uint8_t* data,
                                                   double steer_angle_target) {
   steer_angle_target =

modules/canbus/vehicle/devkit/protocol/steering_command_102.h

@@ -46,7 +46,7 @@ class Steeringcommand102 : public ::apollo::drivers::canbus::ProtocolData<
   // config detail: {'name': 'Steer_ANGLE_Target', 'offset': -500.0,
   // 'precision': 0.1, 'len': 16, 'is_signed_var': False, 'physical_range':
   // '[-500|500]', 'bit': 31, 'type': 'double', 'order': 'motorola',
-  // 'physical_unit': ''}
+  // 'physical_unit': 'deg'}
   Steeringcommand102* set_steer_angle_target(double steer_angle_target);
 
   // config detail: {'name': 'Steer_ANGLE_SPD', 'offset': 0.0, 'precision': 1.0,

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

@@ -49,7 +49,8 @@ void Steeringreport502::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'steer_angle_spd_actual', 'offset': 0.0,
 // 'precision': 1.0, 'len': 8, 'is_signed_var': False, 'physical_range':
-// '[0|0]', 'bit': 55, 'type': 'int', 'order': 'motorola', 'physical_unit': ''}
+// '[0|0]', 'bit': 55, 'type': 'int', 'order': 'motorola', 'physical_unit':
+// 'deg/s'}
 int Steeringreport502::steer_angle_spd_actual(const std::uint8_t* bytes,
                                               int32_t length) const {
   Byte t0(bytes + 6);
@@ -94,10 +95,6 @@ Steering_report_502::Steer_flt1Type Steeringreport502::steer_flt1(
 // 'STEER_EN_STATE_TAKEOVER', 3: 'STEER_EN_STATE_STANDBY'}, 'precision': 1.0,
 // 'len': 2, 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|2]',
 // 'bit': 1, 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
-// 'STEER_EN_STATE_MANUAL', 1: 'STEER_EN_STATE_AUTO', 2:
-// 'STEER_EN_STATE_TAKEOVER'}, 'precision': 1.0, 'len': 2, 'is_signed_var':
-// False, 'offset': 0.0, 'physical_range': '[0|2]', 'bit': 1, 'type': 'enum',
-// 'order': 'motorola', 'physical_unit': ''}
 Steering_report_502::Steer_en_stateType Steeringreport502::steer_en_state(
     const std::uint8_t* bytes, int32_t length) const {
   Byte t0(bytes + 0);
@@ -110,7 +107,7 @@ Steering_report_502::Steer_en_stateType Steeringreport502::steer_en_state(
 
 // config detail: {'name': 'steer_angle_actual', 'offset': -500.0, 'precision':
 // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[-500|500]',
-// 'bit': 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 31, 'type': 'double', 'order': 'motorola', 'physical_unit': 'deg'}
 double Steeringreport502::steer_angle_actual(const std::uint8_t* bytes,
                                              int32_t length) const {
   Byte t0(bytes + 3);

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

@@ -35,7 +35,7 @@ class Steeringreport502 : public ::apollo::drivers::canbus::ProtocolData<
   // config detail: {'name': 'Steer_ANGLE_SPD_Actual', 'offset': 0.0,
   // 'precision': 1.0, 'len': 8, 'is_signed_var': False, 'physical_range':
   // '[0|0]', 'bit': 55, 'type': 'int', 'order': 'motorola', 'physical_unit':
-  // ''}
+  // 'deg/s'}
   int steer_angle_spd_actual(const std::uint8_t* bytes,
                              const int32_t length) const;
 
@@ -67,7 +67,7 @@ class Steeringreport502 : public ::apollo::drivers::canbus::ProtocolData<
   // config detail: {'name': 'Steer_ANGLE_Actual', 'offset': -500.0,
   // 'precision': 0.1, 'len': 16, 'is_signed_var': False, 'physical_range':
   // '[-500|500]', 'bit': 31, 'type': 'double', 'order': 'motorola',
-  // 'physical_unit': ''}
+  // 'physical_unit': 'deg'}
   double steer_angle_actual(const std::uint8_t* bytes,
                             const int32_t length) const;
 };

modules/canbus/vehicle/devkit/protocol/throttle_command_100.cc

@@ -59,7 +59,7 @@ Throttlecommand100* Throttlecommand100::set_throttle_acc(double throttle_acc) {
 
 // config detail: {'name': 'Throttle_Acc', 'offset': 0.0, 'precision': 0.01,
 // 'len': 10, 'is_signed_var': False, 'physical_range': '[0|10]', 'bit': 15,
-// 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
 void Throttlecommand100::set_p_throttle_acc(uint8_t* data,
                                             double throttle_acc) {
   throttle_acc = ProtocolData::BoundedValue(0.0, 10.0, throttle_acc);
@@ -100,7 +100,7 @@ Throttlecommand100* Throttlecommand100::set_throttle_pedal_target(
 
 // config detail: {'name': 'Throttle_Pedal_Target', 'offset': 0.0, 'precision':
 // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit':
-// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
 void Throttlecommand100::set_p_throttle_pedal_target(
     uint8_t* data, double throttle_pedal_target) {
   throttle_pedal_target =

modules/canbus/vehicle/devkit/protocol/throttle_command_100.h

@@ -49,7 +49,7 @@ class Throttlecommand100 : public ::apollo::drivers::canbus::ProtocolData<
   // config detail: {'name': 'Throttle_Pedal_Target', 'offset': 0.0,
   // 'precision': 0.1, 'len': 16, 'is_signed_var': False, 'physical_range':
   // '[0|100]', 'bit': 31, 'type': 'double', 'order': 'motorola',
-  // 'physical_unit': ''}
+  // 'physical_unit': '%'}
   Throttlecommand100* set_throttle_pedal_target(double throttle_pedal_target);
 
   // config detail: {'name': 'Throttle_EN_CTRL', 'enum': {0:

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

@@ -47,7 +47,7 @@ void Throttlereport500::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'throttle_pedal_actual', 'offset': 0.0, 'precision':
 // 0.1, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit':
-// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 31, 'type': 'double', 'order': 'motorola', 'physical_unit': '%'}
 double Throttlereport500::throttle_pedal_actual(const std::uint8_t* bytes,
                                                 int32_t length) const {
   Byte t0(bytes + 3);

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

@@ -35,7 +35,7 @@ class Throttlereport500 : public ::apollo::drivers::canbus::ProtocolData<
   // config detail: {'name': 'Throttle_Pedal_Actual', 'offset': 0.0,
   // 'precision': 0.1, 'len': 16, 'is_signed_var': False, 'physical_range':
   // '[0|100]', 'bit': 31, 'type': 'double', 'order': 'motorola',
-  // 'physical_unit': ''}
+  // 'physical_unit': '%'}
   double throttle_pedal_actual(const std::uint8_t* bytes,
                                const int32_t length) const;
 

modules/canbus/vehicle/devkit/protocol/ultr_sensor_1_507.h

@@ -34,25 +34,25 @@ class Ultrsensor1507 : public ::apollo::drivers::canbus::ProtocolData<
  private:
   // config detail: {'name': 'uiUSS9_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss9_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS8_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss8_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS11_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss11_tof_direct(const std::uint8_t* bytes,
                             const int32_t length) const;
 
   // config detail: {'name': 'uiUSS10_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss10_tof_direct(const std::uint8_t* bytes,
                             const int32_t length) const;
 };

modules/canbus/vehicle/devkit/protocol/ultr_sensor_2_508.cc

@@ -47,7 +47,7 @@ void Ultrsensor2508::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'uiuss9_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor2508::uiuss9_tof_indirect(const std::uint8_t* bytes,
                                            int32_t length) const {
   Byte t0(bytes + 2);
@@ -64,7 +64,7 @@ double Ultrsensor2508::uiuss9_tof_indirect(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss8_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor2508::uiuss8_tof_indirect(const std::uint8_t* bytes,
                                            int32_t length) const {
   Byte t0(bytes + 0);
@@ -81,7 +81,7 @@ double Ultrsensor2508::uiuss8_tof_indirect(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss11_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor2508::uiuss11_tof_indirect(const std::uint8_t* bytes,
                                             int32_t length) const {
   Byte t0(bytes + 6);
@@ -98,7 +98,7 @@ double Ultrsensor2508::uiuss11_tof_indirect(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss10_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor2508::uiuss10_tof_indirect(const std::uint8_t* bytes,
                                             int32_t length) const {
   Byte t0(bytes + 4);

modules/canbus/vehicle/devkit/protocol/ultr_sensor_2_508.h

@@ -34,25 +34,25 @@ class Ultrsensor2508 : public ::apollo::drivers::canbus::ProtocolData<
  private:
   // config detail: {'name': 'uiUSS9_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss9_tof_indirect(const std::uint8_t* bytes,
                              const int32_t length) const;
 
   // config detail: {'name': 'uiUSS8_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss8_tof_indirect(const std::uint8_t* bytes,
                              const int32_t length) const;
 
   // config detail: {'name': 'uiUSS11_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss11_tof_indirect(const std::uint8_t* bytes,
                               const int32_t length) const;
 
   // config detail: {'name': 'uiUSS10_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss10_tof_indirect(const std::uint8_t* bytes,
                               const int32_t length) const;
 };

modules/canbus/vehicle/devkit/protocol/ultr_sensor_3_509.cc

@@ -43,7 +43,7 @@ void Ultrsensor3509::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'uiuss5_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor3509::uiuss5_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 6);
@@ -60,7 +60,7 @@ double Ultrsensor3509::uiuss5_tof_direct(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss4_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor3509::uiuss4_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 4);
@@ -77,7 +77,7 @@ double Ultrsensor3509::uiuss4_tof_direct(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss3_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor3509::uiuss3_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 2);
@@ -94,7 +94,7 @@ double Ultrsensor3509::uiuss3_tof_direct(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss2_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor3509::uiuss2_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 0);

modules/canbus/vehicle/devkit/protocol/ultr_sensor_3_509.h

@@ -34,25 +34,25 @@ class Ultrsensor3509 : public ::apollo::drivers::canbus::ProtocolData<
  private:
   // config detail: {'name': 'uiUSS5_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss5_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS4_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss4_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS3_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss3_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS2_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss2_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 };

modules/canbus/vehicle/devkit/protocol/ultr_sensor_4_510.cc

@@ -47,7 +47,7 @@ void Ultrsensor4510::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'uiuss5_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor4510::uiuss5_tof_indirect(const std::uint8_t* bytes,
                                            int32_t length) const {
   Byte t0(bytes + 6);
@@ -64,7 +64,7 @@ double Ultrsensor4510::uiuss5_tof_indirect(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss4_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor4510::uiuss4_tof_indirect(const std::uint8_t* bytes,
                                            int32_t length) const {
   Byte t0(bytes + 4);
@@ -81,7 +81,7 @@ double Ultrsensor4510::uiuss4_tof_indirect(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss3_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor4510::uiuss3_tof_indirect(const std::uint8_t* bytes,
                                            int32_t length) const {
   Byte t0(bytes + 2);
@@ -98,7 +98,7 @@ double Ultrsensor4510::uiuss3_tof_indirect(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss2_tof_indirect', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor4510::uiuss2_tof_indirect(const std::uint8_t* bytes,
                                            int32_t length) const {
   Byte t0(bytes + 0);

modules/canbus/vehicle/devkit/protocol/ultr_sensor_4_510.h

@@ -34,25 +34,25 @@ class Ultrsensor4510 : public ::apollo::drivers::canbus::ProtocolData<
  private:
   // config detail: {'name': 'uiUSS5_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss5_tof_indirect(const std::uint8_t* bytes,
                              const int32_t length) const;
 
   // config detail: {'name': 'uiUSS4_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss4_tof_indirect(const std::uint8_t* bytes,
                              const int32_t length) const;
 
   // config detail: {'name': 'uiUSS3_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 23, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss3_tof_indirect(const std::uint8_t* bytes,
                              const int32_t length) const;
 
   // config detail: {'name': 'uiUSS2_ToF_Indirect', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss2_tof_indirect(const std::uint8_t* bytes,
                              const int32_t length) const;
 };

modules/canbus/vehicle/devkit/protocol/ultr_sensor_5_511.cc

@@ -43,7 +43,7 @@ void Ultrsensor5511::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'uiuss7_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor5511::uiuss7_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 6);
@@ -60,7 +60,7 @@ double Ultrsensor5511::uiuss7_tof_direct(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss6_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor5511::uiuss6_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 4);
@@ -77,7 +77,7 @@ double Ultrsensor5511::uiuss6_tof_direct(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss1_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': ''}
+// 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': 'cm'}
 double Ultrsensor5511::uiuss1_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 3);
@@ -94,7 +94,7 @@ double Ultrsensor5511::uiuss1_tof_direct(const std::uint8_t* bytes,
 
 // config detail: {'name': 'uiuss0_tof_direct', 'offset': 0.0, 'precision':
 // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
 double Ultrsensor5511::uiuss0_tof_direct(const std::uint8_t* bytes,
                                          int32_t length) const {
   Byte t0(bytes + 0);

modules/canbus/vehicle/devkit/protocol/ultr_sensor_5_511.h

@@ -34,25 +34,25 @@ class Ultrsensor5511 : public ::apollo::drivers::canbus::ProtocolData<
  private:
   // config detail: {'name': 'uiUSS7_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 55, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss7_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS6_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 39, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss6_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS1_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': ''}
+  // 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': 'cm'}
   double uiuss1_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 
   // config detail: {'name': 'uiUSS0_ToF_Direct', 'offset': 0.0, 'precision':
   // 0.01724, 'len': 16, 'is_signed_var': False, 'physical_range': '[0|65535]',
-  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'bit': 7, 'type': 'double', 'order': 'motorola', 'physical_unit': 'cm'}
   double uiuss0_tof_direct(const std::uint8_t* bytes,
                            const int32_t length) const;
 };

modules/canbus/vehicle/devkit/protocol/vcu_report_505.cc

@@ -31,15 +31,83 @@ const int32_t Vcureport505::ID = 0x505;
 
 void Vcureport505::Parse(const std::uint8_t* bytes, int32_t length,
                          ChassisDetail* chassis) const {
+  chassis->mutable_devkit()->mutable_vcu_report_505()->set_vehicle_mode_state(
+      vehicle_mode_state(bytes, length));
+  chassis->mutable_devkit()->mutable_vcu_report_505()->set_frontcrash_state(
+      frontcrash_state(bytes, length));
+  chassis->mutable_devkit()->mutable_vcu_report_505()->set_backcrash_state(
+      backcrash_state(bytes, length));
+  chassis->mutable_devkit()->mutable_vcu_report_505()->set_aeb_state(
+      aeb_state(bytes, length));
   chassis->mutable_devkit()->mutable_vcu_report_505()->set_acc(
       acc(bytes, length));
   chassis->mutable_devkit()->mutable_vcu_report_505()->set_speed(
       speed(bytes, length));
 }
 
+// config detail: {'name': 'vehicle_mode_state', 'enum': {0:
+// 'VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE', 1: 'VEHICLE_MODE_STATE_AUTO_MODE',
+// 2: 'VEHICLE_MODE_STATE_EMERGENCY_MODE', 3:
+// 'VEHICLE_MODE_STATE_STANDBY_MODE'}, 'precision': 1.0, 'len': 2,
+// 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|0]', 'bit': 36,
+// 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
+Vcu_report_505::Vehicle_mode_stateType Vcureport505::vehicle_mode_state(
+    const std::uint8_t* bytes, int32_t length) const {
+  Byte t0(bytes + 4);
+  int32_t x = t0.get_byte(3, 2);
+
+  Vcu_report_505::Vehicle_mode_stateType ret =
+      static_cast<Vcu_report_505::Vehicle_mode_stateType>(x);
+  return ret;
+}
+
+// config detail: {'name': 'frontcrash_state', 'enum': {0:
+// 'FRONTCRASH_STATE_NO_EVENT', 1: 'FRONTCRASH_STATE_CRASH_EVENT'},
+// 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'offset': 0.0,
+// 'physical_range': '[0|0]', 'bit': 33, 'type': 'enum', 'order': 'motorola',
+// 'physical_unit': ''}
+Vcu_report_505::Frontcrash_stateType Vcureport505::frontcrash_state(
+    const std::uint8_t* bytes, int32_t length) const {
+  Byte t0(bytes + 4);
+  int32_t x = t0.get_byte(1, 1);
+
+  Vcu_report_505::Frontcrash_stateType ret =
+      static_cast<Vcu_report_505::Frontcrash_stateType>(x);
+  return ret;
+}
+
+// config detail: {'name': 'backcrash_state', 'enum': {0:
+// 'BACKCRASH_STATE_NO_EVENT', 1: 'BACKCRASH_STATE_CRASH_EVENT'},
+// 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'offset': 0.0,
+// 'physical_range': '[0|0]', 'bit': 34, 'type': 'enum', 'order': 'motorola',
+// 'physical_unit': ''}
+Vcu_report_505::Backcrash_stateType Vcureport505::backcrash_state(
+    const std::uint8_t* bytes, int32_t length) const {
+  Byte t0(bytes + 4);
+  int32_t x = t0.get_byte(2, 1);
+
+  Vcu_report_505::Backcrash_stateType ret =
+      static_cast<Vcu_report_505::Backcrash_stateType>(x);
+  return ret;
+}
+
+// config detail: {'name': 'aeb_state', 'enum': {0: 'AEB_STATE_INCTIVE', 1:
+// 'AEB_STATE_ACTIVE'}, 'precision': 1.0, 'len': 1, 'is_signed_var': False,
+// 'offset': 0.0, 'physical_range': '[0|0]', 'bit': 32, 'type': 'enum', 'order':
+// 'motorola', 'physical_unit': ''}
+Vcu_report_505::Aeb_stateType Vcureport505::aeb_state(const std::uint8_t* bytes,
+                                                      int32_t length) const {
+  Byte t0(bytes + 4);
+  int32_t x = t0.get_byte(0, 1);
+
+  Vcu_report_505::Aeb_stateType ret =
+      static_cast<Vcu_report_505::Aeb_stateType>(x);
+  return ret;
+}
+
 // config detail: {'name': 'acc', 'offset': 0.0, 'precision': 0.01, 'len': 12,
 // 'is_signed_var': True, 'physical_range': '[-10|10]', 'bit': 7, 'type':
-// 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
 double Vcureport505::acc(const std::uint8_t* bytes, int32_t length) const {
   Byte t0(bytes + 0);
   int32_t x = t0.get_byte(0, 8);
@@ -58,7 +126,7 @@ double Vcureport505::acc(const std::uint8_t* bytes, int32_t length) const {
 
 // config detail: {'name': 'speed', 'offset': 0.0, 'precision': 0.001, 'len':
 // 16, 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 23,
-// 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
 double Vcureport505::speed(const std::uint8_t* bytes, int32_t length) const {
   Byte t0(bytes + 2);
   int32_t x = t0.get_byte(0, 8);

modules/canbus/vehicle/devkit/protocol/vcu_report_505.h

@@ -32,14 +32,46 @@ class Vcureport505 : public ::apollo::drivers::canbus::ProtocolData<
              ChassisDetail* chassis) const override;
 
  private:
+  // config detail: {'name': 'Vehicle_Mode_State', 'enum': {0:
+  // 'VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE', 1: 'VEHICLE_MODE_STATE_AUTO_MODE',
+  // 2: 'VEHICLE_MODE_STATE_EMERGENCY_MODE', 3:
+  // 'VEHICLE_MODE_STATE_STANDBY_MODE'}, 'precision': 1.0, 'len': 2,
+  // 'is_signed_var': False, 'offset': 0.0, 'physical_range': '[0|0]', 'bit':
+  // 36, 'type': 'enum', 'order': 'motorola', 'physical_unit': ''}
+  Vcu_report_505::Vehicle_mode_stateType vehicle_mode_state(
+      const std::uint8_t* bytes, const int32_t length) const;
+
+  // config detail: {'name': 'FrontCrash_State', 'enum': {0:
+  // 'FRONTCRASH_STATE_NO_EVENT', 1: 'FRONTCRASH_STATE_CRASH_EVENT'},
+  // 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'offset': 0.0,
+  // 'physical_range': '[0|0]', 'bit': 33, 'type': 'enum', 'order': 'motorola',
+  // 'physical_unit': ''}
+  Vcu_report_505::Frontcrash_stateType frontcrash_state(
+      const std::uint8_t* bytes, const int32_t length) const;
+
+  // config detail: {'name': 'BackCrash_State', 'enum': {0:
+  // 'BACKCRASH_STATE_NO_EVENT', 1: 'BACKCRASH_STATE_CRASH_EVENT'},
+  // 'precision': 1.0, 'len': 1, 'is_signed_var': False, 'offset': 0.0,
+  // 'physical_range': '[0|0]', 'bit': 34, 'type': 'enum', 'order': 'motorola',
+  // 'physical_unit': ''}
+  Vcu_report_505::Backcrash_stateType backcrash_state(
+      const std::uint8_t* bytes, const int32_t length) const;
+
+  // config detail: {'name': 'AEB_State', 'enum': {0: 'AEB_STATE_INCTIVE', 1:
+  // 'AEB_STATE_ACTIVE'}, 'precision': 1.0, 'len': 1, 'is_signed_var': False,
+  // 'offset': 0.0, 'physical_range': '[0|0]', 'bit': 32, 'type': 'enum',
+  // 'order': 'motorola', 'physical_unit': ''}
+  Vcu_report_505::Aeb_stateType aeb_state(const std::uint8_t* bytes,
+                                          const int32_t length) const;
+
   // config detail: {'name': 'ACC', 'offset': 0.0, 'precision': 0.01, 'len': 12,
   // 'is_signed_var': True, 'physical_range': '[-10|10]', 'bit': 7, 'type':
-  // 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'double', 'order': 'motorola', 'physical_unit': 'm/s^2'}
   double acc(const std::uint8_t* bytes, const int32_t length) const;
 
   // config detail: {'name': 'SPEED', 'offset': 0.0, 'precision': 0.001, 'len':
   // 16, 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 23,
-  // 'type': 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'type': 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
   double speed(const std::uint8_t* bytes, const int32_t length) const;
 };
 

modules/canbus/vehicle/devkit/protocol/vcu_report_505_test.cc

@@ -42,6 +42,10 @@ TEST_F(Vcureport505Test, General) {
   EXPECT_EQ(data[6], 0b00000100);
   EXPECT_EQ(data[7], 0b00000101);
 
+  EXPECT_EQ(cd.devkit().vcu_report_505().vehicle_mode_state(), 1);
+  EXPECT_EQ(cd.devkit().vcu_report_505().frontcrash_state(), 1);
+  EXPECT_EQ(cd.devkit().vcu_report_505().backcrash_state(), 0);
+  EXPECT_EQ(cd.devkit().vcu_report_505().aeb_state(), 0);
   EXPECT_EQ(cd.devkit().vcu_report_505().acc(), 1.12);
   EXPECT_EQ(cd.devkit().vcu_report_505().speed(), 0.258);
 }

modules/canbus/vehicle/devkit/protocol/wheelspeed_report_506.cc

@@ -43,7 +43,7 @@ void Wheelspeedreport506::Parse(const std::uint8_t* bytes, int32_t length,
 
 // config detail: {'name': 'rr', 'offset': 0.0, 'precision': 0.001, 'len': 16,
 // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 55, 'type':
-// 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
 double Wheelspeedreport506::rr(const std::uint8_t* bytes,
                                int32_t length) const {
   Byte t0(bytes + 6);
@@ -60,7 +60,7 @@ double Wheelspeedreport506::rr(const std::uint8_t* bytes,
 
 // config detail: {'name': 'rl', 'offset': 0.0, 'precision': 0.001, 'len': 16,
 // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 39, 'type':
-// 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
 double Wheelspeedreport506::rl(const std::uint8_t* bytes,
                                int32_t length) const {
   Byte t0(bytes + 4);
@@ -77,7 +77,7 @@ double Wheelspeedreport506::rl(const std::uint8_t* bytes,
 
 // config detail: {'name': 'fr', 'offset': 0.0, 'precision': 0.001, 'len': 16,
 // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 23, 'type':
-// 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
 double Wheelspeedreport506::fr(const std::uint8_t* bytes,
                                int32_t length) const {
   Byte t0(bytes + 2);
@@ -94,7 +94,7 @@ double Wheelspeedreport506::fr(const std::uint8_t* bytes,
 
 // config detail: {'name': 'fl', 'offset': 0.0, 'precision': 0.001, 'len': 16,
 // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 7, 'type':
-// 'double', 'order': 'motorola', 'physical_unit': ''}
+// 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
 double Wheelspeedreport506::fl(const std::uint8_t* bytes,
                                int32_t length) const {
   Byte t0(bytes + 0);

modules/canbus/vehicle/devkit/protocol/wheelspeed_report_506.h

@@ -34,22 +34,22 @@ class Wheelspeedreport506 : public ::apollo::drivers::canbus::ProtocolData<
  private:
   // config detail: {'name': 'RR', 'offset': 0.0, 'precision': 0.001, 'len': 16,
   // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 55, 'type':
-  // 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
   double rr(const std::uint8_t* bytes, const int32_t length) const;
 
   // config detail: {'name': 'RL', 'offset': 0.0, 'precision': 0.001, 'len': 16,
   // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 39, 'type':
-  // 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
   double rl(const std::uint8_t* bytes, const int32_t length) const;
 
   // config detail: {'name': 'FR', 'offset': 0.0, 'precision': 0.001, 'len': 16,
   // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 23, 'type':
-  // 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
   double fr(const std::uint8_t* bytes, const int32_t length) const;
 
   // config detail: {'name': 'FL', 'offset': 0.0, 'precision': 0.001, 'len': 16,
   // 'is_signed_var': False, 'physical_range': '[0|65.535]', 'bit': 7, 'type':
-  // 'double', 'order': 'motorola', 'physical_unit': ''}
+  // 'double', 'order': 'motorola', 'physical_unit': 'm/s'}
   double fl(const std::uint8_t* bytes, const int32_t length) const;
 };