int main(int argc, char *argv[])
{
Gtk::Main kit(argc, argv);
DBus::default_dispatcher = &dispatcher;
dispatcher.attach(NULL);
DBus::Connection conn = DBus::Connection::SessionBus();
DBusBrowser browser(conn);
Gtk::Main::run(browser);
return 0;
}
int main(int argc, char *argv[])
{
Gtk::Main kit(argc, argv);
DBus::default_dispatcher = &dispatcher;
dispatcher.attach(NULL);
// activate one of both for either system or session bus
// TODO: choose in the GUI
DBus::Connection conn = DBus::Connection::SessionBus();
//DBus::Connection conn = DBus::Connection::SystemBus();
DBusBrowser browser(conn);
Gtk::Main::run(browser);
return 0;
}
int main (int argc, char *argv[])
{
//Force line-only buffering so we can see the output during hangs
setvbuf(stdout, NULL, _IOLBF, 0);
setvbuf(stderr, NULL, _IOLBF, 0);
GOOGLE_PROTOBUF_VERIFY_VERSION;
hu_log_library_versions();
hu_install_crash_handler();
DBus::_init_threading();
gst_init(&argc, &argv);
try
{
MazdaCommandServerCallbacks commandCallbacks;
CommandServer commandServer(commandCallbacks);
printf("headunit version: %s \n", commandCallbacks.GetVersion().c_str());
if (!commandServer.Start())
{
loge("Command server failed to start");
return 1;
}
if (argc >= 2 && strcmp(argv[1], "test") == 0)
{
//test mode from the installer, if we got here it's ok
printf("###TESTMODE_OK###\n");
return 0;
}
config::readConfig();
printf("Looping\n");
while (true)
{
//Make a new one instead of using the default so we can clean it up each run
run_on_thread_main_context = g_main_context_new();
//Recreate this each time, it makes the error handling logic simpler
DBus::Glib::BusDispatcher dispatcher;
dispatcher.attach(run_on_thread_main_context);
printf("DBus::Glib::BusDispatcher attached\n");
DBus::default_dispatcher = &dispatcher;
printf("Making debug connections\n");
DBus::Connection hmiBus(HMI_BUS_ADDRESS, false);
hmiBus.register_bus();
DBus::Connection serviceBus(SERVICE_BUS_ADDRESS, false);
serviceBus.register_bus();
hud_start();
MazdaEventCallbacks callbacks(serviceBus, hmiBus);
HUServer headunit(callbacks);
g_hu = &headunit.GetAnyThreadInterface();
commandCallbacks.eventCallbacks = &callbacks;
//Wait forever for a connection
int ret = headunit.hu_aap_start(config::transport_type, true);
if (ret < 0) {
loge("Something bad happened");
continue;
}
gst_app.loop = g_main_loop_new(run_on_thread_main_context, FALSE);
callbacks.connected = true;
std::condition_variable quitcv;
std::mutex quitmutex;
std::mutex hudmutex;
std::thread nm_thread([&quitcv, &quitmutex](){ nightmode_thread_func(quitcv, quitmutex); } );
std::thread gp_thread([&quitcv, &quitmutex](){ gps_thread_func(quitcv, quitmutex); } );
std::thread hud_thread([&quitcv, &quitmutex, &hudmutex](){ hud_thread_func(quitcv, quitmutex, hudmutex); } );
/* Start gstreamer pipeline and main loop */
printf("Starting Android Auto...\n");
g_main_loop_run (gst_app.loop);
commandCallbacks.eventCallbacks = nullptr;
callbacks.connected = false;
callbacks.videoFocus = false;
callbacks.audioFocus = AudioManagerClient::FocusType::NONE;
callbacks.inCall = false;
printf("quitting...\n");
//wake up night mode and gps polling threads
quitcv.notify_all();
printf("waiting for nm_thread\n");
nm_thread.join();
printf("waiting for gps_thread\n");
gp_thread.join();
printf("waiting for hud_thread\n");
hud_thread.join();
printf("shutting down\n");
g_main_loop_unref(gst_app.loop);
gst_app.loop = nullptr;
/* Stop AA processing */
ret = headunit.hu_aap_shutdown();
if (ret < 0) {
printf("hu_aap_shutdown() ret: %d\n", ret);
return ret;
}
g_main_context_unref(run_on_thread_main_context);
run_on_thread_main_context = nullptr;
g_hu = nullptr;
DBus::default_dispatcher = nullptr;
}
}
catch(DBus::Error& error)
{
loge("DBUS Error: %s: %s", error.name(), error.message());
return 1;
}
return 0;
}
int main() {
usleep(700000);
std::map<uint32_t, PGN> allPGNs;
std::map<int, std::string> allPorts;
LoadConfig *configuration = new LoadConfig();
allPGNs = configuration->getAllPGNs();
allPorts = configuration->getAllPorts();
delete configuration;
auto loop = g_main_loop_new(NULL, false);
DBus::Glib::BusDispatcher dispatcher;
DBus::default_dispatcher = &dispatcher;
dispatcher.attach(NULL);
DBus::Connection bus = DBus::Connection::SessionBus();
Can can0(bus, "can0");
Can can1(bus, "can1");
can1.getConfiguration()->StopInterface();
can0.getConfiguration()->StopInterface();
usleep(700000);
can0.getConfiguration()->StartInterface(250000);
/*if (can0.getConfiguration()->LinkState() == false) {
exit(-1);
}*/
for (std::map<uint32_t, PGN>::iterator it=allPGNs.begin(); it!=allPGNs.end(); ++it)
{
uint32_t masked_id1=it->first&0x00FFFF00;
std::cout <<std::hex <<masked_id1 << std::endl;
}
FMSHandler * GenericFms = new FMSHandler();
auto can_frame_received =
[&allPGNs,&GenericFms](uint32_t id, uint8_t data[8], uint8_t dlc)
{
uint32_t masked_id=id&0x00FFFF00;
//std::cout<<std::hex<<masked_id<<std::endl;
if (allPGNs.count(masked_id))
{
GenericFms->setDATA(data);
GenericFms->setDLC(dlc);
GenericFms->setID(masked_id);
PGN * detectedPGN = &allPGNs[masked_id];
CANFrameHandler::SPNHandler(detectedPGN,GenericFms);
}
};
SocketCAN socket("can0");
if (!socket.receive(can_frame_received)) {
return 1;
}
thread ConsoleUIThread(printConsoleWorker);
std::thread WebSocketServerThread(WebSocketServerWorker, bus);
g_main_loop_run(loop);
return 0;
}
