canbus: add the new battery soc protocol in chassis for vehicle dev_kit (#12866)

modules/canbus/proto/chassis.proto

@@ -124,6 +124,8 @@ message Chassis {
   // replace this [id 23]
 
   optional apollo.common.VehicleID vehicle_id = 33;
+
+  optional int32 battery_soc = 34;
 }
 
 message ChassisGPS {

modules/canbus/proto/devkit.proto

@@ -220,7 +220,7 @@ message Vcu_report_505 {
   // [m/s] [0|65.535]
   optional double speed = 6;
   // [%] [0|100]
-  optional int32 battary_soc = 7;
+  optional int32 battery_soc = 7;
 }
 
 message Steering_report_502 {

modules/canbus/vehicle/devkit/devkit_controller.cc

@@ -184,8 +184,11 @@ Chassis DevkitController::chassis() {
       chassis_detail.devkit().vcu_report_505().has_speed()) {
     chassis_.set_speed_mps(
         static_cast<float>(chassis_detail.devkit().vcu_report_505().speed()));
+    chassis_.set_battery_soc(
+        chassis_detail.devkit().vcu_report_505().battery_soc());
   } else {
     chassis_.set_speed_mps(0);
+    chassis_.set_battery_soc(0);
   }
   // 7 no odometer
   // chassis_.set_odometer_m(0);
@@ -480,10 +483,6 @@ bool DevkitController::CheckChassisError() {
         devkit.steering_report_502().steer_flt1()) {
       return true;
     }
-    if (Steering_report_502::STEER_FLT2_STEER_SYSTEM_COMUNICATION_FAULT ==
-        devkit.steering_report_502().steer_flt2()) {
-      return true;
-    }
   }
   // drive fault
   if (devkit.has_throttle_report_500()) {
@@ -491,10 +490,6 @@ bool DevkitController::CheckChassisError() {
         devkit.throttle_report_500().throttle_flt1()) {
       return true;
     }
-    if (Throttle_report_500::THROTTLE_FLT2_DRIVE_SYSTEM_COMUNICATION_FAULT ==
-        devkit.throttle_report_500().throttle_flt2()) {
-      return true;
-    }
   }
   // brake fault
   if (devkit.has_brake_report_501()) {
@@ -502,25 +497,8 @@ bool DevkitController::CheckChassisError() {
         devkit.brake_report_501().brake_flt1()) {
       return true;
     }
-    if (Brake_report_501::BRAKE_FLT2_BRAKE_SYSTEM_COMUNICATION_FAULT ==
-        devkit.brake_report_501().brake_flt2()) {
-      return true;
-    }
-  }
-  // gear fault
-  if (devkit.has_gear_report_503()) {
-    if (Gear_report_503::GEAR_FLT_FAULT ==
-        devkit.gear_report_503().gear_flt()) {
-      return true;
-    }
-  }
-  // park fault
-  if (devkit.has_park_report_504()) {
-    if (Park_report_504::PARK_FLT_FAULT ==
-        devkit.park_report_504().park_flt()) {
-      return true;
-    }
   }
+
   return false;
 }
 

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

@@ -31,8 +31,8 @@ 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_battary_soc(
-      battary_soc(bytes, length));
+  chassis->mutable_devkit()->mutable_vcu_report_505()->set_battery_soc(
+      battery_soc(bytes, length));
   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(
@@ -47,10 +47,10 @@ void Vcureport505::Parse(const std::uint8_t* bytes, int32_t length,
       speed(bytes, length));
 }
 
-// config detail: {'name': 'battary_soc', 'offset': 0.0, 'precision': 1.0,
+// config detail: {'name': 'battery_soc', 'offset': 0.0, 'precision': 1.0,
 // 'len': 8, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit': 47,
 // 'type': 'int', 'order': 'motorola', 'physical_unit': '%'}
-int Vcureport505::battary_soc(const std::uint8_t* bytes, int32_t length) const {
+int Vcureport505::battery_soc(const std::uint8_t* bytes, int32_t length) const {
   Byte t0(bytes + 5);
   int32_t x = t0.get_byte(0, 8);
 

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

@@ -32,10 +32,10 @@ class Vcureport505 : public ::apollo::drivers::canbus::ProtocolData<
              ChassisDetail* chassis) const override;
 
  private:
-  // config detail: {'name': 'Battary_Soc', 'offset': 0.0, 'precision': 1.0,
+  // config detail: {'name': 'Battery_Soc', 'offset': 0.0, 'precision': 1.0,
   // 'len': 8, 'is_signed_var': False, 'physical_range': '[0|100]', 'bit': 47,
   // 'type': 'int', 'order': 'motorola', 'physical_unit': '%'}
-  int battary_soc(const std::uint8_t* bytes, const int32_t length) const;
+  int battery_soc(const std::uint8_t* bytes, const int32_t length) const;
 
   // config detail: {'name': 'Vehicle_Mode_State', 'enum': {0:
   // 'VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE', 1: 'VEHICLE_MODE_STATE_AUTO_MODE',

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

@@ -42,7 +42,7 @@ TEST_F(Vcureport505Test, General) {
   EXPECT_EQ(data[6], 0b00000100);
   EXPECT_EQ(data[7], 0b00000101);
 
-  EXPECT_EQ(cd.devkit().vcu_report_505().battary_soc(), 3);
+  EXPECT_EQ(cd.devkit().vcu_report_505().battery_soc(), 3);
   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);