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/**************************************************************************
* @licence app begin@
*
* SPDX-License-Identifier: MPL-2.0
*
* \ingroup SensorsService
* \author Marco Residori <marco.residori@xse.de>
*
* \copyright Copyright (C) 2013, 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 <stdlib.h>
#include <stdio.h>
#include <assert.h>
#include <stdbool.h>
#include <unistd.h>
//include all sns header files here even if they are not yet used.
//this helps us to find syntax error during compilation
#include "sns-init.h"
#include "acceleration.h"
#include "gyroscope.h"
#include "inclination.h"
#include "odometer.h"
#include "reverse-gear.h"
#include "slip-angle.h"
#include "steering-angle.h"
#include "vehicle-data.h"
#include "vehicle-speed.h"
#include "vehicle-state.h"
#include "wheel.h"
#include "log.h"
DLT_DECLARE_CONTEXT(gCtx);
static void cbGyroscope(const TGyroscopeData gyroData[], uint16_t numElements)
{
if(gyroData == NULL || numElements < 1)
{
LOG_ERROR_MSG(gCtx,"error: cbGyroscope failed!");
return;
}
LOG_INFO_MSG(gCtx,"Gyroscope Update");
LOG_INFO(gCtx,"yawRate=%f", gyroData[0].yawRate);
LOG_INFO(gCtx,"pitchRate=%f", gyroData[0].pitchRate);
LOG_INFO(gCtx,"rollRate=%f", gyroData[0].rollRate);
}
static void cbWheel(const TWheelData wheelData[], uint16_t numElements)
{
if(wheelData == NULL || numElements < 1)
{
LOG_ERROR_MSG(gCtx,"error: cbWheel failed!");
return;
}
LOG_INFO_MSG(gCtx,"Wheel Update");
LOG_INFO(gCtx,"data[0]=%.1f", wheelData[0].data[0]);
LOG_INFO(gCtx,"data[1]=%.1f", wheelData[0].data[1]);
LOG_INFO(gCtx,"data[2]=%.1f", wheelData[0].data[2]);
LOG_INFO(gCtx,"data[3]=%.1f", wheelData[0].data[3]);
}
static void cbVehicleSpeed(const TVehicleSpeedData vehSpeed[], uint16_t numElements)
{
if(vehSpeed == NULL || numElements < 1)
{
LOG_ERROR_MSG(gCtx,"error: cbVehicleSpeed failed!");
return;
}
LOG_INFO_MSG(gCtx,"VehicleSpeed Update");
LOG_INFO(gCtx,"vehicleSpeed=%f", vehSpeed[0].vehicleSpeed);
}
bool checkMajorVersion(int expectedMajor)
{
int major = -1;
snsGetVersion(&major, 0, 0);
if(major != expectedMajor)
{
LOG_ERROR(gCtx,"wrong API version: snsGetVersion returned unexpected value %d != %d",
major, expectedMajor);
return false;
}
return true;
}
void init()
{
if(!checkMajorVersion(GENIVI_SNS_API_MAJOR))
{
exit(EXIT_FAILURE);
}
assert( snsInit() );
assert( snsGyroscopeInit() );
assert( snsWheelInit() );
assert( snsVehicleSpeedInit() );
}
int main()
{
init();
DLT_REGISTER_APP("SNSS", "SENSORS-SERVICE");
DLT_REGISTER_CONTEXT(gCtx,"SCLT", "Global Context");
LOG_INFO_MSG(gCtx,"Starting sensors-service-client...");
//register
snsWheelRegisterCallback(&cbWheel);
snsGyroscopeRegisterCallback(&cbGyroscope);
snsVehicleSpeedRegisterCallback(&cbVehicleSpeed);
//enter endless loop
while(1)
{
sleep(1);
}
//deregister
snsWheelDeregisterCallback(&cbWheel);
snsGyroscopeDeregisterCallback(&cbGyroscope);
snsVehicleSpeedDeregisterCallback(&cbVehicleSpeed);
snsGyroscopeDestroy();
snsWheelDestroy();
snsVehicleSpeedDestroy();
snsDestroy();
return EXIT_SUCCESS;
}
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