void handleButtonEventMessage(int messageId, uint64_t data,
CanSignal* signals, int signalCount, Listener* listener) {
CanSignal* buttonTypeSignal = lookupSignal("button_type", signals,
signalCount);
CanSignal* buttonStateSignal = lookupSignal("button_state", signals,
signalCount);
if(buttonTypeSignal == NULL || buttonStateSignal == NULL) {
debug("Unable to find button type and state signals");
return;
}
float rawButtonType = decodeCanSignal(buttonTypeSignal, data);
float rawButtonState = decodeCanSignal(buttonStateSignal, data);
bool send = true;
const char* buttonType = stateHandler(buttonTypeSignal, signals,
signalCount, rawButtonType, &send);
if(!send || buttonType == NULL) {
debug("Unable to find button type corresponding to %f",
rawButtonType);
return;
}
const char* buttonState = stateHandler(buttonStateSignal, signals,
signalCount, rawButtonState, &send);
if(!send || buttonState == NULL) {
debug("Unable to find button state corresponding to %f",
rawButtonState);
return;
}
sendEventedStringMessage(BUTTON_EVENT_GENERIC_NAME, buttonType,
buttonState, listener);
}
void handleOccupancyMessage(int messageId, uint64_t data, CanSignal* signals,
int signalCount, Listener* listener) {
sendOccupancyStatus("driver", data,
lookupSignal("driver_occupancy_lower", signals, signalCount),
lookupSignal("driver_occupancy_upper", signals, signalCount),
signals, signalCount, listener);
sendOccupancyStatus("passenger", data,
lookupSignal("passenger_occupancy_lower", signals, signalCount),
lookupSignal("passenger_occupancy_upper", signals, signalCount),
signals, signalCount, listener);
}
void handleTirePressureMessage(int messageId, uint64_t data, CanSignal* signals,
int signalCount, Listener* listener) {
sendTirePressure("front_left", data,
lookupSignal("tire_pressure_front_left", signals, signalCount),
signals, signalCount, listener);
sendTirePressure("front_right", data,
lookupSignal("tire_pressure_front_right", signals, signalCount),
signals, signalCount, listener);
sendTirePressure("rear_right", data,
lookupSignal("tire_pressure_rear_right", signals, signalCount),
signals, signalCount, listener);
sendTirePressure("rear_left", data,
lookupSignal("tire_pressure_rear_left", signals, signalCount),
signals, signalCount, listener);
}
void handleDoorStatusMessage(int messageId, uint64_t data, CanSignal* signals,
int signalCount, Listener* listener) {
sendDoorStatus("driver", data,
lookupSignal("driver_door", signals, signalCount),
signals, signalCount, listener);
sendDoorStatus("passenger", data,
lookupSignal("passenger_door", signals, signalCount),
signals, signalCount, listener);
sendDoorStatus("rear_right", data,
lookupSignal("rear_right_door", signals, signalCount),
signals, signalCount, listener);
sendDoorStatus("rear_left", data,
lookupSignal("rear_left_door", signals, signalCount),
signals, signalCount, listener);
}
void receiveTranslatedWriteRequest(cJSON* nameObject, cJSON* root) {
char* name = nameObject->valuestring;
cJSON* value = cJSON_GetObjectItem(root, "value");
// Optional, may be NULL
cJSON* event = cJSON_GetObjectItem(root, "event");
CanSignal* signal = lookupSignal(name, getSignals(), getSignalCount(),
true);
if(signal != NULL) {
if(value == NULL) {
debug("Write request for %s missing value", name);
return;
}
sendCanSignal(signal, value, getSignals(), getSignalCount());
} else {
CanCommand* command = lookupCommand(name, getCommands(),
getCommandCount());
if(command != NULL) {
command->handler(name, value, event, getSignals(),
getSignalCount());
} else {
debug("Writing not allowed for signal with name %s", name);
}
}
}
bool handleTurnSignalCommand(const char* name, cJSON* value, cJSON* event,
CanSignal* signals, int signalCount) {
const char* direction = value->valuestring;
CanSignal* signal = NULL;
if(!strcmp("left", direction)) {
signal = lookupSignal("turn_signal_left", signals, signalCount);
} else if(!strcmp("right", direction)) {
signal = lookupSignal("turn_signal_right", signals, signalCount);
}
if(signal != NULL) {
return sendCanSignal(signal, cJSON_CreateBool(true), booleanWriter,
signals, signalCount, true);
} else {
debug("Unable to find signal for %s turn signal", direction);
}
return false;
}
float firstReceivedOdometerValue(CanSignal* signals, int signalCount) {
if(totalOdometerAtRestart == 0) {
CanSignal* odometerSignal = lookupSignal("total_odometer", signals,
signalCount);
if(odometerSignal != NULL && odometerSignal->received) {
totalOdometerAtRestart = odometerSignal->lastValue;
}
}
return totalOdometerAtRestart;
}
int sysSignalWait()
{
int sig;
sigMonitorEnter();
while ((sig = lookupSignal()) == -1) {
sigMonitorWait();
}
sigMonitorExit();
return sig;
}
void handleGpsMessage(int messageId, uint64_t data, CanSignal* signals,
int signalCount, Listener* listener) {
float latitudeDegrees = decodeCanSignal(
lookupSignal("latitude_degrees", signals, signalCount), data);
float latitudeMinutes = decodeCanSignal(
lookupSignal("latitude_minutes", signals, signalCount), data);
float latitudeMinuteFraction = decodeCanSignal(
lookupSignal("latitude_minute_fraction", signals, signalCount),
data);
float longitudeDegrees = decodeCanSignal(
lookupSignal("longitude_degrees", signals, signalCount), data);
float longitudeMinutes = decodeCanSignal(
lookupSignal("longitude_minutes", signals, signalCount), data);
float longitudeMinuteFraction = decodeCanSignal(
lookupSignal("longitude_minute_fraction", signals, signalCount),
data);
latitudeMinutes = (latitudeMinutes + latitudeMinuteFraction) / 60.0;
if(latitudeDegrees < 0) {
latitudeMinutes *= -1;
}
latitudeDegrees += latitudeMinutes;
longitudeMinutes = (longitudeMinutes + longitudeMinuteFraction) / 60.0;
if(longitudeDegrees < 0) {
longitudeMinutes *= -1;
}
longitudeDegrees += longitudeMinutes;
sendNumericalMessage("latitude", latitudeDegrees, listener);
sendNumericalMessage("longitude", longitudeDegrees, listener);
}
float handleUnsignedSteeringWheelAngle(CanSignal* signal,
CanSignal* signals, int signalCount, float value, bool* send) {
CanSignal* steeringAngleSign = lookupSignal("steering_wheel_angle_sign",
signals, signalCount);
if(steeringAngleSign == NULL) {
debug("Unable to find stering wheel angle sign signal");
*send = false;
} else {
if(steeringAngleSign->lastValue == 0) {
// left turn
value *= -1;
}
}
return value;
}
