Rework vehicle signals support to use KUKSA.val databroker

Rework the VehicleSignals class and its use in the Navigation and
Hvac classes to switch from using the original KUKSA.val server
via WebSockets to the KUKSA.val databroker's gRPC "VAL" API.

Notable changes:
- The VehicleSignals API has changed a bit with respect to setting
  signals, callers now need to pass the new value as the type that
  matches the signal as opposed to always passing a string, and
  optionally indicate if an actuator's target or value is being set.
  Subscribe operations now also allow subscribing for either
  actuator targets or values.
- It is possible that the values returned by get and subscribe
  operations will be changed to using QVariant instead of QStrings
  in a future follow up, but that has not been done in these changes.
- The connected signal from VehicleSignals still has roughly the
  same meaning, but the authorize function and authorized signals
  are to some degree redundant now.  They have been kept for
  compatibility, but may be removed in a follow up set of changes.
- The section header in the .ini files expected by the
  VehicleSignalsConfig class has been changed from "vis-client" to
  "kuksa-client" since the databroker is not a VIS server, and to
  some degree forcing an update on the part of clients is useful
  since their authorization tokens also need to change.
- The client key and certificate support has been removed from the
  VehicleSignalsConfig class, as they are no longer used in either
  the server or databroker as of KUKSA.val 0.4.0.  A new optional
  parameter, "tls-server-name", has been added to work with the new
  TLS support behavior.  It can be used to override the expected
  host name for connecting to a non-local databroker instance.
- The Navigation constructor now takes an additional parameter to
  indicate whether the instance acts as a router or a client.
  The underlying need for this stems from an application acting as
  a router needing to subscribe to the destination setting actuator
  targets.

Bug-AGL: SPEC-4762

Signed-off-by: Scott Murray <scott.murray@konsulko.com>
Change-Id: I253480ae2abf068dc6e41a495454960ed5c0feaf

1 files changed, 121 insertions, 73 deletions

diff --git a/navigation/navigation.cpp b/navigation/navigation.cpp
index cb9f6cd..a39684f 100644
--- a/navigation/navigation.cpp
+++ b/navigation/navigation.cpp
@@ -1,33 +1,23 @@
 /*
- * Copyright (C) 2019-2022 Konsulko Group
+ * Copyright (C) 2019-2023 Konsulko Group
  *
- * 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.
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include <QDebug>
+#include <math.h>
 
 #include "navigation.h"
 #include "vehiclesignals.h"
 
-Navigation::Navigation(VehicleSignals *vs, QObject * parent) :
-	QObject(parent),
-	m_vs(vs),
-	m_connected(false)
+#define ROUND9(x) (round((x) * 1000000000) / 1000000000)
 
+Navigation::Navigation(VehicleSignals *vs, bool router, QObject * parent) :
+	m_vs(vs),
+	m_router(router),
+	QObject(parent)
 {
 	QObject::connect(m_vs, &VehicleSignals::connected, this, &Navigation::onConnected);
-	QObject::connect(m_vs, &VehicleSignals::authorized, this, &Navigation::onAuthorized);
-	QObject::connect(m_vs, &VehicleSignals::disconnected, this, &Navigation::onDisconnected);
 
 	if (m_vs)
 		m_vs->connect();
@@ -40,7 +30,7 @@ Navigation::~Navigation()
 
 void Navigation::sendWaypoint(double lat, double lon)
 {
-	if (!(m_vs && m_connected))
+	if (!(m_vs && m_connected && m_router))
 		return;
 
 	// The original implementation resulted in at least 9 decimal places
@@ -48,18 +38,18 @@ void Navigation::sendWaypoint(double lat, double lon)
 	// practice going from the QString default 6 to 9 does make a difference
 	// with respect to smoothness in the position-based map rotations done
 	// in tbtnavi.
-	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude", QString::number(lat, 'f', 9));
-	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude", QString::number(lon, 'f', 9));
+	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude", lat);
+	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude", lon);
 }
 
 void Navigation::broadcastPosition(double lat, double lon, double drc, double dst)
 {
-	if (!(m_vs && m_connected))
+	if (!(m_vs && m_connected && m_router))
 		return;
 
-	m_vs->set("Vehicle.CurrentLocation.Latitude", QString::number(lat, 'f', 9));
-	m_vs->set("Vehicle.CurrentLocation.Longitude", QString::number(lon, 'f', 9));
-	m_vs->set("Vehicle.CurrentLocation.Heading", QString::number(drc, 'f', 9));
+	m_vs->set("Vehicle.CurrentLocation.Latitude", lat);
+	m_vs->set("Vehicle.CurrentLocation.Longitude", lon);
+	m_vs->set("Vehicle.CurrentLocation.Heading", drc);
 
 	// NOTES:
 	// - This signal is an AGL addition, it may make sense to engage with the
@@ -67,24 +57,24 @@ void Navigation::broadcastPosition(double lat, double lon, double drc, double ds
 	// - The signal makes more sense in kilometers wrt VSS expectations, so
 	//   conversion from meters happens here for now to avoid changing the
 	//   existing clients.  This may be worth revisiting down the road.
-	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.ElapsedDistance", QString::number(dst / 1000, 'f', 9));
+	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.ElapsedDistance", (float) (dst / 1000));
 }
 
 void Navigation::broadcastRouteInfo(double lat, double lon, double route_lat, double route_lon)
 {
-	if (!(m_vs && m_connected))
+	if (!(m_vs && m_connected && m_router))
 		return;
 
-	m_vs->set("Vehicle.CurrentLocation.Latitude", QString::number(lat, 'f', 9));
-	m_vs->set("Vehicle.CurrentLocation.Longitude", QString::number(lon, 'f', 9));
+	m_vs->set("Vehicle.CurrentLocation.Latitude", lat);
+	m_vs->set("Vehicle.CurrentLocation.Longitude", lon);
 
-	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude", QString::number(route_lat, 'f', 9));
-	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude", QString::number(route_lon, 'f', 9));
+	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude", route_lat, true);
+	m_vs->set("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude", route_lon, true);
 }
 
 void Navigation::broadcastStatus(QString state)
 {
-	if (!(m_vs && m_connected))
+	if (!(m_vs && m_connected && m_router))
 		return;
 
 	// The signal states have been changed to all uppercase to match
@@ -97,58 +87,121 @@ void Navigation::onConnected()
 	if (!m_vs)
 		return;
 
-	m_vs->authorize();
-}
-
-void Navigation::onAuthorized()
-{
-	if (!m_vs)
-		return;
-
 	m_connected = true;
 
-	QObject::connect(m_vs, &VehicleSignals::signalNotification, this, &Navigation::onSignalNotification);
+	if (m_router) {
+		qInfo() << "Connected as router";
+		QObject::connect(m_vs, &VehicleSignals::signalNotification, this, &Navigation::onSignalNotificationRouter);
+	} else {
+		QObject::connect(m_vs, &VehicleSignals::signalNotification, this, &Navigation::onSignalNotification);
+	}
 
 	// NOTE: This signal is another AGL addition where it is possible
 	//       upstream may be open to adding it to VSS.
-	m_vs->subscribe("Vehicle.Cabin.Infotainment.Navigation.State");
-	m_vs->subscribe("Vehicle.CurrentLocation.Latitude");
-	m_vs->subscribe("Vehicle.CurrentLocation.Longitude");
-	m_vs->subscribe("Vehicle.CurrentLocation.Heading");
-	m_vs->subscribe("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude");
-	m_vs->subscribe("Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude");
-	m_vs->subscribe("Vehicle.Cabin.Infotainment.Navigation.ElapsedDistance");
-}
-
-void Navigation::onDisconnected()
-{
-	QObject::disconnect(m_vs, &VehicleSignals::signalNotification, this, &Navigation::onSignalNotification);
-
-	m_connected = false;
+	QMap<QString, bool> s;
+	s["Vehicle.Cabin.Infotainment.Navigation.State"] = false;
+	if (!m_router) {
+		// Router broadcasts these signals and does not need to listen to them
+		s["Vehicle.CurrentLocation.Latitude"] = false;
+		s["Vehicle.CurrentLocation.Longitude"] = false;
+		s["Vehicle.CurrentLocation.Heading"] = false;
+		s["Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude"] = false;
+		s["Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude"] = false;
+		s["Vehicle.Cabin.Infotainment.Navigation.ElapsedDistance"] = false;
+	} else {
+		// Router acts as actuator for these signals
+		// This is a bit convoluted, but would allow wiring up external destination
+		// setting with e.g. Alexa as has been done in the past.
+		s["Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude"] = true;
+		s["Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude"] = true;
+	}
+	m_vs->subscribe(s);
 }
 
 void Navigation::onSignalNotification(QString path, QString value, QString timestamp)
 {
-	// NOTE: Since all the known AGL users of the VSS signals are users of
-	//       this API, we know that updates occur in certain sequences and
-	//       can leverage this to roll up for emitting the existing events.
-	//       This is the path of least effort with respect to changing
-	//       the existing clients, but it may make sense down the road to
-	//       either switch them to using VehicleSignals directly or having
-	//       a more granular signal scheme that maps more directly onto
-	//       VSS.
 	if (path == "Vehicle.Cabin.Infotainment.Navigation.State") {
 		QVariantMap event;
 		event["state"] = value;
 		emit statusEvent(event);
 	} else if (path == "Vehicle.CurrentLocation.Latitude") {
+		m_position_mutex.lock();
 		m_latitude = value.toDouble();
+		m_latitude_set = true;
+		handlePositionUpdate();
+		m_position_mutex.unlock();
 	} else if (path == "Vehicle.CurrentLocation.Longitude") {
+		m_position_mutex.lock();
 		m_longitude = value.toDouble();
+		m_longitude_set = true;
+		handlePositionUpdate();
+		m_position_mutex.unlock();
 	} else if (path == "Vehicle.CurrentLocation.Heading") {
+		m_position_mutex.lock();
 		m_heading = value.toDouble();
+		m_heading_set = true;
+		handlePositionUpdate();
+		m_position_mutex.unlock();
 	} else if (path == "Vehicle.Cabin.Infotainment.Navigation.ElapsedDistance") {
+		m_position_mutex.lock();
 		m_distance = value.toDouble();
+		m_distance_set = true;
+		handlePositionUpdate();
+		m_position_mutex.unlock();
+	} else if (path == "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude") {
+		m_position_mutex.lock();
+		m_dest_latitude = value.toDouble();
+		m_dest_latitude_set = true;
+		handlePositionUpdate();
+		m_position_mutex.unlock();
+	} else if (path == "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude") {
+		m_position_mutex.lock();
+		m_dest_longitude = value.toDouble();
+		m_dest_longitude_set = true;
+		handlePositionUpdate();
+		m_position_mutex.unlock();
+
+		// NOTE: Potentially could emit a waypointsEvent here, but
+		//       nothing in the demo currently requires it, so do
+		//       not bother for now.  If something like Alexa is
+		//       added it or some other replacement / rework will
+		//       be required.
+	}
+}
+
+void Navigation::onSignalNotificationRouter(QString path, QString value, QString timestamp)
+{
+	if (path == "Vehicle.Cabin.Infotainment.Navigation.State") {
+		QVariantMap event;
+		event["state"] = value;
+		emit statusEvent(event);
+	} else if (path == "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude") {
+		m_vs->set(path, value.toDouble());
+	} else if (path == "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude") {
+		m_vs->set(path, value.toDouble());
+	}
+}
+
+// Private
+
+void Navigation::handlePositionUpdate()
+{
+	// NOTE: Since all the known AGL users of the VSS signals are users of
+	//       this API, we know that updates occur in certain sequences and
+	//       can leverage this to roll up for emitting the existing events.
+	//
+	//       The switch to the gRPC API for KUKSA.val complicates this as
+	//       we now have to live with the combination of only getting
+	//       notified when a signal changes to a new value on top of
+	//       notifications not necessarily happening in order by the time
+	//       they get through gRPC client/server/client/Qt stacks.  The "set"
+	//       flags give us something that mostly works for now, but further
+	//       investigation is required.  It is possible that either a switch
+	//       to a custom gRPC API (i.e. standalone nav service daemon) or
+	//       pushing for a rolled up position signal in a struct in upstream
+	//       VSS might be needed to do this better.
+
+	if (m_latitude_set && m_longitude_set && m_heading_set && m_distance_set) {
 		QVariantMap event;
 		event["position"] = "car";
 		event["latitude"] = m_latitude;
@@ -156,10 +209,9 @@ void Navigation::onSignalNotification(QString path, QString value, QString times
 		event["direction"] = m_heading;
 		event["distance"] = m_distance * 1000;
 		emit positionEvent(event);
-	} else if (path == "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude") {
-		m_dest_latitude = value.toDouble();
-	} else if (path == "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude") {
-		m_dest_longitude = value.toDouble();
+		// The distance being updated is our trigger, so clear its flag.
+		m_distance_set = false;
+	} else if (m_latitude_set && m_longitude_set && m_dest_latitude_set && m_dest_longitude_set) {
 		QVariantMap event;
 		event["position"] = "route";
 		event["latitude"] = m_latitude;
@@ -167,11 +219,7 @@ void Navigation::onSignalNotification(QString path, QString value, QString times
 		event["route_latitude"] = m_dest_latitude;
 		event["route_longitude"] = m_dest_longitude;
 		emit positionEvent(event);
-
-		// NOTE: Potentially could emit a waypointsEvent here, but
-		//       nothing in the demo currently requires it, so do
-		//       not bother for now.  If something like Alexa is
-		//       added it or some other replacement / rework will
-		//       be required.
+		// The destination values are the triggers, so clear their flags.
+		m_dest_latitude_set = m_dest_longitude_set = false;
 	}
 }