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/*
* Copyright (C) 2019-2023 Konsulko Group
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <QDebug>
#include <math.h>
#include "navigation.h"
#include "vehiclesignals.h"
#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);
if (m_vs)
m_vs->connect();
}
Navigation::~Navigation()
{
delete m_vs;
}
void Navigation::sendWaypoint(double lat, double lon)
{
if (!(m_vs && m_connected && m_router))
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", 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 && m_router))
return;
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
// 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", (float) (dst / 1000));
}
void Navigation::broadcastRouteInfo(double lat, double lon, double route_lat, double route_lon)
{
if (!(m_vs && m_connected && m_router))
return;
m_vs->set("Vehicle.CurrentLocation.Latitude", lat);
m_vs->set("Vehicle.CurrentLocation.Longitude", lon);
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 && m_router))
return;
// The signal states have been changed to all uppercase to match
// VSS 3.x expectations, enforce that.
m_vs->set("Vehicle.Cabin.Infotainment.Navigation.State", state.toUpper());
}
void Navigation::onConnected()
{
if (!m_vs)
return;
m_connected = true;
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.
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)
{
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;
event["longitude"] = m_longitude;
event["direction"] = m_heading;
event["distance"] = m_distance * 1000;
emit positionEvent(event);
// 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;
event["longitude"] = m_longitude;
event["route_latitude"] = m_dest_latitude;
event["route_longitude"] = m_dest_longitude;
emit positionEvent(event);
// The destination values are the triggers, so clear their flags.
m_dest_latitude_set = m_dest_longitude_set = false;
}
}
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