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Diffstat (limited to 'src/js_signal_event.c')
| -rw-r--r-- | src/js_signal_event.c | 328 |
1 files changed, 328 insertions, 0 deletions
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; + } +} |