#include "bluetooth5.h"
#include <listplusplus.h>
#include <superptr.hpp>
+#include <ambplugin.h>
+
+#include <dbusplugin.h>
+#include <dbusexport.h>
#include <iostream>
#include <boost/assert.hpp>
#define GPSTIME "GpsTime"
#define GPSSPEED "GpsSpeed"
+#define GpsFix "GpsFix"
+#define GpsSatsUsed "GpsSatsUsed"
+#define GpsNmea "GpsNmea"
template<typename T2>
inline T2 lexical_cast(const std::string &in) {
return out;
}
+class GpsInfo: public DBusSink
+{
+public:
+ GpsInfo(VehicleProperty::Property, AbstractRoutingEngine* re, GDBusConnection* connection)
+ :DBusSink("GpsInfo", re, connection, map<string, string>())
+ {
+ wantPropertyVariant(GPSTIME, "GpsTime", VariantType::Read);
+ wantPropertyVariant(GPSSPEED, "Speed", VariantType::Read);
+ wantPropertyVariant(GpsFix, "Fix", VariantType::Read);
+ wantPropertyVariant(GpsSatsUsed, "SattelitesUsed", VariantType::Read);
+ wantPropertyVariant(GpsNmea, "RawNmea", VariantType::Read);
+ }
+};
+
class Location
{
public:
- Location(AbstractRoutingEngine* re, std::string uuid);
+ enum FixType {
+ NoFix = 1,
+ Fix2D = 2,
+ Fix3D = 3
+ };
+
+ Location(AmbPluginImpl *source, std::shared_ptr<AbstractPropertyType> lat,
+ std::shared_ptr<AbstractPropertyType> lon,
+ std::shared_ptr<AbstractPropertyType> alt,
+ std::shared_ptr<AbstractPropertyType> dir,
+ std::shared_ptr<AbstractPropertyType> spd,
+ std::shared_ptr<AbstractPropertyType> time,
+ std::shared_ptr<AbstractPropertyType> fix,
+ std::shared_ptr<AbstractPropertyType> satsUsed);
void parse(std::string gprmc);
- VehicleProperty::LatitudeType* latitude()
+ AbstractPropertyType * latitude()
{
return mLatitude.get();
}
- VehicleProperty::LongitudeType* longitude()
+ AbstractPropertyType * longitude()
{
return mLongitude.get();
}
- VehicleProperty::AltitudeType* altitude()
+ AbstractPropertyType * altitude()
{
return mAltitude.get();
}
- VehicleProperty::DirectionType* direction()
+ AbstractPropertyType * direction()
{
return mDirection.get();
}
- BasicPropertyType<uint16_t>* speed()
+ AbstractPropertyType * speed()
{
return mSpeed.get();
}
- BasicPropertyType<double>* gpsTime()
+ AbstractPropertyType * gpsTime()
{
return mGpsTime.get();
}
void parseGprmc(string gprmc);
void parseGpgga(string gpgga);
+ void parseGpgsa(string gpgsa);
void parseTime(std::string h, std::string m, std::string s, string dd, string mm, string yy);
void parseLatitude(std::string d, std::string m, std::string ns);
private:
- std::unique_ptr<VehicleProperty::LatitudeType> mLatitude;
- std::unique_ptr<VehicleProperty::LongitudeType> mLongitude;
- std::unique_ptr<VehicleProperty::AltitudeType> mAltitude;
- std::unique_ptr<VehicleProperty::DirectionType> mDirection;
- std::unique_ptr<BasicPropertyType<uint16_t>> mSpeed;
- std::unique_ptr<BasicPropertyType<double>> mGpsTime;
+ std::shared_ptr<AbstractPropertyType> mLatitude;
+ std::shared_ptr<AbstractPropertyType> mLongitude;
+ std::shared_ptr<AbstractPropertyType> mAltitude;
+ std::shared_ptr<AbstractPropertyType> mDirection;
+ std::shared_ptr<AbstractPropertyType> mSpeed;
+ std::shared_ptr<AbstractPropertyType> mGpsTime;
+ std::shared_ptr<AbstractPropertyType> mFix;
+ std::shared_ptr<AbstractPropertyType> mSatelitesUsed;
bool isActive;
- std::string mUuid;
-
- AbstractRoutingEngine* routingEngine;
+ AmbPluginImpl * parent;
};
-Location::Location(AbstractRoutingEngine* re, std::string uuid)
- :isActive(false), routingEngine(re), mUuid(uuid)
+Location::Location(AmbPluginImpl* source,
+ std::shared_ptr<AbstractPropertyType> lat,
+ std::shared_ptr<AbstractPropertyType> lon,
+ std::shared_ptr<AbstractPropertyType> alt,
+ std::shared_ptr<AbstractPropertyType> dir,
+ std::shared_ptr<AbstractPropertyType> spd,
+ std::shared_ptr<AbstractPropertyType> time,
+ std::shared_ptr<AbstractPropertyType> fix,
+ std::shared_ptr<AbstractPropertyType> satsUsed)
+ :parent(source), isActive(false)
{
- mLatitude = amb::make_unique(new VehicleProperty::LatitudeType(0));
- mLongitude = amb::make_unique(new VehicleProperty::LongitudeType(0));
- mAltitude = amb::make_unique(new VehicleProperty::AltitudeType(0));
- mDirection = amb::make_unique(new VehicleProperty::DirectionType(0));
- mSpeed = amb::make_unique(new BasicPropertyType<uint16_t>(GPSSPEED, 0));
- mGpsTime = amb::make_unique(new BasicPropertyType<double>(GPSTIME, 0));
+ mLatitude = lat;
+ mLongitude = lon;
+ mAltitude = alt;
+ mDirection = dir;
+ mSpeed = spd;
+ mGpsTime = time;
+ mFix = fix;
+ mSatelitesUsed = satsUsed;
}
void Location::parse(string nmea)
{
parseGpgga(nmea);
}
+ else if(boost::algorithm::starts_with(nmea, "GPGSA"))
+ {
+ parseGpgsa(nmea);
+ }
else
{
DebugOut(7)<<"unknown/unhandled message: "<<nmea<<endl;
parseAltitude(tokens[9]);
}
+void Location::parseGpgsa(string gpgsa)
+{
+ std::vector<std::string> tokens;
+ boost::split(tokens, gpgsa, boost::is_any_of(","));
+
+ if(tokens.size() != 18)
+ {
+ DebugOut()<<"Invalid GPGSA message: "<<gpgsa<<endl;
+ return;
+ }
+
+ Location::FixType fix = (Location::FixType)boost::lexical_cast<int>(tokens[2]);
+
+ uint16_t numsats = 0;
+
+ for(int i=3; i<15; i++)
+ {
+ std::string sat = tokens[i];
+ if(!sat.empty())
+ {
+ numsats ++;
+ }
+ }
+
+ if(mFix->value<Location::FixType>() != fix)
+ parent->setValue(mFix, fix);
+
+ if(mSatelitesUsed->value<uint16_t>() != numsats)
+ parent->setValue(mSatelitesUsed, numsats);
+}
+
void Location::parseTime(string h, string m, string s, string dd, string mm, string yy)
{
try
time_t time = mktime(&t);
- if(mGpsTime->basicValue() != (double(time)))
+ if(mGpsTime->value<double>() != (double(time)))
{
- mGpsTime->setValue(double(time));
- if(routingEngine)
- routingEngine->updateProperty(mGpsTime.get(), mUuid);
+ parent->setValue(mGpsTime, double(time));
}
}
catch(...)
if(ns == "S")
dec *= -1;
- if(mLatitude->basicValue() != dec)
+ if(mLatitude->value<double>() != dec)
{
- mLatitude->setValue(dec);
-
- if(routingEngine)
- routingEngine->updateProperty(mLatitude.get(), mUuid);
+ parent->setValue(mLatitude, dec);
}
}
catch(...)
if(ew == "W")
dec *= -1;
- if(mLongitude->basicValue() != dec)
+ if(mLongitude->value<double>() != dec)
{
- mLongitude->setValue(dec);
-
- if(routingEngine)
- routingEngine->updateProperty(mLongitude.get(), mUuid);
+ parent->setValue(mLongitude, dec);
}
}
catch(...)
uint16_t speed = static_cast<uint16_t>(s);
- if(mSpeed->basicValue() != speed)
+ if(mSpeed->value<uint16_t>() != speed)
{
- mSpeed->setValue(speed);
-
- if(routingEngine)
- routingEngine->updateProperty(mSpeed.get(), mUuid);
+ parent->setValue(mSpeed, speed);
}
}
catch(...)
try {
uint16_t d = boost::lexical_cast<double>(dir);
- if(mDirection->basicValue() != d)
+ if(mDirection->value<uint16_t>() != d)
{
- mDirection->setValue(d);
-
- if(routingEngine)
- routingEngine->updateProperty(mDirection.get(), mUuid);
+ parent->setValue(mDirection, d);
}
}
catch(...)
double a = boost::lexical_cast<double>(alt);
- if(mAltitude->basicValue() != a)
+ if(mAltitude->value<double>() != a)
{
- mAltitude->setValue(a);
-
- if(routingEngine)
- routingEngine->updateProperty(mAltitude.get(), mUuid);
+ parent->setValue(mAltitude, a);
}
}
catch(...)
extern "C" void create(AbstractRoutingEngine* routingengine, map<string, string> config)
{
- new GpsNmeaSource(routingengine, config);
+ auto plugin = new AmbPlugin<GpsNmeaSource>(routingengine, config);
+ plugin->init();
}
-GpsNmeaSource::GpsNmeaSource(AbstractRoutingEngine *re, map<string, string> config)
- :AbstractSource(re,config), mUuid("33d86462-1708-4f78-a001-99ea8d55422b"), device(nullptr), bt(nullptr)
+GpsNmeaSource::GpsNmeaSource(AbstractRoutingEngine *re, map<string, string> config, AbstractSource &parent)
+ :AmbPluginImpl(re, config, parent), mUuid("33d86462-1708-4f78-a001-99ea8d55422b"), device(nullptr), bt(nullptr)
{
int baudrate = 0;
- location =new Location(re, mUuid);
-
- VehicleProperty::registerProperty(GPSTIME,[](){ return new BasicPropertyType<double>(GPSTIME, 0); });
- VehicleProperty::registerProperty(GPSSPEED,[](){ return new BasicPropertyType<uint16_t>(GPSSPEED, 0); });
-
- addPropertySupport(VehicleProperty::Latitude, Zone::None);
- addPropertySupport(VehicleProperty::Longitude, Zone::None);
- addPropertySupport(VehicleProperty::Altitude, Zone::None);
- addPropertySupport(GPSSPEED, Zone::None);
- addPropertySupport(VehicleProperty::Direction, Zone::None);
- addPropertySupport(GPSTIME, Zone::None);
- ///test:
+ auto lat = addPropertySupport<VehicleProperty::LatitudeType>(Zone::None);
+ auto lon = addPropertySupport<VehicleProperty::LongitudeType>(Zone::None);
+ auto alt = addPropertySupport<VehicleProperty::AltitudeType>(Zone::None);
+ auto spd = addPropertySupport(Zone::None, [](){ return new BasicPropertyType<uint16_t>(GPSSPEED, 0); });
+ auto dir = addPropertySupport<VehicleProperty::DirectionType>(Zone::None);
+ auto time = addPropertySupport(Zone::None, [](){ return new BasicPropertyType<double>(GPSTIME, 0); });
+ auto fix = addPropertySupport(Zone::None, []() { return new BasicPropertyType<Location::FixType>(GpsFix, Location::NoFix); });
+ auto satsUsed = addPropertySupport(Zone::None, []() { return new BasicPropertyType<uint16_t>(GpsSatsUsed, 0); });
+ rawNmea = addPropertySupport(Zone::None, []() { return new StringPropertyType(GpsNmea); });
- if(config.find("test") != config.end())
- {
- test();
- }
+ location = new Location(this, lat, lon, alt, dir, spd, time, fix, satsUsed);
std::string btaddapter = config["bluetoothAdapter"];
if(!device->open())
{
- DebugOut(DebugOut::Error)<<"Failed to open gps tty: "<<config["device"]<<endl;
+ DebugOut(DebugOut::Error) << "Failed to open gps tty: " << config["device"] << endl;
perror("Error");
return;
}
delete bt;
}
-const string GpsNmeaSource::uuid()
+const string GpsNmeaSource::uuid() const
{
return mUuid;
}
-
-void GpsNmeaSource::getPropertyAsync(AsyncPropertyReply *reply)
+int GpsNmeaSource::supportedOperations() const
{
- DebugOut()<<"GpsNmeaSource: getPropertyAsync called for property: "<<reply->property<<endl;
+ return AbstractSource::Get;
+}
- std::list<AbstractPropertyType*> f = location->fix();
+void GpsNmeaSource::init()
+{
+ if(configuration.find("test") != configuration.end())
+ {
+ test();
+ }
- for(auto property : f)
+ routingEngine->subscribeToProperty(DBusConnected,[this](AbstractPropertyType* value)
{
- if(property->name == reply->property)
+ if(value->name == DBusConnected)
{
- reply->success = true;
- reply->value = property;
- reply->completed(reply);
- return;
+ if(value->value<bool>())
+ {
+ amb::Exporter::instance()->exportProperty<GpsInfo>(routingEngine);
+ }
}
- }
-
- reply->success = false;
- reply->error = AsyncPropertyReply::InvalidOperation;
- reply->completed(reply);
-}
-
-void GpsNmeaSource::getRangePropertyAsync(AsyncRangePropertyReply *reply)
-{
-
-}
-
-AsyncPropertyReply *GpsNmeaSource::setProperty(AsyncSetPropertyRequest request )
-{
-
-}
-
-void GpsNmeaSource::subscribeToPropertyChanges(VehicleProperty::Property property)
-{
- mRequests.push_back(property);
-}
-
-PropertyList GpsNmeaSource::supported()
-{
- return mSupported;
-}
-
-int GpsNmeaSource::supportedOperations()
-{
- return Get;
+ });
}
void GpsNmeaSource::canHasData()
void GpsNmeaSource::test()
{
- Location location(nullptr, "");
- location.parse("GPRMC,061211,A,2351.9605,S,15112.5239,E,000.0,053.4,170303,009.9,E*6E");
+ location->parse("GPRMC,061211,A,2351.9605,S,15112.5239,E,000.0,053.4,170303,009.9,E*6E");
+
+ DebugOut(0)<<"lat: "<<location->latitude()->toString()<<endl;
+ DebugOut(0)<<"lat: "<<location->gpsTime()->toString()<<endl;
- DebugOut(0)<<"lat: "<<location.latitude()->toString()<<endl;
+ g_assert(location->latitude()->toString() == "-23.86600833");
+ g_assert(location->gpsTime()->toString() == "1050585131");
- g_assert(location.latitude()->toString() == "-23.86600833");
- g_assert(location.gpsTime()->toString() == "1050585131");
+ location->parse("GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47");
- location.parse("GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47");
+ DebugOut(0)<<"alt: "<<location->altitude()->toString()<<endl;
+ DebugOut(0)<<"lat: "<<location->latitude()->toString()<<endl;
+ g_assert(location->altitude()->toString() == "545.4");
+ g_assert(location->latitude()->toString() == "48.1173");
- DebugOut(0)<<"alt: "<<location.altitude()->toString()<<endl;
- DebugOut(0)<<"lat: "<<location.latitude()->toString()<<endl;
- g_assert(location.altitude()->toString() == "545.4");
- g_assert(location.latitude()->toString() == "48.1173");
+ location->parse("GPRMC,060136.00,A,3101.40475,N,12126.87095,E,0.760,,160114,,,A*74");
+ DebugOut(0)<<"lon: "<<location->longitude()->toString()<<endl;
+ DebugOut(0)<<"lat: "<<location->latitude()->toString()<<endl;
- location.parse("GPRMC,060136.00,A,3101.40475,N,12126.87095,E,0.760,,160114,,,A*74");
- DebugOut(0)<<"lon: "<<location.longitude()->toString()<<endl;
- DebugOut(0)<<"lat: "<<location.latitude()->toString()<<endl;
+ ///test gpgsa
+ location->parse("GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39");
//Test incomplete message:
- location.parse("GPRMC,023633.00,V,,,,,,,180314,,,N*75");
- DebugOut(0)<<"lon: "<<location.longitude()->toString()<<endl;
- DebugOut(0)<<"lat: "<<location.latitude()->toString()<<endl;
+ location->parse("GPRMC,023633.00,V,,,,,,,180314,,,N*75");
+ DebugOut(0)<<"lon: "<<location->longitude()->toString()<<endl;
+ DebugOut(0)<<"lat: "<<location->latitude()->toString()<<endl;
std::string testChecksuming = "GPRMC,195617.00,V,,,,,,,310314,,,N*74";
g_assert(multimessageParse);
//Test meaningingless message:
- location.parse("GPRMC,,V,,,,,,,,,,N*53");
+ location->parse("GPRMC,,V,,,,,,,,,,N*53");
//test false message:
/// we have a complete message. parse it!
DebugOut(7)<<"Complete message: "<<buffer<<endl;
location->parse(buffer);
+ boost::algorithm::erase_all(buffer, "\n");
+ boost::algorithm::erase_all(buffer, "\r");
+ setValue(rawNmea, buffer);
weFoundAMessage = true;
buffer = "";
}
{
if(pos == 0 )
{
- uint cs = buffer.find('*');
+ std::string::size_type cs = buffer.find('*');
if (cs != std::string::npos && cs != buffer.length()-1)
{
- ///This means we have a false flag somewhere.
buffer = buffer.substr(cs+(buffer.length() - cs));
}
}
return weFoundAMessage;
}
-void GpsNmeaSource::unsubscribeToPropertyChanges(VehicleProperty::Property property)
-{
- removeOne(&mRequests,property);
-}
-
-void GpsNmeaSource::addPropertySupport(VehicleProperty::Property property, Zone::Type zone)
-{
- mSupported.push_back(property);
-
- Zone::ZoneList zones;
-
- zones.push_back(zone);
-
- PropertyInfo info(0, zones);
-
- propertyInfoMap[property] = info;
-}
-
bool GpsNmeaSource::checksum(std::string sentence)
{
if(sentence.empty() || sentence.length() < 4 || sentence.find("*") == string::npos || sentence.find("*") >= sentence.length()-2)
return false;
}
-
-
-int main(int argc, char** argv)
-{
- DebugOut::setDebugThreshhold(7);
- GpsNmeaSource plugin(nullptr, std::map<std::string, std::string>());
- plugin.test();
-
- return 1;
-}
projects / profile / ivi / automotive-message-broker.git / commitdiff