diff options
Diffstat (limited to 'src/genivi_request.cpp')
| -rw-r--r-- | src/genivi_request.cpp | 350 |
1 files changed, 0 insertions, 350 deletions
diff --git a/src/genivi_request.cpp b/src/genivi_request.cpp deleted file mode 100644 index a485667..0000000 --- a/src/genivi_request.cpp +++ /dev/null @@ -1,350 +0,0 @@ -// Copyright 2017 AW SOFTWARE CO.,LTD -// Copyright 2017 AISIN AW CO.,LTD - -#include "genivi/navicore.h" -#include "genivi/genivi-navicore-constants.h" -#include "genivi_request.h" -#include <stdio.h> -#include <exception> -#include <dbus-c++-1/dbus-c++/dbus.h> - -/** - * @brief Destructor - */ -GeniviRequest::~GeniviRequest() -{ - delete (Navicore*)navicore_; - navicore_ = NULL; -} - -/** - * @brief DBus session creation - */ -void GeniviRequest::CreateDBusSession( ) -{ - try - { - static DBus::BusDispatcher dispatcher; - DBus::default_dispatcher = &dispatcher; - DBus::Connection conn = DBus::Connection::SessionBus(); - - navicore_ = new Navicore(conn, "/org/genivi/navicore", "org.agl.naviapi"); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } -} - -/** - * @brief Check connection status - * @return Presence / absence of connection - */ -bool GeniviRequest::CheckSession() -{ - if(this->navicore_ == NULL) - { - this->CreateDBusSession(); - } - - try - { - // Get connection status - DBus::Connection conn = ((Navicore*)navicore_)->conn(); - bool isConnect = conn.connected(); - - // If it is not connected, it issues an error - if(!isConnect) - { - fprintf(stderr, "Service has no session.\n"); - } - - return isConnect; - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - return false; - } -} - -/** - * @brief Call GeniviAPI GetPosition to get information - * @param[in] valuesToReturn Key arrangement of information acquired from Genivi - * @return Map information on key and value of information acquired from Genivi - */ -std::map< int32_t, double > GeniviRequest::NavicoreGetPosition( const std::vector< int32_t >& valuesToReturn ) -{ - std::map< int32_t, double > ret; - - if( !CheckSession() ) - { - return ret; - } - - try - { - std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > >::iterator it; - std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > PosList = - ((Navicore*)navicore_)->GetPosition(valuesToReturn); - for (it = PosList.begin(); it != PosList.end(); it++) - { - if (it->first == NAVICORE_LATITUDE || it->second._1 == NAVICORE_LATITUDE) - { - ret[it->first] = it->second._2.reader().get_double(); - } - else if (it->first == NAVICORE_LONGITUDE || it->second._1 == NAVICORE_LONGITUDE) - { - ret[it->first] = it->second._2.reader().get_double(); - } - else if (it->first == NAVICORE_HEADING || it->second._1 == NAVICORE_HEADING) - { - ret[it->first] = it->second._2.reader().get_uint32(); - } -#if 0 // no supported - else if (it->first == NAVICORE_TIMESTAMP || it->second._1 == NAVICORE_TIMESTAMP) - { - ret[it->first] = it->second._2.reader().get_uint32(); - } - else if (it->first == NAVICORE_SPEED || it->second._1 == NAVICORE_SPEED) - { - ret[it->first] = it->second._2.reader().get_int32(); - } -#endif - else if (it->first == NAVICORE_SIMULATION_MODE || it->second._1 == NAVICORE_SIMULATION_MODE) - { - ret[it->first] = it->second._2.reader().get_bool(); - } - } - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } - - return ret; -} - -/** - * @brief Call GeniviAPI GetPosition to get information - * @return Route handle acquired from Genivi - */ -std::vector< uint32_t > GeniviRequest::NavicoreGetAllRoutes( void ) -{ - if( !CheckSession() ) - { - std::vector< uint32_t > no_route; - return no_route; - } - - std::vector< uint32_t > allRoutes; - try - { - allRoutes = ((Navicore*)navicore_)->GetAllRoutes(); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } - - return allRoutes; -} - - -/** - * @brief Call GeniviAPI GetPosition to get information - * @param[in] sessionHandle Session handle - * @return Route handle acquired from Genivi - */ -uint32_t GeniviRequest::NavicoreCreateRoute( const uint32_t& sessionHandle ) -{ - if( !CheckSession() ) - { - return 0; - } - - uint32_t routeHandle = 0; - try - { - routeHandle = ((Navicore*)navicore_)->CreateRoute(sessionHandle); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } - - return routeHandle; -} - -/** - * @brief Call GeniviAPI PauseSimulation - * @param[in] sessionHandle Session handle - */ -void GeniviRequest::NavicorePauseSimulation( const uint32_t& sessionHandle ) -{ - if( !CheckSession() ) - { - return; - } - - try - { - ((Navicore*)navicore_)->PauseSimulation(sessionHandle); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } -} - - -/** - * @brief Call GeniviAPI SetSimulationMode - * @param[in] sessionHandle Session handle - * @param[in] activate Simulation mode enabled / disabled - */ -void GeniviRequest::NavicoreSetSimulationMode( const uint32_t& sessionHandle, const bool& activate ) -{ - if( !CheckSession() ) - { - return; - } - - try - { - ((Navicore*)navicore_)->SetSimulationMode(sessionHandle, activate); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } -} - - -/** - * @brief Call GeniviAPI SetSimulationMode - * @param[in] sessionHandle Session handle - * @param[in] routeHandle Route handle - */ -void GeniviRequest::NavicoreCancelRouteCalculation( const uint32_t& sessionHandle, const uint32_t& routeHandle ) -{ - if( !CheckSession() ) - { - return; - } - - try - { - ((Navicore*)navicore_)->CancelRouteCalculation(sessionHandle, routeHandle); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } -} - -/** - * @brief Call GeniviAPI SetWaypoints - * @param[in] sessionHandle Session handle - * @param[in] routeHandle Route handle - * @param[in] startFromCurrentPosition Whether or not to draw a route from the position of the vehicle - * @param[in] waypointsList Destination coordinates - */ -void GeniviRequest::NavicoreSetWaypoints( const uint32_t& sessionHandle, const uint32_t& routeHandle, - const bool& startFromCurrentPosition, const std::vector<Waypoint>& waypointsList ) -{ - if( !CheckSession() ) - { - return; - } - - std::vector<Waypoint>::const_iterator it; - std::vector< std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > > wpl; - - fprintf(stdout, "session: %d, route: %d, startFromCurrentPosition: %d\n", - sessionHandle, routeHandle, startFromCurrentPosition); - - for (it = waypointsList.begin(); it != waypointsList.end(); it++) - { - std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > Point; - ::DBus::Struct< uint8_t, ::DBus::Variant > VarLat, VarLon; - - VarLat._1 = NAVICORE_LATITUDE; - VarLat._2.writer().append_double(std::get<0>(*it)); - fprintf(stdout, "VarLat._1 : %x, VarLat._2 : %lf\n", VarLat._1, VarLat._2.reader().get_double()); - - VarLon._1 = NAVICORE_LONGITUDE; - VarLon._2.writer().append_double(std::get<1>(*it)); - fprintf(stdout, "VarLon._1 : %x, VarLon._2 : %lf\n", VarLon._1, VarLon._2.reader().get_double()); - - Point[NAVICORE_LATITUDE] = VarLat; - Point[NAVICORE_LONGITUDE] = VarLon; - - wpl.push_back(Point); - } - - try - { - ((Navicore*)navicore_)->SetWaypoints(sessionHandle, routeHandle, startFromCurrentPosition, wpl); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } -} - -/** - * @brief Call GeniviAPI CalculateRoute - * @param[in] sessionHandle Session handle - * @param[in] routeHandle Route handle - */ -void GeniviRequest::NavicoreCalculateRoute( const uint32_t& sessionHandle, const uint32_t& routeHandle ) -{ - if( !CheckSession() ) - { - return; - } - - try - { - ((Navicore*)navicore_)->CalculateRoute(sessionHandle, routeHandle); - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } -} - - -/** - * @brief Call GeniviAPI CalculateRoute - * @return Map information on key and value of information acquired from Genivi - */ -std::map<uint32_t, std::string> GeniviRequest::NavicoreGetAllSessions() -{ - std::map<uint32_t, std::string> ret; - - if( !CheckSession() ) - { - return ret; - } - - std::vector< ::DBus::Struct< uint32_t, std::string > > ncAllSessions; - std::vector< ::DBus::Struct< uint32_t, std::string > >::iterator it; - - try - { - ncAllSessions = ((Navicore*)navicore_)->GetAllSessions(); - for (it = ncAllSessions.begin(); it != ncAllSessions.end(); it++) - { - ret[it->_1] = it->_2; - } - } - catch(const std::exception& e) - { - fprintf(stderr, "Error:%s\n", e.what()); - } - - return ret; -} - |