Change steering to systemd service for ces2019halibut_7.90.0halibut/7.90.07.90.0

Change steering to systemd service for ces2019

Change-Id: I319fb56a302f4f980b43a1b90dee1f36820355fb
Signed-off-by: zheng_wenlong <wenlong_zheng@nexty-ele.com>

1 files changed, 174 insertions, 85 deletions

diff --git a/src/js_signal_event.c b/src/js_signal_event.c
index 712d51c..ad3035a 100644
--- a/src/js_signal_event.c
+++ b/src/js_signal_event.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017-2019 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.
@@ -22,20 +22,13 @@
 #include <string.h>
 #include <sys/ioctl.h>
 #include <alloca.h>
+#include <math.h>
+#include <time.h>
+#include <signal.h>
 
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.h"
 #include "js_signal_event.h"
 
-// Axis
-#define JS_STEERING 			0
-#define JS_THROTTLE 			2
-#define JS_BRAKE				3
-// Button
-#define JS_LEFT_PADDLE_SHIFTER	4
-#define JS_RIGHT_PADDLE_SHIFTER	5
-#define JS_TURN_SIGNAL_RIGHT	6
-#define JS_TURN_SIGNAL_LEFT		7
-
 // Property string
 #define VEHICLE_SPEED				"VehicleSpeed"
 #define ENGINE_SPEED				"EngineSpeed"
@@ -45,56 +38,89 @@
 #define STEERING_WHEEL_ANGLE		"SteeringWheelAngle"
 #define TURN_SIGNAL_STATUS			"TurnSignalStatus"
 #define LIGHT_STATUS_BRAKE			"LightStatusBrake"
+#define PARKING_STATUS_BRAKE		"ParkingStatusBrake"
+#define FUEL_LEVEL					"FuelLevel"
 
 #define MAX_TRANSMISSION_GEAR_INFO 6
 #define MIN_TRANSMISSION_GEAR_INFO 0
 
-enum eTransmissionGearInfo
-{
+enum eJsButtonEvent {
+	JS_BUTTON_X = 0,
+	JS_BUTTON_R = 1,
+	JS_BUTTON_O = 2,
+	JS_BUTTON_T = 3,
+	JS_BUTTON_R1 = 4,
+	JS_BUTTON_L1 = 5,
+	JS_BUTTON_R2 = 6,
+	JS_BUTTON_L2 = 7,
+	JS_BUTTON_SHARE = 8,
+	JS_BUTTON_OPTION = 9,
+	JS_BUTTON_R3 = 10,
+	JS_BUTTON_L3 = 11,
+	JS_BUTTON_PLUS = 19,
+	JS_BUTTON_MINUS = 20,
+	JS_BUTTON_SCROLL_R = 21,
+	JS_BUTTON_SCROLL_L = 22,
+	JS_BUTTON_ENTER = 23,
+	JS_BUTTON_PS = 24
+};
+
+enum eJsAxisEvent {
+	JS_AXIS_STEERING = 0,
+	JS_AXIS_CLUTCH = 1,
+	JS_AXIS_ACCEL = 2,
+	JS_AXIS_BRAKE = 3,
+};
+
+enum eTransmissionGearInfo {
 	eTransmissionGearInfoLeft = 0,
 	eTransmissionGearInfoRight = 1,
 };
 
-enum eTurnSignalStatus
-{
+enum eTurnSignalStatus {
 	eTurnSignalStatusOff = 0,
-	eTurnSignalStatusRight = 1,
+	eTurnSignalStatusRight = 4,
 	eTurnSignalStatusLeft = 2,
-	eTurnSignalStatusHazard = 3
+	eTurnSignalStatusHazard = 1
 };
 
-double gearRatio[8] =
-{
-	0.0,	//Neutral
-	1.0/4.12,	//First
-	1.0/2.84,	//Second
-	1.0/2.28,	//Third
-	1.0/1.45,	//Fourth
-	1.0/1.0,	//Fifth
-	1.0/0.69,	//Sixth
-	1.0/3.21	//Reverse
+double gearRatio[8] = {
+       0.0,    //Neutral
+       1.0/4.12,       //First
+       1.0/2.84,       //Second
+       1.0/2.28,       //Third
+       1.0/1.45,       //Fourth
+       1.0/1.0,        //Fifth
+       1.0/0.69,       //Sixth
+       1.0/3.21        //Reverse
 };
 
-static int gAcceleratorPedalPosition = 0;
+static int gJsType=JS_TYPE_STEERING;
+static int gCurAccPedalPos=0, gAccPedalPos=0;
+static int gEngineSpeed=0;
+static int gVehicleSpeed=0;
+static float gBaseValue = 0.0;
+
 static int gLightStatusBrake = 0;
-static int gTransmissionGearInfo = 1;
+static int gTransmissionGearInfo = 0;
 static int gSteeringWheelAngle = 0;
+static int gParkingStatusBrake = 0;
+static int gFuelLevel = 0;
 static enum eTurnSignalStatus gTurnSignalStatus = eTurnSignalStatusOff;
 
-// Method to set value
-static void setAcceleratorPedalPosition(int val)
+static void setLightStatusBrake(int val)
 {
-	if(gAcceleratorPedalPosition != val)
+	if(gLightStatusBrake != val)
 	{
-		gAcceleratorPedalPosition = val;
+		gLightStatusBrake = val;
 	}
 }
 
-static void setLightStatusBrake(int val)
+static void setFuelLevel(int val)
 {
-	if(gLightStatusBrake != val)
+	if(gFuelLevel != val)
 	{
-		gLightStatusBrake = val;
+		gFuelLevel = val;
 	}
 }
 
@@ -136,6 +162,10 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
 		{
 			gTurnSignalStatus = eTurnSignalStatusLeft;
 		}
+		else if(turn == eTurnSignalStatusHazard)
+		{
+			gTurnSignalStatus = eTurnSignalStatusHazard;
+		}
 	}
 	else
 	{
@@ -143,27 +173,12 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
 	}
 }
 
-// Method to calculate property
-static int calcAcceleratorPedalPosition()
+static void setParkingStatusBrake(int val)
 {
-	return  (int)(((double)(gAcceleratorPedalPosition - 32767)/(double)-65534.0)*(double)100.0);
-}
-
-static int calcEngineSpeed()
-{
-	int acceleratorPedalPosition = calcAcceleratorPedalPosition();
-	int engineSpeed = (int)acceleratorPedalPosition * 100;
-
-	return engineSpeed;
-}
-
-static int calcVehicleSpeed()
-{
-	int engineSpeed = calcEngineSpeed();
-	double transmissionGearInfoRatio = gearRatio[(gTransmissionGearInfo == 128 ? 7 : gTransmissionGearInfo)];
-	int vehicleSpeed = (int)(engineSpeed * transmissionGearInfoRatio / 100);
-
-	return vehicleSpeed;
+	if(gParkingStatusBrake != val)
+	{
+		gParkingStatusBrake = val;
+	}
 }
 
 static int calcSteeringWheelAngle()
@@ -174,7 +189,7 @@ static int calcSteeringWheelAngle()
 }
 
 // Method to update property
-static void updateValue(char *prop, int val)
+static void setCanValue(char *prop, int val)
 {
 	unsigned int nProp = wheel_info->nData;
 	for(unsigned int i = 0; i < nProp; i++)
@@ -193,38 +208,36 @@ static void updateValue(char *prop, int val)
 
 void updateTransmissionGearInfo()
 {
-	updateValue(TRANSMISSION_GEAR_INFO, gTransmissionGearInfo);
+	setCanValue(TRANSMISSION_GEAR_INFO, 5);
 }
 
 void updateTransmissionMode()
 {
-	updateValue(TRANSMISSION_MODE, gTransmissionGearInfo);
+	setCanValue(TRANSMISSION_MODE, 0);
 }
 
 static void updateAcceleratorPedalPosition()
 {
-	int acceleratorPedalPosition;
-
-	acceleratorPedalPosition = calcAcceleratorPedalPosition();
-	updateValue(ACCELERATOR_PEDAL_POSITION, acceleratorPedalPosition);
+	setCanValue(ACCELERATOR_PEDAL_POSITION, gAccPedalPos);
+	DBG_NOTICE("acceleratorPedalPosition : %d\n", gAccPedalPos);
 }
 
 static void updateEngineSpeed()
 {
 	// Update EngineSpeed
-	int engineSpeed;
-
-	engineSpeed = calcEngineSpeed();
-	updateValue(ENGINE_SPEED, engineSpeed);
+	gEngineSpeed = gBaseValue*3000+1000;
+	setCanValue(ENGINE_SPEED, gEngineSpeed);
+	DBG_DEBUG("engineSpeed : %d\n", gEngineSpeed);
 }
 
 static void updateVehicleSpeed()
 {
 	// Update VehicleSpeed
-	int vehicleSpeed;
-
-	vehicleSpeed = calcVehicleSpeed();
-	updateValue(VEHICLE_SPEED, vehicleSpeed);
+	if(gBaseValue < 0)
+		gBaseValue = 0;
+	gVehicleSpeed = (int)(gBaseValue*9550/100)*100;
+	setCanValue(VEHICLE_SPEED, gVehicleSpeed);
+	DBG_DEBUG("vehicleSpeed : %d\n", gVehicleSpeed);
 }
 
 static void updateLightStatusBrake()
@@ -232,18 +245,30 @@ static void updateLightStatusBrake()
 	int lightStatusBrake;
 
 	lightStatusBrake = (gLightStatusBrake < 20000);
-	updateValue(LIGHT_STATUS_BRAKE, lightStatusBrake);
+	setCanValue(LIGHT_STATUS_BRAKE, lightStatusBrake);
+}
+
+static void updateFuelLevel()
+{
+	int fuelLevel = (32511 - gFuelLevel)*256.0/65278.0;
+	DBG_DEBUG("fuelLevel: %d, gFuelLevel: %d \n", fuelLevel, gFuelLevel);
+	setCanValue(FUEL_LEVEL, fuelLevel);
+}
+
+static void updateParkingStatusBrake()
+{
+	setCanValue(PARKING_STATUS_BRAKE, gParkingStatusBrake);
 }
 
 static void updateSteeringWheelAngle()
 {
 	int steering = calcSteeringWheelAngle();
-	updateValue(STEERING_WHEEL_ANGLE, steering);
+	setCanValue(STEERING_WHEEL_ANGLE, steering);
 }
 
 static void updateTurnSignalStatus()
 {
-	updateValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
+	setCanValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
 }
 
 // Method to handle joy stick event
@@ -251,7 +276,7 @@ void newButtonValue(char number, int val)
 {
 	switch (number)
 	{
-		case JS_LEFT_PADDLE_SHIFTER:	//Left paddle shifter
+		case JS_BUTTON_R1:	//Left paddle shifter
 			// Set gear position
 			setTransmissionGearInfo(val, eTransmissionGearInfoLeft);
 
@@ -261,7 +286,7 @@ void newButtonValue(char number, int val)
 			updateVehicleSpeed();
 			break;
 
-		case JS_RIGHT_PADDLE_SHIFTER:	//Right paddle shifter
+		case JS_BUTTON_L1:	//Right paddle shifter
 			// Set gear position
 			setTransmissionGearInfo(val, eTransmissionGearInfoRight);
 
@@ -271,7 +296,7 @@ void newButtonValue(char number, int val)
 			updateVehicleSpeed();
 			break;
 
-		case JS_TURN_SIGNAL_RIGHT:	//Right upper wheel button
+		case JS_BUTTON_R2:	//Right upper wheel button
 			// Set value
 			setTurnSignalStatus(val, eTurnSignalStatusRight);
 
@@ -279,14 +304,27 @@ void newButtonValue(char number, int val)
 			updateTurnSignalStatus();
 			break;
 
-		case JS_TURN_SIGNAL_LEFT:	//Left upper wheel button
+		case JS_BUTTON_L2:	//Left upper wheel button
 			// Set value
 			setTurnSignalStatus(val, eTurnSignalStatusLeft);
 
 			// Update property
 			updateTurnSignalStatus();
 			break;
+		case JS_BUTTON_R3:
+			// Set value
+			setTurnSignalStatus(val, eTurnSignalStatusHazard);
+
+			// Update property
+			updateTurnSignalStatus();
+			break;
+		case JS_BUTTON_L3:
+			// Set value
+			setParkingStatusBrake(val);
 
+			// Update property
+			updateParkingStatusBrake();
+			break;
 		default:
 			break;
 	}
@@ -294,9 +332,24 @@ void newButtonValue(char number, int val)
 
 void newAxisValue(char number, int val)
 {
+//	DBG_ERROR("#################number: %d, %d. \n", number, val);
+//	DBG_ERROR("#################gJsType: %d. \n", gJsType);
+	if ((JS_TYPE_GAME_CTL == gJsType) && (number == JS_AXIS_BRAKE))
+	{
+		number = JS_AXIS_ACCEL;
+	}
+	else if ((JS_TYPE_GAME_CTL == gJsType) && (number == JS_AXIS_ACCEL))
+	{
+		number = JS_AXIS_BRAKE;
+	}
+	else
+	{
+		//do nothing
+	}
+
 	switch (number)
 	{
-		case JS_STEERING:	//Wheel angle, -32767 - 32767
+		case JS_AXIS_STEERING:	//Wheel angle, -32767 - 32767
 			// Set value
 			setSteeringWheelAngle(val);
 
@@ -304,17 +357,29 @@ void newAxisValue(char number, int val)
 			updateSteeringWheelAngle();
 			break;
 
-		case JS_THROTTLE:	//Throttle, -32767 (depressed) - 32767 (undepressed)
+		case JS_AXIS_ACCEL:	//Throttle, -32767 (depressed) - 32767 (undepressed)
 			// Set origin value
-			setAcceleratorPedalPosition(val);
+			if (JS_TYPE_GAME_CTL == gJsType)
+			{
+				gAccPedalPos = (int)(((double)val/(double)-32767.0)*(double)100.0);
+			}
+			else
+			{
+				gAccPedalPos = (int)(((double)(val - 32767)/(double)-65534.0)*(double)100.0);
+			}
 
 			// Update property
 			updateAcceleratorPedalPosition();
-			updateEngineSpeed();
-			updateVehicleSpeed();
+			if (gAccPedalPos > gCurAccPedalPos){
+				gCurAccPedalPos = gAccPedalPos;
+				gBaseValue = sin((float)gCurAccPedalPos/100.0);
+
+				updateEngineSpeed();
+				updateVehicleSpeed();
+			}
 			break;
 
-		case JS_BRAKE:
+		case JS_AXIS_BRAKE:
 			// Set value
 			setLightStatusBrake(val);
 
@@ -322,7 +387,31 @@ void newAxisValue(char number, int val)
 			updateLightStatusBrake();
 			break;	//Brake, -32767 (depressed) - 32767 (undepressed)
 
+		case JS_AXIS_CLUTCH:
+			setFuelLevel(val);
+			updateFuelLevel();
+			break;
 		default:
+			DBG_DEBUG("number: %d, %d. \n", number, val);
 			break;
 	}
 }
+
+void updateTimerHandler(int signum)
+{
+	if (gCurAccPedalPos == gAccPedalPos){
+		gCurAccPedalPos = gCurAccPedalPos + rand()%2;
+	}else if (gAccPedalPos < (gCurAccPedalPos - 5)){
+		gCurAccPedalPos = gCurAccPedalPos - 5;
+	}else{
+		gCurAccPedalPos = gAccPedalPos;
+	}
+	gBaseValue = sin((float)gCurAccPedalPos/100.0);
+	updateEngineSpeed();
+	updateVehicleSpeed();
+}
+
+void setJsType(int jstype)
+{
+	gJsType = jstype;
+}
\ No newline at end of file