1 files changed, 118 insertions, 0 deletions
diff --git a/src/dead-reckoning/main.cpp b/src/dead-reckoning/main.cpp
new file mode 100644
index 0000000..173f299
--- /dev/null
+++ b/src/dead-reckoning/main.cpp
@@ -0,0 +1,118 @@
+/**************************************************************************
+* @licence app begin@
+*
+* SPDX-License-Identifier: MPL-2.0
+*
+* \ingroup EnhancedPositionService
+* \author Marco Residori <marco.residori@xse.de>
+*
+* \copyright Copyright (C) 2014, XS Embedded GmbH
+* 
+* \license
+* This Source Code Form is subject to the terms of the
+* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+* this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*
+* @licence end@
+**************************************************************************/
+
+#include <signal.h>
+#ifndef DBUS_HAS_RECURSIVE_MUTEX
+#define DBUS_HAS_RECURSIVE_MUTEX
+#endif
+#include <dbus-c++/dbus.h>
+
+#include "enhanced-position.h"
+#include "position-feedback.h"
+#include "configuration.h"
+#include "log.h"
+#include "gnss.h"
+#include "gnss-init.h"
+
+const char* ENHANCED_POSITION_SERVICE_NAME = "org.genivi.positioning.EnhancedPosition";
+const char* ENHANCED_POSITION_OBJECT_PATH = "/org/genivi/positioning/EnhancedPosition";
+const char* POSITION_FEEDBACK_OBJECT_PATH = "/org/genivi/positioning/PositionFeedback";
+const char* CONFIGURATION_OBJECT_PATH = "/org/genivi/positioning/Configuration";
+
+DLT_DECLARE_CONTEXT(gCtx);
+
+DBus::BusDispatcher dispatcher;
+
+static DBus::Connection *conn;
+
+void sighandler(int sig)
+{
+  LOG_INFO_MSG(gCtx,"Signal received");
+
+  dispatcher.leave();
+}
+
+bool checkGNSSMajorVersion(int expectedMajor)
+{
+  int major = -1;
+
+  gnssGetVersion(&major, 0, 0);
+
+  if (major != expectedMajor)
+  {
+    LOG_ERROR(gCtx,"Wrong API version: gnssGetVersion returned unexpected value %d != %d",
+              major, 
+              expectedMajor);
+
+    return false;
+  }
+
+  return true;
+}
+
+int main()
+{
+  DLT_REGISTER_APP("ENHP", "EnhancedPositionService");
+  DLT_REGISTER_CONTEXT(gCtx,"EPSR", "Global Context");  // EPSR = EnhancedPositionService Server Application
+  LOG_INFO_MSG(gCtx,"Starting EnhancedPositionService...");
+
+  signal(SIGTERM, sighandler);
+  signal(SIGINT, sighandler);
+
+  DBus::default_dispatcher = &dispatcher;
+
+  conn = new DBus::Connection(DBus::Connection::SessionBus());
+
+  if (conn == NULL)
+  {
+    LOG_ERROR_MSG(gCtx,"Null pointer!");
+  }
+
+  if(!checkGNSSMajorVersion(GENIVI_GNSS_API_MAJOR))
+  {
+    LOG_ERROR_MSG(gCtx,"Wrong GNSS version - exiting!");
+    exit(EXIT_FAILURE);
+  }
+
+  if(!gnssInit())
+  {
+    LOG_ERROR_MSG(gCtx,"gnssInit failure - exiting!");    
+    exit(EXIT_FAILURE);
+  }
+
+  conn->setup(&dispatcher);
+  conn->request_name(ENHANCED_POSITION_SERVICE_NAME);
+
+  EnhancedPosition EnhancedPositionServer(*conn, ENHANCED_POSITION_OBJECT_PATH); 
+  PositionFeedback PositionFeedbackServer(*conn, POSITION_FEEDBACK_OBJECT_PATH);
+  Configuration ConfigurationServer(*conn, CONFIGURATION_OBJECT_PATH);
+  
+  EnhancedPositionServer.run();
+  PositionFeedbackServer.run();
+  ConfigurationServer.run();
+
+  dispatcher.enter();
+
+  ConfigurationServer.shutdown();
+  PositionFeedbackServer.shutdown();
+  EnhancedPositionServer.shutdown();
+
+  gnssDestroy();
+  
+  return 0;
+}