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Diffstat (limited to 'src/api.cpp')
| -rw-r--r-- | src/api.cpp | 1022 |
1 files changed, 1022 insertions, 0 deletions
diff --git a/src/api.cpp b/src/api.cpp new file mode 100644 index 0000000..956a8ff --- /dev/null +++ b/src/api.cpp @@ -0,0 +1,1022 @@ +// Copyright 2017 AW SOFTWARE CO.,LTD +// Copyright 2017 AISIN AW CO.,LTD + +#include <string.h> + +#include "binder_reply.h" +#include "genivi_request.h" +#include "analyze_request.h" +#include "genivi/genivi-navicore-constants.h" +#include "navigation_info.h" +#include <unistd.h> +#define AFB_BINDING_VERSION 3 + +extern "C" { + #include <afb/afb-binding.h> +} +using namespace std; + +static void StartDemoCarlaclient(afb_api_t api); + +static const char GpsEventName[] = "gps/setlocation"; +static const char CarlaEventName[] = "carlaclient/positionUpdated"; + +/** + * Variable declaration + */ +GeniviRequest* geniviRequest; // Send request to Genivi +BinderReply* binderReply; // Convert Genivi response result to json format +AnalyzeRequest* analyzeRequest; // Analyze BinderClient's request and create arguments to pass to GeniviAPI +NavigationInfo* navigationInfo; //get/set navigation infomation +static afb_event_t setwaypoints_event; +static afb_event_t pausesimulation_event; +static afb_event_t setdemorouteinfo_event; +static afb_event_t stopdemo_event; +static afb_event_t arrivedest_event; +static afb_event_t adddest_event; +static afb_event_t gps_event; +static afb_event_t getdestdir_event; +static afb_event_t heading_event; +void sendevent(); +/** + * @brief navicore_getposition request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreGetPosition(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_getposition"); + + // Request of Json format request + json_object* req_json = afb_req_json(req); + const char* req_json_str = json_object_to_json_string(req_json); + AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str); + + // Request analysis and create arguments to pass to Genivi + std::vector< int32_t > Params; + if( !analyzeRequest->CreateParamsGetPosition( req_json_str, Params )) + { + afb_req_fail(req, "failed", "navicore_getposition Bad Request"); + return; + } + +#if 0 + // GENIVI API call + std::map< int32_t, double > posList = geniviRequest->NavicoreGetPosition( Params ); +#else + std::map< int32_t, double > posList; + posList[NAVICORE_LATITUDE] = strtod(navigationInfo->getNaviInfoCurrentLatitude(),NULL); + posList[NAVICORE_LONGITUDE] = strtod(navigationInfo->getNaviInfoCurrentLongitude(),NULL); +#endif + // Convert to json style response + APIResponse response = binderReply->ReplyNavicoreGetPosition( posList ); + + // On success + if(response.isSuccess) + { + AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data)); + // Return success to BinderClient + afb_req_success(req, response.json_data, "navicore_getposition"); + } + else + { + AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__); + afb_req_fail(req, "failed", "navicore_getposition Bad Request"); + } + + // Json object release + json_object_put(response.json_data); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_getallroutes request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreGetAllRoutes(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_getallroutes"); + + // No request information in json format + AFB_API_NOTICE(req->api, "req_json_str = none"); + +#if 0 + // GENEVI API call + std::vector< uint32_t > allRoutes = geniviRequest->NavicoreGetAllRoutes(); +#else + std::vector< uint32_t > allRoutes; + allRoutes.push_back(navigationInfo->getNaviInfoAllRoutes()); +#endif + + // Convert to json style response + APIResponse response = binderReply->ReplyNavicoreGetAllRoutes( allRoutes ); + + // On success + if(response.isSuccess) + { + AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data)); + // Return success to BinderClient + afb_req_success(req, response.json_data, "navicore_getallroutes"); + } + else + { + AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__); + afb_req_fail(req, "failed", "navicore_getallroutes Bad Request"); + } + + // json object release + json_object_put(response.json_data); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_createroute request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreCreateRoute(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s ", __func__); + AFB_REQ_DEBUG(req, "request navicore_createroute"); + + // Request of json format request + json_object* req_json = afb_req_json(req); + const char* req_json_str = json_object_to_json_string(req_json); + AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str); + + // Request analysis and create arguments to pass to Genivi + uint32_t sessionHdl = 0; + if( !analyzeRequest->CreateParamsCreateRoute( req_json_str, sessionHdl )) + { + afb_req_fail(req, "failed", "navicore_createroute Bad Request"); + return; + } + +#if 0 + // GENEVI API call + uint32_t routeHdl = geniviRequest->NavicoreCreateRoute( sessionHdl ); +#else + uint32_t routeHdl = navigationInfo->getNaviInfoAllRoutes(); +#endif + + // Convert to json style response + APIResponse response = binderReply->ReplyNavicoreCreateRoute( routeHdl ); + + // On success + if(response.isSuccess) + { + AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data)); + // Return success to BinderClient + afb_req_success(req, response.json_data, "navicore_createroute"); + } + else + { + AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__); + afb_req_fail(req, "failed", "navicore_createroute Bad Request"); + } + + // json object release + json_object_put(response.json_data); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_pausesimulation request callback + * @param[in] req Request from client + */ +void OnRequestNavicorePauseSimulation(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_pausesimulation"); + + // Request of json format request + json_object* req_json = afb_req_json(req); + const char* req_json_str = json_object_to_json_string(req_json); + AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str); + + // Request analysis and create arguments to pass to Genivi + uint32_t sessionHdl = 0; + if( !analyzeRequest->CreateParamsPauseSimulation( req_json_str, sessionHdl )) + { + afb_req_fail(req, "failed", "navicore_pausesimulation Bad Request"); + return; + } + +#if 0 + // GENEVI API call + geniviRequest->NavicorePauseSimulation( sessionHdl ); +#else + afb_event_push(pausesimulation_event, req_json); +#endif + + // No reply unnecessary API for conversion to json format response is unnecessary + AFB_API_NOTICE(req->api, "res_json_str = none"); + + // Return success to BinderClient + afb_req_success(req, NULL, "navicore_pausesimulation"); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_setsimulationmode request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreSetSimulationMode(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_setsimulationmode"); + + // Request of json format request + json_object* req_json = afb_req_json(req); + const char* req_json_str = json_object_to_json_string(req_json); + AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str); + + // Request analysis and create arguments to pass to Genivi + uint32_t sessionHdl = 0; + bool simuMode = false; + if( !analyzeRequest->CreateParamsSetSimulationMode( req_json_str, sessionHdl, simuMode )) + { + afb_req_fail(req, "failed", "navicore_setsimulationmode Bad Request"); + return; + } + +#if 0 + // GENEVI API call + geniviRequest->NavicoreSetSimulationMode( sessionHdl, simuMode ); +#endif + + // No reply unnecessary API for conversion to json format response is unnecessary + AFB_API_NOTICE(req->api, "res_json_str = none"); + + // Return success to BinderClient + afb_req_success(req, NULL, "navicore_setsimulationmode"); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_cancelroutecalculation request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreCancelRouteCalculation(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_cancelroutecalculation"); + + // Request of Json format request + json_object* req_json = afb_req_json(req); + const char* req_json_str = json_object_to_json_string(req_json); + AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str); + + // Request analysis and create arguments to pass to Genivi + uint32_t sessionHdl = 0; + uint32_t routeHdl = 0; + if( !analyzeRequest->CreateParamsCancelRouteCalculation( req_json_str, sessionHdl, routeHdl )) + { + afb_req_fail(req, "failed", "navicore_cancelroutecalculation Bad Request"); + return; + } + +#if 0 + // GENEVI API call + geniviRequest->NavicoreCancelRouteCalculation( sessionHdl, routeHdl ); +#endif + + // No reply unnecessary API for conversion to json format response is unnecessary + AFB_API_NOTICE(req->api, "res_json_str = none"); + + // Return success to BinderClient + afb_req_success(req, NULL, "navicore_cancelroutecalculation"); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_setwaypoints request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreWaypoints(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_setwaypoints"); + + // Request of Json format request + json_object* req_json = afb_req_json(req); + const char* req_json_str = json_object_to_json_string(req_json); + AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str); + + // Request analysis and create arguments to pass to Genivi + uint32_t sessionHdl = 0; + uint32_t routeHdl = 0; + bool currentPos = false; + std::vector<Waypoint> waypointsList; + if( !analyzeRequest->CreateParamsSetWaypoints( req_json_str, sessionHdl, routeHdl, currentPos, waypointsList )) + { + afb_req_fail(req, "failed", "navicore_setwaypoints Bad Request"); + return; + } + +#if 0 + // GENEVI API call + geniviRequest->NavicoreSetWaypoints( sessionHdl, routeHdl, currentPos, waypointsList ); +#else + struct json_object *current = NULL; + struct json_object *wpl = NULL; + + struct json_object* response_json = json_object_new_array(); + struct json_object* obj = json_object_new_object(); + + if ((json_object_object_get_ex(req_json, "startFromCurrentPosition", ¤t)) && + (json_object_object_get_ex(req_json, "", &wpl))) + { + if (json_object_is_type(current, json_type_boolean) && + json_object_is_type(wpl, json_type_array)) + { + bool currentPos = json_object_get_boolean(current); + json_object_object_add(obj, "startFromCurrentPosition", json_object_new_boolean(currentPos)); + + // Get latitude, longitude + for (int i = 0; i < json_object_array_length(wpl); ++i) + { + struct json_object *array = json_object_array_get_idx(wpl, i); + struct json_object *lati = NULL; + struct json_object *longi = NULL; + + if (json_object_object_get_ex(array, "latitude", &lati) && + json_object_object_get_ex(array, "longitude", &longi)) { + double latitude = json_object_get_double(lati); + double longitude = json_object_get_double(longi); + json_object_object_add(obj, "latitude", json_object_new_double(latitude)); + json_object_object_add(obj, "longitude", json_object_new_double(longitude)); + } + } + } + } + json_object_array_add(response_json, obj); + + const char* response_json_str = json_object_to_json_string(response_json); + AFB_API_NOTICE(req->api, "response_json_str = %s", response_json_str); + afb_event_push(setwaypoints_event, response_json); +#endif + // No reply unnecessary API for conversion to json format response is unnecessary + AFB_API_NOTICE(req->api, "res_json_str = none"); + + // Return success to BinderClient + afb_req_success(req, NULL, "navicore_setwaypoints"); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_calculateroute request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreCalculateRoute(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_calculateroute"); + + // Request of Json format request + json_object* req_json = afb_req_json(req); + const char* req_json_str = json_object_to_json_string(req_json); + AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str); + + // Request analysis and create arguments to pass to Genivi + uint32_t sessionHdl = 0; + uint32_t routeHdl = 0; + if( !analyzeRequest->CreateParamsCalculateRoute( req_json_str, sessionHdl, routeHdl )) + { + afb_req_fail(req, "failed", "navicore_calculateroute Bad Request"); + return; + } + +#if 0 + // GENEVI API call + geniviRequest->NavicoreCalculateRoute( sessionHdl, routeHdl ); +#endif + + // No reply unnecessary API for conversion to json format response is unnecessary + AFB_API_NOTICE(req->api, "res_json_str = none"); + + // Return success to BinderClient + afb_req_success(req, NULL, "navicore_calculateroute"); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + + +/** + * @brief navicore_getallsessions request callback + * @param[in] req Request from client + */ +void OnRequestNavicoreGetAllSessions(afb_req_t req) +{ + AFB_API_NOTICE(req->api, "--> Start %s()", __func__); + AFB_REQ_DEBUG(req, "request navicore_getallsessions"); + + // No request information in Json format + AFB_API_NOTICE(req->api, "req_json_str = none"); + +#if 0 + // GENEVI API call + std::map<uint32_t, std::string> allSessions = geniviRequest->NavicoreGetAllSessions(); +#else + std::map<uint32_t, std::string> allSessions; + allSessions[navigationInfo->getNaviInfoSessionHandle()] = navigationInfo->getNaviInfoClient(); +#endif + // Convert to json style response + APIResponse response = binderReply->ReplyNavicoreGetAllSessions( allSessions ); + + // On success + if(response.isSuccess) + { + AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data)); + // Return success to BinderClient + afb_req_success(req, response.json_data, "navicore_getallsessions"); + } + else + { + AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__); + afb_req_fail(req, "failed", "navicore_getallsessions Bad Request"); + } + + // json object release + json_object_put(response.json_data); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + +/** + * @brief navicore_setcurrentpos request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreSetCurrentPos(afb_req_t req) +{ + const char* latitude = afb_req_value(req, "latitude"); + const char* longitude = afb_req_value(req, "longitude"); + + navigationInfo->setNaviInfoCurrentLatitude(const_cast<char*>(latitude)); + navigationInfo->setNaviInfoCurrentLongitude(const_cast<char*>(longitude)); + + afb_req_success(req, NULL, NULL); +} + +/** + * @brief navicore_getcurrentpos request callback + * @param[in] req Request from server + */ +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 = "35.6673965582"; + const char* current_longitude = "139.7491882778"; + 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_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_getcurrentpos"); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); + // sendevent(); +} + +/** + * @brief navicore_setallsessions request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreSetAllSessions(afb_req_t req) +{ + const char* sessionhandle = afb_req_value(req, "sessionHandle"); + const char* client = afb_req_value(req, "client"); + + navigationInfo->setNaviInfoSessionHandle(const_cast<char*>(sessionhandle)); + navigationInfo->setNaviInfoClient(const_cast<char*>(client)); + + afb_req_success(req, NULL, NULL); +} + +/** + * @brief navicore_setallsessions request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreSetAllRoutes(afb_req_t req) +{ + const char* route = afb_req_value(req, "route"); + + navigationInfo->setNaviInfoAllRoutes(const_cast<char*>(route)); + + afb_req_success(req, NULL, NULL); +} + +/** + * @brief navicore_setdestpos request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreSetDestPos(afb_req_t req) +{ + const char* destination_latitude = afb_req_value(req, "DestLatitude"); + const char* destination_longitude = afb_req_value(req, "DestLongitude"); + + navigationInfo->setNaviInfoDestLatitude(const_cast<char*>(destination_latitude)); + navigationInfo->setNaviInfoDestLongitude(const_cast<char*>(destination_longitude)); + + afb_req_success(req, NULL, NULL); + + struct json_object* response_json = json_object_new_array(); + struct json_object* obj = json_object_new_object(); + + AFB_API_NOTICE(req->api, "OnRequestNavicoreSetDestPos"); + + uint32_t allroutes = navigationInfo->getNaviInfoAllRoutes(); + json_object_object_add(obj, "AllRoutes", json_object_new_int(allroutes)); + + json_object_object_add(obj, "DestinationLatitude", json_object_new_string(destination_latitude)); + json_object_object_add(obj, "DestinationLongitude", json_object_new_string(destination_longitude)); + + json_object_array_add(response_json, obj); + + afb_event_push(adddest_event, response_json); + +} + +/** + * @brief navicore_setdemorouteinfo request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreSetDemoRouteInfo(afb_req_t req) +{ + const char* demo_latitude = afb_req_value(req, "DemoLatitude"); + const char* demo_longitude = afb_req_value(req, "DemoLongitude"); + const char* demo_distance = afb_req_value(req, "DemoDistance"); + const char* demo_direction = afb_req_value(req, "DemoDirection"); + + navigationInfo->setNaviInfoDemoLatitude(const_cast<char*>(demo_latitude)); + navigationInfo->setNaviInfoDemoLongitude(const_cast<char*>(demo_longitude)); + + navigationInfo->setNaviInfoDemoDistance(const_cast<char*>(demo_distance)); + navigationInfo->setNaviInfoDemoDirection(const_cast<char*>(demo_direction)); + + struct json_object* response_json = json_object_new_array(); + struct json_object* obj = json_object_new_object(); + + json_object_object_add(obj, "DemoLatitude", json_object_new_string(navigationInfo->getNaviInfoDemoLatitude())); + json_object_object_add(obj, "DemoLongitude", json_object_new_string(navigationInfo->getNaviInfoDemoLongitude())); + json_object_object_add(obj, "DemoDistance", json_object_new_string(navigationInfo->getNaviInfoDemoDistance())); + json_object_object_add(obj, "DemoDirection", json_object_new_string(navigationInfo->getNaviInfoDemoDirection())); + json_object_array_add(response_json, obj); + + afb_event_push(setdemorouteinfo_event, response_json); + + 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++){ + 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); + } +} +/** + * @brief navicore_stopdemo request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreStopDemo(afb_req_t req) +{ + struct json_object* response_json = json_object_new_array(); + struct json_object* obj = json_object_new_object(); + + json_object_object_add(obj, "StopDemo", json_object_new_boolean(true)); + json_object_array_add(response_json, obj); + + afb_event_push(stopdemo_event, response_json); + + afb_req_success(req, NULL, NULL); +} + +/** + * @brief navicore_arrivedest request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreArriveDest(afb_req_t req) +{ + struct json_object* response_json = json_object_new_array(); + struct json_object* obj = json_object_new_object(); + + json_object_object_add(obj, "ArriveDest", json_object_new_boolean(true)); + json_object_array_add(response_json, obj); + + afb_event_push(arrivedest_event, response_json); + + afb_req_success(req, NULL, NULL); +} +/** + * @brief navicore_setdestdir request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreSetDestDir(afb_req_t req) +{ + const char* state = afb_req_value(req, "state"); + + AFB_REQ_NOTICE(req, "state = %s", state); + + afb_req_success(req, NULL, NULL); + + struct json_object* response_json = json_object_new_object(); + + 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_event_push(getdestdir_event, response_json); +} + +/** + * @brief navicore_startguidance request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreStartGuidance(afb_req_t req) +{ + AFB_REQ_NOTICE(req, "OnRequestNavicoreStartGuidance"); + // StartDemoCarlaclient(req->api); + sendevent(); + afb_req_success(req, NULL, NULL); +} + +/** + * @brief subscribe request callback + * @param[in] req Request from server + */ +void subscribe(afb_req_t req) +{ + const char *value = afb_req_value(req, "value"); + + if (value && !strcasecmp(value, "setwaypoints")) { + AFB_API_NOTICE(req->api, "afb_req_subscribe"); + afb_req_subscribe(req, setwaypoints_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "pausesimulation")){ + afb_req_subscribe(req, pausesimulation_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "setdemopos")){ + afb_req_subscribe(req, setdemorouteinfo_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "stopdemo")){ + afb_req_subscribe(req, stopdemo_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "arrivedest")){ + afb_req_subscribe(req, arrivedest_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "adddest")){ + afb_req_subscribe(req, adddest_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "gps")){ + afb_req_subscribe(req, gps_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "heading")){ + afb_req_subscribe(req, heading_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "getdestdir")){ + afb_req_subscribe(req, getdestdir_event); + afb_req_success(req, NULL, NULL); + return; + } + afb_req_fail(req, "failed", "Invalid event"); +} + +/** + * @brief unsubscribe request callback + * @param[in] req Request from server + */ +void unsubscribe(afb_req_t req) +{ + const char *value = afb_req_value(req, "value"); + + if (value && !strcasecmp(value, "setwaypoints")) { + afb_req_unsubscribe(req, setwaypoints_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "pausesimulation")) + { + afb_req_unsubscribe(req, pausesimulation_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "setdemopos")){ + afb_req_unsubscribe(req, setdemorouteinfo_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "stopdemo")){ + afb_req_unsubscribe(req, stopdemo_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "arrivedest")){ + afb_req_unsubscribe(req, arrivedest_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "adddest")){ + afb_req_unsubscribe(req, adddest_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "gps")){ + afb_req_unsubscribe(req, gps_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "heading")){ + afb_req_unsubscribe(req, heading_event); + afb_req_success(req, NULL, NULL); + return; + } + else if(value && !strcasecmp(value, "getdestdir")){ + afb_req_unsubscribe(req, getdestdir_event); + afb_req_success(req, NULL, NULL); + return; + } + afb_req_fail(req, "failed", "Invalid event"); +} + +/** + * @brief GetRouteInfo request callback + * @param[in] req Request from server + */ +void OnRequestNavicoreGetRouteInfo(afb_req_t req) +{ + struct json_object* response_json = json_object_new_array(); + struct json_object* obj = json_object_new_object(); + + AFB_API_NOTICE(req->api, "OnRequestNavicoreGetRouteInfo"); + + uint32_t allroutes = navigationInfo->getNaviInfoAllRoutes(); + json_object_object_add(obj, "AllRoutes", json_object_new_int(allroutes)); + + char* current_latitude = navigationInfo->getNaviInfoCurrentLatitude(); + char* current_longitude = navigationInfo->getNaviInfoCurrentLongitude(); + json_object_object_add(obj, "CurrentLatitude", json_object_new_string(current_latitude)); + json_object_object_add(obj, "CurrentLongitude", json_object_new_string(current_longitude)); + + char* destination_latitude = navigationInfo->getNaviInfoDestLatitude(); + char* destination_longitude = navigationInfo->getNaviInfoDestLongitude(); + + json_object_object_add(obj, "DestinationLatitude", json_object_new_string(destination_latitude)); + json_object_object_add(obj, "DestinationLongitude", json_object_new_string(destination_longitude)); + + json_object_array_add(response_json, obj); + + // No reply unnecessary API for conversion to json format response is unnecessary + const char* response_json_str = json_object_to_json_string(response_json); + AFB_API_NOTICE(req->api, "response_json_str = %s", response_json_str); + + // No reply unnecessary API for conversion to json format response is unnecessary + AFB_API_NOTICE(req->api, "res_json_str = none"); + + // Return success to BinderClient + afb_req_success(req, response_json, "navicore_getrouteinfo"); + + AFB_API_NOTICE(req->api, "<-- End %s()", __func__); +} + +/** + * @brief GPS binding event function + * @param[in] api the api serving the request + * @param[in] event event name + * @param[in] object event json object + */ +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))) + { + 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)); + + 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)); + + AFB_API_NOTICE(api, "event name %s , gps_obj %s", event, json_object_get_string(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))) + { + const char* heading = json_object_get_string(yaw); + + navigationInfo->setNaviInfoCurrentHeading(const_cast<char*>(heading)); + + struct json_object* heading_obj = json_object_new_object(); + + 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_event_push(heading_event, heading_obj); + } + } +} + +/** + * @brief the callback function + * @param[in] closure the user defined closure pointer 'closure' + * @param[in] a JSON object returned (can be NULL) + * @param[in] a string not NULL in case of error but NULL on success + * @param[in] a string handling some info (can be NULL) + * @param[in] api the api + */ +static void api_callback(void *closure, struct json_object *object, const char *error, const char *info, afb_api_t api) +{ + AFB_API_NOTICE(api, "asynchronous call, error=%s, info=%s, object=%s.", error, info, json_object_get_string(object)); +} + +/** + * @brief call api + * @param[in] api the api serving the request + * @param[in] service the api name of service + * @param[in] verb the verb of service + * @param[in] args parameter + */ +static void api_call(afb_api_t api, const char *service, const char *verb, struct json_object *args) +{ + AFB_API_NOTICE(api, "service=%s verb=%s, args=%s.", service, verb, json_object_get_string(args)); + afb_api_call(api, service, verb, args, api_callback, nullptr); +} + +/** + * @brief call carlaclient startdemo 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); +} + +/** + * @brief call gps subscribe function + * @param[in] api the api serving the request + */ +static void SubscribeGps(afb_api_t api) +{ + struct json_object* obj = json_object_new_object(); + json_object_object_add(obj, "value", json_object_new_string("location")); + api_call(api, "gps", "subscribe" ,obj); +} + +/** + * @brief call carlaclient subscribe function + * @param[in] api the api serving the request + */ +static void SubscribeCarlaclient(afb_api_t api) +{ + struct json_object* obj = json_object_new_object(); + json_object_object_add(obj, "event", json_object_new_string("positionUpdated")); + api_call(api, "carlaclient", "subscribe" ,obj); +} +/** + * @brief Callback called at service startup + */ +int init(afb_api_t api) +{ + + // Create instance + geniviRequest = new GeniviRequest(); + binderReply = new BinderReply(); + analyzeRequest = new AnalyzeRequest(); + navigationInfo = new NavigationInfo(); + + setwaypoints_event = afb_api_make_event(afbBindingV3root, "navicore_setwaypoints"); + pausesimulation_event = afb_api_make_event(afbBindingV3root, "navicore_pausesimulation"); + setdemorouteinfo_event= afb_api_make_event(afbBindingV3root, "navicore_setdemorouteinfo"); + stopdemo_event = afb_api_make_event(afbBindingV3root, "navicore_stopdemo"); + arrivedest_event = afb_api_make_event(afbBindingV3root, "navicore_arrivedest"); + adddest_event = afb_api_make_event(afbBindingV3root, "navicore_setdestpos"); + 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"); + + // SubscribeGps(api); + // SubscribeCarlaclient(api); + + return 0; +} + +/** + * @brief API definition + */ +const afb_verb_t verbs[] = +{ + { verb : "navicore_getposition", callback : OnRequestNavicoreGetPosition }, + { verb : "navicore_getallroutes", callback : OnRequestNavicoreGetAllRoutes }, + { verb : "navicore_createroute", callback : OnRequestNavicoreCreateRoute }, + { verb : "navicore_pausesimulation", callback : OnRequestNavicorePauseSimulation }, + { verb : "navicore_setsimulationmode", callback : OnRequestNavicoreSetSimulationMode }, + { verb : "navicore_cancelroutecalculation", callback : OnRequestNavicoreCancelRouteCalculation }, + { verb : "navicore_setwaypoints", callback : OnRequestNavicoreWaypoints }, + { verb : "navicore_calculateroute", callback : OnRequestNavicoreCalculateRoute }, + { verb : "navicore_getallsessions", callback : OnRequestNavicoreGetAllSessions }, + { verb : "navicore_setcurrentpos", callback : OnRequestNavicoreSetCurrentPos }, + { verb : "navicore_getcurrentpos", callback : OnRequestNavicoreGetCurrentPos }, + { verb : "navicore_setallsessions", callback : OnRequestNavicoreSetAllSessions }, + { verb : "navicore_setallroutes", callback : OnRequestNavicoreSetAllRoutes }, + { verb : "navicore_setdestpos", callback : OnRequestNavicoreSetDestPos }, + { verb : "navicore_setdemorouteinfo", callback : OnRequestNavicoreSetDemoRouteInfo }, + { verb : "navicore_getrouteinfo", callback : OnRequestNavicoreGetRouteInfo }, + { verb : "navicore_stopdemo", callback : OnRequestNavicoreStopDemo }, + { verb : "navicore_arrivedest", callback : OnRequestNavicoreArriveDest }, + { verb : "navicore_setdestdir", callback : OnRequestNavicoreSetDestDir }, + { verb : "navicore_startguidance", callback : OnRequestNavicoreStartGuidance }, + { verb : "subscribe", callback : subscribe }, + { verb : "unsubscribe", callback : unsubscribe }, + { verb : NULL } +}; + +/** + * @brief Service definition + */ +const afb_binding_t afbBindingExport = +{ + "naviapi", + "", + "", + verbs, + NULL, + init, + onevent +}; + |