plugins/exampleplugin.cpp

   1 /*
   2 Copyright (C) 2012 Intel Corporation
   3
   4 This library is free software; you can redistribute it and/or
   5 modify it under the terms of the GNU Lesser General Public
   6 License as published by the Free Software Foundation; either
   7 version 2.1 of the License, or (at your option) any later version.
   8
   9 This library is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12 Lesser General Public License for more details.
  13
  14 You should have received a copy of the GNU Lesser General Public
  15 License along with this library; if not, write to the Free Software
  16 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
  17 */
  18
  19 #include "exampleplugin.h"
  20 #include "timestamp.h"
  21
  22 #include <iostream>
  23 #include <boost/assert.hpp>
  24 #include <glib.h>
  25
  26 using namespace std;
  27
  28 #include "debugout.h"
  29
  30 uint16_t accelerationX = 0;
  31 Transmission::TransmissionPositions transmissionShiftPostion = Transmission::Neutral;
  32 uint16_t steeringWheelAngle=0;
  33 uint16_t throttlePos = 0;
  34 uint16_t engineCoolant = 40;
  35 bool machineGun = false;
  36
  37 static gboolean timeoutCallback(gpointer data)
  38 {
  39         ExampleSourcePlugin* src = (ExampleSourcePlugin*)data;
  40
  41         src->randomizeProperties();
  42
  43         return true;
  44 }
  45
  46 ExampleSourcePlugin::ExampleSourcePlugin(AbstractRoutingEngine* re, map<string, string> config)
  47 :AbstractSource(re, config), velocity(0), engineSpeed(0)
  48 {
  49         re->setSupported(supported(), this);
  50         debugOut("setting timeout");
  51         g_timeout_add(1000, timeoutCallback, this );
  52
  53 }
  54
  55
  56
  57 extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
  58 {
  59         return new ExampleSourcePlugin(routingengine, config);
  60
  61 }
  62
  63 string ExampleSourcePlugin::uuid()
  64 {
  65         return "6dd4268a-c605-4a06-9034-59c1e8344c8e";
  66 }
  67
  68
  69 void ExampleSourcePlugin::getPropertyAsync(AsyncPropertyReply *reply)
  70 {
  71         DebugOut()<<"ExampleSource: getPropertyAsync called for property: "<<reply->property<<endl;
  72
  73
  74
  75         if(reply->property == VehicleProperty::VehicleSpeed)
  76         {
  77                 VehicleProperty::VehicleSpeedType temp(velocity);
  78                 reply->value = &temp;
  79                 reply->completed(reply);
  80         }
  81         else if(reply->property == VehicleProperty::EngineSpeed)
  82         {
  83                 VehicleProperty::EngineSpeedType temp(engineSpeed);
  84                 reply->value = &temp;
  85                 reply->completed(reply);
  86         }
  87         else if(reply->property == VehicleProperty::AccelerationX)
  88         {
  89                 VehicleProperty::AccelerationType temp(accelerationX);
  90                 reply->value = &temp;
  91                 reply->completed(reply);
  92         }
  93         else if(reply->property == VehicleProperty::TransmissionShiftPosition)
  94         {
  95                 VehicleProperty::TransmissionShiftPositionType temp(transmissionShiftPostion);
  96                 reply->value = &temp;
  97                 reply->completed(reply);
  98         }
  99         else if(reply->property == VehicleProperty::SteeringWheelAngle)
 100         {
 101                 VehicleProperty::SteeringWheelAngleType temp(steeringWheelAngle);
 102                 reply->value = &temp;
 103                 reply->completed(reply);
 104         }
 105         else if(reply->property == VehicleProperty::VIN)
 106         {
 107                 VehicleProperty::VINType temp("ABC00000000000000");
 108                 reply->value = &temp;
 109                 reply->completed(reply);
 110         }
 111         else if(reply->property == VehicleProperty::WMI)
 112         {
 113                 VehicleProperty::WMIType temp("abc");
 114                 reply->value = &temp;
 115                 reply->completed(reply);
 116         }
 117         else if(reply->property == VehicleProperty::BatteryVoltage)
 118         {
 119                 VehicleProperty::BatteryVoltageType temp(12.6);
 120                 reply->value = &temp;
 121                 reply->completed(reply);
 122         }
 123 }
 124
 125 void ExampleSourcePlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply)
 126 {
 127
 128 }
 129
 130 AsyncPropertyReply *ExampleSourcePlugin::setProperty(AsyncSetPropertyRequest request )
 131 {
 132
 133 }
 134
 135 void ExampleSourcePlugin::subscribeToPropertyChanges(VehicleProperty::Property property)
 136 {
 137         mRequests.push_back(property);
 138 }
 139
 140 PropertyList ExampleSourcePlugin::supported()
 141 {
 142         PropertyList props;
 143         props.push_back(VehicleProperty::EngineSpeed);
 144         props.push_back(VehicleProperty::VehicleSpeed);
 145         props.push_back(VehicleProperty::AccelerationX);
 146         props.push_back(VehicleProperty::TransmissionShiftPosition);
 147         props.push_back(VehicleProperty::SteeringWheelAngle);
 148         props.push_back(VehicleProperty::ThrottlePosition);
 149         props.push_back(VehicleProperty::EngineCoolantTemperature);
 150         props.push_back(VehicleProperty::VIN);
 151         props.push_back(VehicleProperty::WMI);
 152         props.push_back(VehicleProperty::BatteryVoltage);
 153         props.push_back(VehicleProperty::MachineGunTurretStatus);
 154
 155         return props;
 156 }
 157
 158 int ExampleSourcePlugin::supportedOperations()
 159 {
 160         return Get | Set | GetRanged;
 161 }
 162
 163 void ExampleSourcePlugin::unsubscribeToPropertyChanges(VehicleProperty::Property property)
 164 {
 165         mRequests.remove(property);
 166 }
 167
 168 void ExampleSourcePlugin::randomizeProperties()
 169 {
 170         velocity = 1 + (255.00 * (rand() / (RAND_MAX + 1.0)));
 171         engineSpeed = 1 + (15000.00 * (rand() / (RAND_MAX + 1.0)));
 172         accelerationX = 1 + (15000.00 * (rand() / (RAND_MAX + 1.0)));
 173         transmissionShiftPostion = Transmission::TransmissionPositions(1 + (6.00 * (rand() / (RAND_MAX + 1.0))));
 174         steeringWheelAngle = 1 + (359.00 * (rand() / (RAND_MAX + 1.0)));
 175         throttlePos = 1 + (100.00 * (rand() / (RAND_MAX + 1.0)));
 176         engineCoolant = 1 + (40.00 * (rand() / (RAND_MAX + 140.0)));
 177
 178         DebugOut()<<"setting velocity to: "<<velocity<<endl;
 179         DebugOut()<<"setting enginespeed to: "<<engineSpeed<<endl;
 180
 181         VehicleProperty::VehicleSpeedType vel(velocity);
 182         VehicleProperty::EngineSpeedType es(engineSpeed);
 183         VehicleProperty::AccelerationType ac(accelerationX);
 184         VehicleProperty::SteeringWheelAngleType swa(steeringWheelAngle);
 185         VehicleProperty::TransmissionShiftPositionType tsp(transmissionShiftPostion);
 186         VehicleProperty::ThrottlePositionType tp(throttlePos);
 187         VehicleProperty::EngineCoolantTemperatureType ec(engineCoolant);
 188         VehicleProperty::MachineGunTurretStatusType mgt(machineGun);
 189
 190         machineGun = !machineGun;
 191
 192         vel.timestamp = amb::currentTime();
 193         es.timestamp = amb::currentTime();
 194         ac.timestamp = amb::currentTime();
 195         swa.timestamp = amb::currentTime();
 196         tsp.timestamp = amb::currentTime();
 197         tp.timestamp = amb::currentTime();
 198         ec.timestamp = amb::currentTime();
 199
 200         routingEngine->updateProperty(VehicleProperty::VehicleSpeed, &vel, uuid());
 201         routingEngine->updateProperty(VehicleProperty::EngineSpeed, &es, uuid());
 202         routingEngine->updateProperty(VehicleProperty::AccelerationX, &ac, uuid());
 203         routingEngine->updateProperty(VehicleProperty::SteeringWheelAngle, &swa, uuid());
 204         routingEngine->updateProperty(VehicleProperty::TransmissionShiftPosition,&tsp, uuid());
 205         routingEngine->updateProperty(VehicleProperty::ThrottlePosition, &tp, uuid());
 206         routingEngine->updateProperty(VehicleProperty::EngineCoolantTemperature, &ec, uuid());
 207         //routingEngine->updateProperty(VehicleProperty::MachineGunTurretStatus, &mgt);
 208 }