plugins/openxc/openxcplugin.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 "openxcplugin.h"
  20 #include "timestamp.h"
  21
  22 #include <iostream>
  23 #include <boost/assert.hpp>
  24 #include <glib.h>
  25
  26 #include "bluetooth.hpp"
  27
  28 using namespace std;
  29
  30 #include "debugout.h"
  31
  32 bool gioPollingFunc(GIOChannel *source,GIOCondition condition,gpointer data)
  33 {
  34         if (condition == G_IO_HUP)
  35         {
  36                 //Hang up. Returning false closes out the GIOChannel.
  37                 //printf("Callback on G_IO_HUP\n");
  38                 return false;
  39         }
  40
  41         OpenXCPlugin* plugin = static_cast<OpenXCPlugin*>(data);
  42
  43         if(!plugin)
  44         {
  45                 throw std::runtime_error("Bad cast to OpenXCPlugin*");
  46         }
  47
  48         plugin->processData();
  49
  50         return true;
  51 }
  52
  53 OpenXCPlugin::OpenXCPlugin(AbstractRoutingEngine* re, map<string, string> config)
  54 :AbstractSource(re, config)
  55 {
  56         re->setSupported(supported(), this);
  57
  58         /// populate the openxc to amb map:
  59
  60         openXC2AmbMap["steering_wheel_angle"] = VehicleProperty::SteeringWheelAngle;
  61         //openXC2AmbMap["torque_at_transmission"] = VehicleProperty::Engine;
  62         openXC2AmbMap["engine_speed"] = VehicleProperty::EngineSpeed;
  63         openXC2AmbMap["vehicle_speed"] = VehicleProperty::VehicleSpeed;
  64         openXC2AmbMap["accelerator_pedal_position"] = VehicleProperty::ThrottlePosition;
  65         openXC2AmbMap["parking_brake_status"] = VehicleProperty::ParkingBrakeStatus;
  66         openXC2AmbMap["brake_pedal_status"] = VehicleProperty::LightBrake;
  67         openXC2AmbMap["transmission_gear_position"] = VehicleProperty::TransmissionGearPosition;
  68         openXC2AmbMap["odometer"] = VehicleProperty::Odometer;
  69         openXC2AmbMap["ignition_status"] = VehicleProperty::VehiclePowerMode;
  70         openXC2AmbMap["fuel_level"] = VehicleProperty::FuelLevel;
  71         openXC2AmbMap["fuel_consumed_since_restart"] = VehicleProperty::FuelConsumption;
  72         openXC2AmbMap["headlamp_status"] = VehicleProperty::LightHead;
  73         openXC2AmbMap["high_beam_status"] = VehicleProperty::LightHighBeam;
  74         openXC2AmbMap["windshield_wiper_status"] = VehicleProperty::WindshieldWiper;
  75         openXC2AmbMap["latitude"] = VehicleProperty::Latitude;
  76         openXC2AmbMap["longitude"] = VehicleProperty::Longitude;
  77         openXC2AmbMap["button_event"] = VehicleProperty::ButtonEvent;
  78
  79         bool test = false;
  80         if(config.find("test") != config.end())
  81         {
  82                 test = config["test"] == "true";
  83         }
  84
  85         if(test)
  86         {
  87                 testParseEngine();
  88         }
  89
  90         std::string bluetoothAddy = config["device"];
  91         std::string bluetoothAdapter = config["bluetoothAdapter"];
  92         std::string serialDevice;
  93
  94         if(bluetoothAddy != "")
  95         {
  96                 BluetoothDevice btDevice;
  97
  98                 serialDevice = btDevice.getDeviceForAddress(bluetoothAddy, bluetoothAdapter);
  99         }
 100
 101         device = new SerialPort(serialDevice);
 102         if(!device->open())
 103         {
 104                 throw std::runtime_error("unable to open serial device " + serialDevice);
 105         }
 106
 107         GIOChannel *chan = g_io_channel_unix_new(device->fileDescriptor());
 108         g_io_add_watch(chan, G_IO_IN,(GIOFunc)gioPollingFunc, this);
 109         g_io_add_watch(chan,G_IO_HUP,(GIOFunc)gioPollingFunc,this);
 110         g_io_add_watch(chan,G_IO_ERR,(GIOFunc)gioPollingFunc,this);
 111         g_io_channel_unref(chan); //Pass ownership of the GIOChannel to the watch.
 112
 113
 114 }
 115
 116
 117
 118 extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
 119 {
 120         return new OpenXCPlugin(routingengine, config);
 121
 122 }
 123
 124 const string OpenXCPlugin::uuid()
 125 {
 126         return "openxc";
 127 }
 128
 129
 130 void OpenXCPlugin::getPropertyAsync(AsyncPropertyReply *reply)
 131 {
 132
 133 }
 134
 135 void OpenXCPlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply)
 136 {
 137
 138 }
 139
 140 AsyncPropertyReply *OpenXCPlugin::setProperty(AsyncSetPropertyRequest request )
 141 {
 142
 143 }
 144
 145 void OpenXCPlugin::subscribeToPropertyChanges(VehicleProperty::Property property)
 146 {
 147         mRequests.push_back(property);
 148 }
 149
 150 PropertyList OpenXCPlugin::supported()
 151 {
 152         PropertyList props;
 153
 154         return props;
 155 }
 156
 157 int OpenXCPlugin::supportedOperations()
 158 {
 159         return Get;
 160 }
 161
 162 void OpenXCPlugin::unsubscribeToPropertyChanges(VehicleProperty::Property property)
 163 {
 164         mRequests.remove(property);
 165 }
 166
 167
 168
 169 bool OpenXCPlugin::translateOpenXCEvent(string json)
 170 {
 171         /// signal:
 172         /// {"name": "steering_wheel_angle", "value": 45}
 173
 174         /// event:
 175         /// {"name": "button_event", "value": "up", "event": "pressed"}
 176
 177         json_object *rootobject;
 178         json_tokener *tokener = json_tokener_new();
 179
 180
 181         ///TODO: we have several json leaks here
 182
 183         enum json_tokener_error err;
 184         do
 185         {
 186                 rootobject = json_tokener_parse_ex(tokener, json.c_str(),json.length());
 187         } while ((err = json_tokener_get_error(tokener)) == json_tokener_continue);
 188         if (err != json_tokener_success)
 189         {
 190                 fprintf(stderr, "Error: %s\n", json_tokener_error_desc(err));
 191                 // Handle errors, as appropriate for your application.
 192         }
 193         if (tokener->char_offset < json.length()) // XXX shouldn't access internal fields
 194         {
 195                 // Handle extra characters after parsed object as desired.
 196                 // e.g. issue an error, parse another object from that point, etc...
 197         }
 198
 199         VehicleProperty::Property property;
 200
 201         json_object *name = json_object_object_get(rootobject,"name");
 202         if (name)
 203         {
 204                 string namestr = string(json_object_get_string(name));
 205
 206                 property = openXC2AmbMap[namestr];
 207         }
 208
 209         json_object *value = json_object_object_get(rootobject, "value");
 210         if(value)
 211         {
 212                 if (property == VehicleProperty::SteeringWheelAngle)
 213                 {
 214                         int val = json_object_get_int(value);
 215                         VehicleProperty::SteeringWheelAngleType ambVal(val);
 216
 217                         routingEngine->updateProperty(property, &ambVal,uuid());
 218
 219                         return true;
 220                 }
 221
 222                 else if (property == VehicleProperty::EngineSpeed)
 223                 {
 224                         int val = json_object_get_int(value);
 225                         VehicleProperty::EngineSpeedType ambVal(val);
 226
 227                         routingEngine->updateProperty(property, &ambVal,uuid());
 228                         return true;
 229                 }
 230
 231                 else if (property == VehicleProperty::VehicleSpeed)
 232                 {
 233                         int val = json_object_get_int(value);
 234                         VehicleProperty::VehicleSpeedType ambVal(val);
 235
 236                         routingEngine->updateProperty(property, &ambVal,uuid());
 237                         return true;
 238                 }
 239
 240                 else if (property == VehicleProperty::ThrottlePosition)
 241                 {
 242                         int val = json_object_get_int(value);
 243                         VehicleProperty::ThrottlePositionType ambVal(val);
 244
 245                         routingEngine->updateProperty(property, &ambVal,uuid());
 246
 247                         return true;
 248                 }
 249
 250                 else if (property == VehicleProperty::LightBrake)
 251                 {
 252                         bool val = json_object_get_boolean(value);
 253                         VehicleProperty::LightBrakeType ambVal(val);
 254
 255                         routingEngine->updateProperty(property, &ambVal,uuid());
 256
 257                         return true;
 258                 }
 259
 260                 else if (property == VehicleProperty::ParkingBrakeStatus)
 261                 {
 262                         bool val = json_object_get_boolean(value);
 263                         VehicleProperty::ParkingBrakeStatusType ambVal(val);
 264
 265                         routingEngine->updateProperty(property, &ambVal,uuid());
 266
 267                         return true;
 268                 }
 269
 270                 else if (property == VehicleProperty::TransmissionGearPosition)
 271                 {
 272                         /// TODO: implement
 273                         return false;
 274                 }
 275
 276                 else if (property == VehicleProperty::Odometer)
 277                 {
 278                         int val = json_object_get_int(value);
 279                         VehicleProperty::OdometerType ambVal(val);
 280
 281                         routingEngine->updateProperty(property, &ambVal,uuid());
 282
 283                         return true;
 284                 }
 285
 286                 else if (property == VehicleProperty::VehiclePowerMode)
 287                 {
 288                         /// TODO: implement
 289                         return false;
 290                 }
 291
 292                 else if (property == VehicleProperty::FuelLevel)
 293                 {
 294                         int val = json_object_get_int(value);
 295                         VehicleProperty::FuelLevelType ambVal(val);
 296
 297                         routingEngine->updateProperty(property, &ambVal,uuid());
 298
 299                         return true;
 300                 }
 301
 302                 else if (property == VehicleProperty::FuelConsumption)
 303                 {
 304                         /// This is a different concept than our 'instant' fuel consumption.
 305                         /// TODO: we should probably do a CumulativeFuelConsuption
 306                 }
 307
 308                 else if (property == VehicleProperty::DoorStatus)
 309                 {
 310
 311                 }
 312
 313                 else if (property == VehicleProperty::LightHead)
 314                 {
 315                         bool val = json_object_get_boolean(value);
 316                         VehicleProperty::LightHeadType ambVal(val);
 317
 318                         routingEngine->updateProperty(property, &ambVal,uuid());
 319
 320                         return true;
 321                 }
 322
 323                 else if (property == VehicleProperty::LightHighBeam)
 324                 {
 325                         bool val = json_object_get_boolean(value);
 326                         VehicleProperty::LightHighBeamType ambVal(val);
 327
 328                         routingEngine->updateProperty(property, &ambVal, uuid());
 329
 330                         return true;
 331                 }
 332
 333                 else if (property == VehicleProperty::WindshieldWiper)
 334                 {
 335                         bool val = json_object_get_boolean(value);
 336                         if(val)
 337                         {
 338                                 Window::WiperSpeed speed = Window::Auto;
 339
 340                                 VehicleProperty::WindshieldWiperType ambVal(speed);
 341                                 routingEngine->updateProperty(property, &ambVal, uuid());
 342
 343                                 return true;
 344                         }
 345                         else
 346                         {
 347                                 Window::WiperSpeed speed = Window::Off;
 348
 349                                 VehicleProperty::WindshieldWiperType ambVal(speed);
 350                                 routingEngine->updateProperty(property, &ambVal, uuid());
 351
 352                                 return true;
 353                         }
 354
 355                 }
 356
 357                 else if (property == VehicleProperty::Latitude)
 358                 {
 359                         double val = json_object_get_double(value);
 360                         VehicleProperty::LatitudeType ambVal(val);
 361
 362                         routingEngine->updateProperty(property, &ambVal, uuid());
 363
 364                         return true;
 365                 }
 366
 367                 else if (property == VehicleProperty::Longitude)
 368                 {
 369                         double val = json_object_get_double(value);
 370                         VehicleProperty::LongitudeType ambVal(val);
 371
 372                         routingEngine->updateProperty(property, &ambVal, uuid());
 373
 374                         return true;
 375                 }
 376
 377                 else if (property == VehicleProperty::ButtonEvent)
 378                 {
 379                         /// TODO: implement
 380                         DebugOut(DebugOut::Error)<<"OpenXC button event not implemented"<<endl;
 381                         return false;
 382                 }
 383         }
 384
 385         return false;
 386
 387 }
 388
 389 void OpenXCPlugin::testParseEngine()
 390 {
 391         bool passed = true;
 392
 393         if(!translateOpenXCEvent("{\"name\": \"steering_wheel_angle\", \"value\": 45}"))
 394         {
 395                 DebugOut(0)<<"OpenXC Parse Test (steering_wheel_angle): \tFailed"<<endl;
 396                 passed = false;
 397         }
 398         else DebugOut(0)<<"OpenXC Parse Test (steering_wheel_angle): \tPassed"<<endl;
 399
 400         if(!translateOpenXCEvent("{\"name\": \"engine_speed\", \"value\": 5000}"))
 401         {
 402                 DebugOut(0)<<"OpenXC Parse Test (engine_speed): \t\tFailed"<<endl;
 403                 passed = false;
 404         }
 405         else DebugOut(0)<<"OpenXC Parse Test (engine_speed): \t\tPassed"<<endl;
 406         if(!translateOpenXCEvent("{\"name\": \"vehicle_speed\", \"value\": 100}"))
 407         {
 408                 DebugOut(0)<<"OpenXC Parse Test (vehicle_speed): \t\tFailed"<<endl;
 409                 passed = false;
 410         }
 411         else DebugOut(0)<<"OpenXC Parse Test (vehicle_speed): \t\tPassed"<<endl;
 412         if(!translateOpenXCEvent("{\"name\": \"accelerator_pedal_position\", \"value\": 90}"))
 413         {
 414                 DebugOut(0)<<"OpenXC Parse Test (accelerator_pedal_position): tFailed"<<endl;
 415                 passed = false;
 416         }
 417         else DebugOut(0)<<"OpenXC Parse Test (accelerator_pedal_position):\tPassed"<<endl;
 418         if(!translateOpenXCEvent("{\"name\": \"parking_brake_status\", \"value\": \"false\" }"))
 419         {
 420                 DebugOut(0)<<"OpenXC Parse Test (parking_brake_status):\tFailed"<<endl;
 421                 passed = false;
 422         }
 423         else DebugOut(0)<<"OpenXC Parse Test (parking_brake_status):\tPassed"<<endl;
 424         if(!translateOpenXCEvent("{\"name\": \"brake_pedal_status\", \"value\": \"false\" }"))
 425         {
 426                 DebugOut(0)<<"OpenXC Parse Test (brake_pedal_status):\tFailed"<<endl;
 427                 passed = false;
 428         }
 429         else DebugOut(0)<<"OpenXC Parse Test (brake_pedal_status):\tPassed"<<endl;
 430         if(!translateOpenXCEvent("{\"name\": \"transmission_gear_position\", \"value\": \"fourth\"}"))
 431         {
 432                 DebugOut(0)<<"OpenXC Parse Test (transmission_gear_position):\tFailed"<<endl;
 433                 passed = false;
 434         }
 435         else DebugOut(0)<<"OpenXC Parse Test (transmission_gear_position):\tPassed"<<endl;
 436         if(!translateOpenXCEvent("{\"name\": \"odometer\", \"value\": 1000}"))
 437         {
 438                 DebugOut(0)<<"OpenXC Parse Test (odometer): \t\tFailed"<<endl;
 439                 passed = false;
 440         }
 441         else DebugOut(0)<<"OpenXC Parse Test (odometer): \t\tPassed"<<endl;
 442         if(!translateOpenXCEvent("{\"name\": \"ignition_status\", \"value\": \"run\"}"))
 443         {
 444                 DebugOut(0)<<"OpenXC Parse Test (ignition_status): \t\tFailed"<<endl;
 445                 passed = false;
 446         }
 447         else DebugOut(0)<<"OpenXC Parse Test (ignition_status): \t\tPassed"<<endl;
 448         if(!translateOpenXCEvent("{\"name\": \"fuel_level\", \"value\": 30}"))
 449         {
 450                 DebugOut(0)<<"OpenXC Parse Test (fuel_level): \t\tFailed"<<endl;
 451                 passed = false;
 452         }
 453         else DebugOut(0)<<"OpenXC Parse Test (fuel_level): \t\tPassed"<<endl;
 454         if(!translateOpenXCEvent("{\"name\": \"fuel_consumed_since_restart\", \"value\": 45}"))
 455         {
 456                 DebugOut(0)<<"OpenXC Parse Test (fuel_consumed_since_restart):\tFailed"<<endl;
 457                 passed = false;
 458         }
 459         else DebugOut(0)<<"OpenXC Parse Test (fuel_consumed_since_restart):\tPassed"<<endl;
 460         if(!translateOpenXCEvent("{\"name\": \"headlamp_status\", \"value\": \"true\"}"))
 461         {
 462                 DebugOut(0)<<"OpenXC Parse Test (headlamp_status): \t\tFailed"<<endl;
 463                 passed = false;
 464         }
 465         else DebugOut(0)<<"OpenXC Parse Test (headlamp_status): \t\tPassed"<<endl;
 466         if(!translateOpenXCEvent("{\"name\": \"latitude\", \"value\": 88.12125}"))
 467         {
 468                 DebugOut(0)<<"OpenXC Parse Test (latitude): \t\tFailed"<<endl;
 469                 passed = false;
 470         }
 471         else DebugOut(0)<<"OpenXC Parse Test (latitude): \t\tPassed"<<endl;
 472         if(!translateOpenXCEvent("{\"name\": \"longitude\", \"value\": 108.12125}"))
 473         {
 474                 DebugOut(0)<<"OpenXC Parse Test (longitude): \t\tFailed"<<endl;
 475                 passed = false;
 476         }
 477         else DebugOut(0)<<"OpenXC Parse Test (longitude): \t\tPassed"<<endl;
 478         if(!translateOpenXCEvent("{\"name\": \"button_event\", \"value\": \"up\", \"event\": \"pressed\"}"))
 479         {
 480                 DebugOut(0)<<"OpenXC Parse Test (button_event): \t\tFailed"<<endl;
 481                 passed = false;
 482         }
 483         else DebugOut(0)<<"OpenXC Parse Test (button_event): \t\tPassed"<<endl;
 484
 485         if(!passed)
 486         {
 487                 DebugOut(0)<<"Some OpenXC Parse Tests failed.  Aborting";
 488                 throw std::runtime_error("OpenXC Parse tests failed.");
 489         }
 490 }
 491
 492
 493 void OpenXCPlugin::processData()
 494 {
 495         std::string data = device->read();
 496
 497         translateOpenXCEvent(data);
 498 }