Revert "Change steering to systemd service for ces2019"

This reverts commit 1fed2c5a38fed8bc91bb6b8a08982303eb9c2e82.

Change-Id: Id83b437eef556b8d3fcd95503b9ff5b4d94bc7a5
Signed-off-by: zheng_wenlong <wenlong_zheng@nexty-ele.com>

1 files changed, 0 insertions, 344 deletions

diff --git a/src/can_encoder.c b/src/can_encoder.c
deleted file mode 100644
index 672bfd3..0000000
--- a/src/can_encoder.c
+++ /dev/null
@@ -1,344 +0,0 @@
-/*
- * Copyright (c) 2017-2018 TOYOTA MOTOR CORPORATION
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#define _GNU_SOURCE
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <linux/can.h>
-#include <linux/can/error.h>
-#include <pthread.h>
-#include <search.h>
-
-#include "can_encoder.h"
-#include "debug_msg.h"
-#include "wheel-service.h"
-
-
-#define CANID_DELIM '#'
-#define DATA_SEPERATOR '.'
-
-
-static struct can_data_t *phead = NULL, *ptail = NULL;
-static pthread_mutex_t lock;
-static char buf[MAX_CANDATA_SIZE+1] = {0};
-static char str[MAX_LENGTH+1] = {0};
-static void *canmsg_root = NULL;
-
-
-/* CAN DLC to real data length conversion helpers */
-static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
-					8, 12, 16, 20, 24, 32, 48, 64};
-
-/*
- * get data length from can_dlc with sanitized can_dlc
- */
-unsigned char can_dlc2len(unsigned char can_dlc)
-{
-	return dlc2len[can_dlc & 0x0F];
-}
-
-static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8,		/* 0 - 8 */
-					9, 9, 9, 9,											/* 9 - 12 */
-					10, 10, 10, 10,										/* 13 - 16 */
-					11, 11, 11, 11,										/* 17 - 20 */
-					12, 12, 12, 12,										/* 21 - 24 */
-					13, 13, 13, 13, 13, 13, 13, 13,						/* 25 - 32 */
-					14, 14, 14, 14, 14, 14, 14, 14,						/* 33 - 40 */
-					14, 14, 14, 14, 14, 14, 14, 14,						/* 41 - 48 */
-					15, 15, 15, 15, 15, 15, 15, 15,						/* 49 - 56 */
-					15, 15, 15, 15, 15, 15, 15, 15};					/* 57 - 64 */
-
-/*
- * map the sanitized data length to an appropriate data length code
- */
-unsigned char can_len2dlc(unsigned char len)
-{
-	if (len > 64)
-		return 0xF;
-
-	return len2dlc[len];
-}
-
-/*
- * asc to nibble
- */
-unsigned char asc2nibble(char c) {
-
-	if ((c >= '0') && (c <= '9'))
-		return c - '0';
-
-	if ((c >= 'A') && (c <= 'F'))
-		return c - 'A' + 10;
-
-	if ((c >= 'a') && (c <= 'f'))
-		return c - 'a' + 10;
-
-	return 16; /* error */
-}
-
-static int canmsg_compare(const void *pa, const void *pb)
-{
-	struct canmsg_info_t *a =(struct canmsg_info_t *)pa;
-	struct canmsg_info_t *b =(struct canmsg_info_t *)pb;
-	return strcmp(a->canid,b->canid);
-}
-
-/*
- * init
- */
-void init_can_encoder(void)
-{
-	pthread_mutex_init(&lock, NULL);
-	phead = NULL;
-	ptail = NULL;
-}
-
-/*
- * push can msg to queue
- */
-int push(char *dat)
-{
-	if (dat == NULL)
-	{
-		DBG_ERROR("push data is NULL");
-		return -1;
-	}
-
-	struct can_data_t *p = malloc(sizeof(struct can_data_t));
-	strncpy(p->dat, dat, MAX_CANDATA_SIZE);
-	p->dat[MAX_CANDATA_SIZE] = '\0';
-	p->next = NULL;
-
-	pthread_mutex_lock(&lock);
-	if (ptail == NULL)
-	{
-		ptail = p;
-		phead = p;
-	}
-	else
-	{
-		ptail->next = p;
-		ptail = p;
-	}
-	pthread_mutex_unlock(&lock);
-	return 0;
-}
-
-/*
- * pop can msg from queue
- */
-struct can_data_t* pop(void)
-{
-	struct can_data_t *p = NULL;
-	pthread_mutex_lock(&lock);
-	if (phead != NULL)
-	{
-		p = phead;
-		if (phead->next != NULL)
-		{
-			phead = p->next;
-		}
-		else
-		{
-			phead = NULL;
-			ptail = NULL;
-		}
-	}
-	pthread_mutex_unlock(&lock);
-	return p;
-}
-
-/*
- * clear transmission msg queue
- */
-void clear(void)
-{
-	struct can_data_t *p = NULL;
-	pthread_mutex_lock(&lock);
-	while (phead != NULL)
-	{
-		p = phead;
-		phead = phead->next;
-		free(p);
-	}
-	ptail = NULL;
-	pthread_mutex_unlock(&lock);
-}
-
-/*
- * make "0" string
- */
-static char *makeZeroString(uint8_t dlc)
-{
-	int len = dlc * 2;
-
-	if (len > MAX_LENGTH)
-	{
-		DBG_ERROR("makeZeroString input dlc error; dlc=%d",dlc);
-		return NULL;
-	}
-
-	for (int i = 0; i < len; i++) {
-		str[i] = '0';
-	}
-
-	str[len + 1] = '\0';
-
-	return str;
-}
-
-static struct canmsg_info_t * getCanMsg_dict(const char * can_id)
-{
-	struct canmsg_info_t info;
-	strncpy(info.canid, can_id, sizeof(info.canid));
-	info.value = 0;
-
-	void *v;
-	v = tfind((void *)&info, &canmsg_root, canmsg_compare);
-	if (v == NULL)
-	{
-		/* new msg, add node */
-		struct canmsg_info_t * p = (struct canmsg_info_t *)malloc(sizeof(struct canmsg_info_t));
-		strncpy(p->canid, can_id, sizeof(p->canid));
-		p->value = 0;
-		v = tsearch((void *)p, &canmsg_root, canmsg_compare);
-		if (v == NULL)
-		{
-			DBG_ERROR("add canmsg failed: not enogh memory?");
-		}
-	}
-
-	return (*(struct canmsg_info_t **)v);
-}
-
-/*
- * make can frame data
- */
-char * makeCanData(struct prop_info_t *property_info)
-{
-	char tmp[MAX_LENGTH+1] = {0};
-	u_int64_t val = 0, mask = 0;
-	struct canmsg_info_t * p = getCanMsg_dict(property_info->can_id);
-	if (p == NULL)
-	{
-		return NULL;
-	}
-
-	memset(buf, 0, sizeof(buf));
-	sprintf(buf, "%s\#%s", property_info->can_id, makeZeroString(property_info->dlc));
-	mask = (1 << (property_info->bit_size)) - 1;
-	val = mask & property_info->curValue.uint32_val;
-	val = val << ((property_info->dlc * 8) - property_info->bit_size - property_info->bit_pos);
-	mask = mask << ((property_info->dlc * 8) - property_info->bit_size - property_info->bit_pos);
-	mask = ~mask;
-	p->value = p->value & mask;
-	p->value = p->value | val;
-
-	sprintf(tmp, "%lx", p->value);
-	strncpy((buf + 4 + property_info->dlc * 2 -strlen(tmp)), tmp ,strlen(tmp));
-
-//	DBG_ERROR("makeCanData buf is [%s]", buf);
-
-	return buf;
-}
-
-/*
- * convert to canframe format
- */
-int parse_canframe(char *cs, struct canfd_frame *cf) {
-	/* documentation see lib.h */
-
-	int i, idx, dlen, len;
-	int maxdlen = CAN_MAX_DLEN;
-	int ret = CAN_MTU;
-	unsigned char tmp;
-
-	len = strlen(cs);
-
-	memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
-
-	if (len < 4)
-		return 0;
-
-	if (cs[3] == CANID_DELIM) { /* 3 digits */
-
-		idx = 4;
-		for (i=0; i<3; i++){
-			if ((tmp = asc2nibble(cs[i])) > 0x0F)
-				return 0;
-			cf->can_id |= (tmp << (2-i)*4);
-		}
-
-	} else if (cs[8] == CANID_DELIM) { /* 8 digits */
-
-		idx = 9;
-		for (i=0; i<8; i++){
-			if ((tmp = asc2nibble(cs[i])) > 0x0F)
-				return 0;
-			cf->can_id |= (tmp << (7-i)*4);
-		}
-		if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe?  */
-			cf->can_id |= CAN_EFF_FLAG;   /* then it is an extended frame */
-
-	} else
-		return 0;
-
-	if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
-		cf->can_id |= CAN_RTR_FLAG;
-
-		/* check for optional DLC value for CAN 2.0B frames */
-		if(cs[++idx] && (tmp = asc2nibble(cs[idx])) <= CAN_MAX_DLC)
-			cf->len = tmp;
-
-		return ret;
-	}
-
-	if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
-
-		maxdlen = CANFD_MAX_DLEN;
-		ret = CANFD_MTU;
-
-		/* CAN FD frame <canid>##<flags><data>* */
-		if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
-			return 0;
-
-		cf->flags = tmp;
-		idx += 2;
-	}
-
-	for (i=0, dlen=0; i < maxdlen; i++){
-
-		if(cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
-			idx++;
-
-		if(idx >= len) /* end of string => end of data */
-			break;
-
-		if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
-			return 0;
-		cf->data[i] = (tmp << 4);
-		if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
-			return 0;
-		cf->data[i] |= tmp;
-		dlen++;
-	}
-	cf->len = dlen;
-
-	return ret;
-}