diff options
Diffstat (limited to 'plugins/openxc/openxcplugin.cpp')
| -rw-r--r-- | plugins/openxc/openxcplugin.cpp | 498 |
1 files changed, 498 insertions, 0 deletions
diff --git a/plugins/openxc/openxcplugin.cpp b/plugins/openxc/openxcplugin.cpp new file mode 100644 index 00000000..75c75487 --- /dev/null +++ b/plugins/openxc/openxcplugin.cpp @@ -0,0 +1,498 @@ +/* +Copyright (C) 2012 Intel Corporation + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include "openxcplugin.h" +#include "timestamp.h" + +#include <iostream> +#include <boost/assert.hpp> +#include <glib.h> + +#include "bluetooth.hpp" + +using namespace std; + +#include "debugout.h" + +bool gioPollingFunc(GIOChannel *source,GIOCondition condition,gpointer data) +{ + if (condition == G_IO_HUP) + { + //Hang up. Returning false closes out the GIOChannel. + //printf("Callback on G_IO_HUP\n"); + return false; + } + + OpenXCPlugin* plugin = static_cast<OpenXCPlugin*>(data); + + if(!plugin) + { + throw std::runtime_error("Bad cast to OpenXCPlugin*"); + } + + plugin->processData(); + + return true; +} + +OpenXCPlugin::OpenXCPlugin(AbstractRoutingEngine* re, map<string, string> config) +:AbstractSource(re, config) +{ + re->setSupported(supported(), this); + + /// populate the openxc to amb map: + + openXC2AmbMap["steering_wheel_angle"] = VehicleProperty::SteeringWheelAngle; + //openXC2AmbMap["torque_at_transmission"] = VehicleProperty::Engine; + openXC2AmbMap["engine_speed"] = VehicleProperty::EngineSpeed; + openXC2AmbMap["vehicle_speed"] = VehicleProperty::VehicleSpeed; + openXC2AmbMap["accelerator_pedal_position"] = VehicleProperty::ThrottlePosition; + openXC2AmbMap["parking_brake_status"] = VehicleProperty::ParkingBrakeStatus; + openXC2AmbMap["brake_pedal_status"] = VehicleProperty::LightBrake; + openXC2AmbMap["transmission_gear_position"] = VehicleProperty::TransmissionGearPosition; + openXC2AmbMap["odometer"] = VehicleProperty::Odometer; + openXC2AmbMap["ignition_status"] = VehicleProperty::VehiclePowerMode; + openXC2AmbMap["fuel_level"] = VehicleProperty::FuelLevel; + openXC2AmbMap["fuel_consumed_since_restart"] = VehicleProperty::FuelConsumption; + openXC2AmbMap["headlamp_status"] = VehicleProperty::LightHead; + openXC2AmbMap["high_beam_status"] = VehicleProperty::LightHighBeam; + openXC2AmbMap["windshield_wiper_status"] = VehicleProperty::WindshieldWiper; + openXC2AmbMap["latitude"] = VehicleProperty::Latitude; + openXC2AmbMap["longitude"] = VehicleProperty::Longitude; + openXC2AmbMap["button_event"] = VehicleProperty::ButtonEvent; + + bool test = false; + if(config.find("test") != config.end()) + { + test = config["test"] == "true"; + } + + if(test) + { + testParseEngine(); + } + + std::string bluetoothAddy = config["device"]; + std::string bluetoothAdapter = config["bluetoothAdapter"]; + std::string serialDevice; + + if(bluetoothAddy != "") + { + BluetoothDevice btDevice; + + serialDevice = btDevice.getDeviceForAddress(bluetoothAddy, bluetoothAdapter); + } + + device = new SerialPort(serialDevice); + if(!device->open()) + { + throw std::runtime_error("unable to open serial device " + serialDevice); + } + + GIOChannel *chan = g_io_channel_unix_new(device->fileDescriptor()); + g_io_add_watch(chan, G_IO_IN,(GIOFunc)gioPollingFunc, this); + g_io_add_watch(chan,G_IO_HUP,(GIOFunc)gioPollingFunc,this); + g_io_add_watch(chan,G_IO_ERR,(GIOFunc)gioPollingFunc,this); + g_io_channel_unref(chan); //Pass ownership of the GIOChannel to the watch. + + +} + + + +extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config) +{ + return new OpenXCPlugin(routingengine, config); + +} + +const string OpenXCPlugin::uuid() +{ + return "openxc"; +} + + +void OpenXCPlugin::getPropertyAsync(AsyncPropertyReply *reply) +{ + +} + +void OpenXCPlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply) +{ + +} + +AsyncPropertyReply *OpenXCPlugin::setProperty(AsyncSetPropertyRequest request ) +{ + +} + +void OpenXCPlugin::subscribeToPropertyChanges(VehicleProperty::Property property) +{ + mRequests.push_back(property); +} + +PropertyList OpenXCPlugin::supported() +{ + PropertyList props; + + return props; +} + +int OpenXCPlugin::supportedOperations() +{ + return Get; +} + +void OpenXCPlugin::unsubscribeToPropertyChanges(VehicleProperty::Property property) +{ + mRequests.remove(property); +} + + + +bool OpenXCPlugin::translateOpenXCEvent(string json) +{ + /// signal: + /// {"name": "steering_wheel_angle", "value": 45} + + /// event: + /// {"name": "button_event", "value": "up", "event": "pressed"} + + json_object *rootobject; + json_tokener *tokener = json_tokener_new(); + + + ///TODO: we have several json leaks here + + enum json_tokener_error err; + do + { + rootobject = json_tokener_parse_ex(tokener, json.c_str(),json.length()); + } while ((err = json_tokener_get_error(tokener)) == json_tokener_continue); + if (err != json_tokener_success) + { + fprintf(stderr, "Error: %s\n", json_tokener_error_desc(err)); + // Handle errors, as appropriate for your application. + } + if (tokener->char_offset < json.length()) // XXX shouldn't access internal fields + { + // Handle extra characters after parsed object as desired. + // e.g. issue an error, parse another object from that point, etc... + } + + VehicleProperty::Property property; + + json_object *name = json_object_object_get(rootobject,"name"); + if (name) + { + string namestr = string(json_object_get_string(name)); + + property = openXC2AmbMap[namestr]; + } + + json_object *value = json_object_object_get(rootobject, "value"); + if(value) + { + if (property == VehicleProperty::SteeringWheelAngle) + { + int val = json_object_get_int(value); + VehicleProperty::SteeringWheelAngleType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + + return true; + } + + else if (property == VehicleProperty::EngineSpeed) + { + int val = json_object_get_int(value); + VehicleProperty::EngineSpeedType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + return true; + } + + else if (property == VehicleProperty::VehicleSpeed) + { + int val = json_object_get_int(value); + VehicleProperty::VehicleSpeedType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + return true; + } + + else if (property == VehicleProperty::ThrottlePosition) + { + int val = json_object_get_int(value); + VehicleProperty::ThrottlePositionType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + + return true; + } + + else if (property == VehicleProperty::LightBrake) + { + bool val = json_object_get_boolean(value); + VehicleProperty::LightBrakeType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + + return true; + } + + else if (property == VehicleProperty::ParkingBrakeStatus) + { + bool val = json_object_get_boolean(value); + VehicleProperty::ParkingBrakeStatusType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + + return true; + } + + else if (property == VehicleProperty::TransmissionGearPosition) + { + /// TODO: implement + return false; + } + + else if (property == VehicleProperty::Odometer) + { + int val = json_object_get_int(value); + VehicleProperty::OdometerType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + + return true; + } + + else if (property == VehicleProperty::VehiclePowerMode) + { + /// TODO: implement + return false; + } + + else if (property == VehicleProperty::FuelLevel) + { + int val = json_object_get_int(value); + VehicleProperty::FuelLevelType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + + return true; + } + + else if (property == VehicleProperty::FuelConsumption) + { + /// This is a different concept than our 'instant' fuel consumption. + /// TODO: we should probably do a CumulativeFuelConsuption + } + + else if (property == VehicleProperty::DoorStatus) + { + + } + + else if (property == VehicleProperty::LightHead) + { + bool val = json_object_get_boolean(value); + VehicleProperty::LightHeadType ambVal(val); + + routingEngine->updateProperty(property, &ambVal,uuid()); + + return true; + } + + else if (property == VehicleProperty::LightHighBeam) + { + bool val = json_object_get_boolean(value); + VehicleProperty::LightHighBeamType ambVal(val); + + routingEngine->updateProperty(property, &ambVal, uuid()); + + return true; + } + + else if (property == VehicleProperty::WindshieldWiper) + { + bool val = json_object_get_boolean(value); + if(val) + { + Window::WiperSpeed speed = Window::Auto; + + VehicleProperty::WindshieldWiperType ambVal(speed); + routingEngine->updateProperty(property, &ambVal, uuid()); + + return true; + } + else + { + Window::WiperSpeed speed = Window::Off; + + VehicleProperty::WindshieldWiperType ambVal(speed); + routingEngine->updateProperty(property, &ambVal, uuid()); + + return true; + } + + } + + else if (property == VehicleProperty::Latitude) + { + double val = json_object_get_double(value); + VehicleProperty::LatitudeType ambVal(val); + + routingEngine->updateProperty(property, &ambVal, uuid()); + + return true; + } + + else if (property == VehicleProperty::Longitude) + { + double val = json_object_get_double(value); + VehicleProperty::LongitudeType ambVal(val); + + routingEngine->updateProperty(property, &ambVal, uuid()); + + return true; + } + + else if (property == VehicleProperty::ButtonEvent) + { + /// TODO: implement + DebugOut(DebugOut::Error)<<"OpenXC button event not implemented"<<endl; + return false; + } + } + + return false; + +} + +void OpenXCPlugin::testParseEngine() +{ + bool passed = true; + + if(!translateOpenXCEvent("{\"name\": \"steering_wheel_angle\", \"value\": 45}")) + { + DebugOut(0)<<"OpenXC Parse Test (steering_wheel_angle): \tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (steering_wheel_angle): \tPassed"<<endl; + + if(!translateOpenXCEvent("{\"name\": \"engine_speed\", \"value\": 5000}")) + { + DebugOut(0)<<"OpenXC Parse Test (engine_speed): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (engine_speed): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"vehicle_speed\", \"value\": 100}")) + { + DebugOut(0)<<"OpenXC Parse Test (vehicle_speed): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (vehicle_speed): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"accelerator_pedal_position\", \"value\": 90}")) + { + DebugOut(0)<<"OpenXC Parse Test (accelerator_pedal_position): tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (accelerator_pedal_position):\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"parking_brake_status\", \"value\": \"false\" }")) + { + DebugOut(0)<<"OpenXC Parse Test (parking_brake_status):\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (parking_brake_status):\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"brake_pedal_status\", \"value\": \"false\" }")) + { + DebugOut(0)<<"OpenXC Parse Test (brake_pedal_status):\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (brake_pedal_status):\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"transmission_gear_position\", \"value\": \"fourth\"}")) + { + DebugOut(0)<<"OpenXC Parse Test (transmission_gear_position):\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (transmission_gear_position):\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"odometer\", \"value\": 1000}")) + { + DebugOut(0)<<"OpenXC Parse Test (odometer): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (odometer): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"ignition_status\", \"value\": \"run\"}")) + { + DebugOut(0)<<"OpenXC Parse Test (ignition_status): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (ignition_status): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"fuel_level\", \"value\": 30}")) + { + DebugOut(0)<<"OpenXC Parse Test (fuel_level): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (fuel_level): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"fuel_consumed_since_restart\", \"value\": 45}")) + { + DebugOut(0)<<"OpenXC Parse Test (fuel_consumed_since_restart):\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (fuel_consumed_since_restart):\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"headlamp_status\", \"value\": \"true\"}")) + { + DebugOut(0)<<"OpenXC Parse Test (headlamp_status): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (headlamp_status): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"latitude\", \"value\": 88.12125}")) + { + DebugOut(0)<<"OpenXC Parse Test (latitude): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (latitude): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"longitude\", \"value\": 108.12125}")) + { + DebugOut(0)<<"OpenXC Parse Test (longitude): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (longitude): \t\tPassed"<<endl; + if(!translateOpenXCEvent("{\"name\": \"button_event\", \"value\": \"up\", \"event\": \"pressed\"}")) + { + DebugOut(0)<<"OpenXC Parse Test (button_event): \t\tFailed"<<endl; + passed = false; + } + else DebugOut(0)<<"OpenXC Parse Test (button_event): \t\tPassed"<<endl; + + if(!passed) + { + DebugOut(0)<<"Some OpenXC Parse Tests failed. Aborting"; + throw std::runtime_error("OpenXC Parse tests failed."); + } +} + + +void OpenXCPlugin::processData() +{ + std::string data = device->read(); + + translateOpenXCEvent(data); +} |