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authorzheng_wenlong <wenlong_zheng@nexty-ele.com>2019-06-14 13:01:43 +0900
committerzheng_wenlong <wenlong_zheng@nexty-ele.com>2019-06-14 13:01:43 +0900
commitedb90da2281c014f9b623f46533aa9d48cce2b90 (patch)
tree3279a6375b6e316dc16103dca8284abe7f3142b5 /src/api.cpp
parent00a85e8b4d47e1839c3fa7a2a956d3039e1175a2 (diff)
fix bug for 0614
Diffstat (limited to 'src/api.cpp')
-rw-r--r--src/api.cpp162
1 files changed, 87 insertions, 75 deletions
diff --git a/src/api.cpp b/src/api.cpp
index 4814cd7..879feb0 100644
--- a/src/api.cpp
+++ b/src/api.cpp
@@ -8,7 +8,7 @@
#include "analyze_request.h"
#include "genivi/genivi-navicore-constants.h"
#include "navigation_info.h"
-#include <unistd.h>
+
#define AFB_BINDING_VERSION 3
extern "C" {
@@ -17,11 +17,11 @@ extern "C" {
using namespace std;
static void StartDemoCarlaclient(afb_api_t api);
+static void StopDemoCarlaclient(afb_api_t api);
static const char GpsEventName[] = "gps/setlocation";
static const char CarlaEventName[] = "carlaclient/positionUpdated";
-
-static bool demoflag = false;
+static bool demo = false;
/**
* Variable declaration
@@ -40,7 +40,7 @@ static afb_event_t gps_event;
static afb_event_t getdestdir_event;
static afb_event_t heading_event;
static afb_event_t cancelguidance_event;
-void sendevent();
+
/**
* @brief navicore_getposition request callback
* @param[in] req Request from client
@@ -484,14 +484,13 @@ void OnRequestNavicoreGetCurrentPos(afb_req_t req)
struct json_object* response_json = json_object_new_array();
struct json_object* obj = json_object_new_object();
- // char* current_latitude = navigationInfo->getNaviInfoCurrentLatitude();
- // char* current_longitude = navigationInfo->getNaviInfoCurrentLongitude();
- // char* current_heading = navigationInfo->getNaviInfoCurrentHeading();
- const char* current_latitude = "35.66730";
- const char* current_longitude = "139.74955";
+ char* current_latitude = navigationInfo->getNaviInfoCurrentLatitude();
+ char* current_longitude = navigationInfo->getNaviInfoCurrentLongitude();
+ char* current_heading = navigationInfo->getNaviInfoCurrentHeading();
+
json_object_object_add(obj, "CurrentLatitude", json_object_new_string(current_latitude));
json_object_object_add(obj, "CurrentLongitude", json_object_new_string(current_longitude));
- // json_object_object_add(obj, "CurrentHeading", json_object_new_string(current_heading));
+ json_object_object_add(obj, "CurrentHeading", json_object_new_string(current_heading));
json_object_array_add(response_json, obj);
const char* obj_str = json_object_to_json_string(obj);
@@ -501,7 +500,6 @@ void OnRequestNavicoreGetCurrentPos(afb_req_t req)
afb_req_success(req, response_json, "navicore_getcurrentpos");
AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
- // sendevent();
}
/**
@@ -593,33 +591,7 @@ void OnRequestNavicoreSetDemoRouteInfo(afb_req_t req)
afb_req_success(req, NULL, NULL);
}
-void sendevent(){
- const char* latitude[] = 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-
- const char* longitude[] = 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- const char* carspeed = "60";
-
- int len = sizeof(latitude)/sizeof(char*);
- printf("Naviservice: len====== %d \n",len);
- for (int i=0;i<len;i++){
- if (demoflag == true){
- struct json_object* obj = json_object_new_object();
- const char * lat = latitude[i];
- const char * lon = longitude[i];
- const char * speed = carspeed;
- json_object_object_add(obj, "latitude", json_object_new_string(lat));
- json_object_object_add(obj, "longitude", json_object_new_string(lon));
- json_object_object_add(obj, "carSpeed", json_object_new_string(speed));
- printf("lat %s lon %s speed %s \n",lat,lon,speed);
- // AFB_API_NOTICE(api, "Get gps date.Latitude %s Longitude %s", lat, lon);
- afb_event_push(gps_event, obj);
- // sleep(1);
- usleep(300*1000);
- } else {
- break;
- }
- }
-}
+
/**
* @brief navicore_stopdemo request callback
* @param[in] req Request from server
@@ -707,9 +679,8 @@ void OnRequestNavicoreGetCurrentDestDir(afb_req_t req)
void OnRequestNavicoreStartGuidance(afb_req_t req)
{
AFB_REQ_NOTICE(req, "OnRequestNavicoreStartGuidance");
- demoflag = true;
- // StartDemoCarlaclient(req->api);
- sendevent();
+ StartDemoCarlaclient(req->api);
+
afb_req_success(req, NULL, NULL);
}
@@ -720,9 +691,30 @@ void OnRequestNavicoreStartGuidance(afb_req_t req)
void OnRequestNavicoreCancelGuidance(afb_req_t req)
{
AFB_REQ_NOTICE(req, "OnRequestNavicoreCancelGuidance");
- demoflag = false;
- // StopDemoCarlaclient(req->api);
+ StopDemoCarlaclient(req->api);
+
afb_event_push(cancelguidance_event, NULL);
+
+ afb_req_success(req, NULL, NULL);
+}
+
+/**
+ * @brief navicore_demostate request callback
+ * @param[in] req Request from server
+ */
+void OnRequestNavicoreDemoState(afb_req_t req)
+{
+ AFB_REQ_NOTICE(req, "OnRequestNavicoreDemoState");
+ const char* DemoState = afb_req_value(req, "DemoState");
+
+ if (strcmp(DemoState,"true") == 0){
+ demo = true;
+ }
+ else{
+ demo = false;
+ }
+ AFB_REQ_NOTICE(req, "Demo state = %d", demo);
+
afb_req_success(req, NULL, NULL);
}
@@ -900,47 +892,52 @@ static void onevent(afb_api_t api, const char *event, struct json_object *object
{
AFB_API_NOTICE(api, "on_event %s , object %s", event, json_object_get_string(object));
- if (strcmp(event,GpsEventName) == 0)
- {
- struct json_object *lati = NULL;
- struct json_object *longi = NULL;
- if ((json_object_object_get_ex(object, "latitude", &lati)) &&
- (json_object_object_get_ex(object, "longitude", &longi)))
+ if (demo == false){
+ if (strcmp(event,GpsEventName) == 0)
{
- const char* latitude = json_object_get_string(lati);
- const char* longitude = json_object_get_string(longi);
+ struct json_object *lati = NULL;
+ struct json_object *longi = NULL;
+ if ((json_object_object_get_ex(object, "latitude", &lati)) &&
+ (json_object_object_get_ex(object, "longitude", &longi)))
+ {
+ const char* latitude = json_object_get_string(lati);
+ const char* longitude = json_object_get_string(longi);
- navigationInfo->setNaviInfoCurrentLatitude(const_cast<char*>(latitude));
- navigationInfo->setNaviInfoCurrentLongitude(const_cast<char*>(longitude));
+ navigationInfo->setNaviInfoCurrentLatitude(const_cast<char*>(latitude));
+ navigationInfo->setNaviInfoCurrentLongitude(const_cast<char*>(longitude));
- struct json_object* gps_obj = json_object_new_object();
+ struct json_object* gps_obj = json_object_new_object();
- json_object_object_add(gps_obj, "latitude", json_object_new_string(latitude));
- json_object_object_add(gps_obj, "longitude", json_object_new_string(longitude));
+ json_object_object_add(gps_obj, "latitude", json_object_new_string(latitude));
+ json_object_object_add(gps_obj, "longitude", json_object_new_string(longitude));
- AFB_API_NOTICE(api, "event name %s , gps_obj %s", event, json_object_get_string(gps_obj));
+ AFB_API_NOTICE(api, "event name %s , gps_obj %s", event, json_object_get_string(gps_obj));
- afb_event_push(gps_event, gps_obj);
+ afb_event_push(gps_event, gps_obj);
+ }
}
- }
- else if(strcmp(event,CarlaEventName) == 0)
- {
- struct json_object *yaw = NULL;
- if ((json_object_object_get_ex(object, "yaw", &yaw)))
+ else if(strcmp(event,CarlaEventName) == 0)
{
- const char* heading = json_object_get_string(yaw);
+ struct json_object *yaw = NULL;
+ if ((json_object_object_get_ex(object, "yaw", &yaw)))
+ {
+ const char* heading = json_object_get_string(yaw);
- navigationInfo->setNaviInfoCurrentHeading(const_cast<char*>(heading));
+ navigationInfo->setNaviInfoCurrentHeading(const_cast<char*>(heading));
- struct json_object* heading_obj = json_object_new_object();
+ struct json_object* heading_obj = json_object_new_object();
- json_object_object_add(heading_obj, "heading", json_object_new_string(heading));
+ json_object_object_add(heading_obj, "heading", json_object_new_string(heading));
- AFB_API_NOTICE(api, "event name %s , heading_obj %s", event, json_object_get_string(heading_obj));
+ AFB_API_NOTICE(api, "event name %s , heading_obj %s", event, json_object_get_string(heading_obj));
- afb_event_push(heading_event, heading_obj);
+ afb_event_push(heading_event, heading_obj);
+ }
}
}
+ else{
+ /* when is demo on, do nothing */
+ }
}
/**
@@ -970,14 +967,27 @@ static void api_call(afb_api_t api, const char *service, const char *verb, struc
}
/**
- * @brief call carlaclient startdemo function
+ * @brief call carlaclient start demo function
* @param[in] api the api serving the request
*/
static void StartDemoCarlaclient(afb_api_t api)
{
struct json_object* obj = json_object_new_object();
- json_object_object_add(obj, "startdemo", json_object_new_string("true"));
- api_call(api, "carlaclient", "startdemo" ,obj);
+ json_object_object_add(obj, "demo", json_object_new_string("true"));
+ api_call(api, "carlaclient", "demo" ,obj);
+ AFB_API_NOTICE(api, "StartDemoCarlaclient.");
+}
+
+/**
+ * @brief call carlaclient stop demo function
+ * @param[in] api the api serving the request
+ */
+static void StopDemoCarlaclient(afb_api_t api)
+{
+ struct json_object* obj = json_object_new_object();
+ json_object_object_add(obj, "demo", json_object_new_string("false"));
+ api_call(api, "carlaclient", "demo" ,obj);
+ AFB_API_NOTICE(api, "StopDemoCarlaclient.");
}
/**
@@ -1022,9 +1032,10 @@ int init(afb_api_t api)
gps_event = afb_api_make_event(afbBindingV3root,"navicore_gps");
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");
- // SubscribeGps(api);
- // SubscribeCarlaclient(api);
+ cancelguidance_event = afb_api_make_event(afbBindingV3root,"navicore_cancelguidance");
+
+ SubscribeGps(api);
+ SubscribeCarlaclient(api);
return 0;
}
@@ -1056,6 +1067,7 @@ const afb_verb_t verbs[] =
{ verb : "navicore_getcurrentdestdir", callback : OnRequestNavicoreGetCurrentDestDir },
{ verb : "navicore_startguidance", callback : OnRequestNavicoreStartGuidance },
{ verb : "navicore_cancelguidance", callback : OnRequestNavicoreCancelGuidance },
+ { verb : "navicore_demostate", callback : OnRequestNavicoreDemoState },
{ verb : "subscribe", callback : subscribe },
{ verb : "unsubscribe", callback : unsubscribe },
{ verb : NULL }