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-rw-r--r--demo3/common/agl-service-windowmanager/src/low_can_client.cpp187
1 files changed, 187 insertions, 0 deletions
diff --git a/demo3/common/agl-service-windowmanager/src/low_can_client.cpp b/demo3/common/agl-service-windowmanager/src/low_can_client.cpp
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+++ b/demo3/common/agl-service-windowmanager/src/low_can_client.cpp
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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 "util.hpp"
+
+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),
+ lightstatus_brake_status(TRUE),
+ is_changed_accel_pedal_stt(false)
+{
+}
+
+void LowCanClient::initialize()
+{
+ int ret;
+
+ // Require API "low-can"
+ ret = afb_daemon_require_api_v2("low-can", 1);
+ if (0 > ret)
+ {
+ HMI_INFO("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" }
+ // low-can subscribe { "event": "lightstatus.brake" }
+ 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("subscribe message:%s", json_object_get_string(json_obj));
+
+ // Subscribe
+ afb_service_call("low-can", "subscribe", json_obj,
+ [](void *closure, int status, json_object *result) {
+ HMI_DEBUG("subscribe result:%s", json_object_get_string(result));
+ },
+ nullptr);
+ }
+
+ return;
+}
+
+const char *LowCanClient::analyzeCanSignal(struct json_object *object)
+{
+ HMI_DEBUG("object:%s", json_object_get_string(object));
+
+ const char *name = jh::getStringFromJson(object, "name");
+ HMI_DEBUG("CAN signal name:%s", name);
+
+ if (strstr(name, this->kSignalName[SignalNoVehicliSpeed]))
+ {
+ // Update vehicle speed
+ this->vehicle_speed = jh::getIntFromJson(object, "value");
+ HMI_DEBUG("Update vehicle speed:%d", this->vehicle_speed);
+ }
+ else if (strstr(name, this->kSignalName[SignalNoTransGearPos]))
+ {
+ // Update transmission gear position
+ this->trans_gear_pos = jh::getIntFromJson(object, "value");
+ HMI_DEBUG("Update transmission gear position:%d", this->trans_gear_pos);
+ }
+ else if (strstr(name, this->kSignalName[SignalNoHeadlame]))
+ {
+ // Update headlamp status
+ this->headlamp_status = jh::getBoolFromJson(object, "value");
+ HMI_DEBUG("Update headlamp status:%d", this->headlamp_status);
+ }
+ else if (strstr(name, this->kSignalName[SignalNoParkingBrake]))
+ {
+ // Update parking gear status
+ this->parking_brake_status = jh::getBoolFromJson(object, "value");
+ HMI_DEBUG("Update parking brake status:%d", this->parking_brake_status);
+ }
+ else if (strstr(name, this->kSignalName[SignalNoAccelPedalPos]))
+ {
+ // 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("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;
+ }
+ }
+ else if (strstr(name, this->kSignalName[SignalNoLightstatusBrake]))
+ {
+ // Update lightstatus brake status
+ this->lightstatus_brake_status = jh::getBoolFromJson(object, "value");
+ HMI_DEBUG("Update lightstatus brake status:%d", this->lightstatus_brake_status);
+ }
+
+ return name;
+}
+
+bool LowCanClient::isChangedAccelPedalState()
+{
+ return this->is_changed_accel_pedal_stt;
+}
+
+int LowCanClient::getCurrentTransGearState()
+{
+ return this->trans_gear_pos;
+}
+
+bool LowCanClient::getCurrentHeadlampState()
+{
+ return (bool)this->headlamp_status;
+}
+
+bool LowCanClient::getCurrentParkingBrakeState()
+{
+ return (bool)this->parking_brake_status;
+}
+
+double LowCanClient::getCurrentAccelPedalPosition()
+{
+ return this->accel_pedal_pos;
+}
+
+bool LowCanClient::getCurrentAccelPedalState()
+{
+ return this->accel_pedal_stt;
+}
+
+bool LowCanClient::getCurrentLightstatusBrakeState()
+{
+ return (bool)this->lightstatus_brake_status;
+}
+
+} // namespace wm