diff options
| -rw-r--r-- | include/navigation_info.h | 6 | ||||
| -rw-r--r-- | src/api.cpp | 162 |
2 files changed, 90 insertions, 78 deletions
diff --git a/include/navigation_info.h b/include/navigation_info.h index a0c9f49..ea578ba 100644 --- a/include/navigation_info.h +++ b/include/navigation_info.h @@ -22,12 +22,12 @@ private: char mCurrentLongitude[256]; //current longitude info char mCurrentHeading[256]; //current heading info - /* getAllroutes */ - uint32_t mRoutes; //current route count - /* GetDirState */ char mCurrentState[256]; //current direction state info + /* getAllroutes */ + uint32_t mRoutes; //current route count + /* getdestination */ char mDestLatitude[256]; //Destination latitude info char mDestLongitude[256]; //Destination longitude info 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* 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 } |