src/low_can_client.cpp

   1 /*
   2  * Copyright (c) 2018 TOYOTA MOTOR CORPORATION
   3  *
   4  * Licensed under the Apache License, Version 2.0 (the "License");
   5  * you may not use this file except in compliance with the License.
   6  * You may obtain a copy of the License at
   7  *
   8  *      http://www.apache.org/licenses/LICENSE-2.0
   9  *
  10  * Unless required by applicable law or agreed to in writing, software
  11  * distributed under the License is distributed on an "AS IS" BASIS,
  12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  13  * See the License for the specific language governing permissions and
  14  * limitations under the License.
  15  */
  16
  17 #include "low_can_client.hpp"
  18 #include "json_helper.hpp"
  19 #include "util.hpp"
  20
  21 extern "C"
  22 {
  23 #include <afb/afb-binding.h>
  24 }
  25
  26 namespace wm
  27 {
  28
  29 LowCanClient::LowCanClient()
  30     : vehicle_speed(0),
  31       trans_gear_pos(0),
  32       headlamp_status(FALSE),
  33       parking_brake_status(TRUE),
  34       accel_pedal_pos(0),
  35       accel_pedal_stt(FALSE),
  36       lightstatus_brake_status(TRUE),
  37       is_changed_accel_pedal_stt(false)
  38 {
  39 }
  40
  41 void LowCanClient::initialize()
  42 {
  43     int ret;
  44
  45     // Require API "low-can"
  46     ret = afb_daemon_require_api_v2("low-can", 1);
  47     if (0 > ret)
  48     {
  49         HMI_INFO("Requirement API \"low-can\" failed");
  50         return;
  51     }
  52
  53     // Subscribe low-level-can
  54     // low-can subscribe { "event": "vehicle.speed" }
  55     // low-can subscribe { "event": "transmission_gear_position" }
  56     // low-can subscribe { "event": "headlamp_status" }
  57     // low-can subscribe { "event": "parking_brake_status" }
  58     // low-can subscribe { "event": "accelerator.pedal.position" }
  59     // low-can subscribe { "event": "lightstatus.brake" }
  60     for (int i = SignalNoMin; i <= SignalNoMax; i++)
  61     {
  62         // Set Event
  63         json_object *json_obj = json_object_new_object();
  64         json_object_object_add(json_obj, "event",
  65                                json_object_new_string(this->kSignalName[i]));
  66
  67         // Set filter
  68         if (0 != strcmp("", this->kFilterValue[i]))
  69         {
  70             json_object_object_add(json_obj, "filter",
  71                                    json_tokener_parse(this->kFilterValue[i]));
  72         }
  73         HMI_DEBUG("subscribe message:%s", json_object_get_string(json_obj));
  74
  75         // Subscribe
  76         afb_service_call("low-can", "subscribe", json_obj,
  77                          [](void *closure, int status, json_object *result) {
  78                              HMI_DEBUG("subscribe result:%s", json_object_get_string(result));
  79                          },
  80                          nullptr);
  81     }
  82
  83     return;
  84 }
  85
  86 const char *LowCanClient::analyzeCanSignal(struct json_object *object)
  87 {
  88     HMI_DEBUG("object:%s", json_object_get_string(object));
  89
  90     const char *name = jh::getStringFromJson(object, "name");
  91     HMI_DEBUG("CAN signal name:%s", name);
  92
  93     if (strstr(name, this->kSignalName[SignalNoVehicliSpeed]))
  94     {
  95         // Update vehicle speed
  96         this->vehicle_speed = jh::getIntFromJson(object, "value");
  97         HMI_DEBUG("Update vehicle speed:%d", this->vehicle_speed);
  98     }
  99     else if (strstr(name, this->kSignalName[SignalNoTransGearPos]))
 100     {
 101         // Update transmission gear position
 102         this->trans_gear_pos = jh::getIntFromJson(object, "value");
 103         HMI_DEBUG("Update transmission gear position:%d", this->trans_gear_pos);
 104     }
 105     else if (strstr(name, this->kSignalName[SignalNoHeadlame]))
 106     {
 107         // Update headlamp status
 108         this->headlamp_status = jh::getBoolFromJson(object, "value");
 109         HMI_DEBUG("Update headlamp status:%d", this->headlamp_status);
 110     }
 111     else if (strstr(name, this->kSignalName[SignalNoParkingBrake]))
 112     {
 113         // Update parking gear status
 114         this->parking_brake_status = jh::getBoolFromJson(object, "value");
 115         HMI_DEBUG("Update parking brake status:%d", this->parking_brake_status);
 116     }
 117     else if (strstr(name, this->kSignalName[SignalNoAccelPedalPos]))
 118     {
 119         // Clear flag for whether accel pedal state is changed
 120         this->is_changed_accel_pedal_stt = false;
 121
 122         // Update accelerator pedal status
 123         this->accel_pedal_pos = jh::getDoubleFromJson(object, "value");
 124         HMI_DEBUG("Update accelerator pedal position:%lf", this->accel_pedal_pos);
 125
 126         bool accel_pedal_stt;
 127         if (0 != this->accel_pedal_pos)
 128         {
 129             accel_pedal_stt = true;
 130         }
 131         else
 132         {
 133             accel_pedal_stt = false;
 134         }
 135
 136         if (accel_pedal_stt != this->accel_pedal_stt)
 137         {
 138             this->is_changed_accel_pedal_stt = true;
 139             this->accel_pedal_stt = accel_pedal_stt;
 140         }
 141     }
 142     else if (strstr(name, this->kSignalName[SignalNoLightstatusBrake]))
 143     {
 144         // Update lightstatus brake status
 145         this->lightstatus_brake_status = jh::getBoolFromJson(object, "value");
 146         HMI_DEBUG("Update lightstatus brake status:%d", this->lightstatus_brake_status);
 147     }
 148
 149     return name;
 150 }
 151
 152 bool LowCanClient::isChangedAccelPedalState()
 153 {
 154     return this->is_changed_accel_pedal_stt;
 155 }
 156
 157 int LowCanClient::getCurrentTransGearState()
 158 {
 159     return this->trans_gear_pos;
 160 }
 161
 162 bool LowCanClient::getCurrentHeadlampState()
 163 {
 164     return (bool)this->headlamp_status;
 165 }
 166
 167 bool LowCanClient::getCurrentParkingBrakeState()
 168 {
 169     return (bool)this->parking_brake_status;
 170 }
 171
 172 double LowCanClient::getCurrentAccelPedalPosition()
 173 {
 174     return this->accel_pedal_pos;
 175 }
 176
 177 bool LowCanClient::getCurrentAccelPedalState()
 178 {
 179     return this->accel_pedal_stt;
 180 }
 181
 182 bool LowCanClient::getCurrentLightstatusBrakeState()
 183 {
 184     return (bool)this->lightstatus_brake_status;
 185 }
 186
 187 } // namespace wm