CASESystem.h

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#ifndef CASESYSTEM
#define CASESYSTEM
 
#include "HT08_CASE.h"
#include "HytechCANInterface.h"
#include "PedalsSystem.h"
#include "DrivetrainSystem.h"
#include "SteeringSystem.h"
#include "MCUStateMachine.h"
#include "ProtobufMsgInterface.h"
// #include "ParameterInterface.h"
 
struct CASEConfiguration
{
    float AbsoluteTorqueLimit;
    float yaw_pid_p;
    float yaw_pid_i;
    float yaw_pid_d;
    float tcs_pid_p_lowerBound_front;
    float tcs_pid_p_upperBound_front;
    float tcs_pid_p_lowerBound_rear;
    float tcs_pid_p_upperBound_rear;
    float tcs_pid_i;
    float tcs_pid_d;
    bool useLaunch;
    bool usePIDTV;
    bool useTCSLimitedYawPID;
    bool useNormalForce;
    bool useTractionControl;
    bool usePowerLimit;
    bool usePIDPowerLimit;
    bool useDecoupledYawBrakes;
    bool useDiscontinuousYawPIDBrakes;
    float tcsSLThreshold;
    float launchSL;
    float launchDeadZone;
    float launchVelThreshold;
    float tcsVelThreshold;
    float yawPIDMaxDifferential;
    float yawPIDErrorThreshold;
    float yawPIDVelThreshold;
    float yawPIDCoastThreshold;
    float yaw_pid_brakes_p;
    float yaw_pid_brakes_i;
    float yaw_pid_brakes_d;
    float decoupledYawPIDBrakesMaxDIfference;
    float discontinuousBrakesPercentThreshold;
    float TorqueMode;
    float RegenLimit;
    bool useNoRegen5kph;
    bool useTorqueBias;
    float DriveTorquePercentFront;
    float BrakeTorquePercentFront;
    float MechPowerMaxkW;
    float launchLeftRightMaxDiff;
    float tcs_pid_lower_rpm_front;
    float tcs_pid_upper_rpm_front;
    float tcs_pid_lower_rpm_rear;
    float tcs_pid_upper_rpm_rear;
    float maxNormalLoadBrakeScalingFront;
    float tcs_saturation_front;
    float tcs_saturation_rear;
    float TCSGenLeftRightDiffLowerBound;
    float TCSGenLeftRightDiffUpperBound;
    float TCSWheelSteerLowerBound;
    float TCSWheelSteerUpperBound;
    bool useRPM_TCS_GainSchedule;
    bool useNL_TCS_GainSchedule;
    float TCS_NL_startBoundPerc_FrontAxle;
    float TCS_NL_endBoundPerc_FrontAxle;
    float TCS_NL_startBoundPerc_RearAxle;
    float TCS_NL_endBoundPerc_RearAxle;
    bool useNL_TCS_SlipSchedule;
    float launchSL_startBound_Front;
    float launchSL_endBound_Front;
    float launchSL_startBound_Rear;
    float launchSL_endBound_Rear;
    float TCS_SL_startBound_Front;
    float TCS_SL_endBound_Front;
    float TCS_SL_startBound_Rear;
    float TCS_SL_endBound_Rear;
    float TCS_SL_NLPerc_startBound_Front;    
    float TCS_SL_NLPerc_endBound_Front;
    float TCS_SL_NLPerc_startBound_Rear;
    float TCS_SL_NLPerc_endBound_Rear;
 
    float max_rpm;
    float max_regen_torque;
    float max_torque;
};
 
//         this class will also handle output onto the CAN bus of data
template <typename message_queue>
class CASESystem
{
public:
    CASESystem() = delete;
    CASESystem(
        message_queue *can_queue,
        unsigned long controller_send_period_ms,
        unsigned long vehicle_math_offset_ms,
        unsigned long lowest_controller_send_period_ms,
        CASEConfiguration config)
    {
        msg_queue_ = can_queue;
        case_.initialize();
        vn_active_start_time_ = 0;
        config_ = config;
        last_controller_pt1_send_time_ = 0;
        last_controller_pt2_send_time_ = 0;
        last_controller_pt3_send_time_ = 0;
        last_lowest_priority_controller_send_time_ = 0;
 
        controller_send_period_ms_ = controller_send_period_ms;
        last_vehm_send_time_ = 0;
        vehicle_math_offset_ms_ = vehicle_math_offset_ms;
        lowest_priority_controller_send_period_ms_ = lowest_controller_send_period_ms;
    }
 
    DrivetrainCommand_s evaluate(
        const SysTick_s &tick,
        const VectornavData_s &vn_data,
        const SteeringSystemData_s &steering_data,
        const DrivetrainDynamicReport_s &drivetrain_data,
        const veh_vec<AnalogConversion_s> &load_cell_vals,
        const PedalsSystemData_s &pedals_data,
        float power_kw,
        CAR_STATE fsm_state,
        bool start_button_pressed,
        uint8_t vn_status);
 
    DrivetrainCommand_s get_current_drive_command() { return current_command_; }
 
    float calculate_torque_request(const PedalsSystemData_s &pedals_data, float max_torque, float max_regen_torque, float max_rpm);
 
    float get_rpm_setpoint(float final_torque)
    {
        if (final_torque > 0)
        {
            return config_.max_rpm;
        }
        else
        {
            return 0;
        }
    }
 
private:
    DrivetrainCommand_s current_command_;
    CASEConfiguration config_;
    message_queue *msg_queue_;
    HT08_CASE case_;
 
    unsigned long vn_active_start_time_, last_eval_time_, vehicle_math_offset_ms_, last_controller_pt1_send_time_, last_controller_pt2_send_time_, last_controller_pt3_send_time_, last_vehm_send_time_, controller_send_period_ms_, lowest_priority_controller_send_period_ms_, last_lowest_priority_controller_send_time_;
};
 
#include "CASESystem.tpp"
#endif