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#!/usr/bin/python
"""
**************************************************************************
* @licence app begin@
* SPDX-License-Identifier: MPL-2.0
*
* \copyright Copyright (C) 2016, XS Embedded GmbH, PCA Peugeot Citroen
* \copyright Copyright (C) 2017, PSA GROUP
*
* \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
import xml.dom.minidom
import argparse
import sys
import os.path
import commands
import time
import genivi
try:
from dltTrigger import *
except dltTriggerNotBuilt:
dltAvailable=False
else:
dltAvailable=True
#import pdb;pdb.set_trace()
output = commands.getoutput('ps -A')
if not 'dlt' in output:
dltAvailable=False
#name of the test
test_name = "guidance/map viewer"
#constants used into the script
TIME_OUT = 240000
HORIZONTAL_SIZE = 800
VERTICAL_SIZE = 480
NUMBER_OF_SEGMENTS = 500
ZOOM_GUIDANCE = 2
SPEED_FACTOR_SLOW = 16
SPEED_FACTOR_FAST = 128
SPEED_THRESHOLD_TO_FAST = 8
SPEED_THRESHOLD_TO_SLOW = 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.TOTAL_DISTANCE),dbus.Int32(genivi.TOTAL_TIME)]))
#retrieve distance
totalDistance = dbus.Struct(overview[dbus.Int32(genivi.TOTAL_DISTANCE)])
print ('Total Distance: ' + str(totalDistance[1]/1000) + ' km')
totalTime = dbus.Struct(overview[dbus.Int32(genivi.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.ROAD_NAME),
dbus.Int32(genivi.START_LATITUDE),
dbus.Int32(genivi.END_LATITUDE),
dbus.Int32(genivi.START_LONGITUDE),
dbus.Int32(genivi.END_LONGITUDE),
dbus.Int32(genivi.DISTANCE),
dbus.Int32(genivi.TIME),
dbus.Int32(genivi.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.START_LATITUDE] is the start latitude
g_guidance_active = True
# pdb.set_trace()
display_route(routeHandle)
#wait to display the route
time.sleep(2)
launch_guidance(routeHandle)
def session_sessionDeleted_handler(sessionHandle):
print('Session handle deleted: '+str(sessionHandle))
if sessionHandle == g_navigationcore_session_handle:
exit(0)
else:
exit(1)
def routing_routeDeleted_handler(routeHandle):
print('Route handle deleted: '+str(routeHandle))
def guidance_guidanceStatusChanged_handler(guidanceStatus,routeHandle):
global g_guidance_active
global g_total_amount_of_maneuvers
print('Guidance status changed: '+str(guidanceStatus))
if guidanceStatus != genivi.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))
else:
ret = g_guidance_interface.GetDestinationInformation()
m, s = divmod(ret[1], 60)
h, m = divmod(m, 60)
print ("Travel Time: %d:%02d:%02d" % (h, m, s))
ret = g_guidance_interface.GetManeuversList(dbus.UInt16(10),dbus.UInt32(0))
print ("Number of maneuvers: " +str(ret[1]))
print ("Next road to turn: " +ret[2][0][4])
def guidance_positionOnRouteChanged_handler(offsetOnRoute):
print ("Offset on route: " +str(offsetOnRoute))
def guidance_maneuverChanged_handler(maneuver):
if maneuver == genivi.PASSED:
print ("Maneuver passed ")
else:
print ("Maneuver: " +str(maneuver))
ret = g_guidance_interface.GetDestinationInformation()
m, s = divmod(ret[1], 60)
h, m = divmod(m, 60)
print ("Travel Time: %d:%02d:%02d" % (h, m, s))
ret = g_guidance_interface.GetManeuversList(dbus.UInt16(10),dbus.UInt32(0))
print ("Number of maneuvers: " +str(ret[1]))
print ("Next road to turn: " +ret[2][0][4])
if ret[1] ==SPEED_THRESHOLD_TO_FAST:
g_mapmatchedposition_interface.SetSimulationSpeed(dbus.UInt32(g_navigationcore_session_handle), dbus.Byte(SPEED_FACTOR_FAST))
if ret[1] == SPEED_THRESHOLD_TO_SLOW:
g_mapmatchedposition_interface.SetSimulationSpeed(dbus.UInt32(g_navigationcore_session_handle), dbus.Byte(SPEED_FACTOR_SLOW))
def guidance_waypointReached_handler(isDestination):
print("Waypoint reached: " +str(isDestination))
if isDestination == 1:
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\n')
exit(1)
def exit(value):
global g_exit
g_exit=value
#deleteMapView()
if dltAvailable==True:
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(dbus.UInt32(g_navigationcore_session_handle))
g_mapmatchedposition_interface.SetSimulationSpeed(dbus.UInt32(g_navigationcore_session_handle), dbus.Byte(SPEED_FACTOR_SLOW))
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.LATITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("start")[0].childNodes[0].data][0])]),dbus.Int32(genivi.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.LATITUDE):dbus.Struct([dbus.Byte(waypointDoubleCapiType),dbus.Double(locations[routes[g_current_route].getElementsByTagName("destination")[0].childNodes[0].data][0])]),dbus.Int32(genivi.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(genivi.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))
print ('Set the 2D perspective')
g_mapviewercontrol_interface.SetMapViewPerspective(\
dbus.UInt32(g_mapviewer_sessionhandle),\
dbus.UInt32(g_mapviewer_maphandle), \
genivi.PERSPECTIVE_TWO_D)
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('--------------------------')
g_exit=0
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')
parser.add_argument("-v", "--verbose", action='store_true',help='Print the whole log messages')
parser.add_argument('-a','--address',action='store', dest='host', help='Set remote host address')
parser.add_argument('-p','--prt',action='store', dest='port', help='Set remote port number')
args = parser.parse_args()
if args.routes == None:
print('route file is missing')
print >>sys.stderr,'Test '+test_name+' FAILED'
sys.exit(1)
else:
if not os.path.isfile(args.routes):
print('file not exists')
print >>sys.stderr,'Test '+test_name+' FAILED'
sys.exit(1)
try:
DOMTree = xml.dom.minidom.parse(args.routes)
except OSError as e:
print >>sys.stderr,'Test '+test_name+' FAILED'
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 (remote or local)
if args.host != None:
bus = dbus.bus.BusConnection("tcp:host=" + args.host +",port="+args.port)
else:
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(guidance_waypointReached_handler, \
dbus_interface = "org.genivi.navigation.navigationcore.Guidance", \
signal_name = "WaypointReached")
bus.add_signal_receiver(mapmatchedposition_simulationStatusChanged_handler, \
dbus_interface = "org.genivi.navigation.navigationcore.MapMatchedPosition", \
signal_name = "SimulationStatusChanged")
if dltAvailable==True:
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')
mapviewercontrol_obj = bus.get_object('org.genivi.navigation.mapviewer.MapViewerControl','/org/genivi/mapviewer')
g_mapviewercontrol_interface = dbus.Interface(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()
if g_exit == 1:
print >>sys.stderr,'Test '+test_name+' FAILED'
else:
print >>sys.stderr,'Test '+test_name+' PASSED'
sys.exit(g_exit)
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