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-rw-r--r--src/CMakeLists.txt61
-rw-r--r--src/af-steering-wheel-binding.c426
-rw-r--r--src/bind_event.c114
-rw-r--r--src/bind_event.h33
-rw-r--r--src/can_encoder.c344
-rw-r--r--src/can_encoder.h55
-rw-r--r--src/config.xml21
-rw-r--r--src/debug_msg.h77
-rw-r--r--src/export.map1
-rw-r--r--src/gear_shift_para.json32
-rw-r--r--src/icon.pngbin10651 -> 0 bytes
-rw-r--r--src/js_raw.c77
-rw-r--r--src/js_raw.h3
-rw-r--r--src/js_signal_event.c259
-rw-r--r--src/js_signal_event.h9
-rw-r--r--src/prop_info.c6
-rw-r--r--src/prop_info.h6
-rw-r--r--src/prop_search.c8
-rw-r--r--src/prop_search.h2
-rw-r--r--src/steering_wheel.json5
-rw-r--r--src/steering_wheel_json.c62
-rw-r--r--src/steering_wheel_json.h2
-rw-r--r--src/steering_wheel_map.json36
-rw-r--r--src/wheel-service.c420
-rw-r--r--src/wheel-service.h (renamed from src/af-steering-wheel-binding.h)12
25 files changed, 1214 insertions, 857 deletions
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 73377ca..bd80cec 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -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.
@@ -26,20 +26,19 @@ 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)
+#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 ${PROJECT_BINARY_DIR}/package/root/lib)
###########################################################################
include(FindPkgConfig)
#*<NESSARY> pkg_check_modules(EXTRAS REQUIRED json-c libsystemd afb-daemon)
-#pkg_check_modules(EXTRAS REQUIRED json-c)
+pkg_check_modules(EXTRAS REQUIRED json-c libsystemd)
add_compile_options(${EXTRAS_CFLAGS})
include_directories(${EXTRAS_INCLUDE_DIRS})
link_libraries(${EXTRAS_LIBRARIES})
@@ -54,54 +53,8 @@ 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)
-
+SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
+AUX_SOURCE_DIRECTORY(. SRC_LST)
+ADD_EXECUTABLE( wheel-service ${SRC_LST})
+TARGET_LINK_LIBRARIES( wheel-service pthread)
diff --git a/src/af-steering-wheel-binding.c b/src/af-steering-wheel-binding.c
deleted file mode 100644
index 908bf71..0000000
--- a/src/af-steering-wheel-binding.c
+++ /dev/null
@@ -1,426 +0,0 @@
-/*
- * 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/bind_event.c b/src/bind_event.c
deleted file mode 100644
index 01887cd..0000000
--- a/src/bind_event.c
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * 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
deleted file mode 100644
index 5e44a5b..0000000
--- a/src/bind_event.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * 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/can_encoder.c b/src/can_encoder.c
new file mode 100644
index 0000000..672bfd3
--- /dev/null
+++ b/src/can_encoder.c
@@ -0,0 +1,344 @@
+/*
+ * 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;
+}
diff --git a/src/can_encoder.h b/src/can_encoder.h
new file mode 100644
index 0000000..82b5ea0
--- /dev/null
+++ b/src/can_encoder.h
@@ -0,0 +1,55 @@
+/*
+ * 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.
+ * 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 _CAN_ENCODER_H_
+#define _CAN_ENCODER_H_
+
+#include <string.h>
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <sys/socket.h> /* for sa_family_t */
+#include <linux/can.h>
+#include <linux/can/error.h>
+
+
+#include "prop_info.h"
+
+#define MAX_LENGTH 16
+#define MAX_CANDATA_SIZE 20
+
+struct can_data_t
+{
+ char dat[MAX_CANDATA_SIZE+1];
+ struct can_data_t * next;
+};
+
+struct canmsg_info_t {
+ char canid[4];
+ u_int64_t value;
+};
+
+
+extern void init_can_encoder(void);
+extern int push(char *dat);
+extern struct can_data_t* pop(void);
+extern void clear(void);
+extern char * makeCanData(struct prop_info_t *property_info);
+extern unsigned char can_dlc2len(unsigned char can_dlc);
+extern unsigned char can_len2dlc(unsigned char len);
+extern int parse_canframe(char *cs, struct canfd_frame *cf);
+
+#endif /* _CAN_ENCODER_H_ */
diff --git a/src/config.xml b/src/config.xml
deleted file mode 100644
index 58b1ffb..0000000
--- a/src/config.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<?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-binding">
- <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/src/debug_msg.h b/src/debug_msg.h
new file mode 100644
index 0000000..47e6ea2
--- /dev/null
+++ b/src/debug_msg.h
@@ -0,0 +1,77 @@
+/*
+ * 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.
+ * 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 __DBG_DEBUG_H__
+#define __DBG_DEBUG_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <time.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <string.h>
+#include <stdlib.h>
+
+enum LOG_LEVEL{
+ LOG_LEVEL_NONE = 0,
+ LOG_LEVEL_ERROR,
+ LOG_LEVEL_WARNING,
+ LOG_LEVEL_NOTICE,
+ LOG_LEVEL_INFO,
+ LOG_LEVEL_DEBUG,
+ LOG_LEVEL_MAX = LOG_LEVEL_DEBUG
+};
+
+#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
+
+#define DBG_ERROR(args,...) _DBG_LOG(LOG_LEVEL_ERROR, __FILENAME__, __FUNCTION__, __LINE__, args, ##__VA_ARGS__)
+#define DBG_WARNING(args,...) _DBG_LOG(LOG_LEVEL_WARNING, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
+#define DBG_NOTICE(args,...) _DBG_LOG(LOG_LEVEL_NOTICE, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
+#define DBG_INFO(args,...) _DBG_LOG(LOG_LEVEL_INFO, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
+#define DBG_DEBUG(args,...) _DBG_LOG(LOG_LEVEL_DEBUG, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
+
+static char ERROR_FLAG[6][20] = {"NONE", "ERROR", "WARNING", "NOTICE", "INFO", "DEBUG"};
+
+static void _DBG_LOG(enum LOG_LEVEL level, const char* file, const char* func, const int line, const char* log, ...)
+{
+ const int log_level = (getenv("USE_WHEEL_DEBUG") == NULL)?LOG_LEVEL_ERROR:atoi(getenv("USE_WHEEL_DEBUG"));
+ if(log_level < level)
+ {
+ return;
+ }
+
+ char *message;
+ struct timespec tp;
+ unsigned int time;
+
+ clock_gettime(CLOCK_REALTIME, &tp);
+ time = (tp.tv_sec * 1000000L) + (tp.tv_nsec / 1000);
+
+ va_list args;
+ va_start(args, log);
+ if (log == NULL || vasprintf(&message, log, args) < 0)
+ message = NULL;
+ fprintf(stderr, "[%10.3f] [%s %s] [%s, %s(), Line:%d] >>> %s \n", time / 1000.0, "wheel", ERROR_FLAG[level], file, func, line, message);
+ va_end(args);
+ free(message);
+}
+
+#ifdef __cplusplus
+}
+#endif
+#endif //__DBG_DEBUG_H__
diff --git a/src/export.map b/src/export.map
deleted file mode 100644
index ee2f413..0000000
--- a/src/export.map
+++ /dev/null
@@ -1 +0,0 @@
-{ global: afbBindingV*; local: *; };
diff --git a/src/gear_shift_para.json b/src/gear_shift_para.json
deleted file mode 100644
index 3b58da7..0000000
--- a/src/gear_shift_para.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
- "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/src/icon.png b/src/icon.png
deleted file mode 100644
index def888b..0000000
--- a/src/icon.png
+++ /dev/null
Binary files differ
diff --git a/src/js_raw.c b/src/js_raw.c
index 5541162..9cdc168 100644
--- a/src/js_raw.c
+++ b/src/js_raw.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.
@@ -26,7 +26,7 @@
#include <linux/input.h>
#include <linux/joystick.h>
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.h"
#include "js_raw.h"
#include "js_signal_event.h"
@@ -34,6 +34,8 @@
static int *axis;
static char *button;
+static timer_t tid;
+static struct sigaction oldact;
int js_signal_read(int fd)
{
@@ -44,16 +46,22 @@ int js_signal_read(int fd)
size = read(fd, &jsEvent, sizeof(struct js_event));
if(size != 0)
{
- switch (jsEvent.type & ~JS_EVENT_INIT)
+ switch (jsEvent.type) //& ~JS_EVENT_INIT don't deal with init state.
{
+ case JS_EVENT_BUTTON | JS_EVENT_INIT:
+ DBG_NOTICE("This is JS_EVENT_BUTTON init state [%d] : %d.", jsEvent.number, button[jsEvent.number]);
+ break;
+ case JS_EVENT_AXIS | JS_EVENT_INIT:
+ DBG_NOTICE("This is JS_EVENT_AXIS init state [%d] : %d.", jsEvent.number, axis[jsEvent.number]);
+ break;
case JS_EVENT_BUTTON:
button[jsEvent.number] = (char)jsEvent.value;
- //NOTICEMSG("JS_EVENT_BUTTON %d\n", button[jsEvent.number]);
+ DBG_NOTICE("JS_EVENT_BUTTON [%d] : %d.", jsEvent.number, 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]);
+ DBG_NOTICE("JS_EVENT_AXIS [%d] : %d.", jsEvent.number, axis[jsEvent.number]);
newAxisValue(jsEvent.number, jsEvent.value);
break;
default:
@@ -80,7 +88,7 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
rc = js_signal_read(fd);
if(rc == -1)
{
- ERRMSG("JS Frame Read failed");
+ DBG_ERROR("JS Frame Read failed");
return -1;
}
@@ -89,19 +97,20 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
{
/* T.B.D
* if error or hungup */
- ERRMSG("Error or Hunup: rvent=%08x", revents);
+ DBG_ERROR("Error or Hunup: rvent=%08x", revents);
}
return 0;
}
-int js_open(const char *devname)
+int js_open(const char *devname)
{
unsigned char numAxes = 0;
unsigned char numButtons = 0;
int version = 0;
int fd;
char name[JSNAMELEN] = "Unknown";
+ char steering_name[JSNAMELEN] = "Logitech G29 Driving Force Racing Wheel";
struct js_corr cal[6];
int i, j;
@@ -125,6 +134,17 @@ int js_open(const char *devname)
ioctl(fd, JSIOCGBUTTONS, &numButtons);
ioctl(fd, JSIOCGNAME(JSNAMELEN), name);
+ if (strcmp(name, steering_name) == 0)
+ {
+ setJsType(JS_TYPE_STEERING);
+ DBG_NOTICE("JS_TYPE_STEERING type!");
+ }
+ else
+ {
+ setJsType(JS_TYPE_GAME_CTL);
+ DBG_NOTICE("JS_TYPE_GAME_CTL type!");
+ }
+
for (i = 0; i < 6; i++)
{
int k = 0;
@@ -151,7 +171,7 @@ int js_open(const char *devname)
gis = g_unix_input_stream_new(fd, TRUE);
if(gis == NULL)
{
- ERRMSG("g_unix_input_stream_new() failed!");
+ DBG_ERROR("g_unix_input_stream_new() failed!");
}
else
{
@@ -172,3 +192,42 @@ void js_close(int js)
close(js);
}
+
+int init_timer()
+{
+ struct sigaction act;
+ struct itimerspec itval;
+
+ memset(&act, 0, sizeof(struct sigaction));
+ memset(&oldact, 0, sizeof(struct sigaction));
+
+ act.sa_handler = updateTimerHandler;
+ act.sa_flags = SA_RESTART;
+ if(sigaction(SIGALRM, &act, &oldact) < 0) {
+ DBG_ERROR("sigaction failed.");
+ return -1;
+ }
+
+ itval.it_value.tv_sec = 0;
+ itval.it_value.tv_nsec = 200000000;
+ itval.it_interval.tv_sec = 0;
+ itval.it_interval.tv_nsec = 200000000;
+
+ if(timer_create(CLOCK_REALTIME, NULL, &tid) < 0) {
+ DBG_ERROR("timer_create failed.");
+ return -1;
+ }
+
+ if(timer_settime(tid, 0, &itval, NULL) < 0) {
+ DBG_ERROR("timer_settime failed.");
+ return -1;
+ }
+
+ return 0;
+}
+
+void deinit_timer()
+{
+ timer_delete(tid);
+ sigaction(SIGALRM, &oldact, NULL);
+} \ No newline at end of file
diff --git a/src/js_raw.h b/src/js_raw.h
index 79db219..833a5e1 100644
--- a/src/js_raw.h
+++ b/src/js_raw.h
@@ -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.
@@ -23,5 +23,6 @@
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);
+extern int init_timer();
#endif
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
diff --git a/src/js_signal_event.h b/src/js_signal_event.h
index 3cff704..3dca3a9 100644
--- a/src/js_signal_event.h
+++ b/src/js_signal_event.h
@@ -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.
@@ -21,5 +21,12 @@ extern struct wheel_info_t *wheel_info;
extern void newButtonValue(char number, int val);
extern void newAxisValue(char number, int val);
+extern void updateTimerHandler(int signum);
+extern void setJsType(int jstype);
+
+enum eJsType {
+ JS_TYPE_STEERING = 0,
+ JS_TYPE_GAME_CTL = 1,
+};
#endif
diff --git a/src/prop_info.c b/src/prop_info.c
index 95d4f58..e8ab461 100644
--- a/src/prop_info.c
+++ b/src/prop_info.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.
@@ -20,7 +20,7 @@
#include <stdint.h>
#include "prop_info.h"
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.h"
#define ENABLE1_TYPENAME "ENABLE-1" /* spec. type1.json original type name */
@@ -96,7 +96,7 @@ int propertyValue_int(struct prop_info_t *property_info)
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);
+ DBG_ERROR("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
index 3d6bb5c..dac63eb 100644
--- a/src/prop_info.h
+++ b/src/prop_info.h
@@ -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.
@@ -52,6 +52,10 @@ union data_content_t {
struct prop_info_t {
const char * name;
unsigned char var_type;
+ const char * can_id;
+ uint8_t bit_pos;
+ uint8_t bit_size;
+ uint8_t dlc;
union data_content_t curValue;
struct prop_info_t *next;
diff --git a/src/prop_search.c b/src/prop_search.c
index f88de8a..fce139e 100644
--- a/src/prop_search.c
+++ b/src/prop_search.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.
@@ -21,7 +21,7 @@
#include <search.h>
#include <string.h>
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.h"
#include "prop_search.h"
#define SUPPORT_PROPERTY_LIMIT 512
@@ -47,12 +47,12 @@ static int addProperty_dict(struct prop_info_t *prop_info)
v = tsearch((void *)prop_info, &property_root, property_compare);
if (v == NULL)
{
- ERRMSG("add property failed: not enogh memory?");
+ DBG_ERROR("add property failed: not enogh memory?");
return -1;
}
if (nProperties >= SUPPORT_PROPERTY_LIMIT)
{
- ERRMSG("Reach properties limit");
+ DBG_ERROR("Reach properties limit");
return -1;
}
support_property_list[nProperties] = prop_info->name;
diff --git a/src/prop_search.h b/src/prop_search.h
index 85791e5..85c505c 100644
--- a/src/prop_search.h
+++ b/src/prop_search.h
@@ -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.
diff --git a/src/steering_wheel.json b/src/steering_wheel.json
deleted file mode 100644
index 1a5e889..0000000
--- a/src/steering_wheel.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
- "dev_name": "/dev/input/js0",
- "wheel_map": "steering_wheel_map.json",
- "gear_para": "gear_shift_para.json"
-}
diff --git a/src/steering_wheel_json.c b/src/steering_wheel_json.c
index 9d72284..5831983 100644
--- a/src/steering_wheel_json.c
+++ b/src/steering_wheel_json.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.
@@ -20,7 +20,7 @@
#include <stdlib.h>
#include <string.h>
#include <sys/stat.h>
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.h"
#include "steering_wheel_json.h"
#include "prop_info.h"
#include "prop_search.h"
@@ -33,6 +33,7 @@ static int parse_property(struct wheel_info_t *wheel_info, int idx, json_object
{
int var_type = 0;
char *name = NULL;
+ char *canid = NULL;
if(obj_property)
{
@@ -47,10 +48,30 @@ static int parse_property(struct wheel_info_t *wheel_info, int idx, json_object
const char *_varname = json_object_get_string(val);
var_type = string2vartype(_varname);
}
+ else if(strcmp("CANID", key) == 0)
+ {
+ canid = (char *)json_object_get_string(val);
+ }
+ else if(strcmp("BIT_POSITION", key) == 0)
+ {
+ const char * tmp = json_object_get_string(val);
+ wheel_info->property[idx].bit_pos = (uint8_t)strtoul(tmp, 0, 0);
+ }
+ else if(strcmp("BIT_SIZE", key) == 0)
+ {
+ const char * tmp = json_object_get_string(val);
+ wheel_info->property[idx].bit_size = (uint8_t)strtoul(tmp, 0, 0);
+ }
+ else if(strcmp("DLC", key) == 0)
+ {
+ const char * tmp = json_object_get_string(val);
+ wheel_info->property[idx].dlc = (uint8_t)strtoul(tmp, 0, 0);
+ }
}
wheel_info->property[idx].name = strdup(name);
wheel_info->property[idx].var_type = (unsigned char)var_type;
+ wheel_info->property[idx].can_id = strdup(canid);
}
return 0;
@@ -68,7 +89,7 @@ static int parse_propertys(json_object *obj_propertys)
wheel_info = malloc(ms);
if (wheel_info == NULL)
{
- ERRMSG("Not enogh memory");
+ DBG_ERROR("Not enogh memory");
return 1;
}
memset(wheel_info, 0 , ms);
@@ -82,7 +103,7 @@ static int parse_propertys(json_object *obj_propertys)
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");
+ DBG_ERROR("not enogh memory");
exit(1);
}
@@ -115,7 +136,7 @@ static int parse_json(json_object *obj)
else
{
++err;
- ERRMSG("json: Unknown key \"%s\"", key);
+ DBG_ERROR("json: Unknown key \"%s\"", key);
}
}
return err;
@@ -128,23 +149,23 @@ int wheel_define_init(const char *fname)
struct stat stbuf;
char *filebuf;
- fd_wheel_map = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
+ fd_wheel_map = open(fname, O_RDONLY);
if (fd_wheel_map < 0)
{
- ERRMSG("wheel map is not access");
+ DBG_ERROR("wheel map is not access");
return -1;
}
FILE *fp = fdopen(fd_wheel_map,"r");
if (fp == NULL)
{
- ERRMSG("canno read wheel map file");
+ DBG_ERROR("cannot read wheel map file");
return -1;
}
if (fstat(fd_wheel_map, &stbuf) == -1)
{
- ERRMSG("cant get file state");
+ DBG_ERROR("cant get file state");
return -1;
}
@@ -155,7 +176,7 @@ int wheel_define_init(const char *fname)
jobj = json_tokener_parse(filebuf);
if (jobj == NULL)
{
- ERRMSG("cannot data from file \"%s\"",fname);
+ DBG_ERROR("cannot read data from file \"%s\"",fname);
free(filebuf);
return 1;
}
@@ -183,7 +204,7 @@ static int parse_gear_para_json(json_object *obj)
if (type == json_type_array)
{
int array_len = json_object_array_length(val);
- NOTICEMSG("array_len:%d!", array_len);
+ DBG_NOTICE("array_len:%d!", array_len);
for (int i = 0; i < array_len; i++)
{
obj_speed_para = json_object_array_get_idx(val, i);
@@ -236,12 +257,12 @@ static int parse_gear_para_json(json_object *obj)
}
else
{
- ERRMSG("json: Need array \"%s\"", key);
+ DBG_ERROR("json: Need array \"%s\"", key);
}
}
else
{
- ERRMSG("json: Unknown key \"%s\"", key);
+ DBG_ERROR("json: Unknown key \"%s\"", key);
}
}
return err;
@@ -254,23 +275,24 @@ int wheel_gear_para_init(const char *fname)
struct stat stbuf;
char *filebuf;
- fd_gear_para = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
+// fd_gear_para = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
+ fd_gear_para = open(fname, O_RDONLY);
if (fd_gear_para < 0)
{
- ERRMSG("gear para is not access");
+ DBG_ERROR("gear para is not access");
return -1;
}
FILE *fp = fdopen(fd_gear_para,"r");
if (fp == NULL)
{
- ERRMSG("canno read gear para file");
+ DBG_ERROR("cannot read gear para file");
return -1;
}
if (fstat(fd_gear_para, &stbuf) == -1)
{
- ERRMSG("cant get file state.\n");
+ DBG_ERROR("cant get file state.\n");
return -1;
}
@@ -281,7 +303,7 @@ int wheel_gear_para_init(const char *fname)
jobj = json_tokener_parse(filebuf);
if (jobj == NULL)
{
- ERRMSG("cannot data from file \"%s\"",fname);
+ DBG_ERROR("cannot data from file \"%s\"",fname);
free(filebuf);
return 1;
}
@@ -326,13 +348,13 @@ struct json_object *property2json(struct prop_info_t *property)
break;
default:
- ERRMSG("Unknown value type:%d", property->var_type);
+ DBG_ERROR("Unknown value type:%d", property->var_type);
break;
}
if (valueObject == NULL)
{
- ERRMSG("fail json ValueObject");
+ DBG_ERROR("fail json ValueObject");
json_object_put(jobj);
return NULL;
}
diff --git a/src/steering_wheel_json.h b/src/steering_wheel_json.h
index 3c2c8c9..e9d2d05 100644
--- a/src/steering_wheel_json.h
+++ b/src/steering_wheel_json.h
@@ -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.
diff --git a/src/steering_wheel_map.json b/src/steering_wheel_map.json
deleted file mode 100644
index 9e580d9..0000000
--- a/src/steering_wheel_map.json
+++ /dev/null
@@ -1,36 +0,0 @@
-{
- "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/src/wheel-service.c b/src/wheel-service.c
new file mode 100644
index 0000000..38303e8
--- /dev/null
+++ b/src/wheel-service.c
@@ -0,0 +1,420 @@
+/*
+ * 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.
+ * 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 <sys/stat.h>
+#include <pthread.h>
+#include <systemd/sd-event.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+
+#include "wheel-service.h"
+#include "steering_wheel_json.h"
+#include "prop_search.h"
+#include "js_raw.h"
+#include "can_encoder.h"
+
+#define ENABLE_EVENT_DROP
+#define STEERING_WHEEL_JSON "/etc/steering_wheel.json"
+#define BUS_MAP_CONF "/etc/dev-mapping.conf"
+
+struct wheel_conf
+{
+ char *devname;
+};
+
+struct transmission_bus_conf
+{
+ char *hs;
+ char *ls;
+};
+static struct transmission_bus_conf trans_conf;
+
+/*
+ * notify function
+ */
+int notify_property_changed(struct prop_info_t *property_info)
+{
+ DBG_NOTICE("notify_property_changed name=%s,value=%d", property_info->name, property_info->curValue);
+
+ int rc = push(makeCanData(property_info));
+ if (rc < 0)
+ {
+ DBG_ERROR("push failed");
+ return -1;
+ }
+
+ return 0;
+}
+
+/*
+ * transmission loop
+ */
+static void *transmission_event_loop(void *args)
+{
+ int s; /* can raw socket */
+ int required_mtu;
+ int mtu;
+ int enable_canfd = 1;
+ struct sockaddr_can addr;
+ struct canfd_frame frame;
+ struct ifreq ifr;
+// int retry = 0;
+
+ /* open socket */
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("open socket failed");
+ return 0;
+ }
+
+ addr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, trans_conf.hs);
+ /* wait until hs device start */
+ while(1) {
+ if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
+ clear(); /* clear transmission msg queue */
+ perror("SIOCGIFINDEX");
+ sleep(2);
+ }
+ else
+ {
+ break;
+ }
+ }
+
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ /* disable default receive filter on this RAW socket */
+ /* This is obsolete as we do not read from the socket at all, but for */
+ /* this reason we can remove the receive list in the Kernel to save a */
+ /* little (really a very little!) CPU usage. */
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 0;
+ }
+
+ while(1)
+ {
+ struct can_data_t* p = pop();
+ if(p == NULL)
+ {
+ /* sleep 150ms */
+ usleep(150000);
+ continue;
+ }
+
+ /* parse CAN frame */
+ required_mtu = parse_canframe(p->dat, &frame);
+ free(p);
+ if (!required_mtu){
+ DBG_ERROR("\nWrong CAN-frame format! Try:\n\n");
+ DBG_ERROR(" <can_id>#{R|data} for CAN 2.0 frames\n");
+ DBG_ERROR(" <can_id>##<flags>{data} for CAN FD frames\n\n");
+ DBG_ERROR("<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
+ DBG_ERROR("{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
+ DBG_ERROR(" separated by '.')\n");
+ DBG_ERROR("<flags> a single ASCII Hex value (0 .. F) which defines");
+ DBG_ERROR(" canfd_frame.flags\n\n");
+ DBG_ERROR("e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
+ DBG_ERROR("123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
+ DBG_ERROR("for remote transmission request.\n\n");
+ continue;
+ }
+
+ if (required_mtu > CAN_MTU) {
+
+ /* check if the frame fits into the CAN netdevice */
+ if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+ perror("SIOCGIFMTU");
+ continue;
+ }
+ mtu = ifr.ifr_mtu;
+
+ if (mtu != CANFD_MTU) {
+ DBG_ERROR("CAN interface ist not CAN FD capable - sorry.\n");
+ continue;
+ }
+
+ /* interface is ok - try to switch the socket into CAN FD mode */
+ if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+ &enable_canfd, sizeof(enable_canfd))){
+ DBG_ERROR("error when enabling CAN FD support\n");
+ continue;
+ }
+
+ /* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
+ frame.len = can_dlc2len(can_len2dlc(frame.len));
+ }
+
+ /* send frame */
+ if (write(s, &frame, required_mtu) != required_mtu) {
+ perror("write");
+ }
+ }
+}
+/*
+ * transmission thread main function
+ */
+static pthread_t runTransmissionLoop(void)
+{
+ pthread_t thread_id = 0;
+ int ret = pthread_create(&thread_id, NULL, transmission_event_loop, NULL);
+ if(ret != 0) {
+ DBG_ERROR( "Cannot run eventloop due to error:%d", errno);
+ return -1;
+ }
+
+ return thread_id;
+}
+
+/*
+ * connect to js device
+ */
+static int connection(struct wheel_conf *conf)
+{
+ int js;
+ int ret;
+ int rc;
+ sd_event_source *source;
+ sd_event *loop = NULL;
+
+ js = js_open(conf->devname);
+ if (js < 0)
+ {
+ js_close(js);
+ DBG_ERROR("can't connect to joy stick, the event loop failed");
+ return 0;
+ }
+
+ if(init_timer() < 0)
+ {
+ js_close(js);
+ DBG_ERROR("can't start update timer");
+ return 0;
+ }
+
+ /* get the default event loop */
+ rc = sd_event_default(&loop);
+ if (rc < 0) {
+ DBG_ERROR("connection to default event loop failed: %s\n", strerror(-rc));
+ loop = NULL;
+ return 0;
+ }
+
+ ret = sd_event_add_io(
+ loop,
+ &source,
+ js,
+ EPOLLIN,
+ on_event, NULL);
+ if (ret < 0)
+ {
+ js_close(js);
+ DBG_ERROR("can't add event, the event loop failed");
+ return 0;
+ }
+
+ DBG_NOTICE("connect to JS(%s), event loop started",conf->devname);
+
+ return 0;
+}
+
+/*
+ * read /etc/dev-mapping.conf file
+ */
+static int readTransBus(void)
+{
+ char *line = NULL;
+ char bus_name[4], bus_val[10];
+ size_t len = 0;
+ ssize_t read;
+
+ FILE *fp = fopen(BUS_MAP_CONF,"r");
+ if (fp == NULL)
+ {
+ DBG_ERROR("cannot read /etc/dev-mapping.conf");
+ return -1;
+ }
+
+ while(( read = getline(&line, &len, fp)) != -1) {
+ if(line == NULL || line[0] == '[')
+ continue;
+
+ memset(bus_name, 0, sizeof(bus_name));
+ memset(bus_val, 0, sizeof(bus_val));
+
+ sscanf(line, "%2s=\"%s", bus_name, bus_val);
+ bus_val[strlen(bus_val)-1] = '\0';
+ if (strcmp(bus_name, "hs") == 0)
+ {
+ trans_conf.hs = strdup(bus_val);
+ }
+ else if (strcmp(bus_name, "ls") == 0)
+ {
+ trans_conf.ls = strdup(bus_val);
+ }
+ }
+
+ if(line != NULL)
+ free(line);
+
+ fclose(fp);
+// DBG_ERROR("readTransBus end, hs:%s,ls:%s", trans_conf.hs, trans_conf.ls);
+ return 0;
+}
+
+/*
+ * parse configuration file (steering_wheel.json)
+ */
+static int init_conf(int fd_conf, struct wheel_conf *conf)
+{
+
+ char *filebuf = NULL;
+ json_object *jobj = NULL;
+ struct stat stbuf;
+
+ FILE *fp = fdopen(fd_conf,"r");
+ if (fp == NULL)
+ {
+ DBG_ERROR("cannot read configuration file(steering_wheel.json)");
+ return -1;
+ }
+
+ if (fstat(fd_conf, &stbuf) == -1)
+ {
+ DBG_ERROR("can't get file state");
+ return -1;
+ }
+
+// fseek(fp, 0, SEEK_SET);
+ filebuf = (char *)malloc(stbuf.st_size);
+ fread(filebuf, 1, stbuf.st_size, fp);
+ fclose(fp);
+
+ jobj = json_tokener_parse(filebuf);
+ if (jobj == NULL)
+// if (is_error(jobj))
+ {
+ DBG_ERROR("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);
+ free(filebuf);
+
+ return 0;
+}
+
+/*
+ * init js device
+ */
+static int init()
+{
+ DBG_NOTICE("init");
+
+ int fd_conf;
+ static struct wheel_conf conf;
+
+ init_can_encoder();
+
+ if (readTransBus())
+ {
+ DBG_ERROR("read file (/etc/dev-mapping.conf) failed");
+ return -1;
+ }
+
+ fd_conf = open(STEERING_WHEEL_JSON, O_RDONLY);
+ if (fd_conf < 0)
+ {
+ DBG_ERROR("wheel configuration (steering_wheel.json) is not access");
+ return -1;
+ }
+ if (init_conf(fd_conf, &conf))
+ {
+ DBG_ERROR("wheel json file (steering_wheel_map.json) is not access");
+ return -1;
+ }
+
+ return connection(&conf);
+}
+
+/*
+ * entry function
+ */
+int main(void)
+{
+ int rc;
+ pthread_t thread_id;
+ sd_event *loop = NULL;
+
+ /* device init */
+ rc = init();
+ if (rc < 0) {
+ DBG_ERROR("js device init failed: %s\n", strerror(-rc));
+ return 1;
+ }
+
+ /* start post thread */
+ thread_id = runTransmissionLoop();
+ if (thread_id < 0) {
+ DBG_ERROR("run post thread failed: %s\n", strerror(-thread_id));
+ }
+
+ /* get the default event loop */
+ rc = sd_event_default(&loop);
+ if (rc < 0) {
+ DBG_ERROR("connection to default event loop failed: %s\n", strerror(-rc));
+ return 1;
+ }
+
+ /* loop until end */
+ for(;;)
+ sd_event_run(loop, 30000000);
+ return 0;
+}
+
diff --git a/src/af-steering-wheel-binding.h b/src/wheel-service.h
index 1b7323c..f588599 100644
--- a/src/af-steering-wheel-binding.h
+++ b/src/wheel-service.h
@@ -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.
@@ -19,16 +19,10 @@
#define AFB_BINDING_VERSION 2
#include <afb/afb-binding.h>
-
#include "prop_info.h"
+#include "debug_msg.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
+#define LOG_PREFIX "wheel-service"
extern int notify_property_changed(struct prop_info_t *property_info);