2 * Copyright (c) 2018 TOYOTA MOTOR CORPORATION
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
8 * http://www.apache.org/licenses/LICENSE-2.0
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.
18 #include "low_can_client.hpp"
19 #include "json_helper.hpp"
20 #include "hmi-debug.h"
23 #include <afb/afb-binding.h>
29 LowCanClient::LowCanClient() :
32 headlamp_status_(FALSE),
33 parking_brake_status_(TRUE),
35 accel_pedal_stt_(FALSE),
36 lightstatus_brake_status_(TRUE),
37 is_changed_accel_pedal_stt_(false)
39 HMI_DEBUG("wm:lcc", "Call");
42 void LowCanClient::initialize() {
43 HMI_DEBUG("wm:lcc", "Call");
47 // Require API "low-can"
48 ret = afb_daemon_require_api_v2("low-can", 1);
50 HMI_INFO("wm:lcc", "Requirement API \"low-can\" failed");
54 // Subscribe low-level-can
55 // low-can subscribe { "event": "vehicle.speed" }
56 // low-can subscribe { "event": "transmission_gear_position" }
57 // low-can subscribe { "event": "headlamp_status" }
58 // low-can subscribe { "event": "parking_brake_status" }
59 // low-can subscribe { "event": "accelerator.pedal.position" }
60 // low-can subscribe { "event": "lightstatus.brake" }
61 for (int i=SignalNoMin; i<=SignalNoMax; i++) {
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]));
68 if (0 != strcmp("", this->kFilterValue_[i])) {
69 json_object_object_add(json_obj, "filter",
70 json_tokener_parse(this->kFilterValue_[i]));
72 HMI_DEBUG("wm:lcc", "subscribe message:%s", json_object_get_string(json_obj));
75 afb_service_call("low-can", "subscribe", json_obj,
76 [](void* closure, int status, json_object *result){
77 HMI_DEBUG("wm:lcc", "subscribe result:%s", json_object_get_string(result));
85 const char* LowCanClient::analyzeCanSignal(struct json_object *object) {
86 HMI_DEBUG("wm:lcc", "object:%s", json_object_get_string(object));
88 const char* name = jh::getStringFromJson(object, "name");
89 HMI_DEBUG("wm:lcc", "CAN signal name:%s", name);
91 if (strstr(name, this->kSignalName_[SignalNoVehicliSpeed])) {
92 // Update vehicle speed
93 this->vehicle_speed_ = jh::getIntFromJson(object, "value");
94 HMI_DEBUG("wm:lcc", "Update vehicle speed:%d", this->vehicle_speed_);
96 else if (strstr(name, this->kSignalName_[SignalNoTransGearPos])) {
97 // Update transmission gear position
98 this->trans_gear_pos_ = jh::getIntFromJson(object, "value");
99 HMI_DEBUG("wm:lcc", "Update transmission gear position:%d", this->trans_gear_pos_);
101 else if (strstr(name, this->kSignalName_[SignalNoHeadlame])) {
102 // Update headlamp status
103 this->headlamp_status_ = jh::getBoolFromJson(object, "value");
104 HMI_DEBUG("wm:lcc", "Update headlamp status:%d", this->headlamp_status_);
106 else if (strstr(name, this->kSignalName_[SignalNoParkingBrake])) {
107 // Update parking gear status
108 this->parking_brake_status_ = jh::getBoolFromJson(object, "value");
109 HMI_DEBUG("wm:lcc", "Update parking brake status:%d", this->parking_brake_status_);
111 else if (strstr(name, this->kSignalName_[SignalNoAccelPedalPos])) {
112 // Clear flag for whether accel pedal state is changed
113 this->is_changed_accel_pedal_stt_ = false;
115 // Update accelerator pedal status
116 this->accel_pedal_pos_ = jh::getDoubleFromJson(object, "value");
117 HMI_DEBUG("wm:lcc", "Update accelerator pedal position:%lf", this->accel_pedal_pos_);
119 bool accel_pedal_stt;
120 if (0 != this->accel_pedal_pos_) {
121 accel_pedal_stt = true;
124 accel_pedal_stt = false;
127 if (accel_pedal_stt != this->accel_pedal_stt_) {
128 this->is_changed_accel_pedal_stt_ = true;
129 this->accel_pedal_stt_ = accel_pedal_stt;
132 else if (strstr(name, this->kSignalName_[SignalNoLightstatusBrake])) {
133 // Update lightstatus brake status
134 this->lightstatus_brake_status_ = jh::getBoolFromJson(object, "value");
135 HMI_DEBUG("wm:lcc", "Update lightstatus brake status:%d", this->lightstatus_brake_status_);
141 bool LowCanClient::isChangedAccelPedalState() {
142 HMI_DEBUG("wm:lcc", "Call");
144 return this->is_changed_accel_pedal_stt_;
147 int LowCanClient::getCurrentTransGearState() {
148 HMI_DEBUG("wm:lcc", "Call");
150 return this->trans_gear_pos_;
153 bool LowCanClient::getCurrentHeadlampState() {
154 HMI_DEBUG("wm:lcc", "Call");
156 return (bool)this->headlamp_status_;
159 bool LowCanClient::getCurrentParkingBrakeState() {
160 HMI_DEBUG("wm:lcc", "Call");
162 return (bool)this->parking_brake_status_;
165 double LowCanClient::getCurrentAccelPedalPosition() {
166 HMI_DEBUG("wm:lcc", "Call");
168 return this->accel_pedal_pos_;
171 bool LowCanClient::getCurrentAccelPedalState() {
172 HMI_DEBUG("wm:lcc", "Call");
174 return this->accel_pedal_stt_;
177 bool LowCanClient::getCurrentLightstatusBrakeState() {
178 HMI_DEBUG("wm:lcc", "Call");
180 return (bool)this->lightstatus_brake_status_;