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

src/CMakeLists.txt

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

src/cam.c

@@ -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;
 }
 

src/cam.h

@@ -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;