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-rw-r--r--libnavi/include/BinderClient.h57
-rw-r--r--libnavi/include/JsonRequestGenerator.h29
-rw-r--r--libnavi/include/JsonResponseAnalyzer.h25
-rw-r--r--libnavi/include/RequestManage.h64
-rw-r--r--libnavi/include/RequestManageListener.h17
-rw-r--r--libnavi/include/libnavicore.hpp69
-rw-r--r--libnavi/include/traces.h38
7 files changed, 299 insertions, 0 deletions
diff --git a/libnavi/include/BinderClient.h b/libnavi/include/BinderClient.h
new file mode 100644
index 0000000..70a6558
--- /dev/null
+++ b/libnavi/include/BinderClient.h
@@ -0,0 +1,57 @@
+// Copyright 2017 AISIN AW CO.,LTD
+
+#pragma once
+
+#include <map>
+#include <tuple>
+#include <vector>
+#include <string>
+
+#include "libnavicore.hpp"
+
+#include "RequestManageListener.h"
+#include "RequestManage.h"
+
+#define API_NAME "naviapi"
+
+/**
+ * @brief API name
+ */
+#define VERB_GETPOSITION "navicore_getposition"
+#define VERB_GETALLROUTES "navicore_getallroutes"
+#define VERB_CREATEROUTE "navicore_createroute"
+#define VERB_PAUSESIMULATION "navicore_pausesimulation"
+#define VERB_SETSIMULATIONMODE "navicore_setsimulationmode"
+#define VERB_CANCELROUTECALCULATION "navicore_cancelroutecalculation"
+#define VERB_SETWAYPOINTS "navicore_setwaypoints"
+#define VERB_CALCULATEROUTE "navicore_calculateroute"
+#define VERB_GETALLSESSIONS "navicore_getallsessions"
+
+/**
+ * @brief Binder client class
+ */
+class BinderClient : public RequestManageListener
+{
+public:
+ BinderClient();
+ ~BinderClient();
+
+ bool ConnectServer(std::string url , naviapi::NavicoreListener* listener);
+ void NavicoreGetPosition(const std::vector< int32_t >& valuesToReturn);
+ void NavicoreGetAllRoutes();
+ void NavicoreCreateRoute(const uint32_t& sessionHandle);
+ void NavicorePauseSimulation(const uint32_t& sessionHandle);
+ void NavicoreSetSimulationMode(const uint32_t& sessionHandle, const bool& activate);
+ void NavicoreCancelRouteCalculation(const uint32_t& sessionHandle, const uint32_t& routeHandle);
+ void NavicoreSetWaypoints(const uint32_t& sessionHandle, const uint32_t& routeHandle, const bool& startFromCurrentPosition, const std::vector<naviapi::Waypoint>& waypointsList);
+ void NavicoreCalculateRoute(const uint32_t& sessionHandle, const uint32_t& routeHandle);
+ void NavicoreGetAllSessions();
+
+private:
+ void OnReply(struct json_object *reply);
+
+private:
+ naviapi::NavicoreListener* navicoreListener;
+ RequestManage* requestMng;
+};
+
diff --git a/libnavi/include/JsonRequestGenerator.h b/libnavi/include/JsonRequestGenerator.h
new file mode 100644
index 0000000..7cd6979
--- /dev/null
+++ b/libnavi/include/JsonRequestGenerator.h
@@ -0,0 +1,29 @@
+// Copyright 2017 AW SOFTWARE CO.,LTD
+// Copyright 2017 AISIN AW CO.,LTD
+
+#pragma once
+
+#include <stdint.h>
+#include <string>
+#include <vector>
+
+#include "libnavicore.hpp"
+
+/**
+* @brief Class for generating Json request
+*/
+class JsonRequestGenerator
+{
+public:
+ static std::string CreateRequestGetPosition(const std::vector< int32_t >& valuesToReturn);
+ static std::string CreateRequestGetAllRoutes();
+ static std::string CreateRequestCreateRoute(const uint32_t* sessionHandle);
+ static std::string CreateRequestPauseSimulation(const uint32_t* sessionHandle);
+ static std::string CreateRequestSetSimulationMode(const uint32_t* sessionHandle, const bool* activate);
+ static std::string CreateRequestCancelRouteCalculation(const uint32_t* sessionHandle, const uint32_t* routeHandle);
+ static std::string CreateRequestSetWaypoints(const uint32_t* sessionHandle, const uint32_t* routeHandle,
+ const bool* startFromCurrentPosition, const std::vector<naviapi::Waypoint>* waypointsList);
+ static std::string CreateRequestCalculateroute(const uint32_t* sessionHandle, const uint32_t* routeHandle);
+ static std::string CreateRequestGetAllSessions();
+};
+
diff --git a/libnavi/include/JsonResponseAnalyzer.h b/libnavi/include/JsonResponseAnalyzer.h
new file mode 100644
index 0000000..50b2cd2
--- /dev/null
+++ b/libnavi/include/JsonResponseAnalyzer.h
@@ -0,0 +1,25 @@
+// Copyright 2017 AW SOFTWARE CO.,LTD
+// Copyright 2017 AISIN AW CO.,LTD
+
+#pragma once
+
+#include <json-c/json.h>
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <map>
+
+#include "libnavicore.hpp"
+
+/**
+* @brief JSON response analysis class
+*/
+class JsonResponseAnalyzer
+{
+public:
+ static std::map< int32_t, naviapi::variant > AnalyzeResponseGetPosition( std::string& res_json );
+ static std::vector< uint32_t > AnalyzeResponseGetAllRoutes( std::string& res_json );
+ static uint32_t AnalyzeResponseCreateRoute( std::string& res_json );
+ static std::map<uint32_t, std::string> AnalyzeResponseGetAllSessions( std::string& res_json );
+};
+
diff --git a/libnavi/include/RequestManage.h b/libnavi/include/RequestManage.h
new file mode 100644
index 0000000..05ffcdf
--- /dev/null
+++ b/libnavi/include/RequestManage.h
@@ -0,0 +1,64 @@
+// Copyright 2017 AISIN AW CO.,LTD
+
+#pragma once
+
+#include <stdint.h>
+#include <string>
+#include <pthread.h>
+
+extern "C" {
+ #include <afb/afb-wsj1.h>
+ #include <afb/afb-ws-client.h>
+}
+
+#include "RequestManageListener.h"
+
+/**
+* @brief Class for request
+*/
+class RequestManage
+{
+public:
+ pthread_cond_t cond;
+ pthread_mutex_t mutex;
+
+ struct afb_wsj1* wsj1;
+ std::string* requestURL;
+ struct afb_wsj1_itf wsj1_itf;
+
+private:
+ RequestManageListener* listener;
+ int request_cnt;
+ uint32_t sessionHandle;
+ uint32_t routeHandle;
+
+ // Function called from thread
+ static void* BinderThread(void* param);
+
+ // Callback function
+ void OnReply(struct afb_wsj1_msg *msg);
+ void OnHangup(struct afb_wsj1 *wsj1);
+ void OnCallStatic(const char *api, const char *verb, struct afb_wsj1_msg *msg);
+ void OnEventStatic(const char *event, struct afb_wsj1_msg *msg);
+
+ static void OnReplyStatic(void *closure, struct afb_wsj1_msg *msg);
+ static void OnHangupStatic(void *closure, struct afb_wsj1 *wsj1);
+ static void OnCallStatic(void *closure, const char *api, const char *verb, struct afb_wsj1_msg *msg);
+ static void OnEventStatic(void *closure, const char *event, struct afb_wsj1_msg *msg);
+
+// ==================================================================================================
+// public
+// ==================================================================================================
+public:
+ RequestManage();
+ ~RequestManage();
+
+ bool Connect(const char* api_url, RequestManageListener* listener);
+ bool IsConnect();
+ bool CallBinderAPI(const char *api, const char *verb, const char *object);
+ void SetSessionHandle(uint32_t session);
+ uint32_t GetSessionHandle();
+ void SetRouteHandle(uint32_t route);
+ uint32_t GetRouteHandle();
+};
+
diff --git a/libnavi/include/RequestManageListener.h b/libnavi/include/RequestManageListener.h
new file mode 100644
index 0000000..3b0c932
--- /dev/null
+++ b/libnavi/include/RequestManageListener.h
@@ -0,0 +1,17 @@
+// Copyright 2017 AISIN AW CO.,LTD
+
+#pragma once
+
+#include <json-c/json.h>
+
+class RequestManageListener
+{
+public:
+ RequestManageListener() {
+ }
+ virtual ~RequestManageListener() {
+ }
+
+ virtual void OnReply(struct json_object *reply) = 0;
+};
+
diff --git a/libnavi/include/libnavicore.hpp b/libnavi/include/libnavicore.hpp
new file mode 100644
index 0000000..66200d9
--- /dev/null
+++ b/libnavi/include/libnavicore.hpp
@@ -0,0 +1,69 @@
+// Copyright 2017 AISIN AW CO.,LTD
+
+#pragma once
+
+#include <map>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include <stdint.h>
+
+namespace naviapi {
+
+static const uint32_t NAVICORE_TIMESTAMP = 0x0010;
+static const uint32_t NAVICORE_LATITUDE = 0x00a0;
+static const uint32_t NAVICORE_LONGITUDE = 0x00a1;
+static const uint32_t NAVICORE_HEADING = 0x00a3;
+static const uint32_t NAVICORE_SPEED = 0x00a4;
+static const uint32_t NAVICORE_SIMULATION_MODE = 0x00e3;
+
+typedef union
+{
+ bool _bool;
+ int32_t _int32_t;
+ uint32_t _uint32_t;
+ double _double;
+} variant;
+
+typedef std::tuple<double, double> Waypoint;
+
+class NavicoreListener
+{
+public:
+ NavicoreListener();
+ virtual ~NavicoreListener();
+
+ virtual void getAllSessions_reply(const std::map< uint32_t, std::string >& allSessions);
+ virtual void getPosition_reply(std::map< int32_t, variant > position);
+ virtual void getAllRoutes_reply(std::vector< uint32_t > allRoutes);
+ virtual void createRoute_reply(uint32_t routeHandle);
+}; // class NavicoreListener
+
+class Navicore
+{
+private:
+ NavicoreListener* mListener;
+
+public:
+ Navicore();
+ virtual ~Navicore();
+
+ bool connect(int argc, char *argv[], NavicoreListener* listener);
+ void disconnect();
+
+ void getAllSessions();
+ void getPosition(std::vector<int32_t> params);
+ void getAllRoutes();
+ void createRoute(uint32_t session);
+
+ void pauseSimulation(uint32_t session);
+ void setSimulationMode(uint32_t session, bool activate);
+ void cancelRouteCalculation(uint32_t session, uint32_t routeHandle);
+ void setWaypoints(uint32_t session, uint32_t routeHandle, bool flag, std::vector<Waypoint>);
+ void calculateRoute(uint32_t session, uint32_t routeHandle);
+
+}; // class Navicore
+
+}; // namespace naviapi
+
diff --git a/libnavi/include/traces.h b/libnavi/include/traces.h
new file mode 100644
index 0000000..a1f96ec
--- /dev/null
+++ b/libnavi/include/traces.h
@@ -0,0 +1,38 @@
+// Copyright 2017 AISIN AW CO.,LTD
+
+#ifndef __TRACE_H__
+#define __TRACE_H__
+
+#include <stdio.h>
+
+#define BLACK "\033[30m"
+#define RED "\033[31m"
+#define GREEN "\033[32m"
+#define YELLOW "\033[33m"
+#define BLUE "\033[34m"
+#define PURPLE "\033[35m"
+#define DGREEN "\033[6m"
+#define WHITE "\033[7m"
+#define CYAN "\x1b[36m"
+#define NONE "\033[0m"
+
+#ifdef NDEBUG
+
+#define TRACE_DEBUG_JSON(fmt, args...)
+#define TRACE_DEBUG(fmt, args...)
+#define TRACE_INFO(fmt, args...)
+#define TRACE_WARN(fmt, args...)
+#define TRACE_ERROR(fmt, args...)
+
+#else
+
+#define TRACE_DEBUG(fmt, args...) do { fprintf(stderr, "[%s:%d] " CYAN "DEBUG" NONE ": " fmt "\n", __func__, __LINE__, ##args); } while(0)
+#define TRACE_INFO(fmt, args...) do { fprintf(stderr, "[%s:%d] " GREEN "INFO" NONE ": " fmt "\n", __func__, __LINE__, ##args); } while(0)
+#define TRACE_WARN(fmt, args...) do { fprintf(stderr, "[%s:%d] " YELLOW "WARN" NONE": " fmt "\n", __func__, __LINE__, ##args); } while(0)
+#define TRACE_ERROR(fmt, args...) do { fprintf(stderr, "[%s:%d] " RED "ERROR" NONE ": " fmt "\n", __func__, __LINE__, ##args); } while(0)
+
+#define TRACE_DEBUG_JSON(fmt, args...)
+
+#endif
+
+#endif // __TRACE_H__