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   headlamp_status_(FALSE),
  33   parking_brake_status_(TRUE),
  34   accel_pedal_pos_(0),
  35   prv_lamp_state_("lamp_off"),
  36   crr_lamp_state_("lamp_off"),
  37   prv_parking_brake_state_("parking_brake_on"),
  38   crr_parking_brake_state_("parking_brake_on"),
  39   prv_accel_pedal_state_("accel_pedal_off"),
  40   crr_accel_pedal_state_("accel_pedal_off"),
  41   prv_car_state_("car_stop"),
  42   crr_car_state_("car_stop"),
  43   is_changed_lamp_state_(false),
  44   is_changed_parking_brake_state_(false),
  45   is_changed_accel_pedal_state_(false),
  46   is_changed_car_state_(false)
  47 {
  48     HMI_DEBUG("wm:lcc", "Call");
  49 }
  50
  51 void LowCanClient::initialize() {
  52     HMI_DEBUG("wm:lcc", "Call");
  53
  54     int ret;
  55
  56     // Require API "low-can"
  57     ret = afb_daemon_require_api_v2("low-can", 1);
  58     if (0 > ret) {
  59         HMI_INFO("wm:lcc", "Requirement API \"low-can\" failed");
  60         return;
  61     }
  62
  63     // Subscribe low-level-can
  64     // low-can subscribe { "event": "vehicle.speed" }
  65     // low-can subscribe { "event": "transmission_gear_position" }
  66     // low-can subscribe { "event": "headlamp_status" }
  67     // low-can subscribe { "event": "parking_brake_status" }
  68     // low-can subscribe { "event": "accelerator.pedal.position" }
  69     for (int i=SignalNoMin; i<=SignalNoMax; i++) {
  70         // Set Event
  71         json_object *json_obj = json_object_new_object();
  72         json_object_object_add(json_obj, "event",
  73                                json_object_new_string(this->kEventName_[i]));
  74
  75         // Set filter
  76         if (0 != strcmp("", this->kFilterValue_[i])) {
  77             json_object_object_add(json_obj, "filter",
  78                                    json_tokener_parse(this->kFilterValue_[i]));
  79         }
  80         HMI_DEBUG("wm:lcc", "subscribe message:%s", json_object_get_string(json_obj));
  81
  82         // Subscribe
  83         json_object *json_result = json_object_new_object();
  84         ret = afb_service_call_sync("low-can", "subscribe", json_obj, &json_result);
  85         if (0 > ret) {
  86             HMI_INFO("wm:lcc", "Could not subscribe to \"low-can\" :%d", ret);
  87         }
  88         HMI_DEBUG("wm:lcc", "subscribe result:%s", json_object_get_string(json_result));
  89     }
  90
  91     return;
  92 }
  93
  94 void LowCanClient::analyzeCanSignal(struct json_object *object) {
  95     HMI_DEBUG("wm:lcc", "object:%s", json_object_get_string(object));
  96
  97     const char* name = jh::getStringFromJson(object, "name");
  98     HMI_DEBUG("wm:lcc", "CAN signal name:%s", name);
  99
 100     if (strstr(name, this->kEventName_[0])) {
 101         HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[0]);
 102         // Update vehicle speed
 103         int speed = jh::getIntFromJson(object, "value");
 104         if (this->vehicle_speed_ != speed) {
 105             this->vehicle_speed_ = speed;
 106             HMI_DEBUG("wm:lcc", "Update vehicle speed:%d", this->vehicle_speed_);
 107         }
 108     }
 109     else if (strstr(name, this->kEventName_[1])) {
 110         HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[1]);
 111         // Update transmission gear position
 112         int gear_pos = jh::getIntFromJson(object, "value");
 113         if (this->trans_gear_pos_ != gear_pos) {
 114             this->trans_gear_pos_ = gear_pos;
 115             HMI_DEBUG("wm:lcc", "Update transmission gear position:%d", this->trans_gear_pos_);
 116         }
 117     }
 118     else if (strstr(name, this->kEventName_[2])) {
 119         HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[2]);
 120         // Update headlamp status
 121         json_bool headlamp = jh::getBoolFromJson(object, "value");
 122         if (this->headlamp_status_ != headlamp) {
 123             this->headlamp_status_ = headlamp;
 124             HMI_DEBUG("wm:lcc", "Update headlamp status:%d", this->headlamp_status_);
 125         }
 126     }
 127     else if (strstr(name, this->kEventName_[3])) {
 128         HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[3]);
 129         // Update parking gear status
 130         json_bool parking_brake = jh::getBoolFromJson(object, "value");
 131         if (this->parking_brake_status_ != parking_brake) {
 132             this->parking_brake_status_ = parking_brake;
 133             HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->parking_brake_status_);
 134         }
 135     }
 136     else if (strstr(name, this->kEventName_[4])) {
 137         HMI_DEBUG("wm:lcc", "Receive %s", this->kEventName_[4]);
 138         // Update accelerator pedal status
 139         double accel_pedal_pos = jh::getDoubleFromJson(object, "value");
 140         if (this->accel_pedal_pos_ != accel_pedal_pos) {
 141             this->accel_pedal_pos_ = accel_pedal_pos;
 142             HMI_DEBUG("wm:lcc", "Update accelerator pedal status:%lf", this->accel_pedal_pos_);
 143         }
 144     }
 145
 146     // Update lamp state
 147     if (true == this->headlamp_status_) {
 148         this->crr_lamp_state_ = "lamp_on";
 149     }
 150     else {
 151         this->crr_lamp_state_ = "lamp_off";
 152     }
 153     HMI_DEBUG("wm:lcc", "Current lamp state:%s", this->crr_lamp_state_.c_str());
 154
 155     // Update parking brake state
 156     if (this->parking_brake_status_) {
 157         this->crr_parking_brake_state_ = "parking_brake_on";
 158     }
 159     else {
 160         this->crr_parking_brake_state_ = "parking_brake_off";
 161     }
 162     HMI_DEBUG("wm:lcc", "Current parking brake state:%s", this->crr_parking_brake_state_.c_str());
 163
 164     // Update accelerator pedal state
 165     if (0 == this->accel_pedal_pos_) {
 166         this->crr_accel_pedal_state_ = "accel_pedal_off";
 167     }
 168     else {
 169         this->crr_accel_pedal_state_ = "accel_pedal_on";
 170     }
 171     HMI_DEBUG("wm:lcc", "Current accelerator pedal state:%s", this->crr_accel_pedal_state_.c_str());
 172
 173     // Update car state
 174     if ((0 == this->vehicle_speed_) || (true == this->parking_brake_status_)) {
 175         this->crr_car_state_ = "car_stop";
 176     }
 177     else {
 178         this->crr_car_state_ = "car_run";
 179     }
 180     HMI_DEBUG("wm:lcc", "Current car state:%s", this->crr_car_state_.c_str());
 181
 182     // If lamp state is changed,
 183     // backup current state for previous state and set flag
 184     if (this->prv_lamp_state_ != this->crr_lamp_state_) {
 185         HMI_DEBUG("wm:lcc", "Lamp state is changed: %s -> %s",
 186                   this->prv_lamp_state_.c_str(), this->crr_lamp_state_.c_str());
 187         this->prv_lamp_state_ = this->crr_lamp_state_;
 188         this->is_changed_lamp_state_ = true;
 189     }
 190
 191     // If parking brake state is changed,
 192     // backup current state for previous state and set flag
 193     if (this->prv_parking_brake_state_ != this->crr_parking_brake_state_) {
 194         HMI_DEBUG("wm:lcc", "Parking Brake state is changed: %s -> %s",
 195                   this->prv_parking_brake_state_.c_str(), this->crr_parking_brake_state_.c_str());
 196         this->prv_parking_brake_state_ = this->crr_parking_brake_state_;
 197         this->is_changed_parking_brake_state_ = true;
 198     }
 199
 200     // If accelerator pedal state is changed,
 201     // backup current state for previous state and set flag
 202     if (this->prv_accel_pedal_state_ != this->crr_accel_pedal_state_) {
 203         HMI_DEBUG("wm:lcc", "Accelerator Pedal is changed: %s -> %s",
 204                   this->prv_accel_pedal_state_.c_str(), this->crr_accel_pedal_state_.c_str());
 205         this->prv_accel_pedal_state_ = this->crr_accel_pedal_state_;
 206         this->is_changed_accel_pedal_state_ = true;
 207     }
 208
 209     // If car state is changed,
 210     // backup current state for previous state and set flag
 211     if (this->prv_car_state_ != this->crr_car_state_) {
 212         HMI_DEBUG("wm:lcc", "Car state is changed: %s -> %s",
 213                   this->prv_car_state_.c_str(), this->crr_car_state_.c_str());
 214         this->prv_car_state_ = this->crr_car_state_;
 215         this->is_changed_car_state_ = true;
 216     }
 217 }
 218
 219 bool LowCanClient::isChangedLampState() {
 220     HMI_DEBUG("wm:lcc", "Call");
 221
 222     // Return changed flag
 223     return this->is_changed_lamp_state_;
 224 }
 225
 226 bool LowCanClient::isChangedParkingBrakeState() {
 227     HMI_DEBUG("wm:lcc", "Call");
 228
 229     // Return changed flag
 230     return this->is_changed_parking_brake_state_;
 231 }
 232
 233 bool LowCanClient::isChangedAccelPedalState() {
 234     HMI_DEBUG("wm:lcc", "Call");
 235
 236     // Return changed flag
 237     return this->is_changed_accel_pedal_state_;
 238 }
 239
 240 bool LowCanClient::isChangedCarState() {
 241     HMI_DEBUG("wm:lcc", "Call");
 242
 243     // Return changed flag
 244     return this->is_changed_car_state_;
 245 }
 246
 247 const char* LowCanClient::getCurrentLampState() {
 248     HMI_DEBUG("wm:lcc", "Call");
 249
 250     // Clear changed flag
 251     this->is_changed_lamp_state_ = false;
 252
 253     // Return current lamp state
 254     return this->crr_lamp_state_.c_str();
 255 }
 256
 257 const char* LowCanClient::getCurrentParkingBrakeState() {
 258     HMI_DEBUG("wm:lcc", "Call");
 259
 260     // Clear changed flag
 261     this->is_changed_parking_brake_state_ = false;
 262
 263     // Return current parking brake state
 264     return this->crr_parking_brake_state_.c_str();
 265 }
 266
 267 const char* LowCanClient::getCurrentAccelPedalState() {
 268     HMI_DEBUG("wm:lcc", "Call");
 269
 270     // Clear changed flag
 271     this->is_changed_accel_pedal_state_ = false;
 272
 273     // Return current accelerator pedal state
 274     return this->crr_accel_pedal_state_.c_str();
 275 }
 276
 277 const char* LowCanClient::getCurrentCarState() {
 278     HMI_DEBUG("wm:lcc", "Call");
 279
 280     // Clear changed flag
 281     this->is_changed_car_state_ = false;
 282
 283     // Return current car state
 284     return this->crr_car_state_.c_str();
 285 }
 286
 287
 288 } // namespace wm