diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/json_helper.cpp | 15 | ||||
| -rw-r--r-- | src/json_helper.hpp | 1 | ||||
| -rw-r--r-- | src/low_can_client.cpp | 141 | ||||
| -rw-r--r-- | src/low_can_client.hpp | 22 | ||||
| -rw-r--r-- | src/main.cpp | 18 |
5 files changed, 143 insertions, 54 deletions
diff --git a/src/json_helper.cpp b/src/json_helper.cpp index cbbf564..4b35952 100644 --- a/src/json_helper.cpp +++ b/src/json_helper.cpp @@ -134,6 +134,21 @@ int getIntFromJson(json_object* obj, const char* key) { return json_object_get_int(tmp); } +double getDoubleFromJson(json_object* obj, const char* key) { + if ((nullptr == obj) || (nullptr == key)) { + HMI_ERROR("wm:jh", "Argument is nullptr!!!"); + return 0; + } + + json_object* tmp; + if (!json_object_object_get_ex(obj, key, &tmp)) { + HMI_DEBUG("wm:jh", "Not found key \"%s\"", key); + return 0; + } + + return json_object_get_double(tmp); +} + json_bool getBoolFromJson(json_object* obj, const char* key) { if ((nullptr == obj) || (nullptr == key)) { HMI_ERROR("wm:jh", "Argument is nullptr!!!"); diff --git a/src/json_helper.hpp b/src/json_helper.hpp index 408a701..cad129f 100644 --- a/src/json_helper.hpp +++ b/src/json_helper.hpp @@ -29,6 +29,7 @@ json_object *to_json(std::vector<uint32_t> const &v); namespace jh { const char* getStringFromJson(json_object* obj, const char* key); int getIntFromJson(json_object* obj, const char* key); +double getDoubleFromJson(json_object* obj, const char* key); json_bool getBoolFromJson(json_object* obj, const char* key); int inputJsonFilie(const char* file, json_object** obj); } // namespace jh diff --git a/src/low_can_client.cpp b/src/low_can_client.cpp index 451fa24..01a7340 100644 --- a/src/low_can_client.cpp +++ b/src/low_can_client.cpp @@ -29,17 +29,21 @@ namespace wm { LowCanClient::LowCanClient() : vehicle_speed_(0), trans_gear_pos_(0), - parking_brake_status_(TRUE), 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"), prv_car_state_("car_stop"), crr_car_state_("car_stop"), - prv_lamp_state_("lamp_off"), - crr_lamp_state_("lamp_off"), + is_changed_lamp_state_(false), is_changed_parking_brake_state_(false), - is_changed_car_state_(false), - is_changed_lamp_state_(false) + is_changed_accel_pedal_state_(false), + is_changed_car_state_(false) { HMI_DEBUG("wm:lcc", "Call"); } @@ -61,7 +65,9 @@ void LowCanClient::initialize() { // 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++) { + // low-can subscribe { "event": "accelerator.pedal.position" } + int num_event = this->kEventName_.size(); + for (int i=0; i<num_event; 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)); @@ -70,7 +76,6 @@ void LowCanClient::initialize() { 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)); } @@ -84,8 +89,8 @@ void LowCanClient::analyzeCanSignal(struct json_object *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"); + if (strstr(name, this->kEventName_[0])) { + HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[0]); // Update vehicle speed int speed = jh::getIntFromJson(object, "value"); if (this->vehicle_speed_ != speed) { @@ -93,8 +98,8 @@ void LowCanClient::analyzeCanSignal(struct json_object *object) { 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"); + else if (strstr(name, this->kEventName_[1])) { + HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[1]); // Update transmission gear position int gear_pos = jh::getIntFromJson(object, "value"); if (this->trans_gear_pos_ != gear_pos) { @@ -102,8 +107,17 @@ void LowCanClient::analyzeCanSignal(struct json_object *object) { 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"); + else if (strstr(name, this->kEventName_[2])) { + HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[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_); + } + } + else if (strstr(name, this->kEventName_[3])) { + HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[3]); // Update parking gear status json_bool parking_brake = jh::getBoolFromJson(object, "value"); if (this->parking_brake_status_ != parking_brake) { @@ -111,16 +125,25 @@ void LowCanClient::analyzeCanSignal(struct json_object *object) { HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->parking_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_); + 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 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"; @@ -130,6 +153,15 @@ void LowCanClient::analyzeCanSignal(struct json_object *object) { } 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()); + // Update car state if ((0 == this->vehicle_speed_) || (true == this->parking_brake_status_)) { this->crr_car_state_ = "car_stop"; @@ -139,14 +171,14 @@ void LowCanClient::analyzeCanSignal(struct json_object *object) { } 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"; + // 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; } - HMI_DEBUG("wm:lcc", "Current lamp state:%s", this->crr_lamp_state_.c_str()); // If parking brake state is changed, // backup current state for previous state and set flag @@ -157,6 +189,15 @@ void LowCanClient::analyzeCanSignal(struct json_object *object) { this->is_changed_parking_brake_state_ = true; } + // 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 car state is changed, // backup current state for previous state and set flag if (this->prv_car_state_ != this->crr_car_state_) { @@ -165,15 +206,13 @@ void LowCanClient::analyzeCanSignal(struct json_object *object) { 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::isChangedLampState() { + HMI_DEBUG("wm:lcc", "Call"); + + // Return changed flag + return this->is_changed_lamp_state_; } bool LowCanClient::isChangedParkingBrakeState() { @@ -183,6 +222,13 @@ bool LowCanClient::isChangedParkingBrakeState() { return this->is_changed_parking_brake_state_; } +bool LowCanClient::isChangedAccelPedalState() { + HMI_DEBUG("wm:lcc", "Call"); + + // Return changed flag + return this->is_changed_accel_pedal_state_; +} + bool LowCanClient::isChangedCarState() { HMI_DEBUG("wm:lcc", "Call"); @@ -190,11 +236,14 @@ bool LowCanClient::isChangedCarState() { return this->is_changed_car_state_; } -bool LowCanClient::isChangedLampState() { +const char* LowCanClient::getCurrentLampState() { HMI_DEBUG("wm:lcc", "Call"); - // Return changed flag - return this->is_changed_lamp_state_; + // Clear changed flag + this->is_changed_lamp_state_ = false; + + // Return current lamp state + return this->crr_lamp_state_.c_str(); } const char* LowCanClient::getCurrentParkingBrakeState() { @@ -207,24 +256,24 @@ const char* LowCanClient::getCurrentParkingBrakeState() { return this->crr_parking_brake_state_.c_str(); } -const char* LowCanClient::getCurrentCarState() { +const char* LowCanClient::getCurrentAccelPedalState() { HMI_DEBUG("wm:lcc", "Call"); // Clear changed flag - this->is_changed_car_state_ = false; + this->is_changed_accel_pedal_state_ = false; - // Return current car state - return this->crr_car_state_.c_str(); + // Return current accelerator pedal state + return this->crr_accel_pedal_state_.c_str(); } -const char* LowCanClient::getCurrentLampState() { +const char* LowCanClient::getCurrentCarState() { HMI_DEBUG("wm:lcc", "Call"); // Clear changed flag - this->is_changed_lamp_state_ = false; + this->is_changed_car_state_ = false; - // Return current lamp state - return this->crr_lamp_state_.c_str(); + // Return current car state + return this->crr_car_state_.c_str(); } diff --git a/src/low_can_client.hpp b/src/low_can_client.hpp index 04220f5..2941e6e 100644 --- a/src/low_can_client.hpp +++ b/src/low_can_client.hpp @@ -33,12 +33,14 @@ public: void initialize(); void analyzeCanSignal(struct json_object *object); + bool isChangedLampState(); bool isChangedParkingBrakeState(); + bool isChangedAccelPedalState(); bool isChangedCarState(); - bool isChangedLampState(); + const char* getCurrentLampState(); const char* getCurrentParkingBrakeState(); + const char* getCurrentAccelPedalState(); const char* getCurrentCarState(); - const char* getCurrentLampState(); private: // Disable copy and move @@ -47,29 +49,33 @@ private: LowCanClient(LowCanClient &&) = delete; LowCanClient &operator=(LowCanClient &&) = delete; - const int kNumEvent_ = 4; const std::vector<const char*> kEventName_{ "vehicle.speed", "transmission_gear_position", "headlamp_status", - "parking_brake_status" + "parking_brake_status", + "accelerator.pedal.position", }; int vehicle_speed_; int trans_gear_pos_; - json_bool parking_brake_status_; json_bool headlamp_status_; + json_bool parking_brake_status_; + double accel_pedal_pos_; + 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_; std::string prv_car_state_; std::string crr_car_state_; - std::string prv_lamp_state_; - std::string crr_lamp_state_; + bool is_changed_lamp_state_; bool is_changed_parking_brake_state_; + bool is_changed_accel_pedal_state_; bool is_changed_car_state_; - bool is_changed_lamp_state_; }; } // namespace wm diff --git a/src/main.cpp b/src/main.cpp index 7abdfb0..99e7a7c 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -683,6 +683,24 @@ void on_event(const char *event, struct json_object *object){ } }); } + if (g_afb_instance->lcc_.isChangedAccelPedalState()) { + // If accelerator pedal state is changed + HMI_DEBUG("wm", "Accelerator Pedal state is changed"); + + // Get parking brake state + const char* accel_pedal_state = g_afb_instance->lcc_.getCurrentAccelPedalState(); + +#if 0 // TODO: PolicyManager can not use accelerator pedal state + // Allocate window resource + g_afb_instance->app.allocateWindowResource(accel_pedal_state, nullptr, + nullptr, nullptr, + [](const char* errmsg){ + if (errmsg != nullptr) { + HMI_ERROR("wm", errmsg); + } + }); +#endif + } else if (g_afb_instance->lcc_.isChangedCarState()) { // If car state is changed HMI_DEBUG("wm", "Car state is changed"); |