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   accel_pedal_stt_(FALSE),
  36   lightstatus_brake_status_(TRUE),
  37   is_changed_accel_pedal_stt_(false)
  38 {
  39     HMI_DEBUG("wm:lcc", "Call");
  40 }
  41
  42 void LowCanClient::initialize() {
  43     HMI_DEBUG("wm:lcc", "Call");
  44
  45     int ret;
  46
  47     // Require API "low-can"
  48     ret = afb_daemon_require_api_v2("low-can", 1);
  49     if (0 > ret) {
  50         HMI_INFO("wm:lcc", "Requirement API \"low-can\" failed");
  51         return;
  52     }
  53
  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++) {
  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             json_object_object_add(json_obj, "filter",
  70                                    json_tokener_parse(this->kFilterValue_[i]));
  71         }
  72         HMI_DEBUG("wm:lcc", "subscribe message:%s", json_object_get_string(json_obj));
  73
  74         // Subscribe
  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));
  78             },
  79             nullptr);
  80     }
  81
  82     return;
  83 }
  84
  85 const char* LowCanClient::analyzeCanSignal(struct json_object *object) {
  86     HMI_DEBUG("wm:lcc", "object:%s", json_object_get_string(object));
  87
  88     const char* name = jh::getStringFromJson(object, "name");
  89     HMI_DEBUG("wm:lcc", "CAN signal name:%s", name);
  90
  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_);
  95     }
  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_);
 100     }
 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_);
 105     }
 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_);
 110     }
 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;
 114
 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_);
 118
 119         bool accel_pedal_stt;
 120         if (0 != this->accel_pedal_pos_) {
 121             accel_pedal_stt = true;
 122         }
 123         else {
 124             accel_pedal_stt = false;
 125         }
 126
 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;
 130         }
 131     }
 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_);
 136     }
 137
 138     return name;
 139 }
 140
 141 bool LowCanClient::isChangedAccelPedalState() {
 142     HMI_DEBUG("wm:lcc", "Call");
 143
 144     return this->is_changed_accel_pedal_stt_;
 145 }
 146
 147 int LowCanClient::getCurrentTransGearState() {
 148     HMI_DEBUG("wm:lcc", "Call");
 149
 150     return this->trans_gear_pos_;
 151 }
 152
 153 bool LowCanClient::getCurrentHeadlampState() {
 154     HMI_DEBUG("wm:lcc", "Call");
 155
 156     return (bool)this->headlamp_status_;
 157 }
 158
 159 bool LowCanClient::getCurrentParkingBrakeState() {
 160     HMI_DEBUG("wm:lcc", "Call");
 161
 162     return (bool)this->parking_brake_status_;
 163 }
 164
 165 double LowCanClient::getCurrentAccelPedalPosition() {
 166     HMI_DEBUG("wm:lcc", "Call");
 167
 168     return this->accel_pedal_pos_;
 169 }
 170
 171 bool LowCanClient::getCurrentAccelPedalState() {
 172     HMI_DEBUG("wm:lcc", "Call");
 173
 174     return this->accel_pedal_stt_;
 175 }
 176
 177 bool LowCanClient::getCurrentLightstatusBrakeState() {
 178     HMI_DEBUG("wm:lcc", "Call");
 179
 180     return (bool)this->lightstatus_brake_status_;
 181 }
 182
 183
 184 } // namespace wm