+++ /dev/null
-// Copyright 2017 AW SOFTWARE CO.,LTD
-// Copyright 2017 AISIN AW CO.,LTD
-
-#include "genivi/navicore.h"
-#include "genivi/genivi-navicore-constants.h"
-#include "genivi_request.h"
-#include <stdio.h>
-#include <exception>
-#include <dbus-c++-1/dbus-c++/dbus.h>
-
-/**
- * @brief Destructor
- */
-GeniviRequest::~GeniviRequest()
-{
- delete (Navicore*)navicore_;
- navicore_ = NULL;
-}
-
-/**
- * @brief DBus session creation
- */
-void GeniviRequest::CreateDBusSession( )
-{
- try
- {
- static DBus::BusDispatcher dispatcher;
- DBus::default_dispatcher = &dispatcher;
- DBus::Connection conn = DBus::Connection::SessionBus();
-
- navicore_ = new Navicore(conn, "/org/genivi/navicore", "org.agl.naviapi");
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-}
-
-/**
- * @brief Check connection status
- * @return Presence / absence of connection
- */
-bool GeniviRequest::CheckSession()
-{
- if(this->navicore_ == NULL)
- {
- this->CreateDBusSession();
- }
-
- try
- {
- // Get connection status
- DBus::Connection conn = ((Navicore*)navicore_)->conn();
- bool isConnect = conn.connected();
-
- // If it is not connected, it issues an error
- if(!isConnect)
- {
- fprintf(stderr, "Service has no session.\n");
- }
-
- return isConnect;
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- return false;
- }
-}
-
-/**
- * @brief Call GeniviAPI GetPosition to get information
- * @param[in] valuesToReturn Key arrangement of information acquired from Genivi
- * @return Map information on key and value of information acquired from Genivi
- */
-std::map< int32_t, double > GeniviRequest::NavicoreGetPosition( const std::vector< int32_t >& valuesToReturn )
-{
- std::map< int32_t, double > ret;
-
- if( !CheckSession() )
- {
- return ret;
- }
-
- try
- {
- std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > >::iterator it;
- std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > PosList =
- ((Navicore*)navicore_)->GetPosition(valuesToReturn);
- for (it = PosList.begin(); it != PosList.end(); it++)
- {
- if (it->first == NAVICORE_LATITUDE || it->second._1 == NAVICORE_LATITUDE)
- {
- ret[it->first] = it->second._2.reader().get_double();
- }
- else if (it->first == NAVICORE_LONGITUDE || it->second._1 == NAVICORE_LONGITUDE)
- {
- ret[it->first] = it->second._2.reader().get_double();
- }
- else if (it->first == NAVICORE_HEADING || it->second._1 == NAVICORE_HEADING)
- {
- ret[it->first] = it->second._2.reader().get_uint32();
- }
-#if 0 // no supported
- else if (it->first == NAVICORE_TIMESTAMP || it->second._1 == NAVICORE_TIMESTAMP)
- {
- ret[it->first] = it->second._2.reader().get_uint32();
- }
- else if (it->first == NAVICORE_SPEED || it->second._1 == NAVICORE_SPEED)
- {
- ret[it->first] = it->second._2.reader().get_int32();
- }
-#endif
- else if (it->first == NAVICORE_SIMULATION_MODE || it->second._1 == NAVICORE_SIMULATION_MODE)
- {
- ret[it->first] = it->second._2.reader().get_bool();
- }
- }
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-
- return ret;
-}
-
-/**
- * @brief Call GeniviAPI GetPosition to get information
- * @return Route handle acquired from Genivi
- */
-std::vector< uint32_t > GeniviRequest::NavicoreGetAllRoutes( void )
-{
- if( !CheckSession() )
- {
- std::vector< uint32_t > no_route;
- return no_route;
- }
-
- std::vector< uint32_t > allRoutes;
- try
- {
- allRoutes = ((Navicore*)navicore_)->GetAllRoutes();
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-
- return allRoutes;
-}
-
-
-/**
- * @brief Call GeniviAPI GetPosition to get information
- * @param[in] sessionHandle Session handle
- * @return Route handle acquired from Genivi
- */
-uint32_t GeniviRequest::NavicoreCreateRoute( const uint32_t& sessionHandle )
-{
- if( !CheckSession() )
- {
- return 0;
- }
-
- uint32_t routeHandle = 0;
- try
- {
- routeHandle = ((Navicore*)navicore_)->CreateRoute(sessionHandle);
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-
- return routeHandle;
-}
-
-/**
- * @brief Call GeniviAPI PauseSimulation
- * @param[in] sessionHandle Session handle
- */
-void GeniviRequest::NavicorePauseSimulation( const uint32_t& sessionHandle )
-{
- if( !CheckSession() )
- {
- return;
- }
-
- try
- {
- ((Navicore*)navicore_)->PauseSimulation(sessionHandle);
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-}
-
-
-/**
- * @brief Call GeniviAPI SetSimulationMode
- * @param[in] sessionHandle Session handle
- * @param[in] activate Simulation mode enabled / disabled
- */
-void GeniviRequest::NavicoreSetSimulationMode( const uint32_t& sessionHandle, const bool& activate )
-{
- if( !CheckSession() )
- {
- return;
- }
-
- try
- {
- ((Navicore*)navicore_)->SetSimulationMode(sessionHandle, activate);
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-}
-
-
-/**
- * @brief Call GeniviAPI SetSimulationMode
- * @param[in] sessionHandle Session handle
- * @param[in] routeHandle Route handle
- */
-void GeniviRequest::NavicoreCancelRouteCalculation( const uint32_t& sessionHandle, const uint32_t& routeHandle )
-{
- if( !CheckSession() )
- {
- return;
- }
-
- try
- {
- ((Navicore*)navicore_)->CancelRouteCalculation(sessionHandle, routeHandle);
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-}
-
-/**
- * @brief Call GeniviAPI SetWaypoints
- * @param[in] sessionHandle Session handle
- * @param[in] routeHandle Route handle
- * @param[in] startFromCurrentPosition Whether or not to draw a route from the position of the vehicle
- * @param[in] waypointsList Destination coordinates
- */
-void GeniviRequest::NavicoreSetWaypoints( const uint32_t& sessionHandle, const uint32_t& routeHandle,
- const bool& startFromCurrentPosition, const std::vector<Waypoint>& waypointsList )
-{
- if( !CheckSession() )
- {
- return;
- }
-
- std::vector<Waypoint>::const_iterator it;
- std::vector< std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > > wpl;
-
- fprintf(stdout, "session: %d, route: %d, startFromCurrentPosition: %d\n",
- sessionHandle, routeHandle, startFromCurrentPosition);
-
- for (it = waypointsList.begin(); it != waypointsList.end(); it++)
- {
- std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > Point;
- ::DBus::Struct< uint8_t, ::DBus::Variant > VarLat, VarLon;
-
- VarLat._1 = NAVICORE_LATITUDE;
- VarLat._2.writer().append_double(std::get<0>(*it));
- fprintf(stdout, "VarLat._1 : %x, VarLat._2 : %lf\n", VarLat._1, VarLat._2.reader().get_double());
-
- VarLon._1 = NAVICORE_LONGITUDE;
- VarLon._2.writer().append_double(std::get<1>(*it));
- fprintf(stdout, "VarLon._1 : %x, VarLon._2 : %lf\n", VarLon._1, VarLon._2.reader().get_double());
-
- Point[NAVICORE_LATITUDE] = VarLat;
- Point[NAVICORE_LONGITUDE] = VarLon;
-
- wpl.push_back(Point);
- }
-
- try
- {
- ((Navicore*)navicore_)->SetWaypoints(sessionHandle, routeHandle, startFromCurrentPosition, wpl);
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-}
-
-/**
- * @brief Call GeniviAPI CalculateRoute
- * @param[in] sessionHandle Session handle
- * @param[in] routeHandle Route handle
- */
-void GeniviRequest::NavicoreCalculateRoute( const uint32_t& sessionHandle, const uint32_t& routeHandle )
-{
- if( !CheckSession() )
- {
- return;
- }
-
- try
- {
- ((Navicore*)navicore_)->CalculateRoute(sessionHandle, routeHandle);
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-}
-
-
-/**
- * @brief Call GeniviAPI CalculateRoute
- * @return Map information on key and value of information acquired from Genivi
- */
-std::map<uint32_t, std::string> GeniviRequest::NavicoreGetAllSessions()
-{
- std::map<uint32_t, std::string> ret;
-
- if( !CheckSession() )
- {
- return ret;
- }
-
- std::vector< ::DBus::Struct< uint32_t, std::string > > ncAllSessions;
- std::vector< ::DBus::Struct< uint32_t, std::string > >::iterator it;
-
- try
- {
- ncAllSessions = ((Navicore*)navicore_)->GetAllSessions();
- for (it = ncAllSessions.begin(); it != ncAllSessions.end(); it++)
- {
- ret[it->_1] = it->_2;
- }
- }
- catch(const std::exception& e)
- {
- fprintf(stderr, "Error:%s\n", e.what());
- }
-
- return ret;
-}
-
Code Review / apps / agl-service-navigation.git / blobdiff