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Diffstat (limited to 'test/navigation/script/test-guidance.py')
| -rwxr-xr-x | test/navigation/script/test-guidance.py | 361 |
1 files changed, 361 insertions, 0 deletions
diff --git a/test/navigation/script/test-guidance.py b/test/navigation/script/test-guidance.py new file mode 100755 index 0000000..be44295 --- /dev/null +++ b/test/navigation/script/test-guidance.py @@ -0,0 +1,361 @@ +#!/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 +from dltTrigger import * +#import pdb +#pdb.set_trace() + +from pip import locations + +#name of the test +test_name = "guidance" + +#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 +ZOOM_GUIDANCE = 2 + +#add signal receivers +def routing_routeCalculationProgressUpdate_handler(routeHandle, status, percentage): + print 'Route Calculation: ' + str(int(percentage)) + ' %' + +def 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_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 session_sessionDeleted_handler(sessionHandle): + print('Session handle deleted: '+str(sessionHandle)) + if sessionHandle == g_navigationcore_session_handle: + print 'Test PASSED' + else: + print 'Test FAILED' + exit() + +def routing_routeDeleted_handler(routeHandle): + print('Route handle deleted: '+str(routeHandle)) + +def 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 guidance_positionOnRouteChanged_handler(offsetOnRoute): + print "Offset on route: " +str(offsetOnRoute) + +def guidance_maneuverChanged_handler(maneuver): + print "Maneuver: " +str(maneuver) + 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[1]) + print "Next road to turn: " +str(ret[2][0][4]) + g_mapmatchedposition_interface.SetSimulationMode(dbus.UInt32(g_navigationcore_session_handle),dbus.Boolean(False)) + g_guidance_interface.StopGuidance(dbus.UInt32(g_navigationcore_session_handle)) + +def mapmatchedposition_simulationStatusChanged_handler(simulationStatus): + print "Simulation status: " +str(simulationStatus) + +#timeout + +def timeout(): + print 'Timeout Expired' + print '\nTest FAILED' + exit() + +def exit(): + stopTrigger(test_name) + loop.quit() + +def display_route(route): + ret = g_routing_interface.GetRouteBoundingBox(dbus.UInt32(g_route_handle)) + g_mapviewercontrol_interface.SetMapViewBoundingBox(dbus.UInt32(g_mapviewer_sessionhandle),dbus.UInt32(g_mapviewer_maphandle),ret) + 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_mapviewercontrol_interface.SetFollowCarMode(dbus.UInt32(g_navigationcore_session_handle),dbus.UInt32(g_mapviewer_maphandle),True) + g_mapviewercontrol_interface.SetMapViewScale(dbus.UInt32(g_mapviewer_sessionhandle),dbus.UInt32(g_mapviewer_maphandle),ZOOM_GUIDANCE) + g_mapviewercontrol_interface.SetTargetPoint(dbus.UInt32(g_mapviewer_sessionhandle),\ + dbus.UInt32(g_mapviewer_maphandle),\ + dbus.Struct((\ + dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][0]),\ + dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][1]),\ + dbus.Double(0)\ + ))) + 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 + ret = g_routing_interface.CreateRoute(dbus.UInt32(g_navigationcore_session_handle)) + g_route_handle=ret[1] + 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 + ret = g_mapviewer_session_interface.CreateSession(dbus.String('test mapviewer')) + g_mapviewer_sessionhandle=ret[1] + 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 + ret = g_mapviewercontrol_interface.CreateMapViewInstance( \ + dbus.UInt32(g_mapviewer_sessionhandle), \ + dbus.Struct((dbus.UInt16(HORIZONTAL_SIZE),dbus.UInt16(VERTICAL_SIZE))), \ + dbus.Int32(MAIN_MAP)) + g_mapviewer_maphandle=ret[1] + + 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(routing_routeCalculationProgressUpdate_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ + signal_name = "RouteCalculationProgressUpdate") + +bus.add_signal_receiver(routing_routeCalculationSuccessful_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ + signal_name = "RouteCalculationSuccessful") + +bus.add_signal_receiver(routing_routeDeleted_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ + signal_name = "RouteDeleted") + +bus.add_signal_receiver(session_sessionDeleted_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Session", \ + signal_name = "SessionDeleted") + +bus.add_signal_receiver(guidance_guidanceStatusChanged_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Guidance", \ + signal_name = "GuidanceStatusChanged") + +bus.add_signal_receiver(guidance_positionOnRouteChanged_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Guidance", \ + signal_name = "PositionOnRouteChanged") + +bus.add_signal_receiver(guidance_maneuverChanged_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.Guidance", \ + signal_name = "ManeuverChanged") + +bus.add_signal_receiver(mapmatchedposition_simulationStatusChanged_handler, \ + dbus_interface = "org.genivi.navigation.navigationcore.MapMatchedPosition", \ + signal_name = "SimulationStatusChanged") + +startTrigger(test_name) + +navigationcore_session_obj = bus.get_object('org.genivi.navigation.navigationcore.Session','/org/genivi/navigationcore') +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','/org/genivi/navigationcore') +g_routing_interface = dbus.Interface(routing_obj, dbus_interface='org.genivi.navigation.navigationcore.Routing') + +guidance_obj = bus.get_object('org.genivi.navigation.navigationcore.Guidance','/org/genivi/navigationcore') +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','/org/genivi/mapviewer') +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','/org/genivi/mapviewer') +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','/org/genivi/navigationcore') +g_mapmatchedposition_interface = dbus.Interface(g_mapmatchedposition_obj, dbus_interface='org.genivi.navigation.navigationcore.MapMatchedPosition') + +#get navigationcore session handle +ret = g_navigationcore_session_handle = g_navigationcore_session_interface.CreateSession(dbus.String("test guidance")) +g_navigationcore_session_handle=ret[1] +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() |