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Diffstat (limited to 'src/low_can_client.cpp')
| -rw-r--r-- | src/low_can_client.cpp | 193 |
1 files changed, 193 insertions, 0 deletions
diff --git a/src/low_can_client.cpp b/src/low_can_client.cpp new file mode 100644 index 0000000..23a39e2 --- /dev/null +++ b/src/low_can_client.cpp @@ -0,0 +1,193 @@ +/* + * Copyright (c) 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. + */ + + +#include "json_helper.hpp" +#include "low_can_client.hpp" +#include "hmi-debug.h" + +extern "C" { +#include <afb/afb-binding.h> +} + + +namespace wm { + +LowCanClient::LowCanClient() : + vehicle_speed_(0), + trans_gear_pos_(0), + park_brake_status_(TRUE), + headlamp_status_(FALSE), + prv_car_state_("car_stop"), + crr_car_state_("car_stop"), + prv_lamp_state_("lamp_off"), + crr_lamp_state_("lamp_off"), + is_changed_car_state_(false), + is_changed_lamp_state_(false) +{ + HMI_DEBUG("wm:lcc", "Call"); +} + +void LowCanClient::initialize() { + HMI_DEBUG("wm:lcc", "Call"); + + int ret; + + // Require API "low-can" + ret = afb_daemon_require_api_v2("low-can", 1); + if (0 > ret) { + HMI_INFO("wm:lcc", "Requirement API \"low-can\" failed"); + return; + } + + // Subscribe low-level-can + // low-can subscribe { "event": "vehicle.speed" } + // low-can subscribe { "event": "transmission_gear_position" } + // low-can subscribe { "event": "headlamp_status" } + // low-can subscribe { "event": "parking_brake_status" } + for (int i=0; i<this->kNumEvent_; i++) { + json_object *json_obj = json_object_new_object(); + json_object_object_add(json_obj, "event", json_object_new_string(this->kEventName_[i])); + HMI_DEBUG("wm:lcc", "subscribe message:%s", json_object_get_string(json_obj)); + + json_object *json_result = json_object_new_object(); + ret = afb_service_call_sync("low-can", "subscribe", json_obj, &json_result); + if (0 > ret) { + HMI_INFO("wm:lcc", "Could not subscribe to \"low-can\" :%d", ret); + return; + } + HMI_DEBUG("wm:lcc", "subscribe result:%s", json_object_get_string(json_result)); + } + + return; +} + +void 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, "vehicle.speed")) { + HMI_DEBUG("wm:lcc", "Receive vehicle speed"); + // 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_); + } + } + else if (strstr(name, "transmission_gear_position")) { + HMI_DEBUG("wm:lcc", "Receive transmission gear position"); + // 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_); + } + } + else if (strstr(name, "parking_brake_status")) { + HMI_DEBUG("wm:lcc", "Receive parking brake status"); + // Update parking gear status + json_bool park_brake = jh::getBoolFromJson(object, "value"); + if (this->park_brake_status_ != park_brake) { + this->park_brake_status_ = park_brake; + HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->park_brake_status_); + } + } + else if (strstr(name, "headlamp_status")) { + HMI_DEBUG("wm:lcc", "Receive headlamp status"); + // 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_); + } + } + + // Update car state + if ((0 == this->vehicle_speed_) || (true == this->park_brake_status_)) { + this->crr_car_state_ = "car_stop"; + } + else { + this->crr_car_state_ = "car_run"; + } + HMI_DEBUG("wm:lcc", "Current car state:%s", this->crr_car_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()); + + // If car state is changed, + // backup current state for previous state and set flag + if (this->prv_car_state_ != this->crr_car_state_) { + HMI_DEBUG("wm:lcc", "Car state is changed: %s -> %s", + this->prv_car_state_.c_str(), this->crr_car_state_.c_str()); + this->prv_car_state_ = this->crr_car_state_; + this->is_changed_car_state_ = true; + } + + // 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; + } +} + +bool LowCanClient::isChangedCarState() { + HMI_DEBUG("wm:lcc", "Call"); + + // Return changed flag + return this->is_changed_car_state_; +} + +bool LowCanClient::isChangedLampState() { + HMI_DEBUG("wm:lcc", "Call"); + + // Return changed flag + return this->is_changed_lamp_state_; +} + +const char* LowCanClient::getCurrentCarState() { + HMI_DEBUG("wm:lcc", "Call"); + + // Clear changed flag + this->is_changed_car_state_ = false; + + // Return current car state + return this->crr_car_state_.c_str(); +} + +const char* LowCanClient::getCurrentLampState() { + 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(); +} + + +} // namespace wm |