add demo start position

5 files changed, 262 insertions, 5 deletions

diff --git a/config.xml.in b/config.xml.in
index e4a8a51..89297ec 100644
--- a/config.xml.in
+++ b/config.xml.in
@@ -16,7 +16,7 @@
   </feature>
   <feature name="urn:AGL:widget:required-api">
      <param name="lib/libNaviAPIService.so" value="local" />
-     <param name="192.168.123.11:4002/gps" value="tcp" />
+     <param name="192.168.123.11:4001/gps" value="tcp" />
      <param name="192.168.123.11:4000/carlaclient" value="tcp" />
   </feature>
 </widget>
diff --git a/include/navigation_info.h b/include/navigation_info.h
index ea578ba..6b20ad4 100644
--- a/include/navigation_info.h
+++ b/include/navigation_info.h
@@ -25,6 +25,13 @@ private:
 	/* GetDirState */
 	char mCurrentState[256];		//current direction state info
 
+	/* GetTotalDistance and GetCumulativeDistance */
+	char mCurrentTotalDistance[256];		//current total distance info
+	char mCurrentCumulativeDistance[256];		//current cumulative distance info
+
+	/* GetGuidanceState */
+	char mGuidanceState[256];		//current guidance state info
+
 	/*	getAllroutes	*/
 	uint32_t mRoutes;				//current route count
 
@@ -38,6 +45,10 @@ private:
 	char mDemoDistance[256];		//the distance from current position(along the route)
 	char mDemoDirection[256];		//current car direction
 
+	/*	guidance start position information	*/
+	char mGuidanceStartLatitude[256] = {0};		//guidance start latitude info
+	char mGuidanceStarLongitude[256] = {0};;	//guidance start longitude info
+
 public:
 	//get&set function for per members
 	void setNaviInfoSessionHandle( char* sessionHandle );
@@ -58,6 +69,15 @@ public:
 	void setNaviInfoCurrentDirState( char* state );
 	char* getNaviInfoCurrentDirState();
 
+	void setNaviInfoCurrentTotalDistance( char* totaldistance );
+	int getNaviInfoCurrentTotalDistance();
+
+	void setNaviInfoCurrentCumulativeDistance( char* cumulativedistance );
+	int getNaviInfoCurrentCumulativeDistance();
+
+	void setNaviInfoCurrentGuidanceState( char* state );
+	char* getNaviInfoCurrentGuidanceState();
+
 	void setNaviInfoAllRoutes( char* route );
 	uint32_t getNaviInfoAllRoutes();
 
@@ -78,5 +98,10 @@ public:
 
 	void setNaviInfoDemoDirection( char* direction );
 	char* getNaviInfoDemoDirection();
+
+	void setGuidanceStartLatitude(char* latitude);
+	char* getGuidanceStartLatitude();
+	void setGuidanceStartLongitude(char* longitude);
+	char* getGuidanceStartLongitude();
 };
 
diff --git a/src/api.cpp b/src/api.cpp
index 8235124..3258d6b 100644
--- a/src/api.cpp
+++ b/src/api.cpp
@@ -40,6 +40,8 @@ static afb_event_t gps_event;
 static afb_event_t getdestdir_event;
 static afb_event_t heading_event;
 static afb_event_t cancelguidance_event;
+static afb_event_t guidancestartpos_event;
+static afb_event_t getdistance_event;
 
 /**
  *  @brief navicore_getposition request callback
@@ -633,7 +635,7 @@ void OnRequestNavicoreSetDestDir(afb_req_t req)
 {
 	const char* state = afb_req_value(req, "state");
 
-	AFB_REQ_NOTICE(req, "state = %s", state);
+	// AFB_REQ_NOTICE(req, "state = %s", state);
 
 	afb_req_success(req, NULL, NULL);
 
@@ -641,12 +643,12 @@ void OnRequestNavicoreSetDestDir(afb_req_t req)
 
 	struct json_object* response_json = json_object_new_object();
 
-	AFB_REQ_NOTICE(req, "OnRequestNavicoreSetDestDir");
+	// AFB_REQ_NOTICE(req, "OnRequestNavicoreSetDestDir");
 
 	json_object_object_add(response_json, "state", json_object_new_string(state));
 
 	const char* response_json_str = json_object_to_json_string(response_json);
-	AFB_REQ_NOTICE(req, "response_json_str = %s", response_json_str);
+	// AFB_REQ_NOTICE(req, "response_json_str = %s", response_json_str);
 
 	afb_event_push(getdestdir_event, response_json);
 }
@@ -673,6 +675,72 @@ void OnRequestNavicoreGetCurrentDestDir(afb_req_t req)
 	//AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
 }
 /**
+ *  @brief navicore_setdistance request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetDistance(afb_req_t req)
+{
+	const char* totaldistance = afb_req_value(req, "TotalDistance");
+	const char* cumulativedistance = afb_req_value(req, "CumulativeDistance");
+
+	//Type Conversion
+	char* newtotaldistance =new char[100];
+	string totaldistance_string;
+	int totaldistance_int;
+	char* newcumulativedistance =new char[100];
+	string cumulativedistance_string;
+	int cumulativedistance_int;
+	strcpy(newtotaldistance,totaldistance);
+	totaldistance_string = newtotaldistance;
+	totaldistance_int = atoi(totaldistance_string.c_str());
+	strcpy(newcumulativedistance,cumulativedistance);
+	cumulativedistance_string = newcumulativedistance;
+	cumulativedistance_int = atoi(cumulativedistance_string.c_str());
+
+	// AFB_REQ_NOTICE(req, "totaldistance = %s cumulativedistance = %s", totaldistance,cumulativedistance);
+
+	afb_req_success(req, NULL, NULL);
+
+	navigationInfo->setNaviInfoCurrentTotalDistance(const_cast<char*>(totaldistance));
+	navigationInfo->setNaviInfoCurrentCumulativeDistance(const_cast<char*>(cumulativedistance));
+
+	struct json_object* response_json = json_object_new_object();
+
+	// AFB_REQ_NOTICE(req, "OnRequestNavicoreSetDistance");
+
+	json_object_object_add(response_json, "totaldistance", json_object_new_int(totaldistance_int));
+	json_object_object_add(response_json, "cumulativedistance", json_object_new_int(cumulativedistance_int));
+
+	const char* response_json_str = json_object_to_json_string(response_json);
+	// AFB_REQ_NOTICE(req, "response_json_str = %s", response_json_str);
+
+	afb_event_push(getdistance_event, response_json);
+}
+/**
+ *  @brief navicore_getcurrentdistance request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreGetCurrentDistance(afb_req_t req)
+{
+	struct json_object* response_json = json_object_new_array();
+    struct json_object* obj = json_object_new_object();
+
+	int current_totaldistance = navigationInfo->getNaviInfoCurrentTotalDistance();
+	int current_cumulativedistance = navigationInfo->getNaviInfoCurrentCumulativeDistance();
+
+	json_object_object_add(obj, "CurrentTotalDistance", json_object_new_int(current_totaldistance));
+	json_object_object_add(obj, "CurrentCumulativeDistance", json_object_new_int(current_cumulativedistance));
+
+	json_object_array_add(response_json, obj);
+	const char* obj_str = json_object_to_json_string(obj);
+	//AFB_API_NOTICE(req->api, "obj_str = %s", obj_str);
+
+	// Return success to BinderClient
+	afb_req_success(req, response_json, "navicore_getcurrentdistance");
+
+	//AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+/**
  *  @brief navicore_startguidance request callback
  *  @param[in] req Request from server
  */
@@ -681,6 +749,9 @@ void OnRequestNavicoreStartGuidance(afb_req_t req)
 	AFB_REQ_NOTICE(req, "OnRequestNavicoreStartGuidance");
 	StartDemoCarlaclient(req->api);
 
+	const char* state = "ture";
+	navigationInfo->setNaviInfoCurrentGuidanceState(const_cast<char*>(state));
+
 	afb_req_success(req, NULL, NULL);
 }
 
@@ -692,6 +763,9 @@ void OnRequestNavicoreCancelGuidance(afb_req_t req)
 {
 	AFB_REQ_NOTICE(req, "OnRequestNavicoreCancelGuidance");
 	StopDemoCarlaclient(req->api);
+
+	const char* state = "false";
+	navigationInfo->setNaviInfoCurrentGuidanceState(const_cast<char*>(state));
 	
 	afb_event_push(cancelguidance_event, NULL);
 
@@ -699,6 +773,29 @@ void OnRequestNavicoreCancelGuidance(afb_req_t req)
 }
 
 /**
+ *  @brief navicore_getcurrentguidancestate request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreGetCurrentGuidanceState(afb_req_t req)
+{
+	struct json_object* response_json = json_object_new_array();
+    struct json_object* obj = json_object_new_object();
+
+	char* current_guidancestate  = navigationInfo->getNaviInfoCurrentGuidanceState();
+
+	json_object_object_add(obj, "CurrentGuidanceState", json_object_new_string(current_guidancestate));
+
+	json_object_array_add(response_json, obj);
+	const char* obj_str = json_object_to_json_string(obj);
+	//AFB_API_NOTICE(req->api, "obj_str = %s", obj_str);
+
+	// Return success to BinderClient
+	afb_req_success(req, response_json, "navicore_getcurrentguidancestate");
+
+	//AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+/**
  *  @brief navicore_demostate request callback
  *  @param[in] req Request from server
  */
@@ -719,6 +816,52 @@ void OnRequestNavicoreDemoState(afb_req_t req)
 }
 
 /**
+ *  @brief navicore_settguidancestartpos request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetGuidanceStartPos(afb_req_t req)
+{
+	const char* guidance_latitude = afb_req_value(req, "StartLatitude");
+	const char* guidance_longitude = afb_req_value(req, "StartLongitude");
+
+	navigationInfo->setGuidanceStartLatitude(const_cast<char*>(guidance_latitude));
+	navigationInfo->setGuidanceStartLongitude(const_cast<char*>(guidance_longitude));
+
+	afb_req_success(req, NULL, NULL);
+	//AFB_API_NOTICE(req->api, "OnRequestNavicoreSetGuidanceStartPos");
+
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+	json_object_object_add(obj, "StartLatitude", json_object_new_string(guidance_latitude));
+	json_object_object_add(obj, "StartLongitude", json_object_new_string(guidance_longitude));
+	json_object_array_add(response_json, obj);
+	afb_event_push(guidancestartpos_event, response_json);
+}
+
+/**
+ *  @brief navicore_gettguidancestartpos request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreGetGuidanceStartPos(afb_req_t req)
+{
+	//AFB_API_NOTICE(req->api, "OnRequestNavicoreGetGuidanceStartPos");
+
+	struct json_object* response_json = json_object_new_array();
+    struct json_object* obj = json_object_new_object();
+	json_object_object_add(obj, "StartLatitude", json_object_new_string(navigationInfo->getGuidanceStartLatitude()));
+	json_object_object_add(obj, "StartLongitude", json_object_new_string(navigationInfo->getGuidanceStartLongitude()));
+	json_object_array_add(response_json, obj);
+
+	const char* obj_str = json_object_to_json_string(obj);
+	//AFB_API_NOTICE(req->api, "obj_str = %s", obj_str);
+
+	// Return success to BinderClient
+	afb_req_success(req, response_json, "navicore_getguidancestartpos");
+
+	//AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+/**
  *  @brief subscribe request callback
  *  @param[in] req Request from server
  */
@@ -777,6 +920,16 @@ void subscribe(afb_req_t req)
 		afb_req_success(req, NULL, NULL);
 		return;
 	}
+	else if(value && !strcasecmp(value, "setguidancestartpos")){
+		afb_req_subscribe(req, guidancestartpos_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "getdistance")){
+		afb_req_subscribe(req, getdistance_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
 	afb_req_fail(req, "failed", "Invalid event");
 }
 
@@ -839,6 +992,16 @@ void unsubscribe(afb_req_t req)
 		afb_req_success(req, NULL, NULL);
 		return;
 	}
+	else if(value && !strcasecmp(value, "setguidancestartpos")){
+		afb_req_unsubscribe(req, guidancestartpos_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "getdistance")){
+		afb_req_unsubscribe(req, getdistance_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
 	afb_req_fail(req, "failed", "Invalid event");
 }
 
@@ -856,6 +1019,11 @@ void OnRequestNavicoreGetRouteInfo(afb_req_t req)
 	uint32_t allroutes = navigationInfo->getNaviInfoAllRoutes();
 	json_object_object_add(obj, "AllRoutes", json_object_new_int(allroutes));
 
+	char* start_latitude  = navigationInfo->getGuidanceStartLatitude();
+	char* start_longitude = navigationInfo->getGuidanceStartLongitude();
+	json_object_object_add(obj, "StartLatitude", json_object_new_string(start_latitude));
+	json_object_object_add(obj, "StartLongitude", json_object_new_string(start_longitude));
+
 	char* current_latitude  = navigationInfo->getNaviInfoCurrentLatitude();
 	char* current_longitude = navigationInfo->getNaviInfoCurrentLongitude();
 	json_object_object_add(obj, "CurrentLatitude", json_object_new_string(current_latitude));
@@ -1033,6 +1201,8 @@ int init(afb_api_t api)
 	heading_event = afb_api_make_event(afbBindingV3root,"navicore_heading");
 	getdestdir_event = afb_api_make_event(afbBindingV3root,"navicore_getdestdir");
     cancelguidance_event = afb_api_make_event(afbBindingV3root,"navicore_cancelguidance");
+	guidancestartpos_event = afb_api_make_event(afbBindingV3root, "navicore_setguidancestartpos");
+	getdistance_event = afb_api_make_event(afbBindingV3root,"navicore_getdistance");
 
 	SubscribeGps(api);
 	SubscribeCarlaclient(api);
@@ -1067,7 +1237,12 @@ const afb_verb_t verbs[] =
 	 { verb : "navicore_getcurrentdestdir",	    callback : OnRequestNavicoreGetCurrentDestDir },
 	 { verb : "navicore_startguidance",         callback : OnRequestNavicoreStartGuidance	},
 	 { verb : "navicore_cancelguidance",        callback : OnRequestNavicoreCancelGuidance	},
+	 { verb : "navicore_getcurrentguidancestate",callback : OnRequestNavicoreGetCurrentGuidanceState },
 	 { verb : "navicore_demostate",             callback : OnRequestNavicoreDemoState	},
+	 { verb : "navicore_setguidancestartpos",   callback : OnRequestNavicoreSetGuidanceStartPos	 },
+	 { verb : "navicore_getguidancestartpos",   callback : OnRequestNavicoreGetGuidanceStartPos },
+	 { verb : "navicore_setdistance",           callback : OnRequestNavicoreSetDistance	},
+	 { verb : "navicore_getcurrentdistance",callback : OnRequestNavicoreGetCurrentDistance },
 	 { verb : "subscribe",		   				callback : subscribe 						},
 	 { verb : "unsubscribe",		   			callback : unsubscribe						},
 	 { verb : NULL }
diff --git a/src/binder_reply.cpp b/src/binder_reply.cpp
index 172a22a..af79e7d 100644
--- a/src/binder_reply.cpp
+++ b/src/binder_reply.cpp
@@ -156,7 +156,7 @@ APIResponse BinderReply::ReplyNavicoreGetAllSessions( std::map<uint32_t, std::st
 		}
 		else
 		{
-			fprintf(stderr, "invalid key.");
+			fprintf(stderr, "invalid key. \n");
 			json_object_put(obj);
 		}
 	}
diff --git a/src/navigation_info.cpp b/src/navigation_info.cpp
index 2ab5afa..7b12743 100644
--- a/src/navigation_info.cpp
+++ b/src/navigation_info.cpp
@@ -65,6 +65,44 @@ char* NavigationInfo::getNaviInfoCurrentDirState()
 	return mCurrentState;
 }
 
+void NavigationInfo::setNaviInfoCurrentTotalDistance( char* totaldistance )
+{
+	strcpy(mCurrentTotalDistance,totaldistance);
+}
+
+int NavigationInfo::getNaviInfoCurrentTotalDistance()
+{
+	string totaldistance_string;
+	int totaldistance_int;
+	totaldistance_string = mCurrentTotalDistance;
+	totaldistance_int = atoi(totaldistance_string.c_str());
+	return totaldistance_int;
+}
+
+void NavigationInfo::setNaviInfoCurrentCumulativeDistance( char* cumulativedistance )
+{
+	strcpy(mCurrentCumulativeDistance,cumulativedistance);
+}
+
+int NavigationInfo::getNaviInfoCurrentCumulativeDistance()
+{
+	string cumulativedistance_string;
+	int cumulativedistance_int;
+	cumulativedistance_string = mCurrentCumulativeDistance;
+	cumulativedistance_int = atoi(cumulativedistance_string.c_str());
+	return cumulativedistance_int;
+}
+
+void NavigationInfo::setNaviInfoCurrentGuidanceState( char* state )
+{
+	strcpy(mGuidanceState,state);
+}
+
+char* NavigationInfo::getNaviInfoCurrentGuidanceState()
+{
+	return mGuidanceState;
+}
+
 void NavigationInfo::setNaviInfoAllRoutes( char* route )
 {
 	mRoutes = stoi(route);
@@ -133,4 +171,23 @@ void NavigationInfo::setNaviInfoDemoDirection( char* direction )
 char* NavigationInfo::getNaviInfoDemoDirection()
 {
 	return mDemoDirection;
+}
+
+void NavigationInfo::setGuidanceStartLatitude(char* latitude)
+{strcpy(mGuidanceStartLatitude,latitude);
+}
+
+char* NavigationInfo::getGuidanceStartLatitude()
+{
+	return mGuidanceStartLatitude;
+}
+
+void NavigationInfo::setGuidanceStartLongitude(char* longitude)
+{
+	strcpy(mGuidanceStarLongitude,longitude);
+}
+
+char* NavigationInfo::getGuidanceStartLongitude()
+{
+	return mGuidanceStarLongitude;
 }
\ No newline at end of file