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/*
* 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 "low_can_client.hpp"
#include "json_helper.hpp"
#include "hmi-debug.h"
extern "C" {
#include <afb/afb-binding.h>
}
namespace wm {
LowCanClient::LowCanClient() :
vehicle_speed_(0),
trans_gear_pos_(0),
headlamp_status_(FALSE),
parking_brake_status_(TRUE),
accel_pedal_pos_(0),
accel_pedal_stt_(FALSE),
is_changed_accel_pedal_stt_(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" }
// low-can subscribe { "event": "accelerator.pedal.position" }
for (int i=SignalNoMin; i<=SignalNoMax; i++) {
// Set Event
json_object *json_obj = json_object_new_object();
json_object_object_add(json_obj, "event",
json_object_new_string(this->kSignalName_[i]));
// Set filter
if (0 != strcmp("", this->kFilterValue_[i])) {
json_object_object_add(json_obj, "filter",
json_tokener_parse(this->kFilterValue_[i]));
}
HMI_DEBUG("wm:lcc", "subscribe message:%s", json_object_get_string(json_obj));
// Subscribe
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);
}
HMI_DEBUG("wm:lcc", "subscribe result:%s", json_object_get_string(json_result));
}
return;
}
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->kSignalName_[0])) {
// Update 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->kSignalName_[1])) {
// Update transmission gear position
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->kSignalName_[2])) {
// Update 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->kSignalName_[3])) {
// Update parking gear status
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;
// 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_);
bool accel_pedal_stt;
if (0 != this->accel_pedal_pos_) {
accel_pedal_stt = true;
}
else {
accel_pedal_stt = false;
}
if (accel_pedal_stt != this->accel_pedal_stt_) {
this->is_changed_accel_pedal_stt_ = true;
this->accel_pedal_stt_ = accel_pedal_stt;
}
}
return name;
}
bool LowCanClient::isChangedAccelPedalState() {
HMI_DEBUG("wm:lcc", "Call");
return this->is_changed_accel_pedal_stt_;
}
int LowCanClient::getCurrentTransGearState() {
HMI_DEBUG("wm:lcc", "Call");
return this->trans_gear_pos_;
}
bool LowCanClient::getCurrentHeadlampState() {
HMI_DEBUG("wm:lcc", "Call");
return (bool)this->headlamp_status_;
}
bool LowCanClient::getCurrentParkingBrakeState() {
HMI_DEBUG("wm:lcc", "Call");
return (bool)this->parking_brake_status_;
}
double LowCanClient::getCurrentAccelPedalPosition() {
HMI_DEBUG("wm:lcc", "Call");
return this->accel_pedal_pos_;
}
bool LowCanClient::getCurrentAccelPedalState() {
HMI_DEBUG("wm:lcc", "Call");
return this->accel_pedal_stt_;
}
} // namespace wm
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