From c404f25dcaa4e622a0fe9179bc79393a468093d1 Mon Sep 17 00:00:00 2001 From: zheng_wenlong Date: Thu, 4 Apr 2019 09:03:27 +0900 Subject: Revert "Change steering to systemd service for ces2019" This reverts commit 1fed2c5a38fed8bc91bb6b8a08982303eb9c2e82. Change-Id: Id83b437eef556b8d3fcd95503b9ff5b4d94bc7a5 Signed-off-by: zheng_wenlong --- CMakeLists.txt | 11 +- README.md | 47 ++- conf/files/etc/gear_shift_para.json | 32 -- conf/files/etc/steering_wheel.json | 5 - conf/files/etc/steering_wheel_map.json | 84 ----- conf/files/etc/udev/rules.d/90-wheel.rules | 1 - conf/files/lib/systemd/system/usbcan0.service | 8 - conf/files/lib/systemd/system/usbcan1.service | 8 - conf/files/lib/systemd/system/wheel.service | 7 - conf/files/usr/bin/candev.sh | 36 --- sample/agl-service-steering-wheel_0.1.bb | 33 +- src/CMakeLists.txt | 61 +++- src/af-steering-wheel-binding.c | 426 ++++++++++++++++++++++++++ src/af-steering-wheel-binding.h | 35 +++ src/bind_event.c | 114 +++++++ src/bind_event.h | 33 ++ src/can_encoder.c | 344 --------------------- src/can_encoder.h | 55 ---- src/config.xml | 21 ++ src/debug_msg.h | 77 ----- src/export.map | 1 + src/gear_shift_para.json | 32 ++ src/icon.png | Bin 0 -> 10651 bytes src/js_raw.c | 77 +---- src/js_raw.h | 3 +- src/js_signal_event.c | 259 +++++----------- src/js_signal_event.h | 9 +- src/prop_info.c | 6 +- src/prop_info.h | 6 +- src/prop_search.c | 8 +- src/prop_search.h | 2 +- src/steering_wheel.json | 5 + src/steering_wheel_json.c | 62 ++-- src/steering_wheel_json.h | 2 +- src/steering_wheel_map.json | 36 +++ src/wheel-service.c | 420 ------------------------- src/wheel-service.h | 29 -- 37 files changed, 922 insertions(+), 1473 deletions(-) delete mode 100644 conf/files/etc/gear_shift_para.json delete mode 100644 conf/files/etc/steering_wheel.json delete mode 100644 conf/files/etc/steering_wheel_map.json delete mode 100644 conf/files/etc/udev/rules.d/90-wheel.rules delete mode 100644 conf/files/lib/systemd/system/usbcan0.service delete mode 100644 conf/files/lib/systemd/system/usbcan1.service delete mode 100644 conf/files/lib/systemd/system/wheel.service delete mode 100755 conf/files/usr/bin/candev.sh create mode 100644 src/af-steering-wheel-binding.c create mode 100644 src/af-steering-wheel-binding.h create mode 100644 src/bind_event.c create mode 100644 src/bind_event.h delete mode 100644 src/can_encoder.c delete mode 100644 src/can_encoder.h create mode 100644 src/config.xml delete mode 100644 src/debug_msg.h create mode 100644 src/export.map create mode 100644 src/gear_shift_para.json create mode 100644 src/icon.png create mode 100644 src/steering_wheel.json create mode 100644 src/steering_wheel_map.json delete mode 100644 src/wheel-service.c delete mode 100644 src/wheel-service.h diff --git a/CMakeLists.txt b/CMakeLists.txt index bc5eb50..4c343b3 100644 --- a/CMakeLists.txt +++ b/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. @@ -14,20 +14,19 @@ # limitations under the License. # -project(wheel-service C) +project(af-steering-wheel-binding C) cmake_minimum_required(VERSION 2.8) include(GNUInstallDirs) -set(PROJECT_NAME "wheel-service") -set(PROJECT_PRETTY_NAME "a wheel service") -set(PROJECT_DESCRIPTION "a wheel service of steering wheel") +set(PROJECT_NAME "af-steering-wheel-binding") +set(PROJECT_PRETTY_NAME "af binding for steering wheel") +set(PROJECT_DESCRIPTION "Binding for handling Vehicle signalisation of steering wheel") set(PROJECT_VERSION "1.0") #set(CMAKE_BUILD_TYPE Debug) set(CMAKE_BUILD_TYPE Release) -link_libraries(-lm -lrt) add_subdirectory(src) diff --git a/README.md b/README.md index 6c71a1c..5d54cc6 100644 --- a/README.md +++ b/README.md @@ -1,13 +1,14 @@ Information ==== -
This service will be started by systemd, and then -
use logitel G29 to get wheel info for low-level-can-service. +
This service use logitel G29 to get wheel info for application same as low-level-can-service.
It will read information from usb g29 as /dev/input/js0. -
And post steering wheel information to "hs" device which is defined in /etc/dev-mapping.conf. +
And give steering wheel information for application. * Hardware: Renesas m3ulcb -* Software: FF 6.0.0 -* project name: wheel-service +* Software: Daring Dab 4.0.0 +* binding name: af-steering-wheel-binding +* provide api: steering-wheel +* verbs: list, subscribe, unsubscribe * support device: Logitech G29 steering wheel * steering wheel information is write in steering_wheel_map.json * VehicleSpeed < Engine Speed * Gear parameter / 100 > @@ -18,27 +19,43 @@ Information * SteeringWheelAngle < 0～360 > * TurnSignalStatus < 0:None / 1:RightTurn / 2:LeftTurn > * LightStatusBrake < 0:None / 1:BrakeEnable > +* verbs + * list + * subscribe { "event" : "EngineSpeed" } + * unsubscribe { "event" : "EngineSpeed" } How to compile and install ==== -
These is a sample recipes for wheel-service, you can just add that recipes into your project and bitbake. +
These is a sample recipes for af-steering-wheel-binding, you can just add that recipes into your project and bitbake.
Sample Recipes: agl-service-steering-wheel_0.1.bb How to use ==== For AGL Application ---- -
1.you can use candev.sh to start can device. -
2.use below command to start wheel.service. +
1 add these code below into config.xml ``` -systemctl start wheel.service + ``` -
3.copy sample/application-generated.cpp file to low-level-can-service's low-can-binding/binding/ folder to overwrite the same file. -
4.compile low-level-can-service and reinstall low-can-service.wgt. -
5.use afb-client-demo to get event. +
2 add WebSocket into qml file and subscribe event name what you need. +
You can find a file named [token-websock.qml] in app-framework-binder.git. +
It's a template for qml. You need modify these informations to connect agl-service-steering. +``` +property string address_str: "ws://localhost:5555/api?token=3210" +property string api_str: "steering-wheel" +property string verb_str: "" +``` + +For demo application +---- +
1 you can run this service by shell script +``` +afb-daemon --token=3210 --ldpaths=${steering-wheel-library-path} --port=5555 --rootdir=. & +``` +
2 use afb-client-demo to get event. ``` afb-client-demo ws://localhost:5555/api?token=3210 -low-can list -low-can subscribe { "event" : "engine.speed" } -low-can unsubscribe { "event" : "engine.speed" } +steering-wheel list +steering-wheel subscribe { "event" : "EngineSpeed" } +steering-wheel unsubscribe { "event" : "EngineSpeed" } ``` diff --git a/conf/files/etc/gear_shift_para.json b/conf/files/etc/gear_shift_para.json deleted file mode 100644 index 3b58da7..0000000 --- a/conf/files/etc/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/conf/files/etc/steering_wheel.json b/conf/files/etc/steering_wheel.json deleted file mode 100644 index d470628..0000000 --- a/conf/files/etc/steering_wheel.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "dev_name": "/dev/input/js0", - "wheel_map": "/etc/steering_wheel_map.json", - "gear_para": "/etc/gear_shift_para.json" -} diff --git a/conf/files/etc/steering_wheel_map.json b/conf/files/etc/steering_wheel_map.json deleted file mode 100644 index 86fbd7c..0000000 --- a/conf/files/etc/steering_wheel_map.json +++ /dev/null @@ -1,84 +0,0 @@ -{ - "PROPERTYS" : [ - { - "PROPERTY" : "VehicleSpeed", - "TYPE" : "uint16_t", - "CANID" : "3E9", - "BIT_POSITION" : "0", - "BIT_SIZE" : "15", - "DLC" : "8" - }, - { - "PROPERTY" : "EngineSpeed", - "TYPE" : "uint16_t", - "CANID" : "3D9", - "BIT_POSITION" : "16", - "BIT_SIZE" : "16", - "DLC" : "8" - }, - { - "PROPERTY" : "AcceleratorPedalPosition", - "TYPE" : "uint16_t", - "CANID" : "5D1", - "BIT_POSITION" : "16", - "BIT_SIZE" : "8", - "DLC" : "8" - }, - { - "PROPERTY" : "TransmissionGearInfo", - "TYPE" : "uint16_t", - "CANID" : "5D2", - "BIT_POSITION" : "20", - "BIT_SIZE" : "4", - "DLC" : "8" - }, - { - "PROPERTY" : "TransmissionMode", - "TYPE" : "uint16_t", - "CANID" : "5D2", - "BIT_POSITION" : "16", - "BIT_SIZE" : "4", - "DLC" : "8" - }, - { - "PROPERTY" : "SteeringWheelAngle", - "TYPE" : "uint16_t", - "CANID" : "5D1", - "BIT_POSITION" : "4", - "BIT_SIZE" : "12", - "DLC" : "8" - }, - { - "PROPERTY" : "TurnSignalStatus", - "TYPE" : "uint16_t", - "CANID" : "5D3", - "BIT_POSITION" : "26", - "BIT_SIZE" : "3", - "DLC" : "8" - }, - { - "PROPERTY" : "LightStatusBrake", - "TYPE" : "bool", - "CANID" : "5D3", - "BIT_POSITION" : "7", - "BIT_SIZE" : "1", - "DLC" : "8" - }, - { - "PROPERTY" : "ParkingStatusBrake", - "TYPE" : "bool", - "CANID" : "5D3", - "BIT_POSITION" : "8", - "BIT_SIZE" : "1", - "DLC" : "8" - }, - { - "PROPERTY" : "FuelLevel", - "TYPE" : "uint16_t", - "CANID" : "3D9", - "BIT_POSITION" : "8", - "BIT_SIZE" : "8", - "DLC" : "8" - } - ] -} diff --git a/conf/files/etc/udev/rules.d/90-wheel.rules b/conf/files/etc/udev/rules.d/90-wheel.rules deleted file mode 100644 index 09b9d46..0000000 --- a/conf/files/etc/udev/rules.d/90-wheel.rules +++ /dev/null @@ -1 +0,0 @@ -ACTION=="add", SUBSYSTEMS=="input", KERNELS=="input[0-9]*", ATTRS{name}=="Logitech G29 Driving Force Racing Wheel", RUN+="/bin/systemctl start wheel.service" diff --git a/conf/files/lib/systemd/system/usbcan0.service b/conf/files/lib/systemd/system/usbcan0.service deleted file mode 100644 index 12dc9e1..0000000 --- a/conf/files/lib/systemd/system/usbcan0.service +++ /dev/null @@ -1,8 +0,0 @@ -[Unit] -Description=slcan0 starter -After=remote-fs.target -After=syslog.target - -[Service] -ExecStart=/usr/bin/slcand -F -o -s6 -t hw -S 3000000 /dev/ttyUSB0 -Restart=on-failure diff --git a/conf/files/lib/systemd/system/usbcan1.service b/conf/files/lib/systemd/system/usbcan1.service deleted file mode 100644 index a2b4d1a..0000000 --- a/conf/files/lib/systemd/system/usbcan1.service +++ /dev/null @@ -1,8 +0,0 @@ -[Unit] -Description=slcan1 starter -After=remote-fs.target -After=syslog.target - -[Service] -ExecStart=/usr/bin/slcand -F -o -s6 -t hw -S 3000000 /dev/ttyUSB1 -Restart=on-failure diff --git a/conf/files/lib/systemd/system/wheel.service b/conf/files/lib/systemd/system/wheel.service deleted file mode 100644 index 85c881f..0000000 --- a/conf/files/lib/systemd/system/wheel.service +++ /dev/null @@ -1,7 +0,0 @@ -[Unit] -Description=wheel-service starter -After=syslog.target - -[Service] -ExecStart=/usr/bin/wheel-service -Restart=on-failure diff --git a/conf/files/usr/bin/candev.sh b/conf/files/usr/bin/candev.sh deleted file mode 100755 index fc47cb6..0000000 --- a/conf/files/usr/bin/candev.sh +++ /dev/null @@ -1,36 +0,0 @@ -#!/bin/bash - -function execProc(){ - dev=$1 - - if [ "canCK" == ${dev:0:3}"CK" ]; then - modprobe can - ip link set $dev up type can bitrate 500000 - elif [ "vcanCK" == ${dev:0:4}"CK" ]; then - modprobe vcan - ip link add $dev type vcan - ip link set $dev up - elif [ "slcanCK" == ${dev:0:5}"CK" ]; then - modprobe slcan - systemctl start usbcan${dev:5:1} - ip link set $dev up - ip link - ifconfig $dev txqueuelen 1000 - fi -} - -if [ -e /etc/dev-mapping.conf ]; then - hs=`cat /etc/dev-mapping.conf | grep hs | cut -d '"' -f 2` - ls=`cat /etc/dev-mapping.conf | grep ls | cut -d '"' -f 2` -else - echo -e "[CANbus-mapping]\nhs=\"vcan0\"\nls=\"vcan1\"\n" > /etc/dev-mapping.conf - hs=vcan0 - ls=vcan1 -fi - -echo "candev "$hs -execProc $hs -if [ $hs != $ls ]; then - echo "candev "$ls - execProc $ls -fi diff --git a/sample/agl-service-steering-wheel_0.1.bb b/sample/agl-service-steering-wheel_0.1.bb index 8d57bbb..2391459 100644 --- a/sample/agl-service-steering-wheel_0.1.bb +++ b/sample/agl-service-steering-wheel_0.1.bb @@ -7,39 +7,10 @@ SECTION = "apps" SRC_URI = "git://gerrit.automotivelinux.org/gerrit/apps/agl-service-steering-wheel;protocol=http;branch=master" SRCREV = "8f6baa6092eb09919b71acbaaab9f013dcac599a" -PN = "agl-service-steering-wheel" +PN = "agl-service-steering-wheel" S = "${WORKDIR}/git" DEPENDS = "glib-2.0 af-binder" -inherit cmake pkgconfig +inherit cmake aglwgt -do_install() { - install -d ${D}/etc/ - install -m 0644 ${S}/conf/files/etc/steering_wheel.json ${D}/etc/ - install -m 0644 ${S}/conf/files/etc/steering_wheel_map.json ${D}/etc/ - install -m 0644 ${S}/conf/files/etc/gear_shift_para.json ${D}/etc/ - - install -d ${D}/lib/systemd/system - install -m 0644 ${S}/conf/files/lib/systemd/system/wheel.service ${D}/lib/systemd/system - install -m 0644 ${S}/conf/files/lib/systemd/system/usbcan0.service ${D}/lib/systemd/system - install -m 0644 ${S}/conf/files/lib/systemd/system/usbcan1.service ${D}/lib/systemd/system - - install -d ${D}/usr/bin - install -m 755 ${S}/conf/files/usr/bin/candev.sh ${D}/usr/bin - install -m 755 ${B}/bin/wheel-service ${D}/usr/bin - - install -d ${D}/etc/udev/rules.d/ - install -m 0644 ${S}/conf/files/etc/udev/rules.d/90-wheel.rules ${D}/etc/udev/rules.d/ -} - -FILES_${PN} += "/etc/steering_wheel.json \ - /etc/steering_wheel_map.json \ - /etc/gear_shift_para.json \ - /usr/bin/candev.sh \ - /usr/bin/wheel-service \ - /lib/systemd/system/wheel.service \ - /lib/systemd/system/usbcan0.service \ - /lib/systemd/system/usbcan1.service \ - /etc/udev/rule.d/90-wheel.rules \ - " 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 ${PROJECT_BINARY_DIR}/package/root/lib) ########################################################################### include(FindPkgConfig) #* pkg_check_modules(EXTRAS REQUIRED json-c libsystemd afb-daemon) -pkg_check_modules(EXTRAS REQUIRED json-c libsystemd) +#pkg_check_modules(EXTRAS REQUIRED json-c) add_compile_options(${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) + +#* +#* 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) + +#* install(TARGETS af-canivi-binding LIBRARY DESTINATION ${afb_binding_install_dir}) +# +############################################################## +# 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#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(": event(\"%s\") is not subscribed", property_info->name); + return 1; + } + + if (afb_event_is_valid(event->event)) + { + int recved_client; + + recved_client = afb_event_push(event->event, property2json(property_info)); + if(recved_client < 1) + { + if(recved_client == 0) + { + DBGMSG("event(\"%s\") is no client.", property_info->name); +#ifdef ENABLE_EVENT_DROP + /* Drop event */ + remove_event(property_info->name); +#endif + } + else + { + ERRMSG("count of clients that received the event : %d",recved_client); + } + + return 1; + } /* else (1 <= recved_lient) + * NORMAL + */ + } + else + { + ERRMSG("event(\"%s\") is invalid. don't adb_event_push()", property_info->name); + return 1; + } + + return 0; +} + +static int connection(struct wheel_conf *conf) +{ + int js; + int ret; + sd_event_source *source; + + js = js_open(conf->devname); + if (js < 0) + { + js_close(js); + ERRMSG("can't connect to joy stick, the event loop failed"); + return 0; + } + + ret = sd_event_add_io( + afb_daemon_get_event_loop(), + &source, + js, + EPOLLIN, + on_event, NULL); + if (ret < 0) + { + js_close(js); + ERRMSG("can't add event, the event loop failed"); + return 0; + } + + NOTICEMSG("connect to JS(%s), event loop started",conf->devname); + + return 0; +} + +/***************************************************************************************/ +/** **/ +/** **/ +/** SECTION: BINDING VERBS IMPLEMENTATION **/ +/** **/ +/** **/ +/***************************************************************************************/ +/** + * get method. + */ +static void get(struct afb_req req) +{ + +} + +///** +// * set method. +// */ +//static void set(struct afb_req req) +//{ +// +//} + +/** + * list method. + */ +static struct json_object *tmplists; + +static void _listup_properties(struct prop_info_t *property_info) +{ + if (property_info->name == NULL) + { + return; + } + else + { + json_object_array_add(tmplists, json_object_new_string(property_info->name)); + } +} + +static void list(struct afb_req req) +{ + if (tmplists != NULL) + { + json_object_put(tmplists); + } + tmplists = json_object_new_array(); + if (tmplists == NULL) + { + ERRMSG("not enough memory"); + afb_req_fail(req,"not enough memory", NULL); + return; + } + (void)canid_walker(_listup_properties); + afb_req_success(req, tmplists, NULL); +} + +/** + * subscribe method. + */ +static int subscribe_all(struct afb_req req, struct json_object *apply); + +static int subscribe_signal(struct afb_req req, const char *name, struct json_object *apply) +{ + struct bind_event_t *event; + + if(strcmp(name, "*") == 0) + { + return subscribe_all(req, apply); + } + + event = get_event(name); + if (event == NULL) + { + event = register_event(name); + if (event == NULL) + { + ERRMSG("register event failed: %s", name); + return 1; + } + } + else + { + DBGMSG("subscribe event: \"%s\" alrady exist", name); + } + + if (afb_req_subscribe(req, event->event) != 0) + { + ERRMSG("afb_req_subscrive() is failed."); + return 1; + } + + json_object_object_add(apply, event->name, property2json(event->raw_info)); + + return 0; +} + +static int subscribe_all(struct afb_req req, struct json_object *apply) +{ + int i; + int nProp; + const char **list = getSupportPropertiesList(&nProp); + int err = 0; + for(i = 0; i < nProp; i++) + err += subscribe_signal(req, list[i], apply); + + return err; +} + +static void subscribe(struct afb_req req) +{ + struct json_object *apply; + int err = 0; + const char *event; + + event = afb_req_value(req, "event"); + if (event == NULL) + { + ERRMSG("Unknwon subscrive event args"); + afb_req_fail(req, "error", NULL); + return; + } + apply = json_object_new_object(); + err = subscribe_signal(req, event, apply); + + if (!err) + { + afb_req_success(req, apply, NULL); + } + else + { + json_object_put(apply); + afb_req_fail(req, "error", NULL); + } +} + +/** + * unsubscribe method. + */ + +static int unsubscribe_all(struct afb_req req); + +static int unsubscribe_signal(struct afb_req req, const char *name) +{ + struct bind_event_t *event; + if(strcmp(name, "*") == 0) + { + return unsubscribe_all(req); + } + + event = get_event(name); + if (event == NULL) + { + ERRMSG("not subscribed event \"%s\"", name); + return 0; /* Alrady unsubscribed */ + } + if (afb_req_unsubscribe(req, event->event) != 0) + { + ERRMSG("afb_req_subscrive() is failed."); + return 1; + } + + return 0; +} + +static int unsubscribe_all(struct afb_req req) +{ + int i; + int nProp; + const char **list = getSupportPropertiesList(&nProp); + int err = 0; + for(i = 0; i < nProp; i++) + { + err += unsubscribe_signal(req, list[i]); + } + + return err; +} + +static void unsubscribe(struct afb_req req) +{ + struct json_object *args, *val; + int n,i; + int err = 0; + + args = afb_req_json(req); + if ((args == NULL) || !json_object_object_get_ex(args, "event", &val)) + { + err = unsubscribe_all(req); + } + else if (json_object_get_type(val) != json_type_array) + { + err = unsubscribe_signal(req, json_object_get_string(val)); + } + else + { + struct json_object *ent; + n = json_object_array_length(val); + for (i = 0; i < n; i++) + { + ent = json_object_array_get_idx(val,i); + err += unsubscribe_signal(req, json_object_get_string(ent)); + } + } + + if (!err) + afb_req_success(req, NULL, NULL); + else + afb_req_fail(req, "error", NULL); +} + +/* + * parse configuration file (steering_wheel.json) + */ +static int init_conf(int fd_conf, struct wheel_conf *conf) +{ +#define CONF_FILE_MAX (1024) + char filebuf[CONF_FILE_MAX]; + json_object *jobj; + + memset(filebuf,0, sizeof(filebuf)); + FILE *fp = fdopen(fd_conf,"r"); + if (fp == NULL) + { + ERRMSG("canno read configuration file(steering_wheel.json)"); + return -1; + } + + fread(filebuf, 1, sizeof(filebuf), fp); + fclose(fp); + + jobj = json_tokener_parse(filebuf); + if (jobj == NULL) + { + ERRMSG("json: Invalid steering_wheel.json format"); + return -1; + } + json_object_object_foreach(jobj, key, val) + { + if (strcmp(key,"dev_name") == 0) + { + conf->devname = strdup(json_object_get_string(val)); + } + else if (strcmp(key,"wheel_map") == 0) + { + wheel_define_init(json_object_get_string(val)); + } + else if (strcmp(key,"gear_para") == 0) + { + wheel_gear_para_init(json_object_get_string(val)); + } + } + json_object_put(jobj); + + return 0; +} + +static int init() +{ + NOTICEMSG("init"); + + int fd_conf; + struct wheel_conf conf; + fd_conf = afb_daemon_rootdir_open_locale("steering_wheel.json", O_RDONLY, NULL); + if (fd_conf < 0) + { + ERRMSG("wheel configuration (steering_wheel.json) is not access"); + return -1; + } + if (init_conf(fd_conf, &conf)) + { + return -1; + } + return connection(&conf); +} + +/* + * array of the verbs exported to afb-daemon + */ +static const struct afb_verb_v2 binding_verbs[] = +{ + /* VERB'S NAME SESSION MANAGEMENT FUNCTION TO CALL Authorization */ + { .verb= "get", .session= AFB_SESSION_NONE, .callback= get, .info = "get", .auth = NULL }, +// { .name= "set", .session= AFB_SESSION_NONE, .callback= set, .auth = NULL }, + { .verb= "list", .session= AFB_SESSION_NONE, .callback= list, .info = "list", .auth = NULL }, + { .verb= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info = "subscribe", .auth = NULL }, + { .verb= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info = "unsubscribe", .auth = NULL }, + { .verb= NULL } /* marker for end of the array */ +}; + +/* + * description of the binding for afb-daemon + */ +const struct afb_binding_v2 afbBindingV2 = +{ + .api = "steering-wheel", + .specification = NULL, + .verbs = binding_verbs, /* the array describing the verbs of the API */ + .preinit = NULL, + .init = init, + .onevent = NULL, + .noconcurrency = 1 +}; diff --git a/src/af-steering-wheel-binding.h b/src/af-steering-wheel-binding.h new file mode 100644 index 0000000..1b7323c --- /dev/null +++ b/src/af-steering-wheel-binding.h @@ -0,0 +1,35 @@ +/* + * Copyright (c) 2017 TOYOTA MOTOR CORPORATION + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef _AF_WHEEL_BINDING_H_ +#define _AF_WHEEL_BINDING_H_ + +#define AFB_BINDING_VERSION 2 +#include + +#include "prop_info.h" + +#if !defined(NO_BINDING_VERBOSE_MACRO) +#define ERRMSG(msg, ...) AFB_ERROR(msg,##__VA_ARGS__) +#define WARNMSG(msg, ...) AFB_WARNING(msg,##__VA_ARGS__) +#define DBGMSG(msg, ...) AFB_DEBUG(msg,##__VA_ARGS__) +#define INFOMSG(msg, ...) AFB_INFO(msg,##__VA_ARGS__) +#define NOTICEMSG(msg, ...) AFB_NOTICE(msg,##__VA_ARGS__) +#endif + +extern int notify_property_changed(struct prop_info_t *property_info); + +#endif diff --git a/src/bind_event.c b/src/bind_event.c new file mode 100644 index 0000000..01887cd --- /dev/null +++ b/src/bind_event.c @@ -0,0 +1,114 @@ +/* + * Copyright (c) 2017 TOYOTA MOTOR CORPORATION + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#define _GNU_SOURCE +#include +#include +#include +#include + +#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 -#include -#include -#include -#include -#include -#include -#include -#include - -#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 ##* */ - 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 -#include -#include - -#include /* for sa_family_t */ -#include -#include - - -#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 @@ + + + steering-wheel-service + + + The name says it all! + TOYOTA + APL2.0 + + + + + + + + + + + + + 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 -#include -#include -#include -#include - -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 Binary files /dev/null and b/src/icon.png 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 #include -#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 #include #include -#include -#include -#include -#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 #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 #include -#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 #include #include -#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 -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -#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(" #{R|data} for CAN 2.0 frames\n"); - DBG_ERROR(" ##{data} for CAN FD frames\n\n"); - DBG_ERROR(" 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(" 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/wheel-service.h b/src/wheel-service.h deleted file mode 100644 index f588599..0000000 --- a/src/wheel-service.h +++ /dev/null @@ -1,29 +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 _AF_WHEEL_BINDING_H_ -#define _AF_WHEEL_BINDING_H_ - -#define AFB_BINDING_VERSION 2 -#include -#include "prop_info.h" -#include "debug_msg.h" - -#define LOG_PREFIX "wheel-service" - -extern int notify_property_changed(struct prop_info_t *property_info); - -#endif -- cgit 1.2.3-korg