change controller_changan_a07, add APA.

src/controller/controller_changan_a07/main.cpp

@@ -75,6 +75,7 @@ unsigned char ECU_1B2[32];
 unsigned char ECU_23C[64];
 unsigned char ECU_30A[64];
 unsigned char ECU_2CA[64];
+unsigned char ECU_23F[32];
 
 static int gnState = 0; //0 not act  1 act
 
@@ -166,6 +167,20 @@ void executeDecition(const iv::brain::decition &decition)
                 break;
             }
         }
+
+        SetMsgSignal("ECU_23F","APA_SteeringAngleReqProtection",gnAPAstate);
+        SetMsgSignal("ECU_23F","APA_ErrorStatus",0);
+        SetMsgSignal("ECU_23F","APA_SteeringAngleReq",fWheelAngleReq);
+
+
+    }
+    else
+    {
+        gnAPAstate = 0;
+        SetMsgSignal("ECU_23F","APA_SteeringAngleReqProtection",0);
+        SetMsgSignal("ECU_23F","APA_ErrorStatus",0);
+        SetMsgSignal("ECU_23F","APA_SteeringAngleReq",fWheelAngleReq);
+
     }
 
     if(decition.brake()<(-5.0))
@@ -552,6 +567,7 @@ void PrepareMsg()
     gpchangan_a07->GetData(ECU_1B2,std::string("ECU_1B2"),32);
     gpchangan_a07->GetData(ECU_23C,std::string("ECU_23C"),64);
     gpchangan_a07->GetData(ECU_30A,std::string("ECU_30A"),64);
+    gpchangan_a07->GetData(ECU_23F,std::string("ECU_23F"),32);
 }
 
 void ExecSend()
@@ -571,6 +587,14 @@ void ExecSend()
         xraw.set_len(64);
         iv::can::canraw * pxraw23C = xmsg.add_rawmsg();
         pxraw23C->CopyFrom(xraw);
+
+        xraw.set_id(0x23F);
+        xraw.set_data(ECU_23F,32);
+        xraw.set_bext(false);
+        xraw.set_bremote(false);
+        xraw.set_len(32);
+        iv::can::canraw * pxraw23F = xmsg.add_rawmsg();
+        pxraw23F->CopyFrom(xraw);
     }
     if(ncount >=10)
     {