aboutsummaryrefslogtreecommitdiffstats
diff options
context:
space:
mode:
Diffstat
-rw-r--r--CMakeLists.txt33
-rw-r--r--LICENSE54
-rw-r--r--README.md61
-rw-r--r--package/root/config.xml21
-rw-r--r--package/root/gear_shift_para.json32
-rw-r--r--package/root/steering_wheel.json5
-rw-r--r--package/root/steering_wheel_map.json36
-rw-r--r--sample/agl-service-steering-wheel_0.1.bb16
-rw-r--r--src/CMakeLists.txt107
-rw-r--r--src/af-steering-wheel-binding.c426
-rw-r--r--src/af-steering-wheel-binding.h35
-rw-r--r--src/bind_event.c114
-rw-r--r--src/bind_event.h33
-rw-r--r--src/export.map1
-rw-r--r--src/icon.pngbin0 -> 10651 bytes
-rw-r--r--src/js_raw.c174
-rw-r--r--src/js_raw.h27
-rw-r--r--src/js_signal_event.c328
-rw-r--r--src/js_signal_event.h25
-rw-r--r--src/prop_info.c103
-rw-r--r--src/prop_info.h70
-rw-r--r--src/prop_search.c128
-rw-r--r--src/prop_search.h27
-rw-r--r--src/steering_wheel_json.c346
-rw-r--r--src/steering_wheel_json.h27
25 files changed, 2229 insertions, 0 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..4c343b3
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,33 @@
+#
+# Copyright (c) 2017 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.
+#
+
+project(af-steering-wheel-binding C)
+
+cmake_minimum_required(VERSION 2.8)
+
+include(GNUInstallDirs)
+
+set(PROJECT_NAME "af-steering-wheel-binding")
+set(PROJECT_PRETTY_NAME "af binding for steering wheel")
+set(PROJECT_DESCRIPTION "Binding for handling Vehicle signalisation of steering wheel")
+set(PROJECT_VERSION "1.0")
+
+#set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_BUILD_TYPE Release)
+
+add_subdirectory(src)
+
+
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..31c692a
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,54 @@
+Apache License
+
+Version 2.0, January 2004
+
+http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+"License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document.
+
+"Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License.
+
+"Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity.
+
+"You" (or "Your") shall mean an individual or Legal Entity exercising permissions granted by this License.
+
+"Source" form shall mean the preferred form for making modifications, including but not limited to software source code, documentation source, and configuration files.
+
+"Object" form shall mean any form resulting from mechanical transformation or translation of a Source form, including but not limited to compiled object code, generated documentation, and conversions to other media types.
+
+"Work" shall mean the work of authorship, whether in Source or Object form, made available under the License, as indicated by a copyright notice that is included in or attached to the work (an example is provided in the Appendix below).
+
+"Derivative Works" shall mean any work, whether in Source or Object form, that is based on (or derived from) the Work and for which the editorial revisions, annotations, elaborations, or other modifications represent, as a whole, an original work of authorship. For the purposes of this License, Derivative Works shall not include works that remain separable from, or merely link (or bind by name) to the interfaces of, the Work and Derivative Works thereof.
+
+"Contribution" shall mean any work of authorship, including the original version of the Work and any modifications or additions to that Work or Derivative Works thereof, that is intentionally submitted to Licensor for inclusion in the Work by the copyright owner or by an individual or Legal Entity authorized to submit on behalf of the copyright owner. For the purposes of this definition, "submitted" means any form of electronic, verbal, or written communication sent to the Licensor or its representatives, including but not limited to communication on electronic mailing lists, source code control systems, and issue tracking systems that are managed by, or on behalf of, the Licensor for the purpose of discussing and improving the Work, but excluding communication that is conspicuously marked or otherwise designated in writing by the copyright owner as "Not a Contribution."
+
+"Contributor" shall mean Licensor and any individual or Legal Entity on behalf of whom a Contribution has been received by Licensor and subsequently incorporated within the Work.
+
+2. Grant of Copyright License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable copyright license to reproduce, prepare Derivative Works of, publicly display, publicly perform, sublicense, and distribute the Work and such Derivative Works in Source or Object form.
+
+3. Grant of Patent License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone or by combination of their Contribution(s) with the Work to which such Contribution(s) was submitted. If You institute patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Work or a Contribution incorporated within the Work constitutes direct or contributory patent infringement, then any patent licenses granted to You under this License for that Work shall terminate as of the date such litigation is filed.
+
+4. Redistribution. You may reproduce and distribute copies of the Work or Derivative Works thereof in any medium, with or without modifications, and in Source or Object form, provided that You meet the following conditions:
+
+ You must give any other recipients of the Work or Derivative Works a copy of this License; and
+ You must cause any modified files to carry prominent notices stating that You changed the files; and
+ You must retain, in the Source form of any Derivative Works that You distribute, all copyright, patent, trademark, and attribution notices from the Source form of the Work, excluding those notices that do not pertain to any part of the Derivative Works; and
+ If the Work includes a "NOTICE" text file as part of its distribution, then any Derivative Works that You distribute must include a readable copy of the attribution notices contained within such NOTICE file, excluding those notices that do not pertain to any part of the Derivative Works, in at least one of the following places: within a NOTICE text file distributed as part of the Derivative Works; within the Source form or documentation, if provided along with the Derivative Works; or, within a display generated by the Derivative Works, if and wherever such third-party notices normally appear. The contents of the NOTICE file are for informational purposes only and do not modify the License. You may add Your own attribution notices within Derivative Works that You distribute, alongside or as an addendum to the NOTICE text from the Work, provided that such additional attribution notices cannot be construed as modifying the License.
+
+ You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in this License.
+
+5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions.
+
+6. Trademarks. This License does not grant permission to use the trade names, trademarks, service marks, or product names of the Licensor, except as required for reasonable and customary use in describing the origin of the Work and reproducing the content of the NOTICE file.
+
+7. Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..5d54cc6
--- /dev/null
+++ b/README.md
@@ -0,0 +1,61 @@
+Information
+====
+<br>This service use logitel G29 to get wheel info for application same as low-level-can-service.
+<br>It will read information from usb g29 as /dev/input/js0.
+<br>And give steering wheel information for application.
+
+* Hardware: Renesas m3ulcb
+* Software: Daring Dab 4.0.0
+* binding name: af-steering-wheel-binding
+* provide api: steering-wheel
+* verbs: list, subscribe, unsubscribe
+* support device: Logitech G29 steering wheel
+* steering wheel information is write in steering_wheel_map.json
+ * VehicleSpeed < Engine Speed * Gear parameter / 100 >
+ * EngineSpeed < 0～10000 >
+ * AcceleratorPedalPosition < 0～100 >
+ * TransmissionGearInfo < 0、1、2、3、4、5、6 >
+ * TransmissionMode < 0、1、2、3、4、5、6 >
+ * SteeringWheelAngle < 0～360 >
+ * TurnSignalStatus < 0:None / 1:RightTurn / 2:LeftTurn >
+ * LightStatusBrake < 0:None / 1:BrakeEnable >
+* verbs
+ * list
+ * subscribe { "event" : "EngineSpeed" }
+ * unsubscribe { "event" : "EngineSpeed" }
+
+How to compile and install
+====
+<br> These is a sample recipes for af-steering-wheel-binding, you can just add that recipes into your project and bitbake.
+<br> Sample Recipes: agl-service-steering-wheel_0.1.bb
+
+How to use
+====
+For AGL Application
+----
+<br>1 add these code below into config.xml
+```
+ <param name="steering-wheel" value="ws"/>
+```
+<br>2 add WebSocket into qml file and subscribe event name what you need.
+<br>You can find a file named [token-websock.qml] in app-framework-binder.git.
+<br>It's a template for qml. You need modify these informations to connect agl-service-steering.
+```
+property string address_str: "ws://localhost:5555/api?token=3210"
+property string api_str: "steering-wheel"
+property string verb_str: ""
+```
+
+For demo application
+----
+<br>1 you can run this service by shell script
+```
+afb-daemon --token=3210 --ldpaths=${steering-wheel-library-path} --port=5555 --rootdir=. &
+```
+<br>2 use afb-client-demo to get event.
+```
+afb-client-demo ws://localhost:5555/api?token=3210
+steering-wheel list
+steering-wheel subscribe { "event" : "EngineSpeed" }
+steering-wheel unsubscribe { "event" : "EngineSpeed" }
+```
diff --git a/package/root/config.xml b/package/root/config.xml
new file mode 100644
index 0000000..9f3370a
--- /dev/null
+++ b/package/root/config.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<widget xmlns="http://www.w3.org/ns/widgets" id="agl-service-steering-wheel" version="1.0">
+ <name>steering-wheel-service</name>
+ <icon src="icon.png"/>
+ <content src="config.xml" type="application/vnd.agl.service"/>
+ <description>The name says it all!</description>
+ <author>TOYOTA</author>
+ <license>APL2.0</license>
+ <feature name="urn:AGL:widget:provided-api">
+ <param name="steering-wheel" value="ws" />
+ </feature>
+ <feature name="urn:AGL:widget:required-api">
+ <param name="lib/af-steering-wheel-binding.so" value="local" />
+ </feature>
+ <feature name="urn:AGL:widget:required-permission">
+ <param name="#target" value="main" />
+ <param name="urn:AGL:permission::public:hidden" value="required" />
+ </feature>
+</widget>
+
+
diff --git a/package/root/gear_shift_para.json b/package/root/gear_shift_para.json
new file mode 100644
index 0000000..3b58da7
--- /dev/null
+++ b/package/root/gear_shift_para.json
@@ -0,0 +1,32 @@
+{
+ "GEAR_PARA" : [
+ {
+ "POS" : "First",
+ "VAL" : "4.12",
+ },
+ {
+ "POS" : "Second",
+ "VAL" : "2.84",
+ },
+ {
+ "POS" : "Third",
+ "VAL" : "2.28",
+ },
+ {
+ "POS" : "Fourth",
+ "VAL" : "1.45",
+ },
+ {
+ "POS" : "Fifth",
+ "VAL" : "1.0",
+ },
+ {
+ "POS" : "Sixth",
+ "VAL" : "0.69",
+ },
+ {
+ "POS" : "Reverse",
+ "VAL" : "3.21",
+ },
+ ]
+} \ No newline at end of file
diff --git a/package/root/steering_wheel.json b/package/root/steering_wheel.json
new file mode 100644
index 0000000..1a5e889
--- /dev/null
+++ b/package/root/steering_wheel.json
@@ -0,0 +1,5 @@
+{
+ "dev_name": "/dev/input/js0",
+ "wheel_map": "steering_wheel_map.json",
+ "gear_para": "gear_shift_para.json"
+}
diff --git a/package/root/steering_wheel_map.json b/package/root/steering_wheel_map.json
new file mode 100644
index 0000000..9e580d9
--- /dev/null
+++ b/package/root/steering_wheel_map.json
@@ -0,0 +1,36 @@
+{
+ "PROPERTYS" : [
+ {
+ "PROPERTY" : "VehicleSpeed",
+ "TYPE" : "uint16_t",
+ },
+ {
+ "PROPERTY" : "EngineSpeed",
+ "TYPE" : "uint16_t",
+ },
+ {
+ "PROPERTY" : "AcceleratorPedalPosition",
+ "TYPE" : "uint16_t",
+ },
+ {
+ "PROPERTY" : "TransmissionGearInfo",
+ "TYPE" : "uint16_t",
+ },
+ {
+ "PROPERTY" : "TransmissionMode",
+ "TYPE" : "uint16_t",
+ },
+ {
+ "PROPERTY" : "SteeringWheelAngle",
+ "TYPE" : "uint16_t",
+ },
+ {
+ "PROPERTY" : "TurnSignalStatus",
+ "TYPE" : "uint16_t",
+ },
+ {
+ "PROPERTY" : "LightStatusBrake",
+ "TYPE" : "bool",
+ },
+ ]
+}
diff --git a/sample/agl-service-steering-wheel_0.1.bb b/sample/agl-service-steering-wheel_0.1.bb
new file mode 100644
index 0000000..2391459
--- /dev/null
+++ b/sample/agl-service-steering-wheel_0.1.bb
@@ -0,0 +1,16 @@
+DESCRIPTION = "logitech g29 wheel service"
+HOMEPAGE = "https://gerrit.automotivelinux.org/gerrit/#/admin/projects/apps/agl-service-steering-wheel"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=ae6497158920d9524cf208c09cc4c984"
+SECTION = "apps"
+
+SRC_URI = "git://gerrit.automotivelinux.org/gerrit/apps/agl-service-steering-wheel;protocol=http;branch=master"
+SRCREV = "8f6baa6092eb09919b71acbaaab9f013dcac599a"
+
+PN = "agl-service-steering-wheel"
+S = "${WORKDIR}/git"
+
+DEPENDS = "glib-2.0 af-binder"
+
+inherit cmake aglwgt
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 0000000..71168a3
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,107 @@
+#
+# Copyright (c) 2017 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.
+#
+
+cmake_minimum_required(VERSION 2.8)
+
+###########################################################################
+
+link_libraries(-Wl,--as-needed -Wl,--gc-sections)
+
+add_compile_options(-Wall -Wextra -Wconversion)
+add_compile_options(-Wno-unused-parameter) # frankly not using a parameter does it care?
+add_compile_options(-Werror=maybe-uninitialized)
+add_compile_options(-Werror=implicit-function-declaration)
+add_compile_options(-ffunction-sections -fdata-sections)
+add_compile_options(-Wl,--as-needed -Wl,--gc-sections)
+add_compile_options(-fPIC)
+
+set(CMAKE_C_FLAGS_PROFILING "-g -O0 -pg -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_C_FLAGS_DEBUG "-g -O0 -ggdb -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_C_FLAGS_RELEASE "-g -O2")
+set(CMAKE_C_FLAGS_CCOV "-g -O2 --coverage")
+set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/package/root/lib)
+
+###########################################################################
+
+include(FindPkgConfig)
+
+#*<NESSARY> pkg_check_modules(EXTRAS REQUIRED json-c libsystemd afb-daemon)
+#pkg_check_modules(EXTRAS REQUIRED json-c)
+add_compile_options(${EXTRAS_CFLAGS})
+include_directories(${EXTRAS_INCLUDE_DIRS})
+link_libraries(${EXTRAS_LIBRARIES})
+
+message(STATUS "${EXTRAS_CFLAGS}")
+message(STATUS "${EXTRAS_INCLUDE_DIRS}")
+message(STATUS "${EXTRAS_LIBRARIES}")
+message(STATUS "${EXTRAS_LIBRARY_DIRS}")
+
+pkg_check_modules(GIO_UNIX REQUIRED gio-unix-2.0)
+include_directories(${GIO_UNIX_INCLUDE_DIRS})
+link_libraries(${GIO_UNIX_LIBRARIES})
+message(STATUS "${GIO_UNIX_INCLUDE_DIRS}")
+
+#set(VAR "")
+#get_target_property(VAR target INCLUDE_DIRECTORIES)
+#message(STATUS "${VAR}")
+
+###########################################################################
+# the binding for afb
+
+message(STATUS "Creation af-steering-wheel-binding for AFB-DAEMON")
+
+###############################################################
+#pkg_get_variable(afb_binding_install_dir afb-daemon binding_install_dir)
+
+#*<NESSARY>
+#* execute_process(
+#* COMMAND pkg-config --variable binding_install_dir afb-daemon
+#* OUTPUT_VARIABLE afb_binding_install_dir OUTPUT_STRIP_TRAILING_WHITESPACE
+#* )
+
+###############################################################
+add_library(af-steering-wheel-binding MODULE af-steering-wheel-binding.c bind_event.c steering_wheel_json.c prop_info.c prop_search.c js_signal_event.c js_raw.c)
+set_target_properties(af-steering-wheel-binding PROPERTIES
+ PREFIX ""
+ LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_SOURCE_DIR}/export.map"
+)
+
+#add_custom_command(TARGET af-steering-wheel-binding POST_BUILD
+# COMMAND cp -f ${CMAKE_CURRENT_SOURCE_DIR}/config.xml ${CMAKE_CURRENT_SOURCE_DIR}/steering_wheel.json ${CMAKE_CURRENT_SOURCE_DIR}/icon.png ${PROJECT_BINARY_DIR}/package/root
+# COMMAND cp -f ${CMAKE_CURRENT_SOURCE_DIR}/steering_wheel_map.json ${CMAKE_CURRENT_SOURCE_DIR}/gear_shift_para.json ${PROJECT_BINARY_DIR}/package/root)
+
+add_custom_target(package DEPENDS ${PROJECT_BINARY_DIR}/package/root
+ COMMAND wgtpkg-pack -f -o ${PROJECT_BINARY_DIR}/package/${PROJECT_NAME}.wgt ${PROJECT_BINARY_DIR}/package/root)
+
+#*<NESSARY> install(TARGETS af-canivi-binding LIBRARY DESTINATION ${afb_binding_install_dir})
+# <OR following packaging>
+##############################################################
+# WGT packaging
+
+#message(STATUS "Creation of af-canivi.wgt package for AppFW")
+##############################################################
+#configure_file(config.xml.in config.xml)
+#add_custom_command(
+# OUTPUT af-canivi.wgt
+# COMMAND rm -rf package
+# COMMAND mkdir -p package/libs package/htdocs
+# COMMAND cp config.xml package/
+# COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_ICON} package/icon.png
+# COMMAND cp af-canivi-binding.so package
+# COMMAND wgtpkg-pack -f -o af-canivi.wgt package
+#)
+#add_custom_target(widget ALL DEPENDS af-canivi.wgt)
+
diff --git a/src/af-steering-wheel-binding.c b/src/af-steering-wheel-binding.c
new file mode 100644
index 0000000..908bf71
--- /dev/null
+++ b/src/af-steering-wheel-binding.c
@@ -0,0 +1,426 @@
+/*
+ * Copyright (c) 2017 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 <netdb.h>
+#include <fcntl.h>
+#include <math.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+
+#include <systemd/sd-event.h>
+
+#include "af-steering-wheel-binding.h"
+#include "bind_event.h"
+#include "steering_wheel_json.h"
+#include "prop_search.h"
+#include "js_raw.h"
+
+#define ENABLE_EVENT_DROP
+
+struct wheel_conf
+{
+ char *devname;
+};
+
+int notify_property_changed(struct prop_info_t *property_info)
+{
+ struct bind_event_t *event;
+
+ //NOTICEMSG("notify_property_changed %s", property_info->name);
+ event = get_event(property_info->name);
+ if (event == NULL)
+ {
+ DBGMSG("<IGNORE event>: event(\"%s\") is not subscribed", property_info->name);
+ return 1;
+ }
+
+ if (afb_event_is_valid(event->event))
+ {
+ int recved_client;
+
+ recved_client = afb_event_push(event->event, property2json(property_info));
+ if(recved_client < 1)
+ {
+ if(recved_client == 0)
+ {
+ DBGMSG("event(\"%s\") is no client.", property_info->name);
+#ifdef ENABLE_EVENT_DROP
+ /* Drop event */
+ remove_event(property_info->name);
+#endif
+ }
+ else
+ {
+ ERRMSG("count of clients that received the event : %d",recved_client);
+ }
+
+ return 1;
+ } /* else (1 <= recved_lient)
+ * NORMAL
+ */
+ }
+ else
+ {
+ ERRMSG("event(\"%s\") is invalid. don't adb_event_push()", property_info->name);
+ return 1;
+ }
+
+ return 0;
+}
+
+static int connection(struct wheel_conf *conf)
+{
+ int js;
+ int ret;
+ sd_event_source *source;
+
+ js = js_open(conf->devname);
+ if (js < 0)
+ {
+ js_close(js);
+ ERRMSG("can't connect to joy stick, the event loop failed");
+ return 0;
+ }
+
+ ret = sd_event_add_io(
+ afb_daemon_get_event_loop(),
+ &source,
+ js,
+ EPOLLIN,
+ on_event, NULL);
+ if (ret < 0)
+ {
+ js_close(js);
+ ERRMSG("can't add event, the event loop failed");
+ return 0;
+ }
+
+ NOTICEMSG("connect to JS(%s), event loop started",conf->devname);
+
+ return 0;
+}
+
+/***************************************************************************************/
+/** **/
+/** **/
+/** SECTION: BINDING VERBS IMPLEMENTATION **/
+/** **/
+/** **/
+/***************************************************************************************/
+/**
+ * get method.
+ */
+static void get(struct afb_req req)
+{
+
+}
+
+///**
+// * set method.
+// */
+//static void set(struct afb_req req)
+//{
+//
+//}
+
+/**
+ * list method.
+ */
+static struct json_object *tmplists;
+
+static void _listup_properties(struct prop_info_t *property_info)
+{
+ if (property_info->name == NULL)
+ {
+ return;
+ }
+ else
+ {
+ json_object_array_add(tmplists, json_object_new_string(property_info->name));
+ }
+}
+
+static void list(struct afb_req req)
+{
+ if (tmplists != NULL)
+ {
+ json_object_put(tmplists);
+ }
+ tmplists = json_object_new_array();
+ if (tmplists == NULL)
+ {
+ ERRMSG("not enough memory");
+ afb_req_fail(req,"not enough memory", NULL);
+ return;
+ }
+ (void)canid_walker(_listup_properties);
+ afb_req_success(req, tmplists, NULL);
+}
+
+/**
+ * subscribe method.
+ */
+static int subscribe_all(struct afb_req req, struct json_object *apply);
+
+static int subscribe_signal(struct afb_req req, const char *name, struct json_object *apply)
+{
+ struct bind_event_t *event;
+
+ if(strcmp(name, "*") == 0)
+ {
+ return subscribe_all(req, apply);
+ }
+
+ event = get_event(name);
+ if (event == NULL)
+ {
+ event = register_event(name);
+ if (event == NULL)
+ {
+ ERRMSG("register event failed: %s", name);
+ return 1;
+ }
+ }
+ else
+ {
+ DBGMSG("subscribe event: \"%s\" alrady exist", name);
+ }
+
+ if (afb_req_subscribe(req, event->event) != 0)
+ {
+ ERRMSG("afb_req_subscrive() is failed.");
+ return 1;
+ }
+
+ json_object_object_add(apply, event->name, property2json(event->raw_info));
+
+ return 0;
+}
+
+static int subscribe_all(struct afb_req req, struct json_object *apply)
+{
+ int i;
+ int nProp;
+ const char **list = getSupportPropertiesList(&nProp);
+ int err = 0;
+ for(i = 0; i < nProp; i++)
+ err += subscribe_signal(req, list[i], apply);
+
+ return err;
+}
+
+static void subscribe(struct afb_req req)
+{
+ struct json_object *apply;
+ int err = 0;
+ const char *event;
+
+ event = afb_req_value(req, "event");
+ if (event == NULL)
+ {
+ ERRMSG("Unknwon subscrive event args");
+ afb_req_fail(req, "error", NULL);
+ return;
+ }
+ apply = json_object_new_object();
+ err = subscribe_signal(req, event, apply);
+
+ if (!err)
+ {
+ afb_req_success(req, apply, NULL);
+ }
+ else
+ {
+ json_object_put(apply);
+ afb_req_fail(req, "error", NULL);
+ }
+}
+
+/**
+ * unsubscribe method.
+ */
+
+static int unsubscribe_all(struct afb_req req);
+
+static int unsubscribe_signal(struct afb_req req, const char *name)
+{
+ struct bind_event_t *event;
+ if(strcmp(name, "*") == 0)
+ {
+ return unsubscribe_all(req);
+ }
+
+ event = get_event(name);
+ if (event == NULL)
+ {
+ ERRMSG("not subscribed event \"%s\"", name);
+ return 0; /* Alrady unsubscribed */
+ }
+ if (afb_req_unsubscribe(req, event->event) != 0)
+ {
+ ERRMSG("afb_req_subscrive() is failed.");
+ return 1;
+ }
+
+ return 0;
+}
+
+static int unsubscribe_all(struct afb_req req)
+{
+ int i;
+ int nProp;
+ const char **list = getSupportPropertiesList(&nProp);
+ int err = 0;
+ for(i = 0; i < nProp; i++)
+ {
+ err += unsubscribe_signal(req, list[i]);
+ }
+
+ return err;
+}
+
+static void unsubscribe(struct afb_req req)
+{
+ struct json_object *args, *val;
+ int n,i;
+ int err = 0;
+
+ args = afb_req_json(req);
+ if ((args == NULL) || !json_object_object_get_ex(args, "event", &val))
+ {
+ err = unsubscribe_all(req);
+ }
+ else if (json_object_get_type(val) != json_type_array)
+ {
+ err = unsubscribe_signal(req, json_object_get_string(val));
+ }
+ else
+ {
+ struct json_object *ent;
+ n = json_object_array_length(val);
+ for (i = 0; i < n; i++)
+ {
+ ent = json_object_array_get_idx(val,i);
+ err += unsubscribe_signal(req, json_object_get_string(ent));
+ }
+ }
+
+ if (!err)
+ afb_req_success(req, NULL, NULL);
+ else
+ afb_req_fail(req, "error", NULL);
+}
+
+/*
+ * parse configuration file (steering_wheel.json)
+ */
+static int init_conf(int fd_conf, struct wheel_conf *conf)
+{
+#define CONF_FILE_MAX (1024)
+ char filebuf[CONF_FILE_MAX];
+ json_object *jobj;
+
+ memset(filebuf,0, sizeof(filebuf));
+ FILE *fp = fdopen(fd_conf,"r");
+ if (fp == NULL)
+ {
+ ERRMSG("canno read configuration file(steering_wheel.json)");
+ return -1;
+ }
+
+ fread(filebuf, 1, sizeof(filebuf), fp);
+ fclose(fp);
+
+ jobj = json_tokener_parse(filebuf);
+ if (jobj == NULL)
+ {
+ ERRMSG("json: Invalid steering_wheel.json format");
+ return -1;
+ }
+ json_object_object_foreach(jobj, key, val)
+ {
+ if (strcmp(key,"dev_name") == 0)
+ {
+ conf->devname = strdup(json_object_get_string(val));
+ }
+ else if (strcmp(key,"wheel_map") == 0)
+ {
+ wheel_define_init(json_object_get_string(val));
+ }
+ else if (strcmp(key,"gear_para") == 0)
+ {
+ wheel_gear_para_init(json_object_get_string(val));
+ }
+ }
+ json_object_put(jobj);
+
+ return 0;
+}
+
+static int init()
+{
+ NOTICEMSG("init");
+
+ int fd_conf;
+ struct wheel_conf conf;
+ fd_conf = afb_daemon_rootdir_open_locale("steering_wheel.json", O_RDONLY, NULL);
+ if (fd_conf < 0)
+ {
+ ERRMSG("wheel configuration (steering_wheel.json) is not access");
+ return -1;
+ }
+ if (init_conf(fd_conf, &conf))
+ {
+ return -1;
+ }
+ return connection(&conf);
+}
+
+/*
+ * array of the verbs exported to afb-daemon
+ */
+static const struct afb_verb_v2 binding_verbs[] =
+{
+ /* VERB'S NAME SESSION MANAGEMENT FUNCTION TO CALL Authorization */
+ { .verb= "get", .session= AFB_SESSION_NONE, .callback= get, .info = "get", .auth = NULL },
+// { .name= "set", .session= AFB_SESSION_NONE, .callback= set, .auth = NULL },
+ { .verb= "list", .session= AFB_SESSION_NONE, .callback= list, .info = "list", .auth = NULL },
+ { .verb= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info = "subscribe", .auth = NULL },
+ { .verb= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info = "unsubscribe", .auth = NULL },
+ { .verb= NULL } /* marker for end of the array */
+};
+
+/*
+ * description of the binding for afb-daemon
+ */
+const struct afb_binding_v2 afbBindingV2 =
+{
+ .api = "steering-wheel",
+ .specification = NULL,
+ .verbs = binding_verbs, /* the array describing the verbs of the API */
+ .preinit = NULL,
+ .init = init,
+ .onevent = NULL,
+ .noconcurrency = 1
+};
diff --git a/src/af-steering-wheel-binding.h b/src/af-steering-wheel-binding.h
new file mode 100644
index 0000000..1b7323c
--- /dev/null
+++ b/src/af-steering-wheel-binding.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _AF_WHEEL_BINDING_H_
+#define _AF_WHEEL_BINDING_H_
+
+#define AFB_BINDING_VERSION 2
+#include <afb/afb-binding.h>
+
+#include "prop_info.h"
+
+#if !defined(NO_BINDING_VERBOSE_MACRO)
+#define ERRMSG(msg, ...) AFB_ERROR(msg,##__VA_ARGS__)
+#define WARNMSG(msg, ...) AFB_WARNING(msg,##__VA_ARGS__)
+#define DBGMSG(msg, ...) AFB_DEBUG(msg,##__VA_ARGS__)
+#define INFOMSG(msg, ...) AFB_INFO(msg,##__VA_ARGS__)
+#define NOTICEMSG(msg, ...) AFB_NOTICE(msg,##__VA_ARGS__)
+#endif
+
+extern int notify_property_changed(struct prop_info_t *property_info);
+
+#endif
diff --git a/src/bind_event.c b/src/bind_event.c
new file mode 100644
index 0000000..01887cd
--- /dev/null
+++ b/src/bind_event.c
@@ -0,0 +1,114 @@
+/*
+ * Copyright (c) 2017 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 <stdlib.h>
+#include <string.h>
+#include <search.h>
+
+#include "af-steering-wheel-binding.h"
+#include "bind_event.h"
+#include "prop_search.h"
+
+static void *bind_event_root = NULL;
+
+static int compare(const void *pa, const void *pb)
+{
+ struct bind_event_t *a = (struct bind_event_t *)pa;
+ struct bind_event_t *b = (struct bind_event_t *)pb;
+ return strcmp(a->name, b->name);
+}
+
+struct bind_event_t *get_event(const char *name)
+{
+ struct bind_event_t key;
+ void *ent;
+
+ /*
+ * search subscribed event.
+ */
+ key.name = name;
+ ent = tfind(&key, &bind_event_root, compare);
+ if (ent != NULL)
+ return *(struct bind_event_t **)ent; /* found */
+ return NULL; /* not found */
+}
+
+struct bind_event_t *register_event(const char *name)
+{
+ struct bind_event_t *evt;
+ struct prop_info_t *property_info;
+ void *ent;
+
+ property_info = getProperty_dict(name);
+ if (property_info == NULL)
+ {
+ ERRMSG("NOT Supported property:\"%s\".", name);
+ return NULL;
+ }
+ evt = calloc(1, sizeof(*evt));
+ if (evt == NULL)
+ {
+ ERRMSG("not enough memory");
+ return NULL;
+ }
+
+ evt->event = afb_daemon_make_event(property_info->name);
+ if (!afb_event_is_valid(evt->event))
+ {
+ free(evt);
+ ERRMSG("afb_daemon_make_event failed");
+ return NULL;
+ }
+
+ evt->name = property_info->name;
+ evt->raw_info = property_info;
+ ent = tsearch(evt, &bind_event_root, compare);
+ if (ent == NULL)
+ {
+ ERRMSG("not enough memory");
+ afb_event_drop(evt->event);
+ free(evt);
+ return NULL;
+ }
+#ifdef DEBUG /* double check */
+ if ((*(struct bind_event_t **)ent) != evt)
+ ERRMSG("event \"%s\" is duplicate?", property_info->name);
+#endif
+
+ return evt;
+}
+
+int remove_event(const char *name)
+{
+ struct bind_event_t *dnode;
+ struct bind_event_t key;
+ void *p;
+
+ key.name = name;
+ p = tfind(&key, &bind_event_root, compare);
+ if (p == NULL)
+ {
+ return 0;
+ }
+ dnode = *(struct bind_event_t **)p;
+ afb_event_drop(dnode->event);
+ tdelete(&key, &bind_event_root, compare);
+ free(dnode);
+
+ return 0;
+}
diff --git a/src/bind_event.h b/src/bind_event.h
new file mode 100644
index 0000000..5e44a5b
--- /dev/null
+++ b/src/bind_event.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _BIND_EVENT_H_
+#define _BIND_EVENT_H_
+
+#include "prop_info.h"
+
+struct bind_event_t {
+ const char *name; /* name of the event : IvI Property-Name */
+ struct afb_event event; /* the event for the binder */
+ struct prop_info_t *raw_info;
+};
+
+extern struct bind_event_t *get_event(const char *name);
+extern struct bind_event_t *register_event(const char *name);
+extern int remove_event(const char *name);
+
+#endif
+
diff --git a/src/export.map b/src/export.map
new file mode 100644
index 0000000..ee2f413
--- /dev/null
+++ b/src/export.map
@@ -0,0 +1 @@
+{ global: afbBindingV*; local: *; };
diff --git a/src/icon.png b/src/icon.png
new file mode 100644
index 0000000..def888b
--- /dev/null
+++ b/src/icon.png
Binary files differ
diff --git a/src/js_raw.c b/src/js_raw.c
new file mode 100644
index 0000000..5541162
--- /dev/null
+++ b/src/js_raw.c
@@ -0,0 +1,174 @@
+/*
+ * Copyright (c) 2017 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 <unistd.h>
+#include <fcntl.h>
+#include <net/if.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <alloca.h>
+
+#include <linux/input.h>
+#include <linux/joystick.h>
+
+#include "af-steering-wheel-binding.h"
+#include "js_raw.h"
+#include "js_signal_event.h"
+
+#define JSNAMELEN 128
+
+static int *axis;
+static char *button;
+
+int js_signal_read(int fd)
+{
+ ssize_t size;
+ struct js_event jsEvent;
+ int rc = 0;
+
+ size = read(fd, &jsEvent, sizeof(struct js_event));
+ if(size != 0)
+ {
+ switch (jsEvent.type & ~JS_EVENT_INIT)
+ {
+ case JS_EVENT_BUTTON:
+ button[jsEvent.number] = (char)jsEvent.value;
+ //NOTICEMSG("JS_EVENT_BUTTON %d\n", button[jsEvent.number]);
+ newButtonValue(jsEvent.number, jsEvent.value);
+ break;
+ case JS_EVENT_AXIS:
+ axis[jsEvent.number] = jsEvent.value;
+ //NOTICEMSG("JS_EVENT_AXIS %d\n", axis[jsEvent.number]);
+ newAxisValue(jsEvent.number, jsEvent.value);
+ break;
+ default:
+ break;
+ }
+
+ rc = 0;
+ }
+ else
+ {
+ rc = -1;
+ }
+
+ return rc;
+}
+
+int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+ if ((revents & EPOLLIN) != 0)
+ {
+ //NOTICEMSG("on_event!\n");
+ int rc = 0;
+
+ rc = js_signal_read(fd);
+ if(rc == -1)
+ {
+ ERRMSG("JS Frame Read failed");
+
+ return -1;
+ }
+ }
+ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ {
+ /* T.B.D
+ * if error or hungup */
+ ERRMSG("Error or Hunup: rvent=%08x", revents);
+ }
+
+ return 0;
+}
+
+int js_open(const char *devname)
+{
+ unsigned char numAxes = 0;
+ unsigned char numButtons = 0;
+ int version = 0;
+ int fd;
+ char name[JSNAMELEN] = "Unknown";
+
+ struct js_corr cal[6];
+ int i, j;
+ unsigned int calData[36] =
+ {
+ 1, 0, 8191, 8192, 65542, 65534,
+ 1, 0, 127, 128, 4227201, 4194176,
+ 1, 0, 127, 128, 4227201, 4194176,
+ 1, 0, 127, 128, 4227201, 4194176,
+ 1, 0, 0, 0, 536854528, 536854528,
+ 1, 0, 0, 0, 536854528, 536854528
+ };
+
+ if ((fd = open(devname, O_RDONLY)) < 0)
+ {
+ return -1;
+ }
+
+ ioctl(fd, JSIOCGVERSION, &version);
+ ioctl(fd, JSIOCGAXES, &numAxes);
+ ioctl(fd, JSIOCGBUTTONS, &numButtons);
+ ioctl(fd, JSIOCGNAME(JSNAMELEN), name);
+
+ for (i = 0; i < 6; i++)
+ {
+ int k = 0;
+ cal[i].type = (__u16)calData[(i*6)+k];
+ k++;
+ cal[i].prec = (__s16)calData[(i*6)+k];
+ k++;
+
+ for(j = 0; j < 4; j++)
+ {
+ cal[i].coef[j] = (__s32)calData[(i*6)+k];
+ k++;
+ }
+ }
+
+ if (ioctl(fd, JSIOCSCORR, &cal) < 0)
+ {
+ return -1;
+ }
+
+ axis = (int *)calloc(numAxes, sizeof(int));
+ button = (char *)calloc(numButtons, sizeof(char));
+#if 0
+ gis = g_unix_input_stream_new(fd, TRUE);
+ if(gis == NULL)
+ {
+ ERRMSG("g_unix_input_stream_new() failed!");
+ }
+ else
+ {
+ NOTICEMSG("g_unix_input_stream_new() succeed!");
+ }
+ g_input_stream_read_async(gis, &jsEvent, sizeof(struct js_event), G_PRIORITY_DEFAULT, NULL, &readCallback, NULL);
+#endif
+
+ return fd;
+}
+
+void js_close(int js)
+{
+ if (js < 0)
+ {
+ return;
+ }
+
+ close(js);
+}
diff --git a/src/js_raw.h b/src/js_raw.h
new file mode 100644
index 0000000..79db219
--- /dev/null
+++ b/src/js_raw.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _JS_RAW_H_
+#define _JS_RAW_H_
+
+#include <sys/time.h>
+#include <systemd/sd-event.h>
+
+extern int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata);
+extern int js_open(const char *devname);
+extern void js_close(int js);
+
+#endif
diff --git a/src/js_signal_event.c b/src/js_signal_event.c
new file mode 100644
index 0000000..712d51c
--- /dev/null
+++ b/src/js_signal_event.c
@@ -0,0 +1,328 @@
+/*
+ * Copyright (c) 2017 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 <unistd.h>
+#include <fcntl.h>
+#include <net/if.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <alloca.h>
+
+#include "af-steering-wheel-binding.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"
+#define ACCELERATOR_PEDAL_POSITION "AcceleratorPedalPosition"
+#define TRANSMISSION_GEAR_INFO "TransmissionGearInfo"
+#define TRANSMISSION_MODE "TransmissionMode"
+#define STEERING_WHEEL_ANGLE "SteeringWheelAngle"
+#define TURN_SIGNAL_STATUS "TurnSignalStatus"
+#define LIGHT_STATUS_BRAKE "LightStatusBrake"
+
+#define MAX_TRANSMISSION_GEAR_INFO 6
+#define MIN_TRANSMISSION_GEAR_INFO 0
+
+enum eTransmissionGearInfo
+{
+ eTransmissionGearInfoLeft = 0,
+ eTransmissionGearInfoRight = 1,
+};
+
+enum eTurnSignalStatus
+{
+ eTurnSignalStatusOff = 0,
+ eTurnSignalStatusRight = 1,
+ eTurnSignalStatusLeft = 2,
+ eTurnSignalStatusHazard = 3
+};
+
+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 gLightStatusBrake = 0;
+static int gTransmissionGearInfo = 1;
+static int gSteeringWheelAngle = 0;
+static enum eTurnSignalStatus gTurnSignalStatus = eTurnSignalStatusOff;
+
+// Method to set value
+static void setAcceleratorPedalPosition(int val)
+{
+ if(gAcceleratorPedalPosition != val)
+ {
+ gAcceleratorPedalPosition = val;
+ }
+}
+
+static void setLightStatusBrake(int val)
+{
+ if(gLightStatusBrake != val)
+ {
+ gLightStatusBrake = val;
+ }
+}
+
+static void setTransmissionGearInfo(int val, enum eTransmissionGearInfo eGear)
+{
+ if(eGear == eTransmissionGearInfoLeft)
+ {
+ if(val && gTransmissionGearInfo < MAX_TRANSMISSION_GEAR_INFO)
+ {
+ gTransmissionGearInfo = gTransmissionGearInfo + 1;
+ }
+ }
+ else if(eGear == eTransmissionGearInfoRight)
+ {
+ if(val && gTransmissionGearInfo > MIN_TRANSMISSION_GEAR_INFO)
+ {
+ gTransmissionGearInfo = gTransmissionGearInfo - 1;
+ }
+ }
+}
+
+static void setSteeringWheelAngle(int val)
+{
+ if(gSteeringWheelAngle != val)
+ {
+ gSteeringWheelAngle = val;
+ }
+}
+
+static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
+{
+ if(val)
+ {
+ if(turn == eTurnSignalStatusRight)
+ {
+ gTurnSignalStatus = eTurnSignalStatusRight;
+ }
+ else if(turn == eTurnSignalStatusLeft)
+ {
+ gTurnSignalStatus = eTurnSignalStatusLeft;
+ }
+ }
+ else
+ {
+ gTurnSignalStatus = eTurnSignalStatusOff;
+ }
+}
+
+// Method to calculate property
+static int calcAcceleratorPedalPosition()
+{
+ 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;
+}
+
+static int calcSteeringWheelAngle()
+{
+ double steeringWheelAngle = (((double)gSteeringWheelAngle / (double)32767.0) + (double)1.0) * (double)180.0;
+
+ return (int)steeringWheelAngle;
+}
+
+// Method to update property
+static void updateValue(char *prop, int val)
+{
+ unsigned int nProp = wheel_info->nData;
+ for(unsigned int i = 0; i < nProp; i++)
+ {
+ if(strcmp(prop, wheel_info->property[i].name) == 0)
+ {
+ if(wheel_info->property[i].curValue.int16_val != val)
+ {
+ wheel_info->property[i].curValue.int16_val = (int16_t)val;
+ //NOTICEMSG("Update property %s", wheel_info->property[i].name);
+ notify_property_changed(&wheel_info->property[i]);
+ }
+ }
+ }
+}
+
+void updateTransmissionGearInfo()
+{
+ updateValue(TRANSMISSION_GEAR_INFO, gTransmissionGearInfo);
+}
+
+void updateTransmissionMode()
+{
+ updateValue(TRANSMISSION_MODE, gTransmissionGearInfo);
+}
+
+static void updateAcceleratorPedalPosition()
+{
+ int acceleratorPedalPosition;
+
+ acceleratorPedalPosition = calcAcceleratorPedalPosition();
+ updateValue(ACCELERATOR_PEDAL_POSITION, acceleratorPedalPosition);
+}
+
+static void updateEngineSpeed()
+{
+ // Update EngineSpeed
+ int engineSpeed;
+
+ engineSpeed = calcEngineSpeed();
+ updateValue(ENGINE_SPEED, engineSpeed);
+}
+
+static void updateVehicleSpeed()
+{
+ // Update VehicleSpeed
+ int vehicleSpeed;
+
+ vehicleSpeed = calcVehicleSpeed();
+ updateValue(VEHICLE_SPEED, vehicleSpeed);
+}
+
+static void updateLightStatusBrake()
+{
+ int lightStatusBrake;
+
+ lightStatusBrake = (gLightStatusBrake < 20000);
+ updateValue(LIGHT_STATUS_BRAKE, lightStatusBrake);
+}
+
+static void updateSteeringWheelAngle()
+{
+ int steering = calcSteeringWheelAngle();
+ updateValue(STEERING_WHEEL_ANGLE, steering);
+}
+
+static void updateTurnSignalStatus()
+{
+ updateValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
+}
+
+// Method to handle joy stick event
+void newButtonValue(char number, int val)
+{
+ switch (number)
+ {
+ case JS_LEFT_PADDLE_SHIFTER: //Left paddle shifter
+ // Set gear position
+ setTransmissionGearInfo(val, eTransmissionGearInfoLeft);
+
+ // Update property
+ updateTransmissionGearInfo();
+ updateTransmissionMode();
+ updateVehicleSpeed();
+ break;
+
+ case JS_RIGHT_PADDLE_SHIFTER: //Right paddle shifter
+ // Set gear position
+ setTransmissionGearInfo(val, eTransmissionGearInfoRight);
+
+ // Update property
+ updateTransmissionGearInfo();
+ updateTransmissionMode();
+ updateVehicleSpeed();
+ break;
+
+ case JS_TURN_SIGNAL_RIGHT: //Right upper wheel button
+ // Set value
+ setTurnSignalStatus(val, eTurnSignalStatusRight);
+
+ // Update property
+ updateTurnSignalStatus();
+ break;
+
+ case JS_TURN_SIGNAL_LEFT: //Left upper wheel button
+ // Set value
+ setTurnSignalStatus(val, eTurnSignalStatusLeft);
+
+ // Update property
+ updateTurnSignalStatus();
+ break;
+
+ default:
+ break;
+ }
+}
+
+void newAxisValue(char number, int val)
+{
+ switch (number)
+ {
+ case JS_STEERING: //Wheel angle, -32767 - 32767
+ // Set value
+ setSteeringWheelAngle(val);
+
+ // Update property
+ updateSteeringWheelAngle();
+ break;
+
+ case JS_THROTTLE: //Throttle, -32767 (depressed) - 32767 (undepressed)
+ // Set origin value
+ setAcceleratorPedalPosition(val);
+
+ // Update property
+ updateAcceleratorPedalPosition();
+ updateEngineSpeed();
+ updateVehicleSpeed();
+ break;
+
+ case JS_BRAKE:
+ // Set value
+ setLightStatusBrake(val);
+
+ // Update property
+ updateLightStatusBrake();
+ break; //Brake, -32767 (depressed) - 32767 (undepressed)
+
+ default:
+ break;
+ }
+}
diff --git a/src/js_signal_event.h b/src/js_signal_event.h
new file mode 100644
index 0000000..3cff704
--- /dev/null
+++ b/src/js_signal_event.h
@@ -0,0 +1,25 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _JS_SIGNAL_EVENT_H_
+#define _JS_SIGNAL_EVENT_H_
+
+extern struct wheel_info_t *wheel_info;
+
+extern void newButtonValue(char number, int val);
+extern void newAxisValue(char number, int val);
+
+#endif
diff --git a/src/prop_info.c b/src/prop_info.c
new file mode 100644
index 0000000..95d4f58
--- /dev/null
+++ b/src/prop_info.c
@@ -0,0 +1,103 @@
+/*
+ * Copyright (c) 2017 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 <stdint.h>
+
+#include "prop_info.h"
+#include "af-steering-wheel-binding.h"
+
+#define ENABLE1_TYPENAME "ENABLE-1" /* spec. type1.json original type name */
+
+static const char *vartype_strings[] = {
+/* 0 */ "void",
+/* 1 */ "int8_t",
+/* 2 */ "int16_t",
+/* 3 */ "int",
+/* 4 */ "int32_t",
+/* 5 */ "int64_t",
+/* 6 */ "uint8_t",
+/* 7 */ "uint16_t",
+/* 8 */ "uint",
+/* 9 */ "uint32_t",
+/* 10 */"uint64_t",
+/* 11 */ "string",
+/* 12 */ "bool",
+/* 13 */ "LIST",
+/* 14 */ ENABLE1_TYPENAME
+};
+
+int string2vartype(const char *varname)
+{
+ unsigned int i;
+ if (varname == NULL)
+ {
+ return -1;
+ }
+
+ for(i=0; i < (sizeof(vartype_strings)/sizeof(char *)); i++)
+ {
+ if (strcmp(varname, vartype_strings[i]) == 0)
+ return (int)i;
+ }
+
+ return -1;
+};
+
+int propertyValue_int(struct prop_info_t *property_info)
+{
+ int x = -1;
+ switch(property_info->var_type) {
+ case INT8_T:
+ x = (int)property_info->curValue.int8_val;
+ break;
+ case INT16_T:
+ x = (int)property_info->curValue.int16_val;
+ break;
+ case VOID_T:/* FALLTHROGH */
+ case INT_T: /* FALLTHROGH */
+ case INT32_T:/* FALLTHROGH */
+ x = (int)property_info->curValue.int32_val;
+ break;
+ case UINT8_T:
+ x = (int)property_info->curValue.uint8_val;
+ break;
+ case UINT16_T:
+ x = (int)property_info->curValue.uint16_val;
+ break;
+ case UINT_T:
+ case UINT32_T:
+ x = (int)property_info->curValue.uint32_val;
+ break;
+ case BOOL_T:
+ x = (int)property_info->curValue.bool_val;
+ break;
+ case ENABLE1_T:
+ x = (int)property_info->curValue.int32_val;
+ break;
+
+ default:
+ case STRING_T:
+ case ARRAY_T:
+ case UINT64_T:
+ case INT64_T:
+ ERRMSG("Getting property Value:NOT SUPPORT vartype contents:%s %d", property_info->name, property_info->var_type);
+ break;
+ }
+ return x;
+}
diff --git a/src/prop_info.h b/src/prop_info.h
new file mode 100644
index 0000000..3d6bb5c
--- /dev/null
+++ b/src/prop_info.h
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _CANID_INFO_H_
+#define _CANID_INFO_H_
+
+#include <sys/types.h>
+#include <sys/time.h>
+#include <stdint.h>
+
+enum var_type_t {
+/* 0 */ VOID_T,
+/* 1 */ INT8_T,
+/* 2 */ INT16_T,
+/* 3 */ INT_T,
+/* 4 */ INT32_T,
+/* 5 */ INT64_T,
+/* 6 */ UINT8_T,
+/* 7 */ UINT16_T,
+/* 8 */ UINT_T,
+/* 9 */ UINT32_T,
+/* 10 */ UINT64_T,
+/* 11 */ STRING_T,
+/* 12 */ BOOL_T,
+/* 13 */ ARRAY_T,
+/* 14 */ ENABLE1_T /* AMB#CANRawPlugin original type */
+};
+
+union data_content_t {
+ uint32_t uint32_val;
+ int32_t int32_val;
+ uint16_t uint16_val;
+ int16_t int16_val;
+ uint8_t uint8_val;
+ int8_t int8_val;
+ int8_t bool_val;
+};
+
+struct prop_info_t {
+ const char * name;
+ unsigned char var_type;
+ union data_content_t curValue;
+
+ struct prop_info_t *next;
+};
+
+struct wheel_info_t {
+ unsigned int nData;
+ struct prop_info_t property[0];
+ /* This is variable structure */
+};
+
+extern const char * vartype2string(unsigned int t);
+extern int string2vartype(const char *varname);
+extern int propertyValue_int(struct prop_info_t *property_info);
+
+#endif
diff --git a/src/prop_search.c b/src/prop_search.c
new file mode 100644
index 0000000..f88de8a
--- /dev/null
+++ b/src/prop_search.c
@@ -0,0 +1,128 @@
+/*
+ * Copyright (c) 2017 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 <stdio.h>
+#include <stdlib.h>
+#include <search.h>
+#include <string.h>
+
+#include "af-steering-wheel-binding.h"
+#include "prop_search.h"
+
+#define SUPPORT_PROPERTY_LIMIT 512
+
+static void *property_root = NULL;
+static const char *support_property_list[SUPPORT_PROPERTY_LIMIT];
+static int nProperties = 0;
+static void (*_walker_action)(struct prop_info_t *);
+
+static int property_compare(const void *pa, const void *pb)
+{
+ struct prop_info_t *a =(struct prop_info_t *)pa;
+ struct prop_info_t *b =(struct prop_info_t *)pb;
+ return strcmp(a->name,b->name);
+}
+
+static int addProperty_dict(struct prop_info_t *prop_info)
+{
+ void *v;
+ v = tfind((void *)prop_info, &property_root, property_compare);
+ if (v == NULL)
+ {
+ v = tsearch((void *)prop_info, &property_root, property_compare);
+ if (v == NULL)
+ {
+ ERRMSG("add property failed: not enogh memory?");
+ return -1;
+ }
+ if (nProperties >= SUPPORT_PROPERTY_LIMIT)
+ {
+ ERRMSG("Reach properties limit");
+ return -1;
+ }
+ support_property_list[nProperties] = prop_info->name;
+ ++nProperties;
+ return 0;
+ } /* else Multi entry */
+
+ return 1;
+}
+
+int addAllPropDict(struct wheel_info_t *wheel_info)
+{
+ unsigned int maxEntry = wheel_info->nData;
+
+ for(unsigned int i=0; i < maxEntry ; i++)
+ {
+ int ret;
+ ret = addProperty_dict(&wheel_info->property[i]);
+ if (!ret)
+ {
+ continue;
+ }
+ }
+
+ return 0;
+}
+
+const char **getSupportPropertiesList(int *nEntry)
+{
+ *nEntry = nProperties;
+ return support_property_list;
+}
+
+struct prop_info_t * getProperty_dict(const char *propertyName)
+{
+ struct prop_info_t key;
+ void *v;
+
+ key.name = propertyName;
+ v = tfind((void *)&key, &property_root, property_compare);
+ if (v == NULL) {
+ return NULL;
+ }
+ return (*(struct prop_info_t **)v);
+}
+
+static void canid_walk_action(const void *nodep, const VISIT which , const int depth)
+{
+ struct prop_info_t *datap;
+
+ switch (which) {
+ case preorder:
+ break;
+ case postorder:
+ datap = *(struct prop_info_t **) nodep;
+ _walker_action(datap);
+ break;
+ case endorder:
+ break;
+ case leaf:
+ datap = *(struct prop_info_t **) nodep;
+ _walker_action(datap);
+ break;
+ }
+}
+
+void canid_walker(void (*walker_action)(struct prop_info_t *))
+{
+ if (walker_action == NULL)
+ return;
+ _walker_action = walker_action;
+ twalk(property_root, canid_walk_action);
+}
diff --git a/src/prop_search.h b/src/prop_search.h
new file mode 100644
index 0000000..85791e5
--- /dev/null
+++ b/src/prop_search.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _PROP_SEARCH_H_
+#define _PROP_SEARCH_H_
+
+#include "prop_info.h"
+
+extern int addAllPropDict(struct wheel_info_t *wheel_info);
+extern struct prop_info_t * getProperty_dict(const char *propertyName);
+const char **getSupportPropertiesList(int *nEntry);
+extern void canid_walker(void (*walker_action)(struct prop_info_t *));
+
+#endif
diff --git a/src/steering_wheel_json.c b/src/steering_wheel_json.c
new file mode 100644
index 0000000..9d72284
--- /dev/null
+++ b/src/steering_wheel_json.c
@@ -0,0 +1,346 @@
+/*
+ * Copyright (c) 2017 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 <json-c/json.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/stat.h>
+#include "af-steering-wheel-binding.h"
+#include "steering_wheel_json.h"
+#include "prop_info.h"
+#include "prop_search.h"
+
+extern double gearRatio[];
+
+struct wheel_info_t *wheel_info;
+
+static int parse_property(struct wheel_info_t *wheel_info, int idx, json_object *obj_property)
+{
+ int var_type = 0;
+ char *name = NULL;
+
+ if(obj_property)
+ {
+ json_object_object_foreach(obj_property, key, val)
+ {
+ if (strcmp("PROPERTY", key) == 0)
+ {
+ name = (char *)json_object_get_string(val);
+ }
+ else if(strcmp("TYPE", key) == 0)
+ {
+ const char *_varname = json_object_get_string(val);
+ var_type = string2vartype(_varname);
+ }
+ }
+
+ wheel_info->property[idx].name = strdup(name);
+ wheel_info->property[idx].var_type = (unsigned char)var_type;
+ }
+
+ return 0;
+}
+
+#define DEFAULT_PROP_CNT (16)
+static int parse_propertys(json_object *obj_propertys)
+{
+ int err = 0;
+ json_object * obj_property;
+ size_t ms = sizeof(struct wheel_info_t) + (size_t)(DEFAULT_PROP_CNT*sizeof(struct prop_info_t));
+
+ if(obj_propertys)
+ {
+ wheel_info = malloc(ms);
+ if (wheel_info == NULL)
+ {
+ ERRMSG("Not enogh memory");
+ return 1;
+ }
+ memset(wheel_info, 0 , ms);
+
+ enum json_type type = json_object_get_type(obj_propertys);
+ if (type == json_type_array)
+ {
+ int array_len = json_object_array_length(obj_propertys);
+ if(array_len > DEFAULT_PROP_CNT)
+ {
+ wheel_info = realloc(wheel_info, sizeof(struct wheel_info_t) + ((size_t)array_len * sizeof(struct prop_info_t)));
+ if (wheel_info == NULL)
+ {
+ ERRMSG("not enogh memory");
+ exit(1);
+ }
+
+ memset(&wheel_info->property[DEFAULT_PROP_CNT], 0, (size_t)(array_len - DEFAULT_PROP_CNT)*sizeof(struct prop_info_t));
+ }
+
+ for (int i = 0; i < array_len; i++)
+ {
+ obj_property = json_object_array_get_idx(obj_propertys, i);
+ err = parse_property(wheel_info, i, obj_property);
+ }
+
+ wheel_info->nData = (unsigned int)array_len;
+ addAllPropDict(wheel_info);
+ }
+ }
+
+ return err;
+}
+
+static int parse_json(json_object *obj)
+{
+ int err = 0;
+ json_object_object_foreach(obj, key, val)
+ {
+ if (strcmp(key,"PROPERTYS") == 0)
+ {
+ err += parse_propertys(val);
+ }
+ else
+ {
+ ++err;
+ ERRMSG("json: Unknown key \"%s\"", key);
+ }
+ }
+ return err;
+}
+
+int wheel_define_init(const char *fname)
+{
+ struct json_object *jobj;
+ int fd_wheel_map;
+ struct stat stbuf;
+ char *filebuf;
+
+ fd_wheel_map = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
+ if (fd_wheel_map < 0)
+ {
+ ERRMSG("wheel map is not access");
+ return -1;
+ }
+
+ FILE *fp = fdopen(fd_wheel_map,"r");
+ if (fp == NULL)
+ {
+ ERRMSG("canno read wheel map file");
+ return -1;
+ }
+
+ if (fstat(fd_wheel_map, &stbuf) == -1)
+ {
+ ERRMSG("cant get file state");
+ return -1;
+ }
+
+ filebuf = (char *)malloc(stbuf.st_size);
+ fread(filebuf, 1, stbuf.st_size, fp);
+ fclose(fp);
+
+ jobj = json_tokener_parse(filebuf);
+ if (jobj == NULL)
+ {
+ ERRMSG("cannot data from file \"%s\"",fname);
+ free(filebuf);
+ return 1;
+ }
+
+ parse_json(jobj);
+
+ json_object_put(jobj);
+
+ free(filebuf);
+ return 0;
+}
+
+static int parse_gear_para_json(json_object *obj)
+{
+ int err = 0;
+ json_object * obj_speed_para;
+ char *pos_name = NULL;
+ double pos_val = 0;
+
+ json_object_object_foreach(obj, key, val)
+ {
+ if (strcmp(key,"GEAR_PARA") == 0)
+ {
+ enum json_type type = json_object_get_type(val);
+ if (type == json_type_array)
+ {
+ int array_len = json_object_array_length(val);
+ NOTICEMSG("array_len:%d!", array_len);
+ for (int i = 0; i < array_len; i++)
+ {
+ obj_speed_para = json_object_array_get_idx(val, i);
+ if(obj_speed_para)
+ {
+ json_object_object_foreach(obj_speed_para, key, val)
+ {
+ ///
+ if (strcmp("POS", key) == 0)
+ {
+ pos_name = (char *)json_object_get_string(val);
+ }
+ else if(strcmp("VAL", key) == 0)
+ {
+ pos_val = json_object_get_double(val);
+ }
+
+ ///
+ if(strcmp("First", pos_name) == 0)
+ {
+ gearRatio[1] = (double)(1.0 / pos_val);
+ }
+ else if(strcmp("Second", pos_name) == 0)
+ {
+ gearRatio[2] = (double)(1.0 / pos_val);
+ }
+ else if(strcmp("Third", pos_name) == 0)
+ {
+ gearRatio[3] = (double)(1.0 / pos_val);
+ }
+ else if(strcmp("Fourth", pos_name) == 0)
+ {
+ gearRatio[4] = (double)(1.0 / pos_val);
+ }
+ else if(strcmp("Fifth", pos_name) == 0)
+ {
+ gearRatio[5] = (double)(1.0 / pos_val);
+ }
+ else if(strcmp("Sixth", pos_name) == 0)
+ {
+ gearRatio[6] = (double)(1.0 / pos_val);
+ }
+ else if(strcmp("Reverse", pos_name) == 0)
+ {
+ gearRatio[7] = (double)(1.0 / pos_val);
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+ ERRMSG("json: Need array \"%s\"", key);
+ }
+ }
+ else
+ {
+ ERRMSG("json: Unknown key \"%s\"", key);
+ }
+ }
+ return err;
+}
+
+int wheel_gear_para_init(const char *fname)
+{
+ struct json_object *jobj;
+ int fd_gear_para;
+ struct stat stbuf;
+ char *filebuf;
+
+ fd_gear_para = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
+ if (fd_gear_para < 0)
+ {
+ ERRMSG("gear para is not access");
+ return -1;
+ }
+
+ FILE *fp = fdopen(fd_gear_para,"r");
+ if (fp == NULL)
+ {
+ ERRMSG("canno read gear para file");
+ return -1;
+ }
+
+ if (fstat(fd_gear_para, &stbuf) == -1)
+ {
+ ERRMSG("cant get file state.\n");
+ return -1;
+ }
+
+ filebuf = (char*)malloc(stbuf.st_size);
+ fread(filebuf, 1, stbuf.st_size, fp);
+ fclose(fp);
+
+ jobj = json_tokener_parse(filebuf);
+ if (jobj == NULL)
+ {
+ ERRMSG("cannot data from file \"%s\"",fname);
+ free(filebuf);
+ return 1;
+ }
+ parse_gear_para_json(jobj);
+
+ json_object_put(jobj);
+
+ free(filebuf);
+ return 0;
+}
+
+struct json_object *property2json(struct prop_info_t *property)
+{
+ struct json_object *jobj;
+ struct json_object *nameObject = NULL;
+ struct json_object *valueObject = NULL;
+
+ if (property == NULL)
+ return NULL;
+
+ jobj = json_object_new_object();
+ if (jobj == NULL)
+ return NULL;
+ switch(property->var_type)
+ {
+ case VOID_T: /* FALLTHROUGH */
+ case INT8_T: /* FALLTHROUGH */
+ case INT16_T: /* FALLTHROUGH */
+ case INT_T: /* FALLTHROUGH */
+ case INT32_T: /* FALLTHROUGH */
+ case INT64_T: /* FALLTHROUGH */
+ case UINT8_T: /* FALLTHROUGH */
+ case UINT16_T: /* FALLTHROUGH */
+ case UINT_T: /* FALLTHROUGH */
+ case UINT32_T: /* FALLTHROUGH */
+ case ENABLE1_T:
+ valueObject = json_object_new_int(propertyValue_int(property));
+ break;
+
+ case BOOL_T:
+ valueObject = json_object_new_boolean(property->curValue.bool_val);
+ break;
+
+ default:
+ ERRMSG("Unknown value type:%d", property->var_type);
+ break;
+ }
+
+ if (valueObject == NULL)
+ {
+ ERRMSG("fail json ValueObject");
+ json_object_put(jobj);
+ return NULL;
+ }
+
+ nameObject = json_object_new_string(property->name);
+
+ json_object_object_add(jobj, "name", nameObject);
+ json_object_object_add(jobj, "value", valueObject);
+
+ return jobj;
+}
diff --git a/src/steering_wheel_json.h b/src/steering_wheel_json.h
new file mode 100644
index 0000000..3c2c8c9
--- /dev/null
+++ b/src/steering_wheel_json.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c) 2017 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.
+ */
+
+#ifndef _WHEEL_JSON_H_
+#define _WHEEL_JSON_H_
+
+#include <fcntl.h>
+#include <json-c/json.h>
+
+extern int wheel_define_init(const char *fname);
+extern int wheel_gear_para_init(const char *fname);
+extern struct json_object *property2json(struct prop_info_t *property);
+
+#endif