diff options
| -rw-r--r-- | src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx | 50 | ||||
| -rw-r--r-- | src/navigation/navigation-core/routing-server-plugin/genivi_navigationcore_routing.cxx | 7 | ||||
| -rw-r--r-- | test/navigation/route.xml | 26 | ||||
| -rw-r--r-- | test/navigation/routes.xml | 43 | ||||
| -rwxr-xr-x | test/navigation/test-guidance-capi.py | 328 | ||||
| -rwxr-xr-x | test/navigation/test-guidance.py | 329 |
6 files changed, 710 insertions, 73 deletions
diff --git a/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx b/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx index 45e563e..430ece7 100644 --- a/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx +++ b/src/navigation/navigation-core/guidance-server-plugin/genivi_navigationcore_guidance.cxx @@ -116,11 +116,6 @@ class GuidanceObj std::string m_kind_of_voice; struct item *get_item(struct map_rect *mr); struct map_rect *get_map_rect(void); - void SetSimulationMode(uint32_t SessionHandle, bool Activate); - void GetSimulationMode(bool& SimulationMode); - void SetSimulationSpeed(uint32_t sessionHandle); - void PauseGuidance(uint32_t sessionHandle); - void ResumeGuidance(uint32_t sessionHandle); void SetVoiceGuidance(const bool& activate, const std::string& voice); void SetVoiceGuidanceSettings(const Guidance::PromptMode &promptMode); Guidance::PromptMode GetVoiceGuidanceSettings(); @@ -204,6 +199,8 @@ class GuidanceServerStub : public GuidanceStubDefault m_version.setVersionMinor(0); m_version.setVersionMicro(0); m_version.setDate("21-01-2014"); + + mp_guidance = NULL; } ~GuidanceServerStub() { @@ -388,7 +385,7 @@ GuidanceObj::GetDestinationInformation(uint32_t& Distance, uint32_t& TravelTime, struct item *item; if (!mr) throw DBus::ErrorFailed("internal error:failed to get map rect"); - while (item=map_rect_get_item(mr)) { + while ((item=map_rect_get_item(mr))) { if (item_coord_get(item, &c[idx], 1)) { if (!idx) { if (!item_attr_get(item, attr_destination_time, &destination_time)) @@ -538,7 +535,6 @@ GuidanceObj::GetManeuver(struct item *item, uint32_t& offsetOfManeuver, Guidance maneuverData[maneuverDataAttribute] = maneuverDataValue; } - void GuidanceObj::GetGuidanceDetails(bool& voiceGuidance, bool& vehicleOnTheRoad, bool& isDestinationReached, Guidance::ManeuverPhase& maneuver) { @@ -584,7 +580,7 @@ GuidanceObj::GetManeuversList(const uint16_t& requestedNumberOfManeuvers, const numberOfManeuvers = 0; maneuverIndex = 0; - while (item=get_item(mr)) { //scan the list of maneuvers of the route + while ((item=get_item(mr))) { //scan the list of maneuvers of the route if (maneuverIndex >= maneuverOffset && maneuverIndex < maneuverOffset+requestedNumberOfManeuvers) { Guidance::Maneuver maneuver; std::vector<Guidance::ManeuverItem> items; @@ -616,37 +612,6 @@ GuidanceObj::GetManeuversList(const uint16_t& requestedNumberOfManeuvers, const map_rect_destroy(mr); } -void -GuidanceObj::SetSimulationSpeed(uint32_t sessionHandle) -{ - struct vehicle *vehicle=get_vehicle("demo:"); - if (vehicle && !m_paused) - vehicle_set_attr(vehicle, &vehicle_speed); -} - -void -GuidanceObj::PauseGuidance(uint32_t sessionHandle) -{ - struct vehicle *vehicle=get_vehicle("demo:"); - if (vehicle) { - struct attr vehicle_speed0={attr_speed,(char *)0}; - vehicle_set_attr(vehicle, &vehicle_speed0); - } - m_paused=true; -} - -void -GuidanceObj::ResumeGuidance(uint32_t sessionHandle) -{ - struct vehicle *vehicle=get_vehicle("demo:"); - GuidanceObj_Callback(this); - if (vehicle) - { - vehicle_set_attr(vehicle, &vehicle_speed); - } - m_paused=false; -} - void GuidanceObj::SetVoiceGuidance(const bool& activate, const std::string& voice) { m_voice_guidance = activate; @@ -685,7 +650,6 @@ GuidanceObj::GetGuidanceStatus(Guidance::GuidanceStatus &guidanceStatus, Navigat routeHandle=m_route_handle; } - void GuidanceObj_Callback(GuidanceObj *obj) { @@ -786,8 +750,8 @@ GuidanceObj::GuidanceObj(GuidanceServerStub *guidance, uint32_t SessionHandle, u m_speechoutput=new SpeechOutput(*conn); #endif if (navit_get_attr(navit, attr_callback_list, &callback_list, NULL)) { - callback_list_call_attr_4(callback_list.u.callback_list, attr_command, "navit_genivi_get_route", in, &ret, NULL); - if (ret && ret[0] && ret[1] && ret[0]->type == attr_route && ret[1]->type == attr_vehicleprofile) { + callback_list_call_attr_4(callback_list.u.callback_list, attr_command, "navit_genivi_get_route", in, &ret, NULL); + if (ret && ret[0] && ret[1] && ret[0]->type == attr_route && ret[1]->type == attr_vehicleprofile) { struct tracking *tracking=get_tracking(); m_route=*ret[0]; m_vehicleprofile=*ret[1]; @@ -798,7 +762,7 @@ GuidanceObj::GuidanceObj(GuidanceServerStub *guidance, uint32_t SessionHandle, u vehicle_set_attr(demo, &m_route); vehicle_set_attr(demo, &vehicle_speed); } - navigation_set_route(get_navigation(), m_route.u.route); + navigation_set_route(get_navigation(), m_route.u.route); tracking_set_route(get_tracking(), m_route.u.route); navigation_register_callback(get_navigation(), attr_navigation_speech, m_guidance_callback); GuidanceObj_Callback(this); diff --git a/src/navigation/navigation-core/routing-server-plugin/genivi_navigationcore_routing.cxx b/src/navigation/navigation-core/routing-server-plugin/genivi_navigationcore_routing.cxx index 5032f36..0355d01 100644 --- a/src/navigation/navigation-core/routing-server-plugin/genivi_navigationcore_routing.cxx +++ b/src/navigation/navigation-core/routing-server-plugin/genivi_navigationcore_routing.cxx @@ -112,7 +112,7 @@ private: struct tracking *get_tracking(void); }; -static std::map<uint32_t, RoutingObj *> mp_handles; +static std::map<NavigationTypes::Handle, RoutingObj *> mp_handles; static bool commands_registered; @@ -121,12 +121,12 @@ navit_genivi_get_route(struct navit *nav, char *function, struct attr **in, stru { if (!out || !in || !in[0]) return; - if (!ATTR_IS_INT(in[0]->type)) + if (!ATTR_IS_INT(in[0]->type)) return; RoutingObj *obj=mp_handles[in[0]->u.num]; if (!obj) return; - *out=attr_generic_add_attr(*out, &obj->m_route); + *out=attr_generic_add_attr(*out, &obj->m_route); *out=attr_generic_add_attr(*out, &obj->m_vehicleprofile); } @@ -465,7 +465,6 @@ class RoutingServerStub : public RoutingStubDefault private: CommonTypes::Version m_version; - std::map<NavigationTypes::Handle, RoutingObj *> mp_handles; }; diff --git a/test/navigation/route.xml b/test/navigation/route.xml index aceb343..eecf596 100644 --- a/test/navigation/route.xml +++ b/test/navigation/route.xml @@ -1,36 +1,10 @@ <route-set country="Switzerland"> <route> -<start>"Zuerich"</start> -<destination>"Bern"</destination> -<name>"Route ZÜRICH to BERN"</name> -<handle>0</handle> -</route> -<route> <start>"Geneve"</start> <destination>"Neuchatel"</destination> <name>"Route GENEVE to NEUCHATEL"</name> <handle>0</handle> </route> -<route> -<start>"Zuerich"</start> -<destination>"Neuchatel"</destination> -<name>"Route ZÜRICH to NEUCHATEL"</name> -<handle>0</handle> -</route> -<route> -<start>"Bern"</start> -<destination>"Geneve"</destination> -<name>"Route BERN to GENEVE"</name> -<handle>0</handle> -</route> -<location name='"Zuerich"'> -<latitude>47.367264</latitude> -<longitude>8.550330</longitude> -</location> -<location name='"Bern"'> -<latitude>46.948108</latitude> -<longitude>7.444643</longitude> -</location> <location name='"Geneve"'> <latitude>46.206659</latitude> <longitude>6.1410842</longitude> diff --git a/test/navigation/routes.xml b/test/navigation/routes.xml new file mode 100644 index 0000000..aceb343 --- /dev/null +++ b/test/navigation/routes.xml @@ -0,0 +1,43 @@ +<route-set country="Switzerland"> +<route> +<start>"Zuerich"</start> +<destination>"Bern"</destination> +<name>"Route ZÜRICH to BERN"</name> +<handle>0</handle> +</route> +<route> +<start>"Geneve"</start> +<destination>"Neuchatel"</destination> +<name>"Route GENEVE to NEUCHATEL"</name> +<handle>0</handle> +</route> +<route> +<start>"Zuerich"</start> +<destination>"Neuchatel"</destination> +<name>"Route ZÜRICH to NEUCHATEL"</name> +<handle>0</handle> +</route> +<route> +<start>"Bern"</start> +<destination>"Geneve"</destination> +<name>"Route BERN to GENEVE"</name> +<handle>0</handle> +</route> +<location name='"Zuerich"'> +<latitude>47.367264</latitude> +<longitude>8.550330</longitude> +</location> +<location name='"Bern"'> +<latitude>46.948108</latitude> +<longitude>7.444643</longitude> +</location> +<location name='"Geneve"'> +<latitude>46.206659</latitude> +<longitude>6.1410842</longitude> +</location> +<location name='"Neuchatel"'> +<latitude>46.990585</latitude> +<longitude>6.928453</longitude> +</location> +</route-set><!--NB: don't use accent.--> + diff --git a/test/navigation/test-guidance-capi.py b/test/navigation/test-guidance-capi.py new file mode 100755 index 0000000..80762ca --- /dev/null +++ b/test/navigation/test-guidance-capi.py @@ -0,0 +1,328 @@ +#!/usr/bin/python + +""" +************************************************************************** +* @licence app begin@ +* SPDX-License-Identifier: MPL-2.0 +* +* \copyright Copyright (C) 2016, XS Embedded GmbH, PCA Peugeot Citroen +* +* \file test-guidance-capi.py +* +* \brief This simple test shows how the guidance +* could be easily tested using a python script +* +* \author Marco Residori <marco.residori@xse.de> +* \author Philippe Colliot <philippe.colliot@mpsa.com> +* +* \version 1.1 +* +* 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/. +* List of changes: +* +* @licence end@ +************************************************************************** +""" + +import dbus +import gobject +import dbus.mainloop.glib +from collections import namedtuple,defaultdict +from _dbus_bindings import Int32 +from PIL.GimpGradientFile import SEGMENTS +from xml.dom.minidom import parse +import xml.dom.minidom +import argparse +import sys +import errno +import time + +#import pdb;pdb.set_trace() + +from pip import locations + +#constants as defined in the Navigation API +GENIVI_NAVIGATIONCORE_LATITUDE = 0x00a0 +GENIVI_NAVIGATIONCORE_LONGITUDE = 0x00a1 +GENIVI_NAVIGATIONCORE_TOTAL_TIME = 0x018e +GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE = 0x018f +GENIVI_NAVIGATIONCORE_ROAD_NAME = 0x0147 +GENIVI_NAVIGATIONCORE_START_LATITUDE = 0x0141 +GENIVI_NAVIGATIONCORE_END_LATITUDE = 0x0142 +GENIVI_NAVIGATIONCORE_START_LONGITUDE = 0x0143 +GENIVI_NAVIGATIONCORE_END_LONGITUDE = 0x0144 +GENIVI_NAVIGATIONCORE_DISTANCE = 0x0148 +GENIVI_NAVIGATIONCORE_TIME = 0x0149 +GENIVI_NAVIGATIONCORE_SPEED = 0x00a4 +GENIVI_NAVIGATIONCORE_ACTIVE = 0x0060 + +#constants used into the script +TIME_OUT = 10000 +HORIZONTAL_SIZE = 800 +VERTICAL_SIZE = 480 +MAIN_MAP = 0x0010 +NUMBER_OF_SEGMENTS = 500 + +#add signal receivers +def catchall_routing_routeCalculationProgressUpdate_handler(routeHandle, status, percentage): + print 'Route Calculation: ' + str(int(percentage)) + ' %' + +def catchall_routing_routeCalculationSuccessful_handler(routeHandle,unfullfilledPreferences): + global g_guidance_active + print 'Route Calculation Successfull: ' + str(routeHandle) + #get route overview + overview = g_routing_interface.getRouteOverview(dbus.UInt32(g_route_handle),dbus.Array([dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE),dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_TIME)])) + #retrieve distance + totalDistance = dbus.Struct(overview[dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE)]) + print 'Total Distance: ' + str(totalDistance[1]/1000) + ' km' + totalTime = dbus.Struct(overview[dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_TIME)]) + m, s = divmod(totalTime[1], 60) + h, m = divmod(m, 60) + print "Total Time: %d:%02d:%02d" % (h, m, s) + #get route segments GetRouteSegments(const uint32_t& routeHandle, const int16_t& detailLevel, const std::vector< DBusCommonAPIEnumeration >& valuesToReturn, const uint32_t& numberOfSegments, const uint32_t& offset, uint32_t& totalNumberOfSegments, std::vector< std::map< DBusCommonAPIEnumeration, DBusCommonAPIVariant > >& routeSegments) + valuesToReturn = [dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE), + dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_TIME), + dbus.Int32(GENIVI_NAVIGATIONCORE_ROAD_NAME), + dbus.Int32(GENIVI_NAVIGATIONCORE_START_LATITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_END_LATITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_START_LONGITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_END_LONGITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_DISTANCE), + dbus.Int32(GENIVI_NAVIGATIONCORE_TIME), + dbus.Int32(GENIVI_NAVIGATIONCORE_SPEED)] + numberOfSegments = NUMBER_OF_SEGMENTS + detailLevel = 0 + offset = 0 + ret = g_routing_interface.getRouteSegments(dbus.UInt32(g_route_handle),dbus.Int16(detailLevel),dbus.Array(valuesToReturn),dbus.UInt32(numberOfSegments),dbus.UInt32(offset)) + print "Total number of segments: " + str(ret[0]) + #len(ret[1]) is size + #ret[1][0][GENIVI_NAVIGATIONCORE_START_LATITUDE] is the start latitude + g_guidance_active = True +# pdb.set_trace() +# display_route(routeHandle) + launch_guidance(routeHandle) + +def catchall_session_sessionDeleted_handler(sessionHandle): + print('Session handle deleted: '+str(sessionHandle)) + if sessionHandle == g_navigationcore_session_handle: + print 'Test PASSED' + else: + print 'Test FAILED' + loop.quit() + +def catchall_routing_routeDeleted_handler(routeHandle): + print('Route handle deleted: '+str(routeHandle)) + +def catchall_guidance_guidanceStatusChanged_handler(guidanceStatus,routeHandle): + global g_guidance_active + print('Guidance status changed: '+str(guidanceStatus)) + if guidanceStatus != GENIVI_NAVIGATIONCORE_ACTIVE and g_guidance_active == True: + g_guidance_active = False + route = g_current_route + 1 + if route < routes.length: + launch_route_calculation(route) + else: + for i in range(routes.length): + g_routing_interface.deleteRoute(dbus.UInt32(g_navigationcore_session_handle),dbus.UInt32(routes[i].getElementsByTagName("handle")[0].childNodes[0].data)) + g_navigationcore_session_interface.deleteSession(dbus.UInt32(g_navigationcore_session_handle)) + +def catchall_guidance_positionOnRouteChanged_handler(offsetOnRoute): + print "Offset on route: " +str(offsetOnRoute) + ret = g_guidance_interface.getDestinationInformation() + print "Travel time: " +str(ret[1]) + ret = g_guidance_interface.getManeuversList(dbus.UInt16(10),dbus.UInt32(0)) + print "Number of maneuvers: " +str(ret[0]) + g_mapmatchedposition_interface.setSimulationMode(dbus.UInt32(g_navigationcore_session_handle),dbus.Boolean(False)) + g_guidance_interface.stopGuidance(dbus.UInt32(g_navigationcore_session_handle)) + +def catchall_mapmatchedposition_simulationStatusChanged_handler(simulationStatus): + print "Simulation status: " +str(simulationStatus) + +#timeout +def timeout(): + print 'Timeout Expired' + print '\nTest FAILED' + loop.quit() + +def display_route(route): + g_mapviewercontrol_interface.displayRoute( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.UInt32(g_mapviewer_maphandle), \ + dbus.UInt32(route), \ + dbus.Boolean(True)) + +def launch_guidance(route): + g_mapmatchedposition_interface.setSimulationMode(dbus.UInt32(g_navigationcore_session_handle),dbus.Boolean(True)) + g_guidance_interface.startGuidance(dbus.UInt32(g_navigationcore_session_handle),dbus.UInt32(route)) +# g_mapmatchedposition_interface.startSimulation(g_navigationcore_session_handle) + +def launch_route_calculation(route): + global g_current_route + global g_route_handle + global g_routing_interface + global g_navigationcore_session_handle + g_current_route = route + print 'Route name: '+routes[g_current_route].getElementsByTagName("name")[0].childNodes[0].data + #get route handle + g_route_handle = g_routing_interface.createRoute(dbus.UInt32(g_navigationcore_session_handle)) + routes[g_current_route].getElementsByTagName("handle")[0].childNodes[0].data = g_route_handle + print 'Route handle: ' + str(g_route_handle) + start = routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data + dest = routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data + print 'Calculating route from \ +'+start+'(' + str(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][0]) + ',' + str(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][1]) + ') to \ +'+dest+'(' + str(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][0]) + ',' + str(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][1]) + ')' + #set waypoints + waypointDoubleCapiType = 0x03 + g_routing_interface.setWaypoints(dbus.UInt32(g_navigationcore_session_handle), \ + dbus.UInt32(g_route_handle), \ + dbus.Boolean(0), \ + dbus.Array([ \ + dbus.Dictionary({dbus.Int32(GENIVI_NAVIGATIONCORE_LATITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][0])]),dbus.Int32(GENIVI_NAVIGATIONCORE_LONGITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][1])])}), \ + dbus.Dictionary({dbus.Int32(GENIVI_NAVIGATIONCORE_LATITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][0])]),dbus.Int32(GENIVI_NAVIGATIONCORE_LONGITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][1])])}) \ + ]) \ + ) + + #calculate route + g_routing_interface.calculateRoute(dbus.UInt32(g_navigationcore_session_handle),dbus.UInt32(g_route_handle)) + +def createMapView(): + global g_mapviewer_sessionhandle + global g_mapviewer_sessionstatus + global g_mapviewer_sessionlist + global g_mapviewer_maphandle + + #get mapviewer session handle + g_mapviewer_sessionhandle = g_mapviewer_session_interface.createSession(dbus.String('test mapviewer')) + print 'Mapviewer session handle: ' + str(g_mapviewer_sessionhandle) + + g_mapviewer_sessionstatus = g_mapviewer_session_interface.getSessionStatus(dbus.UInt32(g_mapviewer_sessionhandle)); + print 'Mapviewer session status: ' + str(g_mapviewer_sessionstatus) + + g_mapviewer_sessionlist = g_mapviewer_session_interface.getAllSessions(); + print 'Mapviewer active sessions = ' + str(len(g_mapviewer_sessionlist)) + + #get mapviewer handle + g_mapviewer_maphandle = g_mapviewercontrol_interface.createMapViewInstance( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.Struct((dbus.UInt16(HORIZONTAL_SIZE),dbus.UInt16(VERTICAL_SIZE))), \ + dbus.Int32(MAIN_MAP)) + + print 'MapView handle: ' + str(g_mapviewer_maphandle) + + time.sleep(2) + + print 'Stop following the car position' + g_mapviewercontrol_interface.setFollowCarMode( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.UInt32(g_mapviewer_maphandle), \ + dbus.Boolean(False)) + +def deleteMapView(): + g_mapviewercontrol_interface.releaseMapViewInstance( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.UInt32(g_mapviewer_maphandle)) + + g_mapviewer_session_interface.deleteSession(g_mapviewer_sessionhandle) + + +print('--------------------------') +print('Guidance Test') +print('--------------------------') + +parser = argparse.ArgumentParser(description='Route Calculation Test for navigation PoC and FSA.') +parser.add_argument('-r','--rou',action='store', dest='routes', help='List of routes in xml format') +args = parser.parse_args() + +if args.routes == None: + print('route file is missing') + sys.exit(1) +else: + try: + DOMTree = xml.dom.minidom.parse(args.routes) + except OSError as e: + if e.errno == errno.ENOENT: + print('file not exists') + sys.exit(1) + route_set = DOMTree.documentElement + +print("Country : %s" % route_set.getAttribute("country")) + +routes = route_set.getElementsByTagName("route") + +#create dictionary with the locations +locations = {} +for location in route_set.getElementsByTagName("location"): + lat_long = [location.getElementsByTagName("latitude")[0].childNodes[0].data,location.getElementsByTagName("longitude")[0].childNodes[0].data] + locations[location.getAttribute("name")] = lat_long + +if __name__ == '__main__': + dbus.mainloop.glib.DBusGMainLoop(set_as_default=True) + +#connect to session bus +bus = dbus.SessionBus() + +bus.add_signal_receiver(catchall_routing_routeCalculationProgressUpdate_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ + signal_name = "routeCalculationProgressUpdate") + +bus.add_signal_receiver(catchall_routing_routeCalculationSuccessful_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ + signal_name = "routeCalculationSuccessful") + +bus.add_signal_receiver(catchall_routing_routeDeleted_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ + signal_name = "routeDeleted") + +bus.add_signal_receiver(catchall_session_sessionDeleted_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Session", \ + signal_name = "sessionDeleted") + +bus.add_signal_receiver(catchall_guidance_guidanceStatusChanged_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Guidance", \ + signal_name = "guidanceStatusChanged") + +bus.add_signal_receiver(catchall_guidance_positionOnRouteChanged_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Guidance", \ + signal_name = "positionOnRouteChanged") + +bus.add_signal_receiver(catchall_mapmatchedposition_simulationStatusChanged_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.MapMatchedPosition", \ + signal_name = "simulationStatusChanged") + +navigationcore_session_obj = bus.get_object('org.genivi.navigation.navigationcore.Session_Session','/Session') +g_navigationcore_session_interface = dbus.Interface(navigationcore_session_obj, dbus_interface='org.genivi.navigation.navigationcore.Session') + +routing_obj = bus.get_object('org.genivi.navigation.navigationcore.Routing_Routing','/Routing') +g_routing_interface = dbus.Interface(routing_obj, dbus_interface='org.genivi.navigation.navigationcore.Routing') + +guidance_obj = bus.get_object('org.genivi.navigation.navigationcore.Guidance_Guidance','/Guidance') +g_guidance_interface = dbus.Interface(guidance_obj, dbus_interface='org.genivi.navigation.navigationcore.Guidance') + +mapviewer_session_obj = bus.get_object('org.genivi.navigation.mapviewer.Session_Session','/Session') +g_mapviewer_session_interface = dbus.Interface(mapviewer_session_obj, dbus_interface='org.genivi.navigation.mapviewer.Session') + +g_mapviewercontrol_obj = bus.get_object('org.genivi.navigation.mapviewer.MapViewerControl_MapViewerControl','/MapViewerControl') +g_mapviewercontrol_interface = dbus.Interface(g_mapviewercontrol_obj, dbus_interface='org.genivi.navigation.mapviewer.MapViewerControl') + +g_mapmatchedposition_obj = bus.get_object('org.genivi.navigation.navigationcore.MapMatchedPosition_MapMatchedPosition','/MapMatchedPosition') +g_mapmatchedposition_interface = dbus.Interface(g_mapmatchedposition_obj, dbus_interface='org.genivi.navigation.navigationcore.MapMatchedPosition') + +#get navigationcore session handle +g_navigationcore_session_handle = g_navigationcore_session_interface.createSession(dbus.String("test guidance")) +print 'Navigation core session handle: ' + str(g_navigationcore_session_handle) + +#createMapView() + +g_current_route = 0 +g_guidance_active = False +launch_route_calculation(0) + +#main loop +gobject.timeout_add(TIME_OUT, timeout) +loop = gobject.MainLoop() +loop.run() + +#deleteMapView() diff --git a/test/navigation/test-guidance.py b/test/navigation/test-guidance.py new file mode 100755 index 0000000..95b2f66 --- /dev/null +++ b/test/navigation/test-guidance.py @@ -0,0 +1,329 @@ +#!/usr/bin/python + +""" +************************************************************************** +* @licence app begin@ +* SPDX-License-Identifier: MPL-2.0 +* +* \copyright Copyright (C) 2016, XS Embedded GmbH, PCA Peugeot Citroen +* +* \file test-guidance.py +* +* \brief This simple test shows how the guidance +* could be easily tested using a python script +* +* \author Marco Residori <marco.residori@xse.de> +* \author Philippe Colliot <philippe.colliot@mpsa.com> +* +* \version 1.1 +* +* 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/. +* List of changes: +* +* @licence end@ +************************************************************************** +""" + +import dbus +import gobject +import dbus.mainloop.glib +from collections import namedtuple,defaultdict +from _dbus_bindings import Int32 +from PIL.GimpGradientFile import SEGMENTS +from xml.dom.minidom import parse +import xml.dom.minidom +import argparse +import sys +import errno +import time + +#import pdb;pdb.set_trace() + +from pip import locations + +#constants as defined in the Navigation API +GENIVI_NAVIGATIONCORE_LATITUDE = 0x00a0 +GENIVI_NAVIGATIONCORE_LONGITUDE = 0x00a1 +GENIVI_NAVIGATIONCORE_TOTAL_TIME = 0x018e +GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE = 0x018f +GENIVI_NAVIGATIONCORE_ROAD_NAME = 0x0147 +GENIVI_NAVIGATIONCORE_START_LATITUDE = 0x0141 +GENIVI_NAVIGATIONCORE_END_LATITUDE = 0x0142 +GENIVI_NAVIGATIONCORE_START_LONGITUDE = 0x0143 +GENIVI_NAVIGATIONCORE_END_LONGITUDE = 0x0144 +GENIVI_NAVIGATIONCORE_DISTANCE = 0x0148 +GENIVI_NAVIGATIONCORE_TIME = 0x0149 +GENIVI_NAVIGATIONCORE_SPEED = 0x00a4 +GENIVI_NAVIGATIONCORE_ACTIVE = 0x0060 + +#constants used into the script +TIME_OUT = 10000 +HORIZONTAL_SIZE = 800 +VERTICAL_SIZE = 480 +MAIN_MAP = 0x0010 +NUMBER_OF_SEGMENTS = 500 + +#add signal receivers +def catchall_routing_routeCalculationProgressUpdate_handler(routeHandle, status, percentage): + print 'Route Calculation: ' + str(int(percentage)) + ' %' + +def catchall_routing_routeCalculationSuccessful_handler(routeHandle,unfullfilledPreferences): + global g_guidance_active + print 'Route Calculation Successfull: ' + str(routeHandle) + #get route overview + overview = g_routing_interface.GetRouteOverview(dbus.UInt32(g_route_handle),dbus.Array([dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE),dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_TIME)])) + #retrieve distance + totalDistance = dbus.Struct(overview[dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE)]) + print 'Total Distance: ' + str(totalDistance[1]/1000) + ' km' + totalTime = dbus.Struct(overview[dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_TIME)]) + m, s = divmod(totalTime[1], 60) + h, m = divmod(m, 60) + print "Total Time: %d:%02d:%02d" % (h, m, s) + #get route segments GetRouteSegments(const uint32_t& routeHandle, const int16_t& detailLevel, const std::vector< DBusCommonAPIEnumeration >& valuesToReturn, const uint32_t& numberOfSegments, const uint32_t& offset, uint32_t& totalNumberOfSegments, std::vector< std::map< DBusCommonAPIEnumeration, DBusCommonAPIVariant > >& routeSegments) + valuesToReturn = [dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_DISTANCE), + dbus.Int32(GENIVI_NAVIGATIONCORE_TOTAL_TIME), + dbus.Int32(GENIVI_NAVIGATIONCORE_ROAD_NAME), + dbus.Int32(GENIVI_NAVIGATIONCORE_START_LATITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_END_LATITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_START_LONGITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_END_LONGITUDE), + dbus.Int32(GENIVI_NAVIGATIONCORE_DISTANCE), + dbus.Int32(GENIVI_NAVIGATIONCORE_TIME), + dbus.Int32(GENIVI_NAVIGATIONCORE_SPEED)] + numberOfSegments = NUMBER_OF_SEGMENTS + detailLevel = 0 + offset = 0 + ret = g_routing_interface.GetRouteSegments(dbus.UInt32(g_route_handle),dbus.Int16(detailLevel),dbus.Array(valuesToReturn),dbus.UInt32(numberOfSegments),dbus.UInt32(offset)) + print "Total number of segments: " + str(ret[0]) + #len(ret[1]) is size + #ret[1][0][GENIVI_NAVIGATIONCORE_START_LATITUDE] is the start latitude + g_guidance_active = True +# pdb.set_trace() +# display_route(routeHandle) + launch_guidance(routeHandle) + +def catchall_session_sessionDeleted_handler(sessionHandle): + print('Session handle deleted: '+str(sessionHandle)) + if sessionHandle == g_navigationcore_session_handle: + print 'Test PASSED' + else: + print 'Test FAILED' + loop.quit() + +def catchall_routing_routeDeleted_handler(routeHandle): + print('Route handle deleted: '+str(routeHandle)) + +def catchall_guidance_guidanceStatusChanged_handler(guidanceStatus,routeHandle): + global g_guidance_active + print('Guidance status changed: '+str(guidanceStatus)) + if guidanceStatus != GENIVI_NAVIGATIONCORE_ACTIVE and g_guidance_active == True: + g_guidance_active = False + route = g_current_route + 1 + if route < routes.length: + launch_route_calculation(route) + else: + for i in range(routes.length): + g_routing_interface.DeleteRoute(dbus.UInt32(g_navigationcore_session_handle),dbus.UInt32(routes[i].getElementsByTagName("handle")[0].childNodes[0].data)) + g_navigationcore_session_interface.DeleteSession(dbus.UInt32(g_navigationcore_session_handle)) + +def catchall_guidance_positionOnRouteChanged_handler(offsetOnRoute): + print "Offset on route: " +str(offsetOnRoute) + ret = g_guidance_interface.GetDestinationInformation() + print "Travel time: " +str(ret[1]) + ret = g_guidance_interface.GetManeuversList(dbus.UInt16(10),dbus.UInt32(0)) + print "Number of maneuvers: " +str(ret[0]) + g_mapmatchedposition_interface.SetSimulationMode(dbus.UInt32(g_navigationcore_session_handle),dbus.Boolean(False)) + g_guidance_interface.StopGuidance(dbus.UInt32(g_navigationcore_session_handle)) + +def catchall_mapmatchedposition_simulationStatusChanged_handler(simulationStatus): + print "Simulation status: " +str(simulationStatus) + +#timeout + +def timeout(): + print 'Timeout Expired' + print '\nTest FAILED' + loop.quit() + +def display_route(route): + g_mapviewercontrol_interface.DisplayRoute( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.UInt32(g_mapviewer_maphandle), \ + dbus.UInt32(route), \ + dbus.Boolean(True)) + +def launch_guidance(route): + g_mapmatchedposition_interface.SetSimulationMode(dbus.UInt32(g_navigationcore_session_handle),dbus.Boolean(True)) + g_guidance_interface.StartGuidance(dbus.UInt32(g_navigationcore_session_handle),dbus.UInt32(route)) +# g_mapmatchedposition_interface.StartSimulation(g_navigationcore_session_handle) + +def launch_route_calculation(route): + global g_current_route + global g_route_handle + global g_routing_interface + global g_navigationcore_session_handle + g_current_route = route + print 'Route name: '+routes[g_current_route].getElementsByTagName("name")[0].childNodes[0].data + #get route handle + g_route_handle = g_routing_interface.CreateRoute(dbus.UInt32(g_navigationcore_session_handle)) + routes[g_current_route].getElementsByTagName("handle")[0].childNodes[0].data = g_route_handle + print 'Route handle: ' + str(g_route_handle) + start = routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data + dest = routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data + print 'Calculating route from \ +'+start+'(' + str(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][0]) + ',' + str(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][1]) + ') to \ +'+dest+'(' + str(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][0]) + ',' + str(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][1]) + ')' + #set waypoints + waypointDoubleCapiType = 0x03 + g_routing_interface.SetWaypoints(dbus.UInt32(g_navigationcore_session_handle), \ + dbus.UInt32(g_route_handle), \ + dbus.Boolean(0), \ + dbus.Array([ \ + dbus.Dictionary({dbus.Int32(GENIVI_NAVIGATIONCORE_LATITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][0])]),dbus.Int32(GENIVI_NAVIGATIONCORE_LONGITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][1])])}), \ + dbus.Dictionary({dbus.Int32(GENIVI_NAVIGATIONCORE_LATITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][0])]),dbus.Int32(GENIVI_NAVIGATIONCORE_LONGITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][1])])}) \ + ]) \ + ) + + #calculate route + g_routing_interface.CalculateRoute(dbus.UInt32(g_navigationcore_session_handle),dbus.UInt32(g_route_handle)) + +def createMapView(): + global g_mapviewer_sessionhandle + global g_mapviewer_sessionstatus + global g_mapviewer_sessionlist + global g_mapviewer_maphandle + + #get mapviewer session handle + g_mapviewer_sessionhandle = g_mapviewer_session_interface.CreateSession(dbus.String('test mapviewer')) + print 'Mapviewer session handle: ' + str(g_mapviewer_sessionhandle) + + g_mapviewer_sessionstatus = g_mapviewer_session_interface.GetSessionStatus(dbus.UInt32(g_mapviewer_sessionhandle)); + print 'Mapviewer session status: ' + str(g_mapviewer_sessionstatus) + + g_mapviewer_sessionlist = g_mapviewer_session_interface.GetAllSessions(); + print 'Mapviewer active sessions = ' + str(len(g_mapviewer_sessionlist)) + + #get mapviewer handle + g_mapviewer_maphandle = g_mapviewercontrol_interface.CreateMapViewInstance( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.Struct((dbus.UInt16(HORIZONTAL_SIZE),dbus.UInt16(VERTICAL_SIZE))), \ + dbus.Int32(MAIN_MAP)) + + print 'MapView handle: ' + str(g_mapviewer_maphandle) + + time.sleep(2) + + print 'Stop following the car position' + g_mapviewercontrol_interface.SetFollowCarMode( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.UInt32(g_mapviewer_maphandle), \ + dbus.Boolean(False)) + +def deleteMapView(): + g_mapviewercontrol_interface.ReleaseMapViewInstance( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.UInt32(g_mapviewer_maphandle)) + + g_mapviewer_session_interface.DeleteSession(g_mapviewer_sessionhandle) + + +print('--------------------------') +print('Guidance Test') +print('--------------------------') + +parser = argparse.ArgumentParser(description='Route Calculation Test for navigation PoC and FSA.') +parser.add_argument('-r','--rou',action='store', dest='routes', help='List of routes in xml format') +args = parser.parse_args() + +if args.routes == None: + print('route file is missing') + sys.exit(1) +else: + try: + DOMTree = xml.dom.minidom.parse(args.routes) + except OSError as e: + if e.errno == errno.ENOENT: + print('file not exists') + sys.exit(1) + route_set = DOMTree.documentElement + +print("Country : %s" % route_set.getAttribute("country")) + +routes = route_set.getElementsByTagName("route") + +#create dictionary with the locations +locations = {} +for location in route_set.getElementsByTagName("location"): + lat_long = [location.getElementsByTagName("latitude")[0].childNodes[0].data,location.getElementsByTagName("longitude")[0].childNodes[0].data] + locations[location.getAttribute("name")] = lat_long + +if __name__ == '__main__': + dbus.mainloop.glib.DBusGMainLoop(set_as_default=True) + +#connect to session bus +bus = dbus.SessionBus() + +bus.add_signal_receiver(catchall_routing_routeCalculationProgressUpdate_handler, \ + dbus_interface = "org.genivi.navigationcore.Routing", \ + signal_name = "RouteCalculationProgressUpdate") + +bus.add_signal_receiver(catchall_routing_routeCalculationSuccessful_handler, \ + dbus_interface = "org.genivi.navigationcore.Routing", \ + signal_name = "RouteCalculationSuccessful") + +bus.add_signal_receiver(catchall_routing_routeDeleted_handler, \ + dbus_interface = "org.genivi.navigationcore.Routing", \ + signal_name = "RouteDeleted") + +bus.add_signal_receiver(catchall_session_sessionDeleted_handler, \ + dbus_interface = "org.genivi.navigationcore.Session", \ + signal_name = "SessionDeleted") + +bus.add_signal_receiver(catchall_guidance_guidanceStatusChanged_handler, \ + dbus_interface = "org.genivi.navigationcore.Guidance", \ + signal_name = "GuidanceStatusChanged") + +bus.add_signal_receiver(catchall_guidance_positionOnRouteChanged_handler, \ + dbus_interface = "org.genivi.navigationcore.Guidance", \ + signal_name = "PositionOnRouteChanged") + +bus.add_signal_receiver(catchall_mapmatchedposition_simulationStatusChanged_handler, \ + dbus_interface = "org.genivi.navigationcore.MapMatchedPosition", \ + signal_name = "SimulationStatusChanged") + +navigationcore_session_obj = bus.get_object('org.genivi.navigationcore.Session','/org/genivi/navigationcore') +g_navigationcore_session_interface = dbus.Interface(navigationcore_session_obj, dbus_interface='org.genivi.navigationcore.Session') + +routing_obj = bus.get_object('org.genivi.navigationcore.Routing','/org/genivi/navigationcore') +g_routing_interface = dbus.Interface(routing_obj, dbus_interface='org.genivi.navigationcore.Routing') + +guidance_obj = bus.get_object('org.genivi.navigationcore.Guidance','/org/genivi/navigationcore') +g_guidance_interface = dbus.Interface(guidance_obj, dbus_interface='org.genivi.navigationcore.Guidance') + +mapviewer_session_obj = bus.get_object('org.genivi.mapviewer.Session','/org/genivi/mapviewer') +g_mapviewer_session_interface = dbus.Interface(mapviewer_session_obj, dbus_interface='org.genivi.mapviewer.Session') + +g_mapviewercontrol_obj = bus.get_object('org.genivi.mapviewer.MapViewerControl','/org/genivi/mapviewer') +g_mapviewercontrol_interface = dbus.Interface(g_mapviewercontrol_obj, dbus_interface='org.genivi.mapviewer.MapViewerControl') + +g_mapmatchedposition_obj = bus.get_object('org.genivi.navigationcore.MapMatchedPosition','/org/genivi/navigationcore') +g_mapmatchedposition_interface = dbus.Interface(g_mapmatchedposition_obj, dbus_interface='org.genivi.navigationcore.MapMatchedPosition') + +#get navigationcore session handle +g_navigationcore_session_handle = g_navigationcore_session_interface.CreateSession(dbus.String("test guidance")) +print 'Navigation core session handle: ' + str(g_navigationcore_session_handle) + +#createMapView() + +g_current_route = 0 +g_guidance_active = False +launch_route_calculation(0) + +#main loop +gobject.timeout_add(TIME_OUT, timeout) +loop = gobject.MainLoop() +loop.run() + +#deleteMapView() |