TiagoRG
/
it2s-itss-facilities
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

remove obd support; this has to be replaced with peripherals implementation

This commit is contained in:
David Rocha 2023-10-26 16:16:43 +00:00
parent 11cad350ee
commit 87c629a931
3 changed files with 0 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/CMakeLists.txt
View File

@ -33,7 +33,6 @@ TARGET_LINK_LIBRARIES(it2s-itss-facilities
-lit2s-asn-evcsnm
-lit2s-asn-evrsrm
-lit2s-tender
-lit2s-obd
-lm
-lrt
)

65
src/cam.c
View File

@ -21,8 +21,6 @@
#include <it2s-tender/recorder.h>
#include <it2s-tender/packet.h>
#include <it2s-obd.h>
#define EARTH_RADIUS 6369000.0
#define RAD_PER_DEG M_PI/180.0
@ -160,15 +158,9 @@ static void path_history_update(pos_point_t* pn) {
static int mk_cam(uint8_t *cam_oer, uint16_t *cam_len) {
int rv = 0;
int shm_fd, shm_valid = 0;
it2s_obd_data* shared_message;
lightship_t* lightship = &facilities.lightship;
if (lightship->use_obd) {
it2s_obd_data* shared_message = malloc(sizeof(it2s_obd_data));
it2s_obd_read(shared_message);
}
CAM_t *cam = calloc(1, sizeof(CAM_t));
cam->header.protocolVersion = 2;
@ -201,35 +193,6 @@ static int mk_cam(uint8_t *cam_oer, uint16_t *cam_len) {
cam->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency;
BasicVehicleContainerHighFrequency_t* bvc_hf = &cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency;
if (lightship->use_obd) {
uint8_t ac = 0x00;
// Speed (already getting set bellow)
// bvc_hf.speed.speedValue = ceil(shared_message->speed_value ÷ 0.036);
// bvc_hf_speed.speedConfidence = 1;
// Steering Wheel Angle
if(shared_message->w_angle_value != 1683 && (now/1000 - shared_message->w_angle_timestamp) <= 1){
bvc_hf->steeringWheelAngle = calloc(1, sizeof(SteeringWheelAngle_t));
bvc_hf->steeringWheelAngle->steeringWheelAngleValue = shared_message->w_angle_value;
bvc_hf->steeringWheelAngle->steeringWheelAngleConfidence = 1;
}
// still missing temperature; where is de_temperature ?
// Acceleration Control (encondig failure)
if (shared_message->b_pedal_value != 1683 && shared_message->s_pedal_value != 1683 && (now/1000 - shared_message->b_pedal_timestamp) <= 1 && (now - shared_message->s_pedal_timestamp) <= 1){
if(shared_message->b_pedal_value)
ac = ac | 0x80;
if(shared_message->s_pedal_value)
ac = ac | 0x40;
bvc_hf->accelerationControl = calloc(1, sizeof(AccelerationControl_t));
bvc_hf->accelerationControl->buf = malloc(sizeof(uint8_t));
memcpy(bvc_hf->accelerationControl->buf, &ac, 1);
bvc_hf->accelerationControl->size = 1;
bvc_hf->accelerationControl->bits_unused = 1;
}
}
// Set speed
bvc_hf->speed.speedValue = epv.space.speed;
bvc_hf->speed.speedConfidence = epv.space.speed_conf;
@ -311,20 +274,6 @@ static int mk_cam(uint8_t *cam_oer, uint16_t *cam_len) {
BasicVehicleContainerLowFrequency_t* bvc_lf = &cam->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency;
if (lightship->use_obd) {
uint8_t el = 0x00;
// Exterior Lights
if (shared_message->lights_value != 1683 && (now/1000 - shared_message->lights_timestamp) <= 1) {
if (shared_message->lights_value)
el = el | 0x80;
bvc_lf->exteriorLights.buf = malloc(sizeof(uint8_t));
memcpy(bvc_lf->exteriorLights.buf, &el, 1);
bvc_lf->exteriorLights.size = 1;
bvc_lf->exteriorLights.bits_unused = 0;
}
}
PathHistory_t* ph = &cam->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory;
if (lightship->path_history_len != 0) {
@ -444,9 +393,6 @@ static int mk_cam(uint8_t *cam_oer, uint16_t *cam_len) {
}
*cam_len = (enc.encoded + 7) / 8;
if (lightship->use_obd)
free(shared_message);
cleanup:
ASN_STRUCT_FREE(asn_DEF_CAM, cam);
@ -461,17 +407,6 @@ int lightship_init() {
lightship->protected_zones.pz = calloc(256, sizeof(void*));
pthread_mutex_init(&lightship->lock, NULL);
int shm_fd;
shm_fd = shm_open("it2s-obd", O_RDONLY, 0666);
if (shm_fd == -1) {
log_debug("obd shmem not found\n");
lightship->use_obd = 0;
} else {
log_debug("obd shmem found\n");
lightship->use_obd = 1;
close(shm_fd);
}
return 0;
}

2
src/cam.h
View File

@ -83,8 +83,6 @@ typedef struct lightship {
uint32_t rsu_gen_min;
uint32_t rsu_vehicle_permanence;
bool use_obd;
struct {
ProtectedCommunicationZone_t ** pz;
uint16_t pz_len;