diff options
| -rw-r--r-- | navigation/CMakeLists.txt | 2 | ||||
| -rw-r--r-- | navigation/navigation.cpp | 128 | ||||
| -rw-r--r-- | navigation/navigation.h | 68 |
3 files changed, 163 insertions, 35 deletions
diff --git a/navigation/CMakeLists.txt b/navigation/CMakeLists.txt index 6264623..9e0ee84 100644 --- a/navigation/CMakeLists.txt +++ b/navigation/CMakeLists.txt @@ -8,7 +8,7 @@ add_library(qtappfw-navigation SHARED navigation.cpp) target_include_directories(qtappfw-navigation PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}") target_include_directories(qtappfw-navigation PUBLIC "${CMAKE_INSTALL_INCLUDEDIR}") -target_link_libraries(qtappfw-navigation Qt5::Qml) +target_link_libraries(qtappfw-navigation Qt5::Qml qtappfw-vehicle-signals) set_target_properties(qtappfw-navigation PROPERTIES VERSION ${PROJECT_VERSION} SOVERSION 1 diff --git a/navigation/navigation.cpp b/navigation/navigation.cpp index 6116637..e33772a 100644 --- a/navigation/navigation.cpp +++ b/navigation/navigation.cpp @@ -1,5 +1,5 @@ /* - * Copyright (C) 2019-2021 Konsulko Group + * Copyright (C) 2019-2022 Konsulko Group * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,37 +17,159 @@ #include <QDebug> #include "navigation.h" +#include "vehiclesignals.h" +Navigation::Navigation(VehicleSignals *vs, QObject * parent) : + QObject(parent), + m_vs(vs), + m_connected(false) -Navigation::Navigation (QObject * parent) : - 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(); } Navigation::~Navigation() { + delete m_vs; } void Navigation::sendWaypoint(double lat, double lon) { + if (!(m_vs && m_connected)) + return; + + // The original implementation resulted in at least 9 decimal places + // making it through to the clients, so explicitly format for 9. In + // 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)); } void Navigation::broadcastPosition(double lat, double lon, double drc, double dst) { + if (!(m_vs && m_connected)) + 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)); + + // NOTES: + // - This signal is an AGL addition, it may make sense to engage with the + // VSS specification upstream to discuss an addition along these lines. + // - 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)); } void Navigation::broadcastRouteInfo(double lat, double lon, double route_lat, double route_lon) { + if (!(m_vs && m_connected)) + 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.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)); } void Navigation::broadcastStatus(QString state) { + if (!(m_vs && m_connected)) + return; + + m_vs->set("Vehicle.Cabin.Infotainment.Navigation.State", state); } 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); + + // 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; +} + +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_latitude = value.toDouble(); + } else if (path == "Vehicle.CurrentLocation.Longitude") { + m_longitude = value.toDouble(); + } else if (path == "Vehicle.CurrentLocation.Heading") { + m_heading = value.toDouble(); + } else if (path == "Vehicle.Cabin.Infotainment.Navigation.ElapsedDistance") { + m_distance = value.toDouble(); + QVariantMap event; + event["position"] = "car"; + event["latitude"] = m_latitude; + event["longitude"] = m_longitude; + 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(); + QVariantMap event; + event["position"] = "route"; + event["latitude"] = m_latitude; + event["longitude"] = m_longitude; + 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. + } } diff --git a/navigation/navigation.h b/navigation/navigation.h index 0606d1e..2c8a8ff 100644 --- a/navigation/navigation.h +++ b/navigation/navigation.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2019-2021 Konsulko Group + * Copyright (C) 2019-2022 Konsulko Group * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,40 +17,46 @@ #ifndef NAVIGATION_H #define NAVIGATION_H -#include <memory> #include <QObject> -#include <QtQml/QQmlListProperty> +#include <QVariant> + +class VehicleSignals; class Navigation : public QObject { - Q_OBJECT - - public: - explicit Navigation(QObject * parent = Q_NULLPTR); - virtual ~Navigation(); - - Q_INVOKABLE void broadcastPosition(double lat, double lon, double drc, double dst); - Q_INVOKABLE void broadcastRouteInfo(double lat, double lon, double route_lat, double route_lon); - Q_INVOKABLE void broadcastStatus(QString state); - - // only support one waypoint for now - Q_INVOKABLE void sendWaypoint(double lat, double lon); - - signals: - void statusEvent(QVariantMap data); - void positionEvent(QVariantMap data); - void waypointsEvent(QVariantMap data); - - private: - // slots - void onConnected(); - void onDisconnected(); - - const QStringList events { - "status", - "position", - "waypoints", - }; + Q_OBJECT + +public: + explicit Navigation(VehicleSignals *vs, QObject *parent = Q_NULLPTR); + virtual ~Navigation(); + + Q_INVOKABLE void broadcastPosition(double lat, double lon, double drc, double dst); + Q_INVOKABLE void broadcastRouteInfo(double lat, double lon, double route_lat, double route_lon); + Q_INVOKABLE void broadcastStatus(QString state); + + // only support one waypoint for now + Q_INVOKABLE void sendWaypoint(double lat, double lon); + +signals: + void statusEvent(QVariantMap data); + void positionEvent(QVariantMap data); + void waypointsEvent(QVariantMap data); + +private slots: + void onConnected(); + void onAuthorized(); + void onDisconnected(); + void onSignalNotification(QString path, QString value, QString timestamp); + +private: + VehicleSignals *m_vs; + bool m_connected; + double m_latitude; + double m_longitude; + double m_heading; + double m_distance; + double m_dest_latitude; + double m_dest_longitude; }; #endif // NAVIGATION_H |