1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
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;
}
|
