FakeCANProvider.cpp

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#include "FakeCANProvider.h"

FakeCANProvider::FakeCANProvider(QMutex* mutex)
{
    m_mutex = mutex;
}

FakeCANProvider::~FakeCANProvider()
{
}

FakeCANProvider& FakeCANProvider::operator=(const FakeCANProvider& other)
{
    this->m_data = other.m_data;
    return *this;
}

void FakeCANProvider::changeCurvature(qint16 curvature)
{
    m_data.m_curvature.curvatureValue += curvature;
    if(m_data.m_curvature.curvatureValue > CurvatureValue_reciprocalOf1MeterRadiusToLeft)
        m_data.m_curvature.curvatureValue = CurvatureValue_reciprocalOf1MeterRadiusToLeft;
    else if(m_data.m_curvature.curvatureValue < CurvatureValue_reciprocalOf1MeterRadiusToRight)
        m_data.m_curvature.curvatureValue = CurvatureValue_reciprocalOf1MeterRadiusToRight;

    emit canChanged();
}

void FakeCANProvider::setAccelerationControl(quint8 accelerationControl)
{
    if(m_data.m_accelerationControl != 0)
    {
            m_data.m_accelerationControl->buf[0] = accelerationControl;
    }
    else
    {
        m_data.m_accelerationControl = (AccelerationControl_t*) calloc(1, sizeof(AccelerationControl_t));
        m_data.m_accelerationControl->size = 1;
        m_data.m_accelerationControl->bits_unused = 1;
        m_data.m_accelerationControl->buf = (u_int8_t*) calloc(m_data.m_accelerationControl->size, 1);
        m_data.m_accelerationControl->buf[0] = accelerationControl;
    }

    emit canChanged();
}

void FakeCANProvider::setExteriorLights(quint8 exteriorLights)
{
    m_data.m_exteriorLights.buf[0] = exteriorLights;

    emit canChanged();
}

void FakeCANProvider::setDriveDirection(quint8 driveDirection)
{
    m_data.m_driveDirection = driveDirection;

    emit canChanged();
}

void FakeCANProvider::changeYawRate(qint16 yawRate)
{
    m_data.m_yawRate.yawRateValue += yawRate;
    if(m_data.m_yawRate.yawRateValue >= YawRateValue_unavailable)
        m_data.m_yawRate.yawRateValue = YawRateValue_unavailable-1;
    else if(m_data.m_yawRate.yawRateValue < -YawRateValue_unavailable)
        m_data.m_yawRate.yawRateValue = -YawRateValue_unavailable;

    emit canChanged();
}

void FakeCANProvider::setLightBarSirenInUse(quint8 lightBarSiren)
{
    m_data.m_lightBarSirenInUse.buf[0] = lightBarSiren;

    emit canChanged();
}