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/*
* 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.
* 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 <QDebug>
#include "navigation.h"
#include "vehiclesignals.h"
Navigation::Navigation(VehicleSignals *vs, QObject * parent) :
QObject(parent),
m_vs(vs),
m_connected(false)
{
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.
}
}
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