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-rw-r--r--src/CMakeLists.txt61
-rw-r--r--src/af-steering-wheel-binding.c426
-rw-r--r--src/af-steering-wheel-binding.h (renamed from src/wheel-service.h)12
-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.pngbin0 -> 10651 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
25 files changed, 857 insertions, 1214 deletions
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index bd80cec..73377ca 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,5 +1,5 @@
#
-# Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+# 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.
@@ -26,19 +26,20 @@ 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 ${PROJECT_BINARY_DIR}/package/root/lib)
###########################################################################
include(FindPkgConfig)
#*<NESSARY> pkg_check_modules(EXTRAS REQUIRED json-c libsystemd afb-daemon)
-pkg_check_modules(EXTRAS REQUIRED json-c libsystemd)
+#pkg_check_modules(EXTRAS REQUIRED json-c)
add_compile_options(${EXTRAS_CFLAGS})
include_directories(${EXTRAS_INCLUDE_DIRS})
link_libraries(${EXTRAS_LIBRARIES})
@@ -53,8 +54,54 @@ 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
+#* )
+
###############################################################
-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
-AUX_SOURCE_DIRECTORY(. SRC_LST)
-ADD_EXECUTABLE( wheel-service ${SRC_LST})
-TARGET_LINK_LIBRARIES( wheel-service pthread)
+add_library(af-steering-wheel-binding MODULE af-steering-wheel-binding.c bind_event.c steering_wheel_json.c prop_info.c prop_search.c js_signal_event.c js_raw.c)
+set_target_properties(af-steering-wheel-binding PROPERTIES
+ PREFIX ""
+ LINK_FLAGS "-Wl,--version-script=${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/wheel-service.h b/src/af-steering-wheel-binding.h
index f588599..1b7323c 100644
--- a/src/wheel-service.h
+++ b/src/af-steering-wheel-binding.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -19,10 +19,16 @@
#define AFB_BINDING_VERSION 2
#include <afb/afb-binding.h>
+
#include "prop_info.h"
-#include "debug_msg.h"
-#define LOG_PREFIX "wheel-service"
+#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);
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/can_encoder.c b/src/can_encoder.c
deleted file mode 100644
index 672bfd3..0000000
--- a/src/can_encoder.c
+++ /dev/null
@@ -1,344 +0,0 @@
-/*
- * Copyright (c) 2017-2018 TOYOTA MOTOR CORPORATION
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#define _GNU_SOURCE
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <linux/can.h>
-#include <linux/can/error.h>
-#include <pthread.h>
-#include <search.h>
-
-#include "can_encoder.h"
-#include "debug_msg.h"
-#include "wheel-service.h"
-
-
-#define CANID_DELIM '#'
-#define DATA_SEPERATOR '.'
-
-
-static struct can_data_t *phead = NULL, *ptail = NULL;
-static pthread_mutex_t lock;
-static char buf[MAX_CANDATA_SIZE+1] = {0};
-static char str[MAX_LENGTH+1] = {0};
-static void *canmsg_root = NULL;
-
-
-/* CAN DLC to real data length conversion helpers */
-static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
- 8, 12, 16, 20, 24, 32, 48, 64};
-
-/*
- * get data length from can_dlc with sanitized can_dlc
- */
-unsigned char can_dlc2len(unsigned char can_dlc)
-{
- return dlc2len[can_dlc & 0x0F];
-}
-
-static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, /* 0 - 8 */
- 9, 9, 9, 9, /* 9 - 12 */
- 10, 10, 10, 10, /* 13 - 16 */
- 11, 11, 11, 11, /* 17 - 20 */
- 12, 12, 12, 12, /* 21 - 24 */
- 13, 13, 13, 13, 13, 13, 13, 13, /* 25 - 32 */
- 14, 14, 14, 14, 14, 14, 14, 14, /* 33 - 40 */
- 14, 14, 14, 14, 14, 14, 14, 14, /* 41 - 48 */
- 15, 15, 15, 15, 15, 15, 15, 15, /* 49 - 56 */
- 15, 15, 15, 15, 15, 15, 15, 15}; /* 57 - 64 */
-
-/*
- * map the sanitized data length to an appropriate data length code
- */
-unsigned char can_len2dlc(unsigned char len)
-{
- if (len > 64)
- return 0xF;
-
- return len2dlc[len];
-}
-
-/*
- * asc to nibble
- */
-unsigned char asc2nibble(char c) {
-
- if ((c >= '0') && (c <= '9'))
- return c - '0';
-
- if ((c >= 'A') && (c <= 'F'))
- return c - 'A' + 10;
-
- if ((c >= 'a') && (c <= 'f'))
- return c - 'a' + 10;
-
- return 16; /* error */
-}
-
-static int canmsg_compare(const void *pa, const void *pb)
-{
- struct canmsg_info_t *a =(struct canmsg_info_t *)pa;
- struct canmsg_info_t *b =(struct canmsg_info_t *)pb;
- return strcmp(a->canid,b->canid);
-}
-
-/*
- * init
- */
-void init_can_encoder(void)
-{
- pthread_mutex_init(&lock, NULL);
- phead = NULL;
- ptail = NULL;
-}
-
-/*
- * push can msg to queue
- */
-int push(char *dat)
-{
- if (dat == NULL)
- {
- DBG_ERROR("push data is NULL");
- return -1;
- }
-
- struct can_data_t *p = malloc(sizeof(struct can_data_t));
- strncpy(p->dat, dat, MAX_CANDATA_SIZE);
- p->dat[MAX_CANDATA_SIZE] = '\0';
- p->next = NULL;
-
- pthread_mutex_lock(&lock);
- if (ptail == NULL)
- {
- ptail = p;
- phead = p;
- }
- else
- {
- ptail->next = p;
- ptail = p;
- }
- pthread_mutex_unlock(&lock);
- return 0;
-}
-
-/*
- * pop can msg from queue
- */
-struct can_data_t* pop(void)
-{
- struct can_data_t *p = NULL;
- pthread_mutex_lock(&lock);
- if (phead != NULL)
- {
- p = phead;
- if (phead->next != NULL)
- {
- phead = p->next;
- }
- else
- {
- phead = NULL;
- ptail = NULL;
- }
- }
- pthread_mutex_unlock(&lock);
- return p;
-}
-
-/*
- * clear transmission msg queue
- */
-void clear(void)
-{
- struct can_data_t *p = NULL;
- pthread_mutex_lock(&lock);
- while (phead != NULL)
- {
- p = phead;
- phead = phead->next;
- free(p);
- }
- ptail = NULL;
- pthread_mutex_unlock(&lock);
-}
-
-/*
- * make "0" string
- */
-static char *makeZeroString(uint8_t dlc)
-{
- int len = dlc * 2;
-
- if (len > MAX_LENGTH)
- {
- DBG_ERROR("makeZeroString input dlc error; dlc=%d",dlc);
- return NULL;
- }
-
- for (int i = 0; i < len; i++) {
- str[i] = '0';
- }
-
- str[len + 1] = '\0';
-
- return str;
-}
-
-static struct canmsg_info_t * getCanMsg_dict(const char * can_id)
-{
- struct canmsg_info_t info;
- strncpy(info.canid, can_id, sizeof(info.canid));
- info.value = 0;
-
- void *v;
- v = tfind((void *)&info, &canmsg_root, canmsg_compare);
- if (v == NULL)
- {
- /* new msg, add node */
- struct canmsg_info_t * p = (struct canmsg_info_t *)malloc(sizeof(struct canmsg_info_t));
- strncpy(p->canid, can_id, sizeof(p->canid));
- p->value = 0;
- v = tsearch((void *)p, &canmsg_root, canmsg_compare);
- if (v == NULL)
- {
- DBG_ERROR("add canmsg failed: not enogh memory?");
- }
- }
-
- return (*(struct canmsg_info_t **)v);
-}
-
-/*
- * make can frame data
- */
-char * makeCanData(struct prop_info_t *property_info)
-{
- char tmp[MAX_LENGTH+1] = {0};
- u_int64_t val = 0, mask = 0;
- struct canmsg_info_t * p = getCanMsg_dict(property_info->can_id);
- if (p == NULL)
- {
- return NULL;
- }
-
- memset(buf, 0, sizeof(buf));
- sprintf(buf, "%s\#%s", property_info->can_id, makeZeroString(property_info->dlc));
- mask = (1 << (property_info->bit_size)) - 1;
- val = mask & property_info->curValue.uint32_val;
- val = val << ((property_info->dlc * 8) - property_info->bit_size - property_info->bit_pos);
- mask = mask << ((property_info->dlc * 8) - property_info->bit_size - property_info->bit_pos);
- mask = ~mask;
- p->value = p->value & mask;
- p->value = p->value | val;
-
- sprintf(tmp, "%lx", p->value);
- strncpy((buf + 4 + property_info->dlc * 2 -strlen(tmp)), tmp ,strlen(tmp));
-
-// DBG_ERROR("makeCanData buf is [%s]", buf);
-
- return buf;
-}
-
-/*
- * convert to canframe format
- */
-int parse_canframe(char *cs, struct canfd_frame *cf) {
- /* documentation see lib.h */
-
- int i, idx, dlen, len;
- int maxdlen = CAN_MAX_DLEN;
- int ret = CAN_MTU;
- unsigned char tmp;
-
- len = strlen(cs);
-
- memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
-
- if (len < 4)
- return 0;
-
- if (cs[3] == CANID_DELIM) { /* 3 digits */
-
- idx = 4;
- for (i=0; i<3; i++){
- if ((tmp = asc2nibble(cs[i])) > 0x0F)
- return 0;
- cf->can_id |= (tmp << (2-i)*4);
- }
-
- } else if (cs[8] == CANID_DELIM) { /* 8 digits */
-
- idx = 9;
- for (i=0; i<8; i++){
- if ((tmp = asc2nibble(cs[i])) > 0x0F)
- return 0;
- cf->can_id |= (tmp << (7-i)*4);
- }
- if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
- cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
-
- } else
- return 0;
-
- if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
- cf->can_id |= CAN_RTR_FLAG;
-
- /* check for optional DLC value for CAN 2.0B frames */
- if(cs[++idx] && (tmp = asc2nibble(cs[idx])) <= CAN_MAX_DLC)
- cf->len = tmp;
-
- return ret;
- }
-
- if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
-
- maxdlen = CANFD_MAX_DLEN;
- ret = CANFD_MTU;
-
- /* CAN FD frame <canid>##<flags><data>* */
- if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
- return 0;
-
- cf->flags = tmp;
- idx += 2;
- }
-
- for (i=0, dlen=0; i < maxdlen; i++){
-
- if(cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
- idx++;
-
- if(idx >= len) /* end of string => end of data */
- break;
-
- if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
- return 0;
- cf->data[i] = (tmp << 4);
- if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
- return 0;
- cf->data[i] |= tmp;
- dlen++;
- }
- cf->len = dlen;
-
- return ret;
-}
diff --git a/src/can_encoder.h b/src/can_encoder.h
deleted file mode 100644
index 82b5ea0..0000000
--- a/src/can_encoder.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * 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
new file mode 100644
index 0000000..58b1ffb
--- /dev/null
+++ b/src/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-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
deleted file mode 100644
index 47e6ea2..0000000
--- a/src/debug_msg.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * 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
new file mode 100644
index 0000000..ee2f413
--- /dev/null
+++ b/src/export.map
@@ -0,0 +1 @@
+{ global: afbBindingV*; local: *; };
diff --git a/src/gear_shift_para.json b/src/gear_shift_para.json
new file mode 100644
index 0000000..3b58da7
--- /dev/null
+++ b/src/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/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
index 9cdc168..5541162 100644
--- a/src/js_raw.c
+++ b/src/js_raw.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -26,7 +26,7 @@
#include <linux/input.h>
#include <linux/joystick.h>
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.h"
#include "js_raw.h"
#include "js_signal_event.h"
@@ -34,8 +34,6 @@
static int *axis;
static char *button;
-static timer_t tid;
-static struct sigaction oldact;
int js_signal_read(int fd)
{
@@ -46,22 +44,16 @@ int js_signal_read(int fd)
size = read(fd, &jsEvent, sizeof(struct js_event));
if(size != 0)
{
- switch (jsEvent.type) //& ~JS_EVENT_INIT don't deal with init state.
+ switch (jsEvent.type & ~JS_EVENT_INIT)
{
- 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;
- DBG_NOTICE("JS_EVENT_BUTTON [%d] : %d.", jsEvent.number, button[jsEvent.number]);
+ //NOTICEMSG("JS_EVENT_BUTTON %d\n", button[jsEvent.number]);
newButtonValue(jsEvent.number, jsEvent.value);
break;
case JS_EVENT_AXIS:
axis[jsEvent.number] = jsEvent.value;
- DBG_NOTICE("JS_EVENT_AXIS [%d] : %d.", jsEvent.number, axis[jsEvent.number]);
+ //NOTICEMSG("JS_EVENT_AXIS %d\n", axis[jsEvent.number]);
newAxisValue(jsEvent.number, jsEvent.value);
break;
default:
@@ -88,7 +80,7 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
rc = js_signal_read(fd);
if(rc == -1)
{
- DBG_ERROR("JS Frame Read failed");
+ ERRMSG("JS Frame Read failed");
return -1;
}
@@ -97,20 +89,19 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
{
/* T.B.D
* if error or hungup */
- DBG_ERROR("Error or Hunup: rvent=%08x", revents);
+ ERRMSG("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;
@@ -134,17 +125,6 @@ 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;
@@ -171,7 +151,7 @@ int js_open(const char *devname)
gis = g_unix_input_stream_new(fd, TRUE);
if(gis == NULL)
{
- DBG_ERROR("g_unix_input_stream_new() failed!");
+ ERRMSG("g_unix_input_stream_new() failed!");
}
else
{
@@ -192,42 +172,3 @@ 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 833a5e1..79db219 100644
--- a/src/js_raw.h
+++ b/src/js_raw.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -23,6 +23,5 @@
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 ad3035a..712d51c 100644
--- a/src/js_signal_event.c
+++ b/src/js_signal_event.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -22,13 +22,20 @@
#include <string.h>
#include <sys/ioctl.h>
#include <alloca.h>
-#include <math.h>
-#include <time.h>
-#include <signal.h>
-#include "wheel-service.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"
@@ -38,89 +45,56 @@
#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 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 {
+enum eTransmissionGearInfo
+{
eTransmissionGearInfoLeft = 0,
eTransmissionGearInfoRight = 1,
};
-enum eTurnSignalStatus {
+enum eTurnSignalStatus
+{
eTurnSignalStatusOff = 0,
- eTurnSignalStatusRight = 4,
+ eTurnSignalStatusRight = 1,
eTurnSignalStatusLeft = 2,
- eTurnSignalStatusHazard = 1
+ 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
+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 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 gAcceleratorPedalPosition = 0;
static int gLightStatusBrake = 0;
-static int gTransmissionGearInfo = 0;
+static int gTransmissionGearInfo = 1;
static int gSteeringWheelAngle = 0;
-static int gParkingStatusBrake = 0;
-static int gFuelLevel = 0;
static enum eTurnSignalStatus gTurnSignalStatus = eTurnSignalStatusOff;
-static void setLightStatusBrake(int val)
+// Method to set value
+static void setAcceleratorPedalPosition(int val)
{
- if(gLightStatusBrake != val)
+ if(gAcceleratorPedalPosition != val)
{
- gLightStatusBrake = val;
+ gAcceleratorPedalPosition = val;
}
}
-static void setFuelLevel(int val)
+static void setLightStatusBrake(int val)
{
- if(gFuelLevel != val)
+ if(gLightStatusBrake != val)
{
- gFuelLevel = val;
+ gLightStatusBrake = val;
}
}
@@ -162,10 +136,6 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
{
gTurnSignalStatus = eTurnSignalStatusLeft;
}
- else if(turn == eTurnSignalStatusHazard)
- {
- gTurnSignalStatus = eTurnSignalStatusHazard;
- }
}
else
{
@@ -173,12 +143,27 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
}
}
-static void setParkingStatusBrake(int val)
+// Method to calculate property
+static int calcAcceleratorPedalPosition()
{
- if(gParkingStatusBrake != val)
- {
- gParkingStatusBrake = 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;
}
static int calcSteeringWheelAngle()
@@ -189,7 +174,7 @@ static int calcSteeringWheelAngle()
}
// Method to update property
-static void setCanValue(char *prop, int val)
+static void updateValue(char *prop, int val)
{
unsigned int nProp = wheel_info->nData;
for(unsigned int i = 0; i < nProp; i++)
@@ -208,36 +193,38 @@ static void setCanValue(char *prop, int val)
void updateTransmissionGearInfo()
{
- setCanValue(TRANSMISSION_GEAR_INFO, 5);
+ updateValue(TRANSMISSION_GEAR_INFO, gTransmissionGearInfo);
}
void updateTransmissionMode()
{
- setCanValue(TRANSMISSION_MODE, 0);
+ updateValue(TRANSMISSION_MODE, gTransmissionGearInfo);
}
static void updateAcceleratorPedalPosition()
{
- setCanValue(ACCELERATOR_PEDAL_POSITION, gAccPedalPos);
- DBG_NOTICE("acceleratorPedalPosition : %d\n", gAccPedalPos);
+ int acceleratorPedalPosition;
+
+ acceleratorPedalPosition = calcAcceleratorPedalPosition();
+ updateValue(ACCELERATOR_PEDAL_POSITION, acceleratorPedalPosition);
}
static void updateEngineSpeed()
{
// Update EngineSpeed
- gEngineSpeed = gBaseValue*3000+1000;
- setCanValue(ENGINE_SPEED, gEngineSpeed);
- DBG_DEBUG("engineSpeed : %d\n", gEngineSpeed);
+ int engineSpeed;
+
+ engineSpeed = calcEngineSpeed();
+ updateValue(ENGINE_SPEED, engineSpeed);
}
static void updateVehicleSpeed()
{
// Update VehicleSpeed
- if(gBaseValue < 0)
- gBaseValue = 0;
- gVehicleSpeed = (int)(gBaseValue*9550/100)*100;
- setCanValue(VEHICLE_SPEED, gVehicleSpeed);
- DBG_DEBUG("vehicleSpeed : %d\n", gVehicleSpeed);
+ int vehicleSpeed;
+
+ vehicleSpeed = calcVehicleSpeed();
+ updateValue(VEHICLE_SPEED, vehicleSpeed);
}
static void updateLightStatusBrake()
@@ -245,30 +232,18 @@ static void updateLightStatusBrake()
int lightStatusBrake;
lightStatusBrake = (gLightStatusBrake < 20000);
- 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);
+ updateValue(LIGHT_STATUS_BRAKE, lightStatusBrake);
}
static void updateSteeringWheelAngle()
{
int steering = calcSteeringWheelAngle();
- setCanValue(STEERING_WHEEL_ANGLE, steering);
+ updateValue(STEERING_WHEEL_ANGLE, steering);
}
static void updateTurnSignalStatus()
{
- setCanValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
+ updateValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
}
// Method to handle joy stick event
@@ -276,7 +251,7 @@ void newButtonValue(char number, int val)
{
switch (number)
{
- case JS_BUTTON_R1: //Left paddle shifter
+ case JS_LEFT_PADDLE_SHIFTER: //Left paddle shifter
// Set gear position
setTransmissionGearInfo(val, eTransmissionGearInfoLeft);
@@ -286,7 +261,7 @@ void newButtonValue(char number, int val)
updateVehicleSpeed();
break;
- case JS_BUTTON_L1: //Right paddle shifter
+ case JS_RIGHT_PADDLE_SHIFTER: //Right paddle shifter
// Set gear position
setTransmissionGearInfo(val, eTransmissionGearInfoRight);
@@ -296,7 +271,7 @@ void newButtonValue(char number, int val)
updateVehicleSpeed();
break;
- case JS_BUTTON_R2: //Right upper wheel button
+ case JS_TURN_SIGNAL_RIGHT: //Right upper wheel button
// Set value
setTurnSignalStatus(val, eTurnSignalStatusRight);
@@ -304,27 +279,14 @@ void newButtonValue(char number, int val)
updateTurnSignalStatus();
break;
- case JS_BUTTON_L2: //Left upper wheel button
+ case JS_TURN_SIGNAL_LEFT: //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;
}
@@ -332,24 +294,9 @@ 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_AXIS_STEERING: //Wheel angle, -32767 - 32767
+ case JS_STEERING: //Wheel angle, -32767 - 32767
// Set value
setSteeringWheelAngle(val);
@@ -357,29 +304,17 @@ void newAxisValue(char number, int val)
updateSteeringWheelAngle();
break;
- case JS_AXIS_ACCEL: //Throttle, -32767 (depressed) - 32767 (undepressed)
+ case JS_THROTTLE: //Throttle, -32767 (depressed) - 32767 (undepressed)
// Set origin value
- 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);
- }
+ setAcceleratorPedalPosition(val);
// Update property
updateAcceleratorPedalPosition();
- if (gAccPedalPos > gCurAccPedalPos){
- gCurAccPedalPos = gAccPedalPos;
- gBaseValue = sin((float)gCurAccPedalPos/100.0);
-
- updateEngineSpeed();
- updateVehicleSpeed();
- }
+ updateEngineSpeed();
+ updateVehicleSpeed();
break;
- case JS_AXIS_BRAKE:
+ case JS_BRAKE:
// Set value
setLightStatusBrake(val);
@@ -387,31 +322,7 @@ 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 3dca3a9..3cff704 100644
--- a/src/js_signal_event.h
+++ b/src/js_signal_event.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -21,12 +21,5 @@ 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 e8ab461..95d4f58 100644
--- a/src/prop_info.c
+++ b/src/prop_info.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -20,7 +20,7 @@
#include <stdint.h>
#include "prop_info.h"
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.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:
- DBG_ERROR("Getting property Value:NOT SUPPORT vartype contents:%s %d", property_info->name, property_info->var_type);
+ 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
index dac63eb..3d6bb5c 100644
--- a/src/prop_info.h
+++ b/src/prop_info.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -52,10 +52,6 @@ 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 fce139e..f88de8a 100644
--- a/src/prop_search.c
+++ b/src/prop_search.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -21,7 +21,7 @@
#include <search.h>
#include <string.h>
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.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)
{
- DBG_ERROR("add property failed: not enogh memory?");
+ ERRMSG("add property failed: not enogh memory?");
return -1;
}
if (nProperties >= SUPPORT_PROPERTY_LIMIT)
{
- DBG_ERROR("Reach properties limit");
+ ERRMSG("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 85c505c..85791e5 100644
--- a/src/prop_search.h
+++ b/src/prop_search.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
diff --git a/src/steering_wheel.json b/src/steering_wheel.json
new file mode 100644
index 0000000..1a5e889
--- /dev/null
+++ b/src/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/src/steering_wheel_json.c b/src/steering_wheel_json.c
index 5831983..9d72284 100644
--- a/src/steering_wheel_json.c
+++ b/src/steering_wheel_json.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -20,7 +20,7 @@
#include <stdlib.h>
#include <string.h>
#include <sys/stat.h>
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.h"
#include "steering_wheel_json.h"
#include "prop_info.h"
#include "prop_search.h"
@@ -33,7 +33,6 @@ 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)
{
@@ -48,30 +47,10 @@ 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;
@@ -89,7 +68,7 @@ static int parse_propertys(json_object *obj_propertys)
wheel_info = malloc(ms);
if (wheel_info == NULL)
{
- DBG_ERROR("Not enogh memory");
+ ERRMSG("Not enogh memory");
return 1;
}
memset(wheel_info, 0 , ms);
@@ -103,7 +82,7 @@ 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)
{
- DBG_ERROR("not enogh memory");
+ ERRMSG("not enogh memory");
exit(1);
}
@@ -136,7 +115,7 @@ static int parse_json(json_object *obj)
else
{
++err;
- DBG_ERROR("json: Unknown key \"%s\"", key);
+ ERRMSG("json: Unknown key \"%s\"", key);
}
}
return err;
@@ -149,23 +128,23 @@ int wheel_define_init(const char *fname)
struct stat stbuf;
char *filebuf;
- fd_wheel_map = open(fname, O_RDONLY);
+ fd_wheel_map = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
if (fd_wheel_map < 0)
{
- DBG_ERROR("wheel map is not access");
+ ERRMSG("wheel map is not access");
return -1;
}
FILE *fp = fdopen(fd_wheel_map,"r");
if (fp == NULL)
{
- DBG_ERROR("cannot read wheel map file");
+ ERRMSG("canno read wheel map file");
return -1;
}
if (fstat(fd_wheel_map, &stbuf) == -1)
{
- DBG_ERROR("cant get file state");
+ ERRMSG("cant get file state");
return -1;
}
@@ -176,7 +155,7 @@ int wheel_define_init(const char *fname)
jobj = json_tokener_parse(filebuf);
if (jobj == NULL)
{
- DBG_ERROR("cannot read data from file \"%s\"",fname);
+ ERRMSG("cannot data from file \"%s\"",fname);
free(filebuf);
return 1;
}
@@ -204,7 +183,7 @@ static int parse_gear_para_json(json_object *obj)
if (type == json_type_array)
{
int array_len = json_object_array_length(val);
- DBG_NOTICE("array_len:%d!", array_len);
+ NOTICEMSG("array_len:%d!", array_len);
for (int i = 0; i < array_len; i++)
{
obj_speed_para = json_object_array_get_idx(val, i);
@@ -257,12 +236,12 @@ static int parse_gear_para_json(json_object *obj)
}
else
{
- DBG_ERROR("json: Need array \"%s\"", key);
+ ERRMSG("json: Need array \"%s\"", key);
}
}
else
{
- DBG_ERROR("json: Unknown key \"%s\"", key);
+ ERRMSG("json: Unknown key \"%s\"", key);
}
}
return err;
@@ -275,24 +254,23 @@ 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 = open(fname, O_RDONLY);
+ fd_gear_para = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
if (fd_gear_para < 0)
{
- DBG_ERROR("gear para is not access");
+ ERRMSG("gear para is not access");
return -1;
}
FILE *fp = fdopen(fd_gear_para,"r");
if (fp == NULL)
{
- DBG_ERROR("cannot read gear para file");
+ ERRMSG("canno read gear para file");
return -1;
}
if (fstat(fd_gear_para, &stbuf) == -1)
{
- DBG_ERROR("cant get file state.\n");
+ ERRMSG("cant get file state.\n");
return -1;
}
@@ -303,7 +281,7 @@ int wheel_gear_para_init(const char *fname)
jobj = json_tokener_parse(filebuf);
if (jobj == NULL)
{
- DBG_ERROR("cannot data from file \"%s\"",fname);
+ ERRMSG("cannot data from file \"%s\"",fname);
free(filebuf);
return 1;
}
@@ -348,13 +326,13 @@ struct json_object *property2json(struct prop_info_t *property)
break;
default:
- DBG_ERROR("Unknown value type:%d", property->var_type);
+ ERRMSG("Unknown value type:%d", property->var_type);
break;
}
if (valueObject == NULL)
{
- DBG_ERROR("fail json ValueObject");
+ ERRMSG("fail json ValueObject");
json_object_put(jobj);
return NULL;
}
diff --git a/src/steering_wheel_json.h b/src/steering_wheel_json.h
index e9d2d05..3c2c8c9 100644
--- a/src/steering_wheel_json.h
+++ b/src/steering_wheel_json.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * 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.
diff --git a/src/steering_wheel_map.json b/src/steering_wheel_map.json
new file mode 100644
index 0000000..9e580d9
--- /dev/null
+++ b/src/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/src/wheel-service.c b/src/wheel-service.c
deleted file mode 100644
index 38303e8..0000000
--- a/src/wheel-service.c
+++ /dev/null
@@ -1,420 +0,0 @@
-/*
- * 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;
-}
-