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
  18 #include "low_can_client.hpp"
  19 #include "json_helper.hpp"
  20 #include "hmi-debug.h"
  21
  22 extern "C" {
  23 #include <afb/afb-binding.h>
  24 }
  25
  26
  27 namespace wm {
  28
  29 LowCanClient::LowCanClient() :
  30   vehicle_speed_(0),
  31   trans_gear_pos_(0),
  32   parking_brake_status_(TRUE),
  33   headlamp_status_(FALSE),
  34   prv_parking_brake_state_("parking_brake_on"),
  35   crr_parking_brake_state_("parking_brake_on"),
  36   prv_car_state_("car_stop"),
  37   crr_car_state_("car_stop"),
  38   prv_lamp_state_("lamp_off"),
  39   crr_lamp_state_("lamp_off"),
  40   is_changed_parking_brake_state_(false),
  41   is_changed_car_state_(false),
  42   is_changed_lamp_state_(false)
  43 {
  44     HMI_DEBUG("wm:lcc", "Call");
  45 }
  46
  47 void LowCanClient::initialize() {
  48     HMI_DEBUG("wm:lcc", "Call");
  49
  50     int ret;
  51
  52     // Require API "low-can"
  53     ret = afb_daemon_require_api_v2("low-can", 1);
  54     if (0 > ret) {
  55         HMI_INFO("wm:lcc", "Requirement API \"low-can\" failed");
  56         return;
  57     }
  58
  59     // Subscribe low-level-can
  60     // low-can subscribe { "event": "vehicle.speed" }
  61     // low-can subscribe { "event": "transmission_gear_position" }
  62     // low-can subscribe { "event": "headlamp_status" }
  63     // low-can subscribe { "event": "parking_brake_status" }
  64     for (int i=0; i<this->kNumEvent_; i++) {
  65         json_object *json_obj = json_object_new_object();
  66         json_object_object_add(json_obj, "event", json_object_new_string(this->kEventName_[i]));
  67         HMI_DEBUG("wm:lcc", "subscribe message:%s", json_object_get_string(json_obj));
  68
  69         json_object *json_result = json_object_new_object();
  70         ret = afb_service_call_sync("low-can", "subscribe", json_obj, &json_result);
  71         if (0 > ret) {
  72             HMI_INFO("wm:lcc", "Could not subscribe to \"low-can\" :%d", ret);
  73             return;
  74         }
  75         HMI_DEBUG("wm:lcc", "subscribe result:%s", json_object_get_string(json_result));
  76     }
  77
  78     return;
  79 }
  80
  81 void LowCanClient::analyzeCanSignal(struct json_object *object) {
  82     HMI_DEBUG("wm:lcc", "object:%s", json_object_get_string(object));
  83
  84     const char* name = jh::getStringFromJson(object, "name");
  85     HMI_DEBUG("wm:lcc", "CAN signal name:%s", name);
  86
  87     if (strstr(name, "vehicle.speed")) {
  88         HMI_DEBUG("wm:lcc", "Receive vehicle speed");
  89         // Update vehicle speed
  90         int speed = jh::getIntFromJson(object, "value");
  91         if (this->vehicle_speed_ != speed) {
  92             this->vehicle_speed_ = speed;
  93             HMI_DEBUG("wm:lcc", "Update vehicle speed:%d", this->vehicle_speed_);
  94         }
  95     }
  96     else if (strstr(name, "transmission_gear_position")) {
  97         HMI_DEBUG("wm:lcc", "Receive transmission gear position");
  98         // Update transmission gear position
  99         int gear_pos = jh::getIntFromJson(object, "value");
 100         if (this->trans_gear_pos_ != gear_pos) {
 101             this->trans_gear_pos_ = gear_pos;
 102             HMI_DEBUG("wm:lcc", "Update transmission gear position:%d", this->trans_gear_pos_);
 103         }
 104     }
 105     else if (strstr(name, "parking_brake_status")) {
 106         HMI_DEBUG("wm:lcc", "Receive parking brake status");
 107         // Update parking gear status
 108         json_bool parking_brake = jh::getBoolFromJson(object, "value");
 109         if (this->parking_brake_status_ != parking_brake) {
 110             this->parking_brake_status_ = parking_brake;
 111             HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->parking_brake_status_);
 112         }
 113     }
 114     else if (strstr(name, "headlamp_status")) {
 115         HMI_DEBUG("wm:lcc", "Receive headlamp status");
 116         // Update headlamp status
 117         json_bool headlamp = jh::getBoolFromJson(object, "value");
 118         if (this->headlamp_status_ != headlamp) {
 119             this->headlamp_status_ = headlamp;
 120             HMI_DEBUG("wm:lcc", "Update headlamp status:%d", this->headlamp_status_);
 121         }
 122     }
 123
 124     // Update parking brake state
 125     if (this->parking_brake_status_) {
 126         this->crr_parking_brake_state_ = "parking_brake_on";
 127     }
 128     else {
 129         this->crr_parking_brake_state_ = "parking_brake_off";
 130     }
 131     HMI_DEBUG("wm:lcc", "Current parking brake state:%s", this->crr_parking_brake_state_.c_str());
 132
 133     // Update car state
 134     if ((0 == this->vehicle_speed_) || (true == this->parking_brake_status_)) {
 135         this->crr_car_state_ = "car_stop";
 136     }
 137     else {
 138         this->crr_car_state_ = "car_run";
 139     }
 140     HMI_DEBUG("wm:lcc", "Current car state:%s", this->crr_car_state_.c_str());
 141
 142     // Update lamp state
 143     if (true == this->headlamp_status_) {
 144         this->crr_lamp_state_ = "lamp_on";
 145     }
 146     else {
 147         this->crr_lamp_state_ = "lamp_off";
 148     }
 149     HMI_DEBUG("wm:lcc", "Current lamp state:%s", this->crr_lamp_state_.c_str());
 150
 151     // If parking brake state is changed,
 152     // backup current state for previous state and set flag
 153     if (this->prv_parking_brake_state_ != this->crr_parking_brake_state_) {
 154         HMI_DEBUG("wm:lcc", "Parking Brake state is changed: %s -> %s",
 155                   this->prv_parking_brake_state_.c_str(), this->crr_parking_brake_state_.c_str());
 156         this->prv_parking_brake_state_ = this->crr_parking_brake_state_;
 157         this->is_changed_parking_brake_state_ = true;
 158     }
 159
 160     // If car state is changed,
 161     // backup current state for previous state and set flag
 162     if (this->prv_car_state_ != this->crr_car_state_) {
 163         HMI_DEBUG("wm:lcc", "Car state is changed: %s -> %s",
 164                   this->prv_car_state_.c_str(), this->crr_car_state_.c_str());
 165         this->prv_car_state_ = this->crr_car_state_;
 166         this->is_changed_car_state_ = true;
 167     }
 168
 169     // If lamp state is changed,
 170     // backup current state for previous state and set flag
 171     if (this->prv_lamp_state_ != this->crr_lamp_state_) {
 172         HMI_DEBUG("wm:lcc", "Lamp state is changed: %s -> %s",
 173                   this->prv_lamp_state_.c_str(), this->crr_lamp_state_.c_str());
 174         this->prv_lamp_state_ = this->crr_lamp_state_;
 175         this->is_changed_lamp_state_ = true;
 176     }
 177 }
 178
 179 bool LowCanClient::isChangedParkingBrakeState() {
 180     HMI_DEBUG("wm:lcc", "Call");
 181
 182     // Return changed flag
 183     return this->is_changed_parking_brake_state_;
 184 }
 185
 186 bool LowCanClient::isChangedCarState() {
 187     HMI_DEBUG("wm:lcc", "Call");
 188
 189     // Return changed flag
 190     return this->is_changed_car_state_;
 191 }
 192
 193 bool LowCanClient::isChangedLampState() {
 194     HMI_DEBUG("wm:lcc", "Call");
 195
 196     // Return changed flag
 197     return this->is_changed_lamp_state_;
 198 }
 199
 200 const char* LowCanClient::getCurrentParkingBrakeState() {
 201     HMI_DEBUG("wm:lcc", "Call");
 202
 203     // Clear changed flag
 204     this->is_changed_parking_brake_state_ = false;
 205
 206     // Return current parking brake state
 207     return this->crr_parking_brake_state_.c_str();
 208 }
 209
 210 const char* LowCanClient::getCurrentCarState() {
 211     HMI_DEBUG("wm:lcc", "Call");
 212
 213     // Clear changed flag
 214     this->is_changed_car_state_ = false;
 215
 216     // Return current car state
 217     return this->crr_car_state_.c_str();
 218 }
 219
 220 const char* LowCanClient::getCurrentLampState() {
 221     HMI_DEBUG("wm:lcc", "Call");
 222
 223     // Clear changed flag
 224     this->is_changed_lamp_state_ = false;
 225
 226     // Return current lamp state
 227     return this->crr_lamp_state_.c_str();
 228 }
 229
 230
 231 } // namespace wm