add adc_controller_chery_sterra_es_fcm for control chery. not complete.

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/CMakeLists.txt

@@ -0,0 +1,71 @@
+cmake_minimum_required(VERSION 3.8)
+project(adc_controller_chery_sterra_es_fcm)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(adc_autoware_msgs REQUIRED)
+find_package(autoware_control_msgs REQUIRED)
+find_package(Protobuf REQUIRED)
+#find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+include_directories(
+##  INCLUDE_DIRS include
+  ${CMAKE_CURRENT_BINARY_DIR}/..
+  include
+  include/adc_controller_chery_sterra_es
+  /home/nvidia/code/modularization/include
+)
+
+link_directories(/home/nvidia/code/modularization/bin)
+
+#message(ERROR "catkin_INCLUDE_DIRS: ${catkin_INCLUDE_DIRS}")
+#message(STATUS "CMAKE_CURRENT_BINARY_DIR: ${CMAKE_CURRENT_BINARY_DIR}")
+
+add_executable(${PROJECT_NAME}
+  src/adc_controller_chery_sterra_es_node.cpp
+  src/adc_controller_chery_sterra_es_core.cpp
+  src/control_status.cpp
+  src/controller.cpp
+  src/decition.pb.cc
+  src/dbcsigpacker.cpp
+  src/sterraes.cpp
+  src/fcm.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}  ${Protobuf_LIBRARIES} candbc)  
+
+ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs 
+  adc_autoware_msgs autoware_control_msgs )
+
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/LICENSE

@@ -0,0 +1,202 @@
+
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src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/adc_controller_chery_sterra_es_core.hpp

@@ -0,0 +1,95 @@
+
+#ifndef ADC_CONTROLLER_SHENLAN_V2_CORE_HPP_
+#define ADC_CONTROLLER_SHENLAN_V2_CORE_HPP_
+
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <thread>
+#include <mutex>
+
+
+#include "adc_autoware_msgs/msg/adc_can_frame.hpp"
+#include "adc_autoware_msgs/msg/adc_can_msgs.hpp"
+#include "adc_autoware_msgs/msg/adc_chassis.hpp"
+#include "autoware_control_msgs/msg/control.hpp"
+#include "adc_autoware_msgs/srv/chassis_enable_ctrl.hpp"
+
+#include "decition.pb.h"
+
+#include "candbc.h"
+#include "sterraes.h"
+#include "fcm.h"
+
+class adc_controller_chery_sterra_es_core : public rclcpp::Node
+{
+public:
+    adc_controller_chery_sterra_es_core();
+    ~adc_controller_chery_sterra_es_core();
+
+private:
+
+    DBC * mpdbc;
+
+private:
+    std::string simulated_frame_id_;  //!< @brief simulated vehicle frame id
+    std::string origin_frame_id_;     //!< @brief map frame_id
+    
+
+private:
+    
+    rclcpp::Subscription<adc_autoware_msgs::msg::AdcChassis>::SharedPtr sub_msgs_chassis;
+
+    rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_msgs_cansend0;
+
+    rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_msgs_cmd;
+
+    rclcpp::Service<adc_autoware_msgs::srv::ChassisEnableCtrl>::SharedPtr srv_chassisenable;
+
+private:
+    void topic_chassis_callback(const adc_autoware_msgs::msg::AdcChassis & msg);
+    void topic_cmd_callback(const autoware_control_msgs::msg::Control & msg) ;
+
+    void service_enablechassis(const std::shared_ptr<adc_autoware_msgs::srv::ChassisEnableCtrl::Request> request,
+          std::shared_ptr<adc_autoware_msgs::srv::ChassisEnableCtrl::Response>      response);
+
+private:
+    void threadsend();
+    std::thread * mpthreadsend;
+    bool mbtheadrun = true;
+
+private:
+    void executeDecition(const iv::brain::decition &decition);
+    void ExecSend();
+    void Activate();
+    void UnAcitvate();
+    void initial();
+
+private:
+    bool gbHaveVehSpd = false;
+    double gfVehSpd = 0.0;
+
+    bool gbHaveWheelAngle = false;
+    double gfWheelAngle = 0.0;
+
+    iv::brain::decition gdecition_def;
+    iv::brain::decition gdecition;
+
+    int gnLastSendTime = 0;
+    int gnLastRecvDecTime = -1000;
+    int gnDecitionNum = 0; //when is zero,send default;
+    int gnDecitionNumMax = 100;
+    int gnIndex = 0;
+
+    double gfWheelSpeedLim = 300; //300 degrees per second
+    std::mutex gMutex;
+
+    bool mbEnableChassis = true;
+
+    sterraes * mpsterraes;
+
+
+
+};
+
+#endif

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/control_status.h

@@ -0,0 +1,108 @@
+#pragma once
+//由于控制器指令共享同一个ID 0x20，建立此类维护控制指令的最新状态
+
+//#include <boost.h>
+#include <cstdint>
+#include <boost/serialization/singleton.hpp>
+#include <adc_controller_chery_sterra_es/vv7.h>
+
+namespace iv {
+namespace control {
+class ControlStatus : public boost::noncopyable
+{
+public:
+    /*****************
+             * ****测试标志位*****
+             * ***************/
+    int normal_speed  = 0;//常规速度
+    int swerve_speed  = 0;//转弯速度
+    int high_speed = 0;//快速
+    int mid_speed = 0;//中速
+    int low_speed = 0;//慢速
+    int change_line  = -1;//换道标志
+    int stop_obstacle = -1;//停障标志
+    int elude_obstacle = -1;//避障标志
+    int special_signle = -1;//特殊信号标志
+    int car_pullover = -1;//靠边停车标志位
+    float torque = 0.0;
+    float brake = 0.0;
+    float acc=0.0;
+
+    Command10 command10 ;
+    Command11 command11 ;
+    Command12 command12;
+    Command_Response command_reponse;
+
+    int command_ID10 = 0x10;
+    int command_ID11 = 0x11;
+    int command_ID12 = 0x12;
+
+
+    void set_wheel_angle(float angle);
+    void set_wheel_speed(float speed);
+    void set_wheel_enable(bool enable);
+
+
+
+
+
+    void set_speed_limit(float speed);
+    void set_torque(float percent);
+    void set_aeb(float aeb);
+    void set_brake(float brake);
+    void set_gear(int gear);
+    void set_handBrake(bool handBrake);
+    void set_driveMode(char mode);
+    void set_gear_enable(bool enable);
+    void set_aeb_enable(bool enable);
+    void set_acc_enable(bool enable);
+
+
+
+
+    void set_win_lf(char para);
+    void set_win_rf(char para);
+    void set_win_lr(char para);
+    void set_win_rr(char para);
+    void set_air_on(char para);
+    void set_air_cricle(char para);
+    void set_air_auto(char para);
+    void set_air_off(char para);
+    void set_air_temup(char para);
+    void set_air_temdown(char para);
+    void set_air_powerup(char para);
+    void set_air_powerdown(char para);
+    void set_obligate(char para);
+    void set_door(char enable);
+    void set_turnsignals_control(bool left, bool right);
+    void set_small_light(char para);
+    void set_near_light(char para);
+    void set_horn(char para);
+    void set_far_light(char para);
+    void set_frog_light(char para);
+    void set_wiper(char para);
+    void set_brake_light(char para);
+    void set_defrog(char para);
+    void set_reverse_light(char para);
+
+    void set_air_temp(char para);
+    void set_air_mode(char para);
+    void set_air_enable(bool enable);
+    void set_wind_level(char para);
+    void set_roof_light(char para);
+    void set_home_light(char para);
+    void set_air_worktime(char para);
+    void set_air_offtime(char para);
+
+    void set_cmd_checksum(unsigned char cmd_id);
+
+
+
+
+
+
+};
+typedef boost::serialization::singleton<iv::control::ControlStatus> ControlStatusSingleton;
+}
+}
+#define ServiceControlStatus iv::control::ControlStatusSingleton::get_mutable_instance()

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/controlcan.h

@@ -0,0 +1,145 @@
+#ifndef CONTROLCAN1_H
+#define CONTROLCAN1_H
+
+
+#ifdef linux
+//接口卡类型定义
+#define VCI_PCI5121		1
+#define VCI_PCI9810		2
+#define VCI_USBCAN1		3
+#define VCI_USBCAN2		4
+#define VCI_PCI9820		5
+#define VCI_CAN232		6
+#define VCI_PCI5110		7
+#define VCI_CANLite		8
+#define VCI_ISA9620		9
+#define VCI_ISA5420		10
+
+//CAN错误码
+#define	ERR_CAN_OVERFLOW			0x0001	//CAN控制器内部FIFO溢出
+#define	ERR_CAN_ERRALARM			0x0002	//CAN控制器错误报警
+#define	ERR_CAN_PASSIVE				0x0004	//CAN控制器消极错误
+#define	ERR_CAN_LOSE				0x0008	//CAN控制器仲裁丢失
+#define	ERR_CAN_BUSERR				0x0010	//CAN控制器总线错误
+
+//通用错误码
+#define	ERR_DEVICEOPENED			0x0100	//设备已经打开
+#define	ERR_DEVICEOPEN				0x0200	//打开设备错误
+#define	ERR_DEVICENOTOPEN			0x0400	//设备没有打开
+#define	ERR_BUFFEROVERFLOW			0x0800	//缓冲区溢出
+#define	ERR_DEVICENOTEXIST			0x1000	//此设备不存在
+#define	ERR_LOADKERNELDLL			0x2000	//装载动态库失败
+#define ERR_CMDFAILED				0x4000	//执行命令失败错误码
+#define	ERR_BUFFERCREATE			0x8000	//内存不足
+
+
+//函数调用返回状态值
+#define	STATUS_OK					1
+#define STATUS_ERR					0
+	
+#define USHORT unsigned short int
+#define BYTE unsigned char
+#define CHAR char
+#define UCHAR unsigned char
+#define UINT unsigned int
+#define DWORD unsigned int
+#define PVOID void*
+#define ULONG unsigned int
+#define INT int
+#define UINT32 UINT
+#define LPVOID void*
+#define BOOL BYTE
+#define TRUE 1
+#define FALSE 0
+
+
+#if 1
+
+typedef  struct  _VCI_BOARD_INFO{//1.ZLGCAN系列接口卡信息的数据类型。
+		USHORT	hw_Version;
+		USHORT	fw_Version;
+		USHORT	dr_Version;
+		USHORT	in_Version;
+		USHORT	irq_Num;
+		BYTE	can_Num;
+		CHAR	str_Serial_Num[20];
+		CHAR	str_hw_Type[40];
+		USHORT	Reserved[4];
+} VCI_BOARD_INFO,*PVCI_BOARD_INFO; 
+
+
+typedef  struct  _VCI_CAN_OBJ{//2.定义CAN信息帧的数据类型。
+	UINT	ID;
+	UINT	TimeStamp;
+	BYTE	TimeFlag;
+	BYTE	SendType;
+	BYTE	RemoteFlag;//是否是远程帧
+	BYTE	ExternFlag;//是否是扩展帧
+	BYTE	DataLen;
+	BYTE	Data[8];
+	BYTE	Reserved[3];
+}VCI_CAN_OBJ,*PVCI_CAN_OBJ;
+
+
+typedef struct _VCI_CAN_STATUS{//3.定义CAN控制器状态的数据类型。
+	UCHAR	ErrInterrupt;
+	UCHAR	regMode;
+	UCHAR	regStatus;
+	UCHAR	regALCapture;
+	UCHAR	regECCapture; 
+	UCHAR	regEWLimit;
+	UCHAR	regRECounter; 
+	UCHAR	regTECounter;
+	DWORD	Reserved;
+}VCI_CAN_STATUS,*PVCI_CAN_STATUS;
+
+
+typedef struct _ERR_INFO{//4.定义错误信息的数据类型。
+		UINT	ErrCode;
+		BYTE	Passive_ErrData[3];
+		BYTE	ArLost_ErrData;
+} VCI_ERR_INFO,*PVCI_ERR_INFO;
+
+
+typedef struct _INIT_CONFIG{//5.定义初始化CAN的数据类型
+	DWORD	AccCode;
+	DWORD	AccMask;
+	DWORD	Reserved;
+	UCHAR	Filter;
+	UCHAR	Timing0;	
+	UCHAR	Timing1;	
+	UCHAR	Mode;
+}VCI_INIT_CONFIG,*PVCI_INIT_CONFIG;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+DWORD VCI_OpenDevice(DWORD DeviceType,DWORD DeviceInd,DWORD Reserved);
+DWORD VCI_CloseDevice(DWORD DeviceType,DWORD DeviceInd);
+DWORD VCI_InitCAN(DWORD DeviceType, DWORD DeviceInd, DWORD CANInd, PVCI_INIT_CONFIG pInitConfig);
+
+DWORD VCI_ReadBoardInfo(DWORD DeviceType,DWORD DeviceInd,PVCI_BOARD_INFO pInfo);
+DWORD VCI_ReadErrInfo(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_ERR_INFO pErrInfo);
+DWORD VCI_ReadCANStatus(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_STATUS pCANStatus);
+
+DWORD VCI_GetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
+DWORD VCI_SetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
+
+ULONG VCI_GetReceiveNum(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+DWORD VCI_ClearBuffer(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+DWORD VCI_StartCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+DWORD VCI_ResetCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+ULONG VCI_Transmit(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pSend,UINT Len);
+ULONG VCI_Receive(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pReceive,UINT Len,INT WaitTime);
+
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+#endif
+
+#endif

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/controller.h

@@ -0,0 +1,83 @@
+#pragma once
+/*
+*控制器
+*/
+#ifndef _IV_CONTROL_CONTROLLER_
+#define _IV_CONTROL_CONTROLLER_
+
+//#include <boost.h>
+//#include <common/car_status.h>
+#include <adc_controller_chery_sterra_es/control_status.h>
+
+namespace iv {
+    namespace control {
+        class Controller
+        {
+        public:
+            Controller();
+            ~Controller();
+            void inialize();// 初始化
+
+
+            void control_wheel(float angle);		//方向盘控制
+            void control_angle_speed(float angSpeed);
+            void control_angle_enable(bool enable);
+
+            void control_speed_limit(float speedLimit);
+            void control_torque(float percent);	//油门开度控制
+            void control_aeb(float aeb);	//油门开度控制
+            void control_brake(float brake);
+            void control_gear(float gear);
+            void control_handBrake(bool  enable);
+            void control_mode(char mode);
+            void control_gear_en(bool enable);
+            void control_aeb_en(bool enable);
+            void control_acc_en(bool enanble);
+
+
+            void control_win_lf(char para);
+            void control_win_rf(char para);
+            void control_win_lr(char para);
+            void control_win_rr(char para);
+            void control_air_on(bool enable);
+            void control_air_cricle(char para);
+            void control_air_auto(char para);
+            void control_air_off(char para);
+            void control_air_temup(char para);
+            void control_air_temdown(char para);
+            void control_air_powerup(char para);
+            void control_air_powerdown(char para);
+            void control_obligate(char para);
+            void control_door(char enable);
+            void control_turnsignals(bool left, bool right);
+            void control_small_light(char para);
+            void control_near_light(char para);
+            void control_horn(char para);
+            void control_far_light(char para);
+            void control_frog_light(char para);
+            void control_wiper(char para);
+            void control_brake_light(char para);
+            void control_defrog(char para);
+            void control_reverse_light(char para);
+            void cmd_checksum(unsigned char cmd_id);
+
+
+
+            void control_air_temp(char para);
+            void control_air_mode(char para);
+            void control_air_enable(bool enable);
+            void control_wind_level(char para);
+            void control_roof_light(char para);
+            void control_home_light(char para);
+            void control_air_worktime(char para);
+            void control_air_offtime(char para);
+
+            ///* 获取当前车辆状态*/
+            //void getCurrentCarStatus(iv::CarStatus & car_status);
+
+        private:
+        };
+    }
+}
+
+#endif // !_IV_CONTROL_CONTROLLER_

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/dbcsigpacker.h

@@ -0,0 +1,37 @@
+#ifndef DBCSIGPACKER_H
+#define DBCSIGPACKER_H
+
+#include <map>
+#include <vector>
+#include "candbc.h"
+
+namespace iv {
+struct MsgSig
+{
+    unsigned int mid;  //can message id
+    std::string mstrmsgname;  //can message name
+    std::vector<SignalPackValue> mvectorSPV;
+};
+
+}
+
+class dbcsigpacker
+{
+public:
+    dbcsigpacker(std::string strdbcname);
+    dbcsigpacker(std::string strdbcname,std::istringstream & strsteam);
+
+private:
+    CANPacker * mpPacker;
+    const DBC * mpdbc;
+    std::map<std::string,iv::MsgSig> mmapMsgSig;
+
+private:
+    void InitSig();
+
+public:
+    void SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue);
+    std::vector<uint8_t> GetPack(std::string  strmsgname);
+};
+
+#endif // DBCSIGPACKER_H

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/fcm.h

@@ -0,0 +1,4 @@
+#pragma once
+
+extern char FCM_dbc[];
+extern unsigned int FCM_dbc_len;

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/sterraes.h

@@ -0,0 +1,65 @@
+#ifndef STERRAES_H
+#define STERRAES_H
+
+#include <vector>
+#include "candbc.h"
+#include "dbcsigpacker.h"
+
+
+class sterraes
+{
+public:
+    sterraes(std::string strdbcname);
+    sterraes(std::string strdbcname,std::istringstream & strsteam);
+
+
+private:
+    dbcsigpacker * mpdbcsigpacker;
+
+
+public:
+    void SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue);
+
+private:
+    std::vector<SignalPackValue> mvectorADSEPS1;
+    std::vector<SignalPackValue> mvectorADSEPS3;
+    std::vector<SignalPackValue> mvectorADSONEBOX1;
+    std::vector<SignalPackValue> mvectorADSVCU1;
+    std::vector<SignalPackValue> mvectorADSONEBOX2;
+    std::vector<SignalPackValue> mvectorADSONEBOX3;
+    std::vector<SignalPackValue> mvectorADSCOM3;
+    std::vector<SignalPackValue> mvectorADSCOM2;
+
+    CANPacker * mpPacker;
+
+private:
+    void initsig();
+
+    void setsignal(std::vector<SignalPackValue> * pvectorspv,std::string strsigname,double value);
+
+    void fillcrc(unsigned short dataid,unsigned char * pdata);
+
+public:
+    void set_EPS1_signal(std::string strsigname,double value);
+    void set_EPS3_signal(std::string strsigname,double value);
+    void set_ONEBOX1_signal(std::string strsigname,double value);
+    void set_VCU1_signal(std::string strsigname,double value);
+    void set_ONEBOX2_signal(std::string strsigname,double value);
+    void set_ONEBOX3_signal(std::string strsigname,double value);
+    void set_ADSCOM3_signal(std::string strsigname,double value);
+    void set_ADSCOM2_signal(std::string strsigname,double value);
+
+    void GetEPS1Data(unsigned char * pdata);
+    void GetEPS3Data(unsigned char * pdata);
+    void GetONEBOX1Data(unsigned char * pdata);
+    void GetVCU1Data(unsigned char * pdata);
+    void GetONEBOX2Data(unsigned char * pdata);
+    void GetONEBOX3Data(unsigned char * pdata);
+    void GetADSCOM3Data(unsigned char * pdata);
+    void GetADSCOM2Data(unsigned char * pdata);
+
+
+
+};
+
+#endif // STERRAES_H

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/include/adc_controller_chery_sterra_es/vv7.h

@@ -0,0 +1,114 @@
+#pragma once
+
+#if 1
+struct Command_Bit10
+{
+    unsigned char air_temp ;
+    unsigned char air_mode : 3;
+    unsigned char air_enable : 1;
+    unsigned char air_wind_level : 3;
+    unsigned char air_reserved : 1;
+    unsigned char ignition : 2;
+    unsigned char door : 2;
+    unsigned char Reserved :2;
+    unsigned char air_on : 2;
+    unsigned char turn_light : 2;
+    unsigned char small_light : 1;
+    unsigned char near_light : 1;
+    unsigned char horn : 1;
+    unsigned char far_light : 1;
+    unsigned char fog_light : 1;
+    unsigned char wiper : 1;
+    unsigned char brake_light : 1;
+    unsigned char defrog : 1;
+    unsigned char revers_light : 1;
+    unsigned char roof_light : 1;
+    unsigned char home_light : 1;
+    unsigned char Reserved0 :3;
+    unsigned char air_work_time;
+    unsigned char  air_off_time;
+    unsigned char  checkSum;
+};
+
+
+union Command10
+{
+    Command_Bit10 bit;
+    unsigned char byte[8];
+};
+
+
+struct Command_Bit11
+{
+    unsigned char speed_limit;
+    unsigned char  aeb_H;
+    unsigned char  aeb_L;
+    unsigned char torque;
+    unsigned char brake;
+    unsigned char gear:3;
+    unsigned char Reserved :1;
+    unsigned char park :2;
+    unsigned char Reserved0 :2;
+    unsigned char Reserved1 :2;
+    unsigned char Reserved2 :2;
+    unsigned char driveMode :1;
+    unsigned char gear_enable :1;
+    unsigned char aeb_enable :1;
+    unsigned char acc_enable :1;
+    unsigned char checkSum;
+};
+
+
+
+
+union Command11
+{
+    Command_Bit11 bit;
+    unsigned char byte[8];
+};
+
+
+struct Command_Bit12
+{
+    unsigned char ang_speed;
+    unsigned char  ang_H;
+    unsigned char  ang_L;
+    unsigned char reserved0;
+    unsigned char reserved1;
+    unsigned char reserved2;
+    unsigned char Reserved : 6;
+    unsigned char ang_enable : 1;
+    unsigned char Reserved0 : 1;
+    unsigned char checkSum;
+};
+
+
+union Command12
+{
+    Command_Bit12 bit;
+    unsigned char byte[8];
+};
+
+
+struct Command_Response_Bit
+{
+    unsigned char head;
+    unsigned char grade : 2;
+    unsigned char driveMode : 2;
+    unsigned char epb : 1;
+    unsigned char epsMode : 2;
+    unsigned char  obligate: 1;
+};
+
+union Command_Response
+{
+    Command_Response_Bit bit;
+    unsigned char byte[2];
+};
+
+#else
+
+#endif
+
+
+

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>adc_controller_chery_sterra_es_fcm</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="yuchuli@catarc.ac.cn">yuchuli</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <depend>rclcpp</depend>
+  <depend>adc_autoware_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/src/adc_controller_chery_sterra_es_core.cpp

@@ -0,0 +1,662 @@
+#include "adc_controller_chery_sterra_es/adc_controller_chery_sterra_es_core.hpp"
+
+#include <functional>
+
+#include <strings.h>
+#include <streambuf>
+#include <sstream>
+
+#include <iostream>
+#include <istream>
+#include <fstream>
+
+#include "adc_controller_chery_sterra_es/fcm.h"
+
+using std::placeholders::_1;
+using std::placeholders::_2;
+
+// signal: @ACC_LatAngReq    //更改CANid
+#define ECU_1C4_ACC_LatAngReq_CovFactor (0.1)
+// conversion value to CAN signal
+#define ECU_1C4_ACC_LatAngReq_toS(x) ((int16_t)((x) / 0.1 + 7200))
+
+// signal: @ACC_MotorTorqueMaxLimitRequest
+#define ECU_1C4_ACC_MotorTorqueMaxLimitRequest_CovFactor (0.02)
+// conversion value to CAN signal
+#define ECU_1C4_ACC_MotorTorqueMaxLimitRequest_toS(x) ((int16_t)((x) / 0.02 + 1024))
+
+// signal: @ACC_MotorTorqueMinLimitRequest
+#define ECU_1C4_ACC_MotorTorqueMinLimitRequest_CovFactor (0.02)
+// conversion value to CAN signal
+#define ECU_1C4_ACC_MotorTorqueMinLimitRequest_toS(x) ((int16_t)((x) / 0.02 + 1024))
+
+typedef struct
+{
+    int16_t ACC_LatAngReq;
+    //uint8_t ADS_Reqmode;  //20221102， 新车没有此信号
+    int16_t ACC_MotorTorqueMaxLimitRequest;
+    uint8_t ACC_LatAngReqActive;
+    int16_t ACC_MotorTorqueMinLimitRequest;
+    //uint8_t ACC_ADCReqType; //20221102， 新车没有此信号
+} ECU_1C4_t;
+
+// signal: @ACC_AccTrqReq
+#define ECU_24E_ACC_AccTrqReq_CovFactor (1)
+// conversion value to CAN signal
+#define ECU_24E_ACC_AccTrqReq_toS(x) ((int16_t)((x) + 16384))
+
+// signal: @ACC_ACCTargetAcceleration
+#define ECU_24E_ACC_ACCTargetAcceleration_CovFactor (0.05)
+// conversion value to CAN signal
+#define ECU_24E_ACC_ACCTargetAcceleration_toS(x) ((int16_t)((x) / 0.05 + 100))
+
+// signal: @ACC_AEBTargetDeceleration
+#define ECU_24E_ACC_AEBTargetDeceleration_CovFactor (0.0005)
+// conversion value to CAN signal
+#define ECU_24E_ACC_AEBTargetDeceleration_toS(x) ((int32_t)((x) / 0.0005 + 32000))
+
+
+static int gnState = 0; //0 not act  1 act
+typedef struct
+{
+    int16_t ACC_AccTrqReq;
+    uint8_t ACC_AccTrqReqActive;
+    int16_t ACC_ACCTargetAcceleration;
+    int32_t ACC_AEBTargetDeceleration;
+    uint8_t ACC_AEBVehilceHoldReq;
+    uint8_t ADCReqMode;
+    uint8_t ACC_AEBActive;
+    uint8_t ACC_Driveoff_Request;
+    uint8_t ACC_DecToStop;
+    uint8_t ACC_CDDActive;
+    uint8_t ACC_ACCMode;
+} ECU_24E_t;
+
+typedef struct
+{
+    uint8_t CdcDoor;
+    uint8_t res1;
+    uint8_t res2;
+    uint8_t ADS_UDLCTurnLightReq;
+} ECU_25E_t;  //zhuanxiangdeng IDgenghuan
+
+unsigned char byte_1C4[64];//byte_144[8];
+unsigned char byte_24E[64];
+unsigned char byte_25E[32];
+
+ECU_1C4_t _m1C4 = {0,0,0,0};
+ECU_24E_t _m24E = {0,0,0,0,0,0,0,0,0,0,0};
+ECU_25E_t _m25E = {0,0,0,0};
+
+
+void service1_enablechassis(const std::shared_ptr<adc_autoware_msgs::srv::ChassisEnableCtrl::Request> request,
+          std::shared_ptr<adc_autoware_msgs::srv::ChassisEnableCtrl::Response>      response)
+{
+    response->feedback_enable = request->benable;
+}
+
+adc_controller_chery_sterra_es_core::adc_controller_chery_sterra_es_core() : Node("adc_controller_chery_sterra_es")
+{
+    gdecition_def.set_brake(0);
+    gdecition_def.set_rightlamp(false);
+    gdecition_def.set_leftlamp(false);
+    gdecition_def.set_wheelangle(0);
+
+    gdecition_def.set_angle_mode(0);
+    gdecition_def.set_angle_active(0);
+    gdecition_def.set_acc_active(0);
+//    gdecition_def.set_brake_active(1);
+    gdecition_def.set_brake_type(0);
+    gdecition_def.set_auto_mode(0); 
+
+    sub_msgs_chassis = this->create_subscription<adc_autoware_msgs::msg::AdcChassis>("chassis",10,
+                        std::bind(&adc_controller_chery_sterra_es_core::topic_chassis_callback,this,_1));
+
+    pub_msgs_cansend0 = this->create_publisher<adc_autoware_msgs::msg::AdcCanMsgs>("cansend0",10);
+
+    sub_msgs_cmd = this->create_subscription<autoware_control_msgs::msg::Control>("xx",10,
+                        std::bind(&adc_controller_chery_sterra_es_core::topic_cmd_callback,this,_1));
+
+    srv_chassisenable = this->create_service<adc_autoware_msgs::srv::ChassisEnableCtrl>("/adc_controller_shenlan_v2/chassisenable",
+                        std::bind(&adc_controller_chery_sterra_es_core::service_enablechassis,this,_1,_2));
+
+    mpthreadsend = new std::thread(&adc_controller_chery_sterra_es_core::threadsend,this);
+
+    std::string str_fcm(FCM_dbc);
+    std::istringstream iss(str_fcm);
+    mpsterraes = new sterraes(std::string(":/ADCC_CH.dbc"),iss);
+}
+
+adc_controller_chery_sterra_es_core::~adc_controller_chery_sterra_es_core()
+{
+    mbtheadrun = false;
+    mpthreadsend->join();
+}
+
+void adc_controller_chery_sterra_es_core::topic_chassis_callback(const adc_autoware_msgs::msg::AdcChassis & msg)
+{
+    (void)msg;
+
+    gfVehSpd = msg.vel;
+    gbHaveVehSpd = true;
+
+
+
+    gfWheelAngle = msg.angle_feedback;
+    gbHaveWheelAngle = true;
+
+}
+
+void adc_controller_chery_sterra_es_core::threadsend()
+{
+    initial();
+    iv::brain::decition xdecition;
+
+    UnAcitvate();
+ //   UnAcitvate();
+
+    int nstate = 0; //0 Un 1 Activate
+//    Activate();
+    while(mbtheadrun)
+    {
+        if(gnDecitionNum <= 0)
+        {
+            if(nstate == 1)
+            {
+                UnAcitvate();
+                nstate = 0;
+            }
+            xdecition.CopyFrom(gdecition_def);
+        }
+        else
+        {
+            if(mbEnableChassis)
+            {
+                if(nstate == 0)
+                {
+                    Activate();
+                    nstate = 1;
+                }
+            }
+            else
+            {
+                if(nstate == 1)
+                {
+                    UnAcitvate();
+                    nstate = 0;
+                }
+            }
+            gMutex.lock();
+            xdecition.CopyFrom(gdecition);
+            gMutex.unlock();
+            gnDecitionNum--;
+        }
+
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+
+//    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" before unactivate."<<std::endl;
+//    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    UnAcitvate();
+
+//    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" send unactivate msg to can. Wait CAN Excute Send."<<std::endl;
+//    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+    std::cout<<std::chrono::system_clock::now().time_since_epoch().count()<<" thread send exit."<<std::endl;
+}
+
+void adc_controller_chery_sterra_es_core::topic_cmd_callback(const autoware_control_msgs::msg::Control & msg)
+{
+    (void)msg;
+        iv::brain::decition xdecition;
+    double facc = 0;
+    double ftorque = 0;
+    double fbrake = 0;
+    double fwheelangle = 0;
+
+    facc = msg.longitudinal.acceleration;
+
+        double fVehWeight = 1800;
+     //   double fg = 9.8;
+        double fRollForce = 50;
+        const double fRatio = 2.5;
+        double fNeed = fRollForce + fVehWeight*facc;
+
+        ftorque = fNeed/fRatio;
+        fbrake = 0;
+        if(ftorque<0)
+        {
+            fbrake = facc;
+            ftorque = 0;
+        }
+
+//    facc = xctrlcmd.linear_acceleration();
+    fwheelangle = msg.lateral.steering_tire_angle * (180.0/M_PI) * 15.0;
+    if(fwheelangle>430)fwheelangle = 430;
+    if(fwheelangle<-430)fwheelangle = -430;
+    std::cout<<" acc: "<<facc<<"  wheel: "<<fwheelangle<<std::endl;
+    xdecition.set_accelerator(facc);
+    xdecition.set_brake(fbrake);
+    xdecition.set_leftlamp(false);
+    xdecition.set_rightlamp(false);
+    xdecition.set_speed(msg.longitudinal.velocity * 3.6);
+    xdecition.set_wheelangle(fwheelangle);
+    xdecition.set_wheelspeed(300);
+    xdecition.set_torque(ftorque);
+    xdecition.set_mode(1);
+    xdecition.set_gear(1);
+    xdecition.set_handbrake(0);
+    xdecition.set_grade(1);
+    xdecition.set_engine(0);
+    xdecition.set_brakelamp(false);
+    xdecition.set_ttc(15);
+//    xdecition.set_air_enable(decition->air_enable);
+//    xdecition.set_air_temp(decition->air_temp);
+//    xdecition.set_air_mode(decition->air_mode);
+//    xdecition.set_wind_level(decition->wind_level);
+    xdecition.set_roof_light(0);
+    xdecition.set_home_light(0);
+//    xdecition.set_air_worktime(decition->air_worktime);
+//    xdecition.set_air_offtime(decition->air_offtime);
+//    xdecition.set_air_on(decition->air_on);
+    xdecition.set_door(0);
+    xdecition.set_dippedlight(0);
+
+    gMutex.lock();
+    gdecition.CopyFrom(xdecition);
+    gMutex.unlock();
+
+    gnDecitionNum = gnDecitionNumMax;
+}
+
+void adc_controller_chery_sterra_es_core::executeDecition(const iv::brain::decition &decition)
+{
+
+
+
+
+    static int xieya = 50;
+//     std::cout<<"acc is "<<decition.torque()<<" ang is "<<decition.wheelangle()<<std::endl;
+//     std::cout<<"angle_mode is "<<decition.angle_mode()<<" angle_active is "<<decition.angle_active()<<std::endl;
+//     std::cout<<"brake_type is "<<decition.brake_type()<<" acc_active is "<<decition.acc_active()<<std::endl;
+//     std::cout<<"brake is "<<decition.brake()<<" brake_active is "<<decition.brake_active()<<std::endl;
+//     std::cout<<"auto_mode is "<<decition.auto_mode()<<" rightlamp is "<<decition.rightlamp()<<std::endl;
+
+    double fWheelAngleReq = decition.wheelangle();
+ //   double fsendinter = 0.02;
+//    if(fabs(fWheelAngleReq - gfWheelAngle)/fsendinter > gfWheelSpeedLim)
+//    {
+//        if(fWheelAngleReq > gfWheelAngle)
+//        {
+//            fWheelAngleReq = gfWheelAngle + fsendinter * gfWheelSpeedLim;
+//        }
+//        else
+//        {
+//            fWheelAngleReq = gfWheelAngle - fsendinter * gfWheelSpeedLim;
+//        }
+
+//    }
+
+//    std::cout<<" wheel req: "<<decition.wheelangle()<<" real send : "<<fWheelAngleReq<<" real whhel:"<<gfWheelAngle<< std::endl;
+
+    _m1C4.ACC_LatAngReq = ECU_1C4_ACC_LatAngReq_toS(fWheelAngleReq);
+    //_m1C4.ADS_Reqmode = decition.angle_mode(); //20221102,新车没有此信号
+    _m1C4.ACC_MotorTorqueMaxLimitRequest = ECU_1C4_ACC_MotorTorqueMaxLimitRequest_toS(10);
+    _m1C4.ACC_LatAngReqActive = decition.angle_active();
+    _m1C4.ACC_MotorTorqueMinLimitRequest = ECU_1C4_ACC_MotorTorqueMinLimitRequest_toS(-10);
+//    _m144.ACC_ADCReqType = decition.brake_type();//ADC请求类型（制动时为1，其余情况为0）
+    if(decition.brake()>(-0.0000001))
+    {
+        //_m144.ACC_ADCReqType = 0;//ADC请求类型（制动时为1，其余情况为0）//20221102,新车没有此信号
+       // _m24B.ADCReqMode = 0;//20221102,新车没有此信号
+        _m24E.ACC_DecToStop =0;
+    }
+    else
+    {
+        //_m144.ACC_ADCReqType = 1;//20221102,新车没有此信号
+       // _m24B.ADCReqMode = 1;//20221102,新车没有此信号
+         _m24E.ACC_DecToStop =1;
+    }
+
+//    std::cout<<" type: "<<(int)_m144.ACC_ADCReqType<<std::endl;
+
+
+    /*制动过程用的减速度，加速用扭矩*/
+    _m24E.ACC_AccTrqReq = ECU_24E_ACC_AccTrqReq_toS(decition.torque());
+    _m24E.ACC_AccTrqReqActive = decition.acc_active();
+    if(decition.brake()<(-5.0))
+    {
+        _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(-5.0);
+    }
+    else
+        _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(decition.brake());
+
+
+ //   std::cout<<" brake : "<<decition.brake()<<std::endl;
+ //   std::cout<<"brake acctive. "<<decition.brake_active()<<std::endl;
+    if(decition.brake()>(-0.0000001))
+    {
+
+        if(xieya > 0)
+        {
+            _m24E.ACC_CDDActive = 1;
+            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0.5);
+            _m24E.ACC_AccTrqReq = ECU_24E_ACC_AccTrqReq_toS(0);
+            _m24E.ACC_Driveoff_Request = 1;
+
+            //_m144.ACC_ADCReqType = 1;//20221102,新车没有此信号
+            //_m24B.ADCReqMode = 1;   //20221102,新车没有此信号
+             _m24E.ACC_DecToStop =1;
+            xieya--;
+            std::cout<<" xieya. now veh speed: "<<gfVehSpd<<std::endl;
+        }
+        else
+        {
+            _m24E.ACC_CDDActive = 0;
+            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0);
+            _m24E.ACC_Driveoff_Request = 0;
+        }
+    }
+    else
+    {
+        _m24E.ACC_CDDActive = 1;
+
+        _m24E.ACC_Driveoff_Request = 0;
+
+
+    }
+
+
+ //       _m24B.ACC_CDDActive = decition.brake_active();
+
+
+
+//    std::cout<<" req mode: "<<_m144.ADS_Reqmode<<std::endl;
+    //byte_144[0] = ((_m144.ACC_LatAngReq >> 9) & (0x1FU)) | ((_m144.ADS_Reqmode & (0x07U)) << 5);
+ //   qDebug(" req mode: %d byte: %02X  ",_m144.ADS_Reqmode, byte_144[0]);
+   // byte_144[1] = ((_m144.ACC_LatAngReq >> 1) & (0xFFU));
+    //byte_144[2] = ((_m144.ACC_LatAngReq & (0x01U)) << 7) | ((_m144.ACC_MotorTorqueMaxLimitRequest >> 5) & (0x3FU)) | ((_m144.ACC_LatAngReqActive & (0x01U)) << 6);
+    //byte_144[3] = ((_m144.ACC_MotorTorqueMaxLimitRequest & (0x1FU)) << 3) | ((_m144.ACC_MotorTorqueMinLimitRequest >> 8) & (0x07U));
+    //byte_144[4] = (_m144.ACC_MotorTorqueMinLimitRequest & (0xFFU));
+    //byte_144[5] = ((_m144.ACC_ADCReqType & (0x03U)) << 6);
+
+
+    byte_1C4[0] = ((_m1C4.ACC_MotorTorqueMaxLimitRequest >> 3) & (0xFFU));
+ //   qDebug(" req mode: %d byte: %02X  ",_m144.ADS_Reqmode, byte_144[0]);
+    byte_1C4[1] = ((_m1C4.ACC_MotorTorqueMaxLimitRequest & (0x07U)) << 5) | ((_m1C4.ACC_MotorTorqueMinLimitRequest >> 6) & (0x1FU));
+    byte_1C4[2] = ((_m1C4.ACC_MotorTorqueMinLimitRequest & (0x3FU)) << 2) | ((_m1C4.ACC_LatAngReq >> 12) & (0x03U));
+    byte_1C4[3] = (((_m1C4.ACC_LatAngReq>>4 )& (0xFFU)));
+   // byte_1C4[4] = (((_m1C4.ACC_LatAngReq<<4) & (0xF0U)))|((_m1C4.ACC_LatAngReqActive&(0x01U))<<3);
+    byte_1C4[4] = (((_m1C4.ACC_LatAngReq)& (0x0fU))<<4)|((_m1C4.ACC_LatAngReqActive&(0x01U))<<3);
+    //byte_1C4[5] = ((_m144.ACC_ADCReqType & (0x03U)) << 6);
+
+    //    _m24B.ACC_AEBTargetDeceleration = 0;
+    //    _m24B.ACC_AEBVehilceHoldReq = 0;
+    //    _m24B.ADCReqMode = 0;
+    //    _m24B.ACC_AEBActive = 0;
+    //    _m24B.ACC_Driveoff_Request = 0;
+    //    _m24B.ACC_DecToStop = 0;
+//    std::cout<<" brake : "<<decition.brake()<<std::endl;
+//    std::cout<<"brake acctive. "<<decition.brake_active()<<std::endl;
+    if(decition.brake()>(-0.0000001))
+    {
+        _m24E.ACC_CDDActive = 0;
+        _m24E.ACC_Driveoff_Request = 1;
+        if(xieya > 0)
+        {
+            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0.5);
+            xieya--;
+        }
+        else
+        {
+            _m24E.ACC_ACCTargetAcceleration = ECU_24E_ACC_ACCTargetAcceleration_toS(0);
+        }
+        _m24E.ACC_AccTrqReqActive = 1;
+        _m24E.ACC_DecToStop = 0;
+
+    }
+    else
+    {
+        _m24E.ACC_CDDActive = 1;
+
+        _m24E.ACC_Driveoff_Request = 0;
+
+        if(gbHaveVehSpd)
+        {
+            if(gfVehSpd < 0.01)
+            {
+                if(xieya != 50)std::cout<<"need xieya. "<<std::endl;
+                xieya = 50;
+
+            }
+        }
+
+        _m24E.ACC_AccTrqReqActive = 0;
+        _m24E.ACC_DecToStop = 1;
+    }
+ //       _m24B.ACC_CDDActive = decition.brake_active();
+    _m24E.ACC_ACCMode = decition.auto_mode();
+
+
+    if(gnState == 0)
+    {
+        _m24E.ACC_CDDActive = 0;
+        _m24E.ACC_Driveoff_Request = 0;
+        _m24E.ACC_ACCMode = 0;
+        _m24E.ACC_ACCTargetAcceleration = 0;
+        _m24E.ACC_AccTrqReqActive = 0;
+        _m24E.ACC_DecToStop = 0;
+
+    }
+//    std::cout<<"acc mode: "<<(int)_m24B.ACC_ACCMode<<std::endl;
+
+
+   // byte_24B[0] = ((_m24B.ACC_AccTrqReq >> 7) & (0xFFU));
+    //byte_24B[1] = ((_m24B.ACC_AccTrqReq & (0x7FU)) << 1) | (_m24B.ACC_AccTrqReqActive & (0x01U));
+    //byte_24B[2] = ((_m24B.ACC_ACCTargetAcceleration >> 3) & (0x1FU));
+    //byte_24B[3] = ((_m24B.ACC_ACCTargetAcceleration & (0x07U)) << 5) | ((_m24B.ACC_AEBTargetDeceleration >> 15) & (0x01U));
+    //byte_24B[4] = ((_m24B.ACC_AEBTargetDeceleration >> 7) & (0xFFU));
+    //byte_24B[5] = ((_m24B.ACC_AEBTargetDeceleration & (0x7FU)) << 1) | (_m24B.ACC_AEBVehilceHoldReq & (0x01U));
+    //byte_24B[6] = ((_m24B.ADCReqMode & (0x03U)) << 1) | ((_m24B.ACC_AEBActive & (0x01U)) << 3) | ((_m24B.ACC_Driveoff_Request & (0x01U)) << 5) | ((_m24B.ACC_DecToStop & (0x01U)) << 6) | ((_m24B.ACC_CDDActive & (0x01U)) << 7);
+    //byte_24B[7] = (_m24B.ACC_ACCMode & (0x07U));
+
+
+    byte_24E[0] = ((_m24E.ACC_ACCTargetAcceleration) & (0xFFU));
+    //byte_24E[1] = ((_m24B.ACC_AccTrqReq & (0x7FU)) << 1) | (_m24B.ACC_AccTrqReqActive & (0x01U));
+    //byte_24E[2] = ((_m24B.ACC_ACCTargetAcceleration >> 3) & (0x1FU));
+    byte_24E[3] = ((_m24E.ACC_DecToStop & (0x01U)) << 7);// | ((_m24B.ACC_AEBTargetDeceleration >> 15) & (0x01U));
+    //byte_24E[4] = ((_m24B.ACC_AEBTargetDeceleration >> 7) & (0xFFU));
+    byte_24E[5] = ((_m24E.ACC_CDDActive & (0x01U)) << 4);//((_m24E.ACC_AEBTargetDeceleration & (0x7FU)) << 1) | (_m24E.ACC_AEBVehilceHoldReq & (0x01U));
+    byte_24E[6] = ((_m24E.ACC_Driveoff_Request & (0x01U)) << 7)|((_m24E.ACC_ACCMode & (0x07U))<<4);//((_m24E.ADCReqMode & (0x03U)) << 1) | ((_m24E.ACC_AEBActive & (0x01U)) << 3) | ((_m24E.ACC_Driveoff_Request & (0x01U)) << 5) | ((_m24E.ACC_DecToStop & (0x01U)) << 6) | ((_m24E.ACC_CDDActive & (0x01U)) << 7);
+    byte_24E[8] = ((_m24E.ACC_AEBTargetDeceleration>>8) & (0xFFU));
+    byte_24E[9] = ((_m24E.ACC_AEBTargetDeceleration) & (0xFFU));
+    byte_24E[10] = ((_m24E.ACC_AEBActive & (0x01U)) << 7);
+    byte_24E[11] = ((_m24E.ACC_AccTrqReq>>13 )& (0x03U));
+    byte_24E[12] = ((_m24E.ACC_AccTrqReq>>5 )& (0xFFU));
+    //byte_24E[13] = ((_m24E.ACC_AccTrqReq & (0x1FU)<<3))| ((_m24E.ACC_AccTrqReqActive & (0x01U)) << 2);
+    byte_24E[13] = (((_m24E.ACC_AccTrqReq & (0x1FU))<<3))| ((_m24E.ACC_AccTrqReqActive & (0x01U)) << 2);
+
+    if(decition.leftlamp() == true && decition.rightlamp() == false)
+        _m25E.ADS_UDLCTurnLightReq = 3;
+    else if(decition.leftlamp() == false && decition.rightlamp() == true)
+        _m25E.ADS_UDLCTurnLightReq = 4;
+    else
+        _m25E.ADS_UDLCTurnLightReq = 0;
+
+    byte_25E[3] = ((_m25E.ADS_UDLCTurnLightReq & (0x07U)));
+
+}
+
+
+void adc_controller_chery_sterra_es_core::ExecSend()
+{
+    static int nCount = 0;
+    nCount++;
+
+    auto xmsg = adc_autoware_msgs::msg::AdcCanMsgs();
+    auto xraw = adc_autoware_msgs::msg::AdcCanFrame();
+
+    int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count();
+    xraw.header.frame_id = "adc";
+    xraw.header.stamp.sec = nnow/1e9;
+    xraw.header.stamp.nanosec = nnow - xraw.header.stamp.sec * 1e9;
+    xraw.id = 0x1C4;
+    memcpy(xraw.data.data(),byte_1C4,32);
+    xraw.dlc = 32;
+    xraw.is_error = false;
+    xraw.is_extended = false;
+    xraw.is_rtr = false;
+    xmsg.frames.push_back(xraw);
+
+    nnow = std::chrono::system_clock::now().time_since_epoch().count();
+    xraw.header.frame_id = "adc";
+    xraw.header.stamp.sec = nnow/1e9;
+    xraw.header.stamp.nanosec = nnow - xraw.header.stamp.sec * 1e9;
+    xraw.id = 0x24E;
+    memcpy(xraw.data.data(),byte_24E,32);
+    xraw.dlc = 64;
+    xraw.is_error = false;
+    xraw.is_extended = false;
+    xraw.is_rtr = false;
+    xmsg.frames.push_back(xraw);
+    if(nCount%2 == 1)
+    {
+        xmsg.frames.push_back(xraw);
+    }
+
+    nnow = std::chrono::system_clock::now().time_since_epoch().count();
+    xraw.header.frame_id = "adc";
+    xraw.header.stamp.sec = nnow/1e9;
+    xraw.header.stamp.nanosec = nnow - xraw.header.stamp.sec * 1e9;
+    xraw.id = 0x25E;
+    memcpy(xraw.data.data(),byte_25E,32);
+    xraw.dlc = 32;
+    xraw.is_error = false;
+    xraw.is_extended = false;
+    xraw.is_rtr = false;
+    xmsg.frames.push_back(xraw);
+    if(nCount%2 == 1)
+    {
+        xmsg.frames.push_back(xraw);
+    }
+
+
+    nnow = std::chrono::system_clock::now().time_since_epoch().count();
+    xmsg.header.frame_id = "adc";
+    xmsg.header.stamp.sec = nnow/1e9;
+    xmsg.header.stamp.nanosec = nnow - xraw.header.stamp.sec * 1e9;
+
+ //   std::cout<<" pub msg. "<<std::endl;
+
+    pub_msgs_cansend0->publish(xmsg);
+
+}
+
+
+void adc_controller_chery_sterra_es_core::Activate()
+{
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    iv::brain::decition xdecition;
+    xdecition.set_brake(0.0);
+    xdecition.set_torque(0.0);
+//    for(int j=0;j<100000;j++)
+//    {
+        std::cout<<" run "<<std::endl;
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_angle_mode(0);
+        xdecition.set_angle_active(0);
+        xdecition.set_acc_active(0);
+        xdecition.set_brake_active(0);
+//        xdecition.set_brake_type(0);
+        xdecition.set_auto_mode(0);
+        gnState = 0;
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0.0);
+        xdecition.set_angle_mode(1);
+        xdecition.set_angle_active(1);
+        xdecition.set_acc_active(1);
+        xdecition.set_brake_active(1);
+//        xdecition.set_brake_type(1);
+        xdecition.set_auto_mode(3);
+        gnState = 1;
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+//    }
+}
+
+void adc_controller_chery_sterra_es_core::UnAcitvate()
+{
+    iv::brain::decition xdecition;
+
+    xdecition.set_brake(0.0);
+    xdecition.set_torque(0.0);
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0);
+        xdecition.set_angle_mode(1);
+        xdecition.set_angle_active(1);
+        xdecition.set_acc_active(1);
+        xdecition.set_brake_active(1);
+//        xdecition.set_brake_type(1);
+        xdecition.set_auto_mode(3);
+        gnState = 1;
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+    for(int i = 0; i < 3; i++){
+        xdecition.set_wheelangle(0);
+        xdecition.set_angle_mode(0);
+        xdecition.set_angle_active(0);
+        xdecition.set_acc_active(0);
+        xdecition.set_brake_active(0);
+//        xdecition.set_brake_type(0);
+        gnState = 0;
+        xdecition.set_auto_mode(0);
+        executeDecition(xdecition);
+        ExecSend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void adc_controller_chery_sterra_es_core::initial()
+{
+    for (uint8_t i = 0; i < 64; i++) //CAN  to  canfd
+    {
+        byte_1C4[i] = 0;
+        byte_24E[i] = 0;
+        //byte_36E[i] = 0;
+    }
+}
+
+
+//ros2 service call /adc_controller_shenlan_v2/chassisenable adc_autoware_msgs/srv/ChassisEnableCtrl "{benable: true}"
+//ros2 service call /adc_controller_shenlan_v2/chassisenable adc_autoware_msgs/srv/ChassisEnableCtrl "{benable: false}"
+void adc_controller_chery_sterra_es_core::service_enablechassis(const std::shared_ptr<adc_autoware_msgs::srv::ChassisEnableCtrl::Request> request,
+          std::shared_ptr<adc_autoware_msgs::srv::ChassisEnableCtrl::Response>      response)
+{
+    response->feedback_enable = request->benable;
+    mbEnableChassis = request->benable;
+    if(mbEnableChassis)
+    {
+        std::cout<<"service enable chassis."<<std::endl;
+    }
+    else
+    {
+        std::cout<<"service disable chassis."<<std::endl;
+    }
+}
+
+
+
+
+

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/src/adc_controller_chery_sterra_es_node.cpp

@@ -0,0 +1,21 @@
+
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+
+#include "adc_controller_chery_sterra_es/adc_controller_chery_sterra_es_core.hpp"
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  rclcpp::spin(std::make_shared<adc_controller_chery_sterra_es_core>());
+
+  std::cout<<" shut. "<<std::endl;
+  
+
+  rclcpp::shutdown();
+
+  return 0;
+}

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/src/control_status.cpp

@@ -0,0 +1,487 @@
+#include <adc_controller_chery_sterra_es/control_status.h>
+
+
+
+
+
+//#if 1
+
+
+void iv::control::ControlStatus::set_cmd_checksum(unsigned char cmd_id)
+{
+    unsigned int check_sum=0;
+    if(cmd_id==0x10)
+    {
+        for(int i=0;i<7;i++)
+        {
+            check_sum^=(ServiceControlStatus.command10.byte[i]);
+        }
+        ServiceControlStatus.command10.byte[7]=check_sum;
+    }else if(cmd_id==0x11)
+    {
+        for(int i=0;i<7;i++)
+        {
+            check_sum^=(ServiceControlStatus.command11.byte[i]);
+        }
+        ServiceControlStatus.command11.byte[7]=check_sum;
+    }else if(cmd_id==0x12)
+    {
+        for(int i=0;i<7;i++)
+        {
+            check_sum^=(ServiceControlStatus.command12.byte[i]);
+        }
+        ServiceControlStatus.command12.byte[7]=check_sum;
+    }
+}
+
+
+
+
+void iv::control::ControlStatus::set_wheel_angle(float angle)
+{
+
+    int ang =(angle+870)*10;
+    ServiceControlStatus.command12.bit.ang_H = (ang)  /256;
+    ServiceControlStatus.command12.bit.ang_L = (ang)  % 256;
+}
+
+
+
+void iv::control::ControlStatus::set_wheel_speed(float speed)
+{
+
+    int angSpeed =speed;
+    ServiceControlStatus.command12.bit.ang_speed = angSpeed;
+}
+
+void iv::control::ControlStatus::set_wheel_enable(bool enable)
+{
+
+    if(enable){
+        ServiceControlStatus.command12.bit.ang_enable = 1;
+    }else{
+        ServiceControlStatus.command12.bit.ang_enable = 0;
+    }
+}
+
+
+
+
+ void iv::control::ControlStatus::set_speed_limit(float speed)
+ {
+     ServiceControlStatus.command11.bit.speed_limit = (unsigned)speed;
+ }
+
+
+
+void iv::control::ControlStatus::set_aeb(float aeb)
+{
+    int aebBrake =(aeb+16)/0.000488;
+    ServiceControlStatus.command11.bit.aeb_H = (aebBrake)  /256;
+    ServiceControlStatus.command11.bit.aeb_L = (aebBrake)  % 256;
+}
+
+void iv::control::ControlStatus::set_torque(float troque)
+{
+    command11.bit.torque=(unsigned)(troque*2.5);
+}
+
+void iv::control::ControlStatus::set_brake(float brake)
+{
+    command11.bit.brake=(unsigned)brake;
+}
+
+
+
+void iv::control::ControlStatus::set_gear(int gear)
+{
+    command11.bit.gear = (unsigned)gear;
+}
+
+void iv::control::ControlStatus::set_handBrake(bool handbrake)
+{
+    if(handbrake){
+        command11.bit.park = 2;
+    }else{
+        command11.bit.park = 1;
+    }
+}
+
+void iv::control::ControlStatus::set_driveMode(char driveMode)
+{
+    command11.bit.driveMode = (unsigned)driveMode;
+}
+
+void iv::control::ControlStatus::set_gear_enable(bool enable){
+    if (enable == true)
+        command11.bit.gear_enable = 1;
+    else
+        command11.bit.gear_enable = 0;
+}
+
+void iv::control::ControlStatus::set_acc_enable(bool enable){
+    if (enable == true)
+        command11.bit.acc_enable = 1;
+    else
+        command11.bit.acc_enable = 0;
+}
+
+void iv::control::ControlStatus::set_aeb_enable(bool enable){
+    if (enable == true)
+        command11.bit.aeb_enable = 1;
+    else
+        command11.bit.aeb_enable = 0;
+}
+
+
+//void iv::control::ControlStatus::set_win_lf(char para)
+//{
+//    command10.bit.windowlf = (unsigned)para;
+//}
+
+//void iv::control::ControlStatus::set_win_rf(char para)
+//{
+//    command10.bit.windowrf = (unsigned)para;
+//}
+
+//void iv::control::ControlStatus::set_win_lr(char para)
+//{
+//    command10.bit.windowlr = (unsigned)para;
+//}
+
+//void iv::control::ControlStatus::set_win_rr(char para)
+//{
+//    command10.bit.windowrr = (unsigned)para;
+//}
+
+//空调控制
+void iv::control::ControlStatus::set_air_on(char para)
+{
+    command10.bit.air_on = (unsigned)para;
+}
+
+
+
+//void iv::control::ControlStatus::set_air_cricle(char para)
+//{
+//    command10.bit.air_cricle = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_auto(char para)
+//{
+//    command10.bit.air_auto = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_off(char para)
+//{
+//    command10.bit.air_off = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_temup(char para)
+//{
+//    command10.bit.tem_up = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_temdown(char para)
+//{
+//    command10.bit.tem_down = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_powerup(char para)
+//{
+//    command10.bit.power_up = (unsigned)para;
+//}
+
+
+//void iv::control::ControlStatus::set_air_powerdown(char para)
+//{
+//    command10.bit.power_down = (unsigned)para;
+//}
+
+
+void iv::control::ControlStatus::set_obligate(char para)
+{
+    command10.bit.ignition = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_door(char enable)
+{
+    command10.bit.door = (unsigned)enable;
+}
+
+
+void iv::control::ControlStatus::set_turnsignals_control(bool left, bool right)
+{
+    if ( (left == true) && (right == false) )
+    {
+        command10.bit.turn_light = 0x01;
+    }
+    else if ( (left == false) && (right == true) )
+    {
+        command10.bit.turn_light = 0x02;
+    }
+    else if ((left == false) && (right == false))
+    {
+        command10.bit.turn_light = 0x00;
+    }
+    else
+    {
+        command10.bit.turn_light = 0x03;
+    }
+}
+
+
+void iv::control::ControlStatus::set_small_light(char para)
+{
+    command10.bit.small_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_near_light(char para)
+{
+    command10.bit.near_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_horn(char para)
+{
+    command10.bit.horn = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_far_light(char para)
+{
+    command10.bit.far_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_frog_light(char para)
+{
+    command10.bit.fog_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_wiper(char para)
+{
+    command10.bit.wiper = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_brake_light(char para)
+{
+    command10.bit.brake_light = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_defrog(char para)
+{
+    command10.bit.defrog = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_reverse_light(char para)
+{
+    command10.bit.revers_light = (unsigned)para;
+}
+
+
+void set_air_temp(char para);
+void set_air_mode(char para);
+void set_air_enable(bool enable);
+void set_wind_level(char para);
+void set_roof_light(char para);
+void set_home_light(char para);
+void set_air_worktime(char para);
+void set_air_offtime(char para);
+
+void iv::control::ControlStatus::set_air_temp(char para)
+{
+    command10.bit.air_temp = (unsigned)para+40;
+}
+
+
+void iv::control::ControlStatus::set_air_mode(char para)
+{
+    command10.bit.air_mode = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_air_enable(bool enable)
+{
+    if(enable){
+        command10.bit.air_enable = 0x01;
+    }else{
+        command10.bit.air_enable = 0x00;
+    }
+}
+
+void iv::control::ControlStatus::set_wind_level(char para)
+{
+    command10.bit.air_wind_level = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_roof_light(char para)
+{
+    command10.bit.roof_light = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_home_light(char para)
+{
+    command10.bit.home_light = (unsigned)para;
+}
+
+void iv::control::ControlStatus::set_air_worktime(char para)
+{
+    command10.bit.air_work_time = (unsigned)para;
+}
+
+
+void iv::control::ControlStatus::set_air_offtime(char para)
+{
+    command10.bit.air_off_time = (unsigned)para;
+}
+
+
+//void iv::control::ControlStatus::set_speaker(bool enable){
+//    if (enable == true)
+//        command.bit.speaker = 1;
+//    else
+//        command.bit.speaker = 0;
+//}
+
+//void iv::control::ControlStatus::set_door(char enable){
+//    if (enable == true)
+//        command.bit.door = 1;
+//    else
+//        command.bit.door = 0;
+//}
+
+//void iv::control::ControlStatus::set_doorEnable(bool enable){
+//    if (enable == true){
+//        command.bit.doorEnable = 1;
+//        command.bit.door=1;
+//    }
+//    else{
+//        command.bit.doorEnable = 0;
+//        command.bit.door=0;
+//    }
+//}
+
+////void iv::control::ControlStatus::set_flicker(bool enable){
+////    if (enable == true)
+////        command.bit.flicker = 1;
+////    else
+////        command.bit.flicker = 0;
+////}
+//void iv::control::ControlStatus::set_light(bool enable){
+//    if (enable == true)
+//       command.bit.bright = 1;
+//    else
+//       command.bit.bright = 0;
+//}
+
+//void iv::control::ControlStatus::set_leftlight(bool enable){
+//    if (enable == true)
+//       command.bit.left_turn = 1;
+//    else
+//       command.bit.left_turn = 0;
+//}
+
+
+//void iv::control::ControlStatus::set_rightlight(bool enable){
+//    if (enable == true)
+//       command.bit.right_turn = 1;
+//    else
+//       command.bit.right_turn = 0;
+//}
+
+
+
+
+
+
+//void iv::control::ControlStatus::set_turnsignals_control(bool left, bool right){
+//    if (left == true)
+//    {
+//        command.bit.left_turn = 1;
+//        command.bit.right_turn = 0;
+//    }
+//    else if (right == true)
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 1;
+//    }
+//    else
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 0;
+//    }
+//}
+
+
+
+
+
+
+
+
+//#else
+
+//void iv::control::ControlStatus::set_accelerate(float percent)
+//{
+//    command.bit.acce = (unsigned)((percent + 7) * 20);
+//}
+//void iv::control::ControlStatus::set_wheel_angle(float angle)
+//{
+//    command.bit.ang_H = angle * 10 >> 8;
+
+//    command.bit.ang_L = angle * 10 % 256;
+//}
+//void iv::control::ControlStatus::set_engine(char enable)
+//{
+//    command.bit.engine = enable;
+//}
+//void iv::control::ControlStatus::set_door(char enable){
+//    command.bit.door = enable;
+//}
+//void iv::control::ControlStatus::set_speaker(bool enable){
+//    if (enable == true)
+//        command.bit.speaker = 1;
+//    else
+//        command.bit.speaker = 0;
+//}
+//void iv::control::ControlStatus::set_flicker(bool enable){
+//    if (enable == true)
+//        command.bit.flicker = 1;
+//    else
+//        command.bit.flicker = 0;
+//}
+//void iv::control::ControlStatus::set_light(bool enable){
+//    if (enable == true)
+//       command.bit.bright = 1;
+//    else
+//       command.bit.bright = 0;
+//}
+//void iv::control::ControlStatus::set_turnsignals_control(bool left, bool right){
+//    if (left == true)
+//    {
+//        command.bit.left_turn = 1;
+//        command.bit.right_turn = 0;
+//    }
+//    else if (right == true)
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 1;
+//    }
+//    else
+//    {
+//        command.bit.left_turn = 0;
+//        command.bit.right_turn = 0;
+//    }
+//}
+//#endif

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/src/controller.cpp

@@ -0,0 +1,204 @@
+#include "adc_controller_chery_sterra_es/controller.h"
+
+iv::control::Controller::Controller() {
+
+}
+
+iv::control::Controller::~Controller() {
+
+}
+
+void iv::control::Controller::inialize() {
+
+}
+
+
+
+
+
+//校验和
+void iv::control::Controller::cmd_checksum(unsigned char cmd_id) {
+    ServiceControlStatus.set_cmd_checksum(cmd_id);
+}
+//方向盘控制
+void iv::control::Controller::control_wheel(float angle) {
+    ServiceControlStatus.set_wheel_angle(angle);
+}
+
+void iv::control::Controller:: control_angle_speed(float angSpeed){
+    ServiceControlStatus.set_wheel_speed(angSpeed);
+}
+
+void iv::control::Controller:: control_angle_enable(bool enable){
+    ServiceControlStatus.set_wheel_enable(enable);
+}
+//速度限制
+void iv::control::Controller:: control_speed_limit(float speedLimit){
+    ServiceControlStatus.set_speed_limit(speedLimit);
+}
+//油门控制
+void iv::control::Controller::control_torque(float percent){
+    ServiceControlStatus.set_torque(percent);
+}
+void iv::control::Controller::control_acc_en(bool enanble){
+    ServiceControlStatus.set_acc_enable(enanble);
+}
+
+
+void iv::control::Controller::control_aeb(float aeb){
+    ServiceControlStatus.set_aeb(aeb);
+}
+void iv::control::Controller::control_aeb_en(bool enable){
+    ServiceControlStatus.set_aeb_enable(enable);
+}
+//刹车控制
+void iv::control::Controller::control_brake(float brake){
+    ServiceControlStatus.set_brake(brake);
+}
+//档位控制
+void iv::control::Controller::control_gear(float gear){
+    ServiceControlStatus.set_gear(gear);
+}
+void iv::control::Controller::control_gear_en(bool enable){
+    ServiceControlStatus.set_gear_enable(enable);
+}
+//手刹
+void iv::control::Controller::control_handBrake(bool  enable){
+    ServiceControlStatus.set_handBrake(enable);
+}
+//驾驶模式
+void iv::control::Controller::control_mode(char mode){
+    ServiceControlStatus.set_driveMode(mode);
+}
+//车窗控制
+//void iv::control::Controller::control_win_lf(char para){
+//     ServiceControlStatus.set_win_lf(para);
+//}
+//void iv::control::Controller::control_win_rf(char para){
+//     ServiceControlStatus.set_win_rf(para);
+//}
+
+//void iv::control::Controller::control_win_lr(char para){
+//     ServiceControlStatus.set_win_lr(para);
+//}
+
+//void iv::control::Controller::control_win_rr(char para){
+//     ServiceControlStatus.set_win_rr(para);
+//}
+
+//空调控制
+void iv::control::Controller::control_air_on(bool enable){
+    if(enable){
+        ServiceControlStatus.set_air_on(1);
+    }else{
+        ServiceControlStatus.set_air_on(0);
+    }
+}
+//void iv::control::Controller::control_air_cricle(char para){
+//     ServiceControlStatus.set_air_cricle(para);
+//}
+//void iv::control::Controller::control_air_auto(char para){
+//     ServiceControlStatus.set_air_auto(para);
+//}
+//void iv::control::Controller::control_air_off(char para){
+//     ServiceControlStatus.set_air_off(para);
+//}
+//void iv::control::Controller::control_air_temup(char para){
+//     ServiceControlStatus.set_air_temup(para);
+//}
+//void iv::control::Controller::control_air_temdown(char para){
+//     ServiceControlStatus.set_air_temdown(para);
+//}
+//void iv::control::Controller::control_air_powerup(char para){
+//     ServiceControlStatus.set_air_powerup(para);
+//}
+//void iv::control::Controller::control_air_powerdown(char para){
+//     ServiceControlStatus.set_air_powerdown(para);
+//}
+//点火控制
+void iv::control::Controller::control_obligate(char para){
+    ServiceControlStatus.set_obligate(para);
+}
+//车门控制
+void iv::control::Controller::control_door(char enable){
+    ServiceControlStatus.set_door(enable);
+}
+//车灯控制
+void iv::control::Controller::control_turnsignals(bool left, bool right){
+    ServiceControlStatus.set_turnsignals_control(left,right);
+}
+void iv::control::Controller::control_small_light(char para){
+    ServiceControlStatus.set_small_light(para);
+}
+void iv::control::Controller::control_near_light(char para){
+    ServiceControlStatus.set_near_light(para);
+}
+
+void iv::control::Controller::control_far_light(char para){
+    ServiceControlStatus.set_far_light(para);
+}
+void iv::control::Controller::control_frog_light(char para){
+    ServiceControlStatus.set_frog_light(para);
+}
+void iv::control::Controller::control_brake_light(char para){
+    ServiceControlStatus.set_brake_light(para);
+}
+void iv::control::Controller::control_defrog(char para){
+    ServiceControlStatus.set_defrog(para);
+}
+void iv::control::Controller::control_reverse_light(char para){
+    ServiceControlStatus.set_reverse_light(para);
+}
+
+//喇叭控制
+void iv::control::Controller::control_horn(char para){
+    ServiceControlStatus.set_horn(para);
+}
+//雨刷控制
+void iv::control::Controller::control_wiper(char para){
+    ServiceControlStatus.set_wiper(para);
+}
+
+
+void iv::control::Controller::control_air_temp(char para){
+    ServiceControlStatus.set_air_temp(para);
+}
+
+void iv::control::Controller::control_air_mode(char para){
+    ServiceControlStatus.set_air_mode(para);
+}
+
+void iv::control::Controller::control_air_enable(bool enable){
+    ServiceControlStatus.set_air_enable(enable);
+}
+
+void iv::control::Controller::control_wind_level(char para){
+    ServiceControlStatus.set_wind_level(para);
+}
+
+void iv::control::Controller::control_roof_light(char para){
+    ServiceControlStatus.set_roof_light(para);
+}
+
+void iv::control::Controller::control_home_light(char para){
+    ServiceControlStatus.set_home_light(para);
+}
+
+void iv::control::Controller::control_air_worktime(char para){
+    ServiceControlStatus.set_air_worktime(para);
+}
+
+void iv::control::Controller::control_air_offtime(char para){
+    ServiceControlStatus.set_air_offtime(para);
+}
+
+
+
+
+
+//void iv::control::Controller::control_flicker(bool enable){
+//    ServiceControlStatus.set_flicker(enable);
+//}
+//void iv::control::Controller::control_braking(float percent){
+
+//}

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/src/dbcsigpacker.cpp

@@ -0,0 +1,80 @@
+#include "dbcsigpacker.h"
+
+#include <iostream>
+
+
+dbcsigpacker::dbcsigpacker(std::string strdbcname){
+    mpPacker =  new CANPacker(strdbcname);
+    mpdbc = mpPacker->GetDBC();
+    InitSig();
+}
+
+dbcsigpacker::dbcsigpacker(std::string strdbcname,std::istringstream & strsteam){
+    mpPacker = new CANPacker(strdbcname,strsteam);
+    mpdbc = mpPacker->GetDBC();
+    InitSig();
+}
+
+void dbcsigpacker::SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue){
+
+    if(mmapMsgSig.count(strmsgname)<=0)
+    {
+        std::cout<<" SetMsgSignal no message "<<strmsgname<<std::endl;
+        return;
+    }
+
+    iv::MsgSig & xMsgSig = mmapMsgSig[strmsgname];
+
+    int i;
+    int nsize = static_cast<int>(xMsgSig.mvectorSPV.size());
+    for(i=0;i<nsize;i++){
+        if(xMsgSig.mvectorSPV[i].name == strsigname){
+            xMsgSig.mvectorSPV[i].value = fvalue;
+            return;
+        }
+    }
+
+    std::cout<<" Msg "<<strmsgname<<" no signal "<<strsigname<<std::endl;
+
+}
+
+void dbcsigpacker::InitSig()
+{
+    if(mpdbc == NULL){
+        std::cout<<"dbc is null"<<std::endl;
+        return;
+    }
+
+    unsigned int nMsgSize =  mpdbc->msgs.size();
+    unsigned int i;
+    for(i=0;i<nMsgSize;i++){
+        iv::MsgSig xmsgsig;
+        xmsgsig.mid = mpdbc->msgs[i].address;
+        xmsgsig.mstrmsgname = mpdbc->msgs[i].name;
+        unsigned int nSigSize = mpdbc->msgs[i].sigs.size();
+        unsigned int j;
+        for(j=0;j<nSigSize;j++){
+            SignalPackValue spv;
+            spv.name = mpdbc->msgs[i].sigs[j].name;
+            spv.value = 0;
+            xmsgsig.mvectorSPV.push_back(spv);
+        }
+        mmapMsgSig.insert(std::pair<std::string,iv::MsgSig>(xmsgsig.mstrmsgname,xmsgsig));
+    }
+
+
+}
+
+std::vector<uint8_t> dbcsigpacker::GetPack(std::string  strmsgname){
+    std::vector<uint8_t> xPack;
+    if(mmapMsgSig.count(strmsgname)<=0)
+    {
+        std::cout<<" GetPack no message "<<strmsgname<<std::endl;
+        return xPack;
+    }
+
+    iv::MsgSig & xMsgSig = mmapMsgSig[strmsgname];
+    xPack = mpPacker->pack(xMsgSig.mid,xMsgSig.mvectorSPV);
+    return xPack;
+
+}

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/src/fcm.cpp

@@ -0,0 +1,10412 @@
+
+
+char FCM_dbc[] = {
+  0x56, 0x45, 0x52, 0x53, 0x49, 0x4f, 0x4e, 0x20, 0x22, 0x22, 0x0d, 0x0a,
+  0x0d, 0x0a, 0x0d, 0x0a, 0x4e, 0x53, 0x5f, 0x20, 0x3a, 0x20, 0x0d, 0x0a,
+  0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x4e, 0x53, 0x5f, 0x44,
+  0x45, 0x53, 0x43, 0x5f, 0x0d, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
+  0x20, 0x20, 0x43, 0x4d, 0x5f, 0x0d, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20,
+  0x20, 0x20, 0x20, 0x42, 0x41, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x0d, 0x0a,
+  0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x42, 0x41, 0x5f, 0x0d,
+  0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x56, 0x41, 0x4c,
+  0x5f, 0x0d, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x43,
+  0x41, 0x54, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x0d, 0x0a, 0x20, 0x20, 0x20,
+  0x20, 0x20, 0x20, 0x20, 0x20, 0x43, 0x41, 0x54, 0x5f, 0x0d, 0x0a, 0x20,
+  0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x46, 0x49, 0x4c, 0x54, 0x45,
+  0x52, 0x0d, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x42,
+  0x41, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x44, 0x45, 0x46, 0x5f, 0x0d, 0x0a,
+  0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x45, 0x56, 0x5f, 0x44,
+  0x41, 0x54, 0x41, 0x5f, 0x0d, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
+  0x20, 0x20, 0x45, 0x4e, 0x56, 0x56, 0x41, 0x52, 0x5f, 0x44, 0x41, 0x54,
+  0x41, 0x5f, 0x0d, 0x0a, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
+  0x53, 0x47, 0x54, 0x59, 0x50, 0x45, 0x5f, 0x0d, 0x0a, 0x20, 0x20, 0x20,
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+  0x3b, 0x0d, 0x0a
+};
+unsigned int FCM_dbc_len = 124875;

src/ros2/AutoWare2025/src/adc_controller_chery_sterra_es_fcm/src/sterraes.cpp

@@ -0,0 +1,346 @@
+#include "sterraes.h"
+
+#include <iostream>
+#include <memory>
+#include <string.h>
+
+
+sterraes::sterraes(std::string strdbcname) {
+
+    mpdbcsigpacker = new dbcsigpacker(strdbcname);
+    // mpPacker =  new CANPacker(strdbcname);
+    // initsig();
+}
+
+sterraes::sterraes(std::string strdbcname,std::istringstream & strsteam)
+{
+    mpdbcsigpacker = new dbcsigpacker(strdbcname,strsteam);
+
+    // mpPacker = new CANPacker(strdbcname,strsteam);=
+    // initsig();
+}
+
+void sterraes::SetMsgSignal(std::string  strmsgname,std::string  strsigname,const double fvalue){
+
+    mpdbcsigpacker->SetMsgSignal(strmsgname,strsigname,fvalue);
+}
+
+
+// void sterraes::initsig()
+// {
+//     SignalPackValue sv;
+//     sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerAgReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerAgVld";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerPilotAgEna";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_RollgCntr2";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_Resd2";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerTqEna";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_LdwWarningCmd";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_LdwWarningCmdVld";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerMaxTqReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_SteerMinTqReq";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "ADS_1_ADSHealthSts";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "CutOutFreshvalues_2CB_S";sv.value = 0;mvectorADSEPS1.push_back(sv);
+//     sv.name = "CutOutMAC_2CB_S";sv.value = 0;mvectorADSEPS1.push_back(sv);
+
+//     sv.name = "ADS_3_RollgCntr1";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_Resd1";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_SteerParkAgReq";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_SteerParkAgVld";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_SteerParkAgEna";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_RollgCntr2";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_Resd2";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_ParkFcnMode";sv.value = 0;mvectorADSEPS3.push_back(sv);
+//     sv.name = "ADS_3_ADSParkHealthSts";sv.value = 0;mvectorADSEPS3.push_back(sv);
+
+//     sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotCtrlRepSta";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkCtrlType";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkBrkDecTar";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkCtrlRepMod";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkBrkDecTarVld";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkBrkDecTarEnable";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkDec2StpReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PilotParkDriOffReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_StopDist";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_ParkCtrlMod";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_1_PreFillReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_EPBCtrlReqValid";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+//     sv.name = "ADS_EPBCtrlReq";sv.value = 0;mvectorADSONEBOX1.push_back(sv);
+
+//     sv.name = "ADS_1_RollgCntr1";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_Resd1";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvTarTq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvTarTqVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvCtrlReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_CtrlReqMod";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_DrvTarTqEnable";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPRequest";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPRequestVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_ADCCAvl";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPTqLimit";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_AMAPTqLimitVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_RollgCntr2";sv.value = 0;mvectorADSVCU1.push_back(sv);
+//     sv.name = "ADS_1_Resd2";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_TarGearReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_TarGearReqVld";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_GearCtrlEnable";sv.value = 0;mvectorADSVCU1.push_back(sv);
+// //    sv.name = "ADS_1_RpaPTReadyReq";sv.value = 0;mvectorADSVCU1.push_back(sv);
+
+//     sv.name = "FCM_2_CRC1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_RollgCntr1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_Resd1";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AebReqTyp";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AebTarDec";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AebTarDecVld";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AwbReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AwbLvl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_BrkPreFillReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AbaReq";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_AbaLvl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+//     sv.name = "FCM_2_Avl";sv.value = 0;mvectorADSONEBOX2.push_back(sv);
+
+//     sv.name = "FCM_3_CRC1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_RollgCntr1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_Resd1";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotParkCtrlRepSta";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotCtrlType";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotkBrkDecTar";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotBrkDecTarVld";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotBrkDecTarReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotDec2StpReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "FCM_3_PilotDriOffReq";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "CutOutFreshvalues_2CB_S";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+//     sv.name = "CutOutMAC_2CB_S";sv.value = 0;mvectorADSONEBOX3.push_back(sv);
+
+
+//     sv.name = "ADS_2_RollgCntr1";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_Resd1";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_FunctionSuppressReq";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_HWRequest";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_PP_M_Request";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_AEBStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_ClosingSpeed";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_TTC";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_Object";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_Object_Status";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "ADS_2_FCWStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
+//     sv.name = "FCM_2_SysStatus";sv.value = 0;mvectorADSCOM2.push_back(sv);
+
+
+
+//     sv.name = "ADS_3_RollgCntr1";sv.value = 0;mvectorADSCOM3.push_back(sv);
+//     sv.name = "ADS_3_ACCSts";sv.value = 0;mvectorADSCOM3.push_back(sv);
+
+// }
+
+void sterraes::setsignal(std::vector<SignalPackValue> * pvectorspv,std::string strsigname,double value){
+    int size = static_cast<int>(pvectorspv->size());
+    int i;
+    for(i=0;i<size;i++){
+        if(pvectorspv->at(i).name == strsigname){
+            pvectorspv->at(i).value = value;
+            return ;
+        }
+    }
+    std::cout<<" signal : "<<strsigname.data()<<" not found. please check signal."<<std::endl;
+    return ;
+}
+
+void sterraes::set_EPS1_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSEPS1,strsigname,value);
+}
+
+void sterraes::set_EPS3_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSEPS3,strsigname,value);
+}
+
+void sterraes::set_ONEBOX1_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSONEBOX1,strsigname,value);
+}
+
+void sterraes::set_VCU1_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSVCU1,strsigname,value);
+}
+
+void sterraes::set_ONEBOX2_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSONEBOX2,strsigname,value);
+}
+
+void sterraes::set_ONEBOX3_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSONEBOX3,strsigname,value);
+}
+
+void sterraes::set_ADSCOM3_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSCOM3,strsigname,value);
+}
+
+void sterraes::set_ADSCOM2_signal(std::string strsigname,double value){
+    setsignal(&mvectorADSCOM2,strsigname,value);
+}
+
+unsigned char CRCCheck_SAEJ1850(unsigned char msg[], int len, unsigned char idleCrc)
+{
+    int i = 0;
+    int j = 0;
+    unsigned char crc8;
+    unsigned char poly = 0x1D;
+    crc8 = idleCrc;
+    for (i = 0; i<len; i++) {
+        crc8 ^= msg[i];
+        for (j = 0; j<8; j++) {
+            if (crc8 & 0x80) {
+                crc8 = (crc8 << 1) ^ poly;
+            }
+            else {
+                crc8 <<= 1;
+            }
+        }
+    }
+    //   crc8 ^= 0xFF;
+    crc8 ^= 0x00;//crc8 ^= 0xFF;
+    return crc8;
+}
+
+void sterraes::fillcrc(unsigned short dataid,unsigned char * pdata){
+    unsigned char xdata[9];
+    memcpy(xdata,&dataid,2);
+    memcpy(xdata+2,pdata+1,7);
+    unsigned char xcrc = CRCCheck_SAEJ1850(xdata,9,0x0);
+    pdata[0] = xcrc;
+}
+
+void sterraes::GetEPS1Data(unsigned char * pdata){
+ //   std::vector<uint8_t> xpack =  mpPacker->pack(0x195,mvectorADSEPS1);
+
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_EPS_1");
+
+    if(xpack.size()<24){
+        std::cout<<"GetEPS1Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+    int i;
+    for(i=0;i<24;i++)pdata[i] = xpack[i];
+
+    fillcrc(0x0004,pdata);
+    fillcrc(0x0005,pdata+8);
+}
+
+void sterraes::GetEPS3Data(unsigned char * pdata){
+ //   std::vector<uint8_t> xpack =  mpPacker->pack(0x1BC,mvectorADSEPS3);
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_EPS_3");
+
+    if(xpack.size()<24){
+        std::cout<<"GetEPS3Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+
+
+    int i;
+    for(i=0;i<24;i++)pdata[i] = xpack[i];
+
+
+    fillcrc(0x0006,pdata);
+    fillcrc(0x0007,pdata+8);
+}
+
+void sterraes::GetONEBOX1Data(unsigned char * pdata){
+//    std::vector<uint8_t> xpack =  mpPacker->pack(0x159,mvectorADSONEBOX1);
+
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_ONEBOX_1");
+
+    if(xpack.size()<24){
+        std::cout<<"GetONEBOX1Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+
+    int i;
+    for(i=0;i<24;i++)pdata[i] = xpack[i];
+
+    fillcrc(0x0008,pdata);
+}
+
+void sterraes::GetVCU1Data(unsigned char * pdata){
+//    std::vector<uint8_t> xpack =  mpPacker->pack(0x167,mvectorADSVCU1);
+
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_VCU_1");
+
+    if(xpack.size()<24){
+        std::cout<<"GetVCU1Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+
+    int i;
+    for(i=0;i<24;i++)pdata[i] = xpack[i];
+
+    fillcrc(0x000B,pdata);
+    fillcrc(0x000C,pdata+8);
+}
+
+void sterraes::GetONEBOX2Data(unsigned char * pdata){
+//    std::vector<uint8_t> xpack =  mpPacker->pack(0x145,mvectorADSONEBOX2);
+
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_ONEBOX_2");
+
+    if(xpack.size()<24){
+        std::cout<<"GetONEBOX2Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+
+
+    int i;
+    for(i=0;i<24;i++)pdata[i] = xpack[i];
+
+    fillcrc(0x0009,pdata);
+}
+
+void sterraes::GetONEBOX3Data(unsigned char * pdata){
+//    std::vector<uint8_t> xpack =  mpPacker->pack(0x14A,mvectorADSONEBOX3);
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_ONEBOX_3");
+
+    if(xpack.size()<24){
+        std::cout<<"GetONEBOX3Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+
+    int i;
+    for(i=0;i<24;i++)pdata[i] = xpack[i];
+
+    fillcrc(0x000A,pdata);
+}
+
+void sterraes::GetADSCOM3Data(unsigned char * pdata){
+//    std::vector<uint8_t> xpack =  mpPacker->pack(0x31A,mvectorADSCOM3);
+
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_COM_3");
+
+    if(xpack.size()<24){
+        std::cout<<"GetADSCOM3Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+
+
+    int i;
+    for(i=0;i<24;i++)pdata[i] = xpack[i];
+
+    fillcrc(0x0011,pdata);
+}
+
+void sterraes::GetADSCOM2Data(unsigned char * pdata){
+//    std::vector<uint8_t> xpack =  mpPacker->pack(0x314,mvectorADSCOM2);
+    std::vector<uint8_t> xpack = mpdbcsigpacker->GetPack("ADS_COM_2");
+
+    if(xpack.size()<8){
+        std::cout<<"GetADSCOM2Data Fail. pack size: "<<xpack.size()<<std::endl;
+        return;
+    }
+
+    int i;
+    for(i=0;i<8;i++)pdata[i] = xpack[i];
+
+    fillcrc(0x0010,pdata);
+}
+