diff options
Diffstat (limited to 'src/genivi_request.cpp')
| -rw-r--r-- | src/genivi_request.cpp | 350 |
1 files changed, 350 insertions, 0 deletions
diff --git a/src/genivi_request.cpp b/src/genivi_request.cpp new file mode 100644 index 0000000..a485667 --- /dev/null +++ b/src/genivi_request.cpp @@ -0,0 +1,350 @@ +// 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; +} + |