#!/usr/bin/python """ ************************************************************************** * @licence app begin@ * SPDX-License-Identifier: MPL-2.0 * * \copyright Copyright (C) 2014, XS Embedded GmbH, PCA Peugeot Citroen * * \file test-route-calculation.py * * \brief This simple test shows how the route calculation * could be easily tested using a python script * * \author Marco Residori * \author Philippe Colliot * * \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: * 04-02-2016, Philippe Colliot, Update to the new API ('i' for enumerations and 'yv' for variants) * * @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 pdb;pdb.set_trace() from pip import locations from dltTrigger import * #name of the test test_name = "route calculation" #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 #constants used into the script TIME_OUT = 10000 print('--------------------------') print('Route Calculation 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() #add signal receivers def catchall_route_calculation_signals_handler(routeHandle, status, percentage): print 'Route Calculation: ' + str(int(percentage)) + ' %' if int(percentage) == 100: #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)] ret = g_routing_interface.GetRouteSegments(dbus.UInt32(g_route_handle),dbus.Int16(0),dbus.Array(valuesToReturn),dbus.UInt32(500),dbus.UInt32(0)) print "Total number of segments: " + str(ret[0]) #len(ret[1]) is size #ret[1][0][GENIVI_NAVIGATIONCORE_START_LATITUDE] is the start latitude # pdb.set_trace() 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_session_handle),dbus.UInt32(routes[i].getElementsByTagName("handle")[0].childNodes[0].data)) g_session_interface.DeleteSession(dbus.UInt32(g_session_handle)) def catchall_session_signals_handler(sessionHandle): print('Session handle deleted: '+str(sessionHandle)) if sessionHandle == g_session_handle: print 'Test PASSED' else: print 'Test FAILED' exit() def catchall_route_deleted_signals_handler(routeHandle): print('Route handle deleted: '+str(routeHandle)) bus.add_signal_receiver(catchall_route_calculation_signals_handler, \ dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ signal_name = "RouteCalculationProgressUpdate") bus.add_signal_receiver(catchall_route_deleted_signals_handler, \ dbus_interface = "org.genivi.navigation.navigationcore.Routing", \ signal_name = "RouteDeleted") bus.add_signal_receiver(catchall_session_signals_handler, \ dbus_interface = "org.genivi.navigation.navigationcore.Session", \ signal_name = "SessionDeleted") #timeout def timeout(): print 'Timeout Expired' print '\nTest FAILED' exit() def exit(): stopTrigger(test_name) loop.quit() def launch_route_calculation(route): global g_current_route global g_route_handle global g_routing_interface global g_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_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 g_routing_interface.SetWaypoints(dbus.UInt32(g_session_handle), \ dbus.UInt32(g_route_handle), \ dbus.Boolean(0), \ dbus.Array([ \ dbus.Dictionary({dbus.UInt16(GENIVI_NAVIGATIONCORE_LATITUDE):dbus.Struct([0,dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][0])]),dbus.UInt16(GENIVI_NAVIGATIONCORE_LONGITUDE):dbus.Struct([0,dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][1])])}), \ dbus.Dictionary({dbus.UInt16(GENIVI_NAVIGATIONCORE_LATITUDE):dbus.Struct([0,dbus.Double(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][0])]),dbus.UInt16(GENIVI_NAVIGATIONCORE_LONGITUDE):dbus.Struct([0,dbus.Double(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][1])])}) \ ]) \ ) #calculate route g_routing_interface.CalculateRoute(dbus.UInt32(g_session_handle),dbus.UInt32(g_route_handle)) startTrigger(test_name) session = bus.get_object('org.genivi.navigation.navigationcore.Session','/org/genivi/navigationcore') g_session_interface = dbus.Interface(session, dbus_interface='org.genivi.navigation.navigationcore.Session') #get session handle ret = g_session_interface.CreateSession(dbus.String("test route calculation")) g_session_handle=ret[1] print 'Session handle: ' + str(g_session_handle) 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') g_current_route = 0 launch_route_calculation(0) #main loop gobject.timeout_add(TIME_OUT, timeout) loop = gobject.MainLoop() loop.run()