aboutsummaryrefslogtreecommitdiffstats
diff options
context:
space:
mode:
-rw-r--r--src/app.cpp42
-rw-r--r--src/app.hpp11
-rw-r--r--src/low_can_client.cpp205
-rw-r--r--src/low_can_client.hpp73
-rw-r--r--src/main.cpp74
5 files changed, 165 insertions, 240 deletions
diff --git a/src/app.cpp b/src/app.cpp
index 296ce35..ac789ad 100644
--- a/src/app.cpp
+++ b/src/app.cpp
@@ -119,6 +119,13 @@ App::App(wl::display *d)
} catch (std::exception &e) {
HMI_ERROR("wm", "Loading of configuration failed: %s", e.what());
}
+
+ // Initialize current car info
+ this->crr_car_info_.parking_brake_stt = true;
+ this->crr_car_info_.accel_pedal_stt = false;
+ this->crr_car_info_.accel_pedal_pos = 0;
+ this->crr_car_info_.car_stt = "stop";
+ this->crr_car_info_.headlamp_stt = false;
}
int App::init() {
@@ -369,15 +376,16 @@ void App::allocateWindowResource(char const *event, char const *drawing_name,
json_bool is_changed;
is_changed = jh::getBoolFromJson(json_parking_brake, "is_changed");
if (is_changed) {
- // Update parking brake state
std::string parking_brake_state = jh::getStringFromJson(json_parking_brake, "state");
HMI_DEBUG("wm", "parking_brake_state: %s", parking_brake_state.c_str());
- // Emit parking brake event
+ // Update state and emit event
if ("parking_brake_off" == parking_brake_state) {
+ this->crr_car_info_.parking_brake_stt = false;
this->emitParkingBrakeOff();
}
else if ("parking_brake_on" == parking_brake_state) {
+ this->crr_car_info_.parking_brake_stt = true;
this->emitParkingBrakeOn();
}
else {
@@ -393,6 +401,24 @@ void App::allocateWindowResource(char const *event, char const *drawing_name,
return;
}
+ is_changed = jh::getBoolFromJson(json_accel_pedal, "is_changed");
+ if (is_changed) {
+ std::string accel_pedal_state = jh::getStringFromJson(json_accel_pedal, "state");
+ HMI_DEBUG("wm", "accel_pedal_state: %s", accel_pedal_state.c_str());
+
+ // Update state
+ if ("accel_pedal_off" == accel_pedal_state) {
+ this->crr_car_info_.accel_pedal_stt = false;
+ }
+ else if ("accel_pedal_on" == accel_pedal_state) {
+ this->crr_car_info_.accel_pedal_stt = true;
+ }
+ else {
+ reply("Unknown accel pedal state");
+ return;
+ }
+ }
+
// Check car state
json_object* json_car;
if (!json_object_object_get_ex(json_out, "car", &json_car)) {
@@ -402,15 +428,16 @@ void App::allocateWindowResource(char const *event, char const *drawing_name,
is_changed = jh::getBoolFromJson(json_car, "is_changed");
if (is_changed) {
- // Update car state
std::string car_state = jh::getStringFromJson(json_car, "state");
HMI_DEBUG("wm", "car_state: %s", car_state.c_str());
// Emit car event
if ("car_stop" == car_state) {
+ this->crr_car_info_.car_stt = "stop";
this->emitCarStop();
}
else if ("car_run" == car_state) {
+ this->crr_car_info_.car_stt = "run";
this->emitCarRun();
}
else {
@@ -428,15 +455,16 @@ void App::allocateWindowResource(char const *event, char const *drawing_name,
is_changed = jh::getBoolFromJson(json_lamp, "is_changed");
if (is_changed) {
- // Update car state
std::string lamp_state = jh::getStringFromJson(json_lamp, "state");
HMI_DEBUG("wm", "lamp_state: %s", lamp_state.c_str());
- // Emit lamp event
+ // Update state and emit event
if ("lamp_off" == lamp_state) {
+ this->crr_car_info_.headlamp_stt = false;
this->emitHeadlampOff();
}
else if ("lamp_on" == lamp_state) {
+ this->crr_car_info_.headlamp_stt = true;
this->emitHeadlampOn();
}
else {
@@ -1066,6 +1094,10 @@ void App::setSurfaceSize(const char* role, const char* area) {
this->enqueue_flushdraw(surface_id);
}
+void App::setAccelPedalPos(double val) {
+ this->crr_car_info_.accel_pedal_pos = val;
+}
+
extern const char* kDefaultAppDb;
int App::loadAppDb() {
HMI_DEBUG("wm", "Call");
diff --git a/src/app.hpp b/src/app.hpp
index b7d6815..13bc421 100644
--- a/src/app.hpp
+++ b/src/app.hpp
@@ -128,6 +128,14 @@ struct id_allocator {
}
};
+typedef struct CarInfo {
+ bool parking_brake_stt;
+ bool accel_pedal_stt;
+ double accel_pedal_pos;
+ const char *car_stt;
+ bool headlamp_stt;
+} CarInfo;
+
struct App {
typedef std::unordered_map<uint32_t, struct compositor::rect> rect_map;
@@ -234,6 +242,8 @@ struct App {
void surface_created(uint32_t surface_id);
void surface_removed(uint32_t surface_id);
+ void setAccelPedalPos(double val);
+
private:
PolicyManager pm_;
LayoutManager lm_;
@@ -241,6 +251,7 @@ private:
std::unordered_map<std::string, std::string> app2role_;
std::unordered_map<std::string, std::string> role2app_;
std::unordered_map<int, int> appid2role_;
+ CarInfo crr_car_info_;
int allocateSurface();
void setSurfaceSize(const char* role, const char* area);
diff --git a/src/low_can_client.cpp b/src/low_can_client.cpp
index e3e472f..192e124 100644
--- a/src/low_can_client.cpp
+++ b/src/low_can_client.cpp
@@ -32,15 +32,8 @@ LowCanClient::LowCanClient() :
headlamp_status_(FALSE),
parking_brake_status_(TRUE),
accel_pedal_pos_(0),
- prv_lamp_state_("lamp_off"),
- crr_lamp_state_("lamp_off"),
- prv_parking_brake_state_("parking_brake_on"),
- crr_parking_brake_state_("parking_brake_on"),
- prv_accel_pedal_state_("accel_pedal_off"),
- crr_accel_pedal_state_("accel_pedal_off"),
- is_changed_lamp_state_(false),
- is_changed_parking_brake_state_(false),
- is_changed_accel_pedal_state_(false)
+ accel_pedal_stt_(FALSE),
+ is_changed_accel_pedal_stt_(false)
{
HMI_DEBUG("wm:lcc", "Call");
}
@@ -67,7 +60,7 @@ void LowCanClient::initialize() {
// Set Event
json_object *json_obj = json_object_new_object();
json_object_object_add(json_obj, "event",
- json_object_new_string(this->kEventName_[i]));
+ json_object_new_string(this->kSignalName_[i]));
// Set filter
if (0 != strcmp("", this->kFilterValue_[i])) {
@@ -88,197 +81,91 @@ void LowCanClient::initialize() {
return;
}
-void LowCanClient::analyzeCanSignal(struct json_object *object) {
+const char* LowCanClient::analyzeCanSignal(struct json_object *object) {
HMI_DEBUG("wm:lcc", "object:%s", json_object_get_string(object));
const char* name = jh::getStringFromJson(object, "name");
HMI_DEBUG("wm:lcc", "CAN signal name:%s", name);
- if (strstr(name, this->kEventName_[0])) {
- HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[0]);
+ if (strstr(name, this->kSignalName_[0])) {
// Update vehicle speed
- int speed = jh::getIntFromJson(object, "value");
- if (this->vehicle_speed_ != speed) {
- this->vehicle_speed_ = speed;
- HMI_DEBUG("wm:lcc", "Update vehicle speed:%d", this->vehicle_speed_);
- }
+ this->vehicle_speed_ = jh::getIntFromJson(object, "value");
+ HMI_DEBUG("wm:lcc", "Update vehicle speed:%d", this->vehicle_speed_);
}
- else if (strstr(name, this->kEventName_[1])) {
- HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[1]);
+ else if (strstr(name, this->kSignalName_[1])) {
// Update transmission gear position
- int gear_pos = jh::getIntFromJson(object, "value");
- if (this->trans_gear_pos_ != gear_pos) {
- this->trans_gear_pos_ = gear_pos;
- HMI_DEBUG("wm:lcc", "Update transmission gear position:%d", this->trans_gear_pos_);
- }
+ this->trans_gear_pos_ = jh::getIntFromJson(object, "value");
+ HMI_DEBUG("wm:lcc", "Update transmission gear position:%d", this->trans_gear_pos_);
}
- else if (strstr(name, this->kEventName_[2])) {
- HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[2]);
+ else if (strstr(name, this->kSignalName_[2])) {
// Update headlamp status
- json_bool headlamp = jh::getBoolFromJson(object, "value");
- if (this->headlamp_status_ != headlamp) {
- this->headlamp_status_ = headlamp;
- HMI_DEBUG("wm:lcc", "Update headlamp status:%d", this->headlamp_status_);
- }
+ this->headlamp_status_ = jh::getBoolFromJson(object, "value");
+ HMI_DEBUG("wm:lcc", "Update headlamp status:%d", this->headlamp_status_);
}
- else if (strstr(name, this->kEventName_[3])) {
- HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[3]);
+ else if (strstr(name, this->kSignalName_[3])) {
// Update parking gear status
- json_bool parking_brake = jh::getBoolFromJson(object, "value");
- if (this->parking_brake_status_ != parking_brake) {
- this->parking_brake_status_ = parking_brake;
- HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->parking_brake_status_);
- }
- }
- else if (strstr(name, this->kEventName_[4])) {
- HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[4]);
- // Update accelerator pedal status
- double accel_pedal_pos = jh::getDoubleFromJson(object, "value");
- if (this->accel_pedal_pos_ != accel_pedal_pos) {
- this->accel_pedal_pos_ = accel_pedal_pos;
- HMI_DEBUG("wm:lcc", "Update accelerator pedal status:%lf", this->accel_pedal_pos_);
- }
- }
-
- // Update transmission gear position state
- if (TransGearPosValN == this->trans_gear_pos_) {
- this->crr_accel_pedal_state_ = "trans_gear_neutral";
- }
- else {
- this->crr_accel_pedal_state_ = "trans_gear_not_neutral";
- }
- HMI_DEBUG("wm:lcc", "Current transmission gear state:%s", this->crr_trans_gear_state_.c_str());
-
- // Update lamp state
- if (true == this->headlamp_status_) {
- this->crr_lamp_state_ = "lamp_on";
- }
- else {
- this->crr_lamp_state_ = "lamp_off";
- }
- HMI_DEBUG("wm:lcc", "Current lamp state:%s", this->crr_lamp_state_.c_str());
-
- // Update parking brake state
- if (this->parking_brake_status_) {
- this->crr_parking_brake_state_ = "parking_brake_on";
- }
- else {
- this->crr_parking_brake_state_ = "parking_brake_off";
- }
- HMI_DEBUG("wm:lcc", "Current parking brake state:%s", this->crr_parking_brake_state_.c_str());
-
- // Update accelerator pedal state
- if (0 == this->accel_pedal_pos_) {
- this->crr_accel_pedal_state_ = "accel_pedal_off";
- }
- else {
- this->crr_accel_pedal_state_ = "accel_pedal_on";
- }
- HMI_DEBUG("wm:lcc", "Current accelerator pedal state:%s", this->crr_accel_pedal_state_.c_str());
-
- // If transmission gear state is changed,
- // backup current state for previous state and set flag
- if (this->prv_trans_gear_state_ != this->crr_trans_gear_state_) {
- HMI_DEBUG("wm:lcc", "Transmission Gear is changed: %s -> %s",
- this->prv_trans_gear_state_.c_str(), this->crr_trans_gear_state_.c_str());
- this->prv_trans_gear_state_ = this->crr_trans_gear_state_;
- this->is_changed_trans_gear_state_ = true;
+ this->parking_brake_status_ = jh::getBoolFromJson(object, "value");
+ HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->parking_brake_status_);
}
+ else if (strstr(name, this->kSignalName_[4])) {
+ // Clear flag for whether accel pedal state is changed
+ this->is_changed_accel_pedal_stt_ = false;
- // If lamp state is changed,
- // backup current state for previous state and set flag
- if (this->prv_lamp_state_ != this->crr_lamp_state_) {
- HMI_DEBUG("wm:lcc", "Lamp state is changed: %s -> %s",
- this->prv_lamp_state_.c_str(), this->crr_lamp_state_.c_str());
- this->prv_lamp_state_ = this->crr_lamp_state_;
- this->is_changed_lamp_state_ = true;
- }
+ // Update accelerator pedal status
+ this->accel_pedal_pos_ = jh::getDoubleFromJson(object, "value");
+ HMI_DEBUG("wm:lcc", "Update accelerator pedal position:%lf", this->accel_pedal_pos_);
- // If parking brake state is changed,
- // backup current state for previous state and set flag
- if (this->prv_parking_brake_state_ != this->crr_parking_brake_state_) {
- HMI_DEBUG("wm:lcc", "Parking Brake state is changed: %s -> %s",
- this->prv_parking_brake_state_.c_str(), this->crr_parking_brake_state_.c_str());
- this->prv_parking_brake_state_ = this->crr_parking_brake_state_;
- this->is_changed_parking_brake_state_ = true;
- }
+ bool accel_pedal_stt;
+ if (0 != this->accel_pedal_pos_) {
+ accel_pedal_stt = true;
+ }
+ else {
+ accel_pedal_stt = false;
+ }
- // If accelerator pedal state is changed,
- // backup current state for previous state and set flag
- if (this->prv_accel_pedal_state_ != this->crr_accel_pedal_state_) {
- HMI_DEBUG("wm:lcc", "Accelerator Pedal is changed: %s -> %s",
- this->prv_accel_pedal_state_.c_str(), this->crr_accel_pedal_state_.c_str());
- this->prv_accel_pedal_state_ = this->crr_accel_pedal_state_;
- this->is_changed_accel_pedal_state_ = true;
+ if (accel_pedal_stt != this->accel_pedal_stt_) {
+ this->is_changed_accel_pedal_stt_ = true;
+ this->accel_pedal_stt_ = accel_pedal_stt;
+ }
}
-}
-bool LowCanClient::isChangedTransGearState() {
- HMI_DEBUG("wm:lcc", "Call");
-
- // Return changed flag
- return this->is_changed_trans_gear_state_;
+ return name;
}
-bool LowCanClient::isChangedLampState() {
- HMI_DEBUG("wm:lcc", "Call");
-
- // Return changed flag
- return this->is_changed_lamp_state_;
-}
-
-bool LowCanClient::isChangedParkingBrakeState() {
+bool LowCanClient::isChangedAccelPedalState() {
HMI_DEBUG("wm:lcc", "Call");
- // Return changed flag
- return this->is_changed_parking_brake_state_;
+ return this->is_changed_accel_pedal_stt_;
}
-bool LowCanClient::isChangedAccelPedalState() {
+int LowCanClient::getCurrentTransGearState() {
HMI_DEBUG("wm:lcc", "Call");
- // Return changed flag
- return this->is_changed_accel_pedal_state_;
+ return this->trans_gear_pos_;
}
-const char* LowCanClient::getCurrentTransGearState() {
+bool LowCanClient::getCurrentHeadlampState() {
HMI_DEBUG("wm:lcc", "Call");
- // Clear changed flag
- this->is_changed_trans_gear_state_ = false;
-
- // Return current transmission gear state
- return this->crr_trans_gear_state_.c_str();
+ return (bool)this->headlamp_status_;
}
-const char* LowCanClient::getCurrentLampState() {
+bool LowCanClient::getCurrentParkingBrakeState() {
HMI_DEBUG("wm:lcc", "Call");
- // Clear changed flag
- this->is_changed_lamp_state_ = false;
-
- // Return current lamp state
- return this->crr_lamp_state_.c_str();
+ return (bool)this->parking_brake_status_;
}
-const char* LowCanClient::getCurrentParkingBrakeState() {
+double LowCanClient::getCurrentAccelPedalPosition() {
HMI_DEBUG("wm:lcc", "Call");
- // Clear changed flag
- this->is_changed_parking_brake_state_ = false;
-
- // Return current parking brake state
- return this->crr_parking_brake_state_.c_str();
+ return this->accel_pedal_pos_;
}
-const char* LowCanClient::getCurrentAccelPedalState() {
+bool LowCanClient::getCurrentAccelPedalState() {
HMI_DEBUG("wm:lcc", "Call");
- // Clear changed flag
- this->is_changed_accel_pedal_state_ = false;
-
- // Return current accelerator pedal state
- return this->crr_accel_pedal_state_.c_str();
+ return this->accel_pedal_stt_;
}
diff --git a/src/low_can_client.hpp b/src/low_can_client.hpp
index 9cd10e2..4bc3747 100644
--- a/src/low_can_client.hpp
+++ b/src/low_can_client.hpp
@@ -31,16 +31,37 @@ public:
explicit LowCanClient();
~LowCanClient() = default;
+ enum SignalNo {
+ SignalNoVehicliSpeed = 0,
+ SignalNoTransGearPos,
+ SignalNoHeadlame,
+ SignalNoParkingBrake,
+ SignalNoAccelPedalPos,
+
+ SignalNum,
+
+ SignalNoMin = SignalNoVehicliSpeed,
+ SignalNoMax = SignalNum - 1,
+ };
+
+ const std::vector<const char*> kSignalName_{
+ "vehicle.speed",
+ "transmission_gear_position",
+ "headlamp_status",
+ "parking_brake_status",
+ "accelerator.pedal.position",
+ };
+
void initialize();
- void analyzeCanSignal(struct json_object *object);
- bool isChangedTransGearState();
- bool isChangedLampState();
- bool isChangedParkingBrakeState();
+ const char* analyzeCanSignal(struct json_object *object);
+
+ int getCurrentTransGearState();
+ bool getCurrentHeadlampState();
+ bool getCurrentParkingBrakeState();
+ double getCurrentAccelPedalPosition();
+ bool getCurrentAccelPedalState();
+
bool isChangedAccelPedalState();
- const char* getCurrentTransGearState();
- const char* getCurrentLampState();
- const char* getCurrentParkingBrakeState();
- const char* getCurrentAccelPedalState();
private:
// Disable copy and move
@@ -62,27 +83,6 @@ private:
TransGearPosValN,
};
- enum SignalNo {
- SignalNoVehicliSpeed = 0,
- SignalNoTransGearPos,
- SignalNoHeadlame,
- SignalNoParkingBrake,
- SignalNoAccelPedalPos,
-
- SignalNum,
-
- SignalNoMin = SignalNoVehicliSpeed,
- SignalNoMax = SignalNum - 1,
- };
-
- const std::vector<const char*> kEventName_{
- "vehicle.speed",
- "transmission_gear_position",
- "headlamp_status",
- "parking_brake_status",
- "accelerator.pedal.position",
- };
-
const std::vector<const char*> kFilterValue_{
"",
"",
@@ -96,20 +96,9 @@ private:
json_bool headlamp_status_;
json_bool parking_brake_status_;
double accel_pedal_pos_;
+ bool accel_pedal_stt_;
- std::string prv_trans_gear_state_;
- std::string crr_trans_gear_state_;
- std::string prv_lamp_state_;
- std::string crr_lamp_state_;
- std::string prv_parking_brake_state_;
- std::string crr_parking_brake_state_;
- std::string prv_accel_pedal_state_;
- std::string crr_accel_pedal_state_;
-
- bool is_changed_trans_gear_state_;
- bool is_changed_lamp_state_;
- bool is_changed_parking_brake_state_;
- bool is_changed_accel_pedal_state_;
+ bool is_changed_accel_pedal_stt_;
};
} // namespace wm
diff --git a/src/main.cpp b/src/main.cpp
index 3a60b94..1db33a4 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -664,50 +664,56 @@ void on_event(const char *event, struct json_object *object){
// If receive low can signal
if (strstr(event, "low-can")) {
+ wm::LowCanClient *lcc = &(g_afb_instance->lcc_);
+ wm::App *app = &(g_afb_instance->app);
+
// Analyze low can signal
- g_afb_instance->lcc_.analyzeCanSignal(object);
+ const char* signal_name = lcc->analyzeCanSignal(object);
- if (g_afb_instance->lcc_.isChangedParkingBrakeState()) {
- // If parking brake state is changed
+ // If car info is updated, set event name
+ const char *can_event = nullptr;
+ if (strstr(signal_name, lcc->kSignalName_[lcc->SignalNoParkingBrake])) {
HMI_DEBUG("wm", "Parking Brake state is changed");
- // Get parking brake state
- const char* parking_brake_state = g_afb_instance->lcc_.getCurrentParkingBrakeState();
-
- // Allocate window resource
- g_afb_instance->app.allocateWindowResource(parking_brake_state, nullptr,
- nullptr, nullptr,
- [](const char* errmsg){
- if (errmsg != nullptr) {
- HMI_ERROR("wm", errmsg);
- }
- });
+ // Set event
+ if (lcc->getCurrentParkingBrakeState()) {
+ can_event = "parking_brake_on";
+ }
+ else {
+ can_event = "parking_brake_off";
+ }
}
- if (g_afb_instance->lcc_.isChangedAccelPedalState()) {
- // If accelerator pedal state is changed
- HMI_DEBUG("wm", "Accelerator Pedal state is changed");
+ else if (strstr(signal_name, lcc->kSignalName_[lcc->SignalNoAccelPedalPos])) {
+ // Update accel pedal position
+ app->setAccelPedalPos(lcc->getCurrentAccelPedalPosition());
- // Get parking brake state
- const char* accel_pedal_state = g_afb_instance->lcc_.getCurrentAccelPedalState();
+ if (lcc->isChangedAccelPedalState()) {
+ HMI_DEBUG("wm", "Accelerator Pedal state is changed");
- // Allocate window resource
- g_afb_instance->app.allocateWindowResource(accel_pedal_state, nullptr,
- nullptr, nullptr,
- [](const char* errmsg){
- if (errmsg != nullptr) {
- HMI_ERROR("wm", errmsg);
+ // Set event
+ if (lcc->getCurrentAccelPedalState()) {
+ can_event = "accel_pedal_on";
}
- });
+ else {
+ can_event = "accel_pedal_off";
+ }
+ }
+ }
+ else if (strstr(signal_name, lcc->kSignalName_[lcc->SignalNoHeadlame])) {
+ HMI_DEBUG("wm", "Headlamp state is changed");
+
+ // Set event
+ if (lcc->getCurrentHeadlampState()) {
+ can_event = "headlamp_on";
+ }
+ else {
+ can_event = "headlamp_off";
+ }
}
- else if (g_afb_instance->lcc_.isChangedLampState()) {
- // If lamp state is changed
- HMI_DEBUG("wm", "Lamp state is changed");
-
- // Get lamp state
- const char* lamp_state = g_afb_instance->lcc_.getCurrentLampState();
- // Allocate window resource
- g_afb_instance->app.allocateWindowResource(lamp_state, nullptr,
+ // Allocate window resource
+ if (nullptr != can_event) {
+ g_afb_instance->app.allocateWindowResource(can_event, nullptr,
nullptr, nullptr,
[](const char* errmsg){
if (errmsg != nullptr) {