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it2s-itss-facilities
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Format, some docs

This commit is contained in:
emanuel 2022-10-25 09:43:39 +01:00
parent 1d3469e840
commit aef5bf4797
2 changed files with 72 additions and 46 deletions
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91
src/cam.c
View File

@ -90,9 +90,9 @@ static int mk_cam(uint8_t *cam_oer, uint32_t *cam_len) {
lightship_t* lightship = &facilities.lightship;
if (lightship->use_obd){
it2s_obd_data* shared_message = malloc(sizeof(it2s_obd_data));
it2s_obd_read(shared_message);
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));
@ -127,33 +127,33 @@ static int mk_cam(uint8_t *cam_oer, uint32_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;
if (lightship->use_obd) {
uint8_t ac = 0x00;
// Speed (already getting set bellow)
// Speed (already getting set bellow)
// bvc_hf.speed.speedValue = ceil(shared_message->speed_value ÷ 0.036);
// bvc_hf_speed.speedConfidence = 1;
// 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 ?
// 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;
}
// 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
@ -232,21 +232,21 @@ static int mk_cam(uint8_t *cam_oer, uint32_t *cam_len) {
cam->cam.camParameters.lowFrequencyContainer->present = LowFrequencyContainer_PR_basicVehicleContainerLowFrequency;
BasicVehicleContainerLowFrequency_t* bvc_lf = &cam->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency;
BasicVehicleContainerLowFrequency_t* bvc_lf = &cam->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency;
if(lightship->use_obd){
uint8_t el = 0x00;
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;
}
}
// 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;
@ -277,6 +277,7 @@ static int mk_cam(uint8_t *cam_oer, uint32_t *cam_len) {
ph->list.array[i]->pathDeltaTime = calloc(1,sizeof(PathDeltaTime_t));
*ph->list.array[i]->pathDeltaTime = (lightship->pos_history[i]->ts - lightship->pos_history[i+1]->ts)/10;
}
lightship->last_cam_lfc = now;
@ -354,20 +355,18 @@ int lightship_init() {
lightship_t* lightship = &facilities.lightship;
lightship->protected_zones.pz = calloc(256 , sizeof(void*));
lightship->protected_zones.pz = calloc(256, sizeof(void*));
pthread_mutex_init(&lightship->lock, NULL);
lightship->pos_history = malloc(POS_HISTORY_MAX_LEN * sizeof(void*));
int shm_fd;
shm_fd = shm_open("it2s-obd", O_RDONLY, 0666);
if(shm_fd == -1){
if (shm_fd == -1) {
log_debug("obd shmem not found\n");
lightship->use_obd = 0;
}
else{
log_debug("obd shmem found\n");
} else {
log_debug("obd shmem found\n");
lightship->use_obd = 1;
close(shm_fd);
}
@ -700,7 +699,7 @@ static int check_pz() {
return is_inside;
}
void *ca_service() {
void* ca_service() {
int rv = 0;
TransportRequest_t* tr = calloc(1, sizeof(TransportRequest_t));

27
src/cam.h
View File

@ -86,12 +86,39 @@ typedef struct lightship {
} lightship_t;
/*
* @brief Initializes the main CA struct (lightship)
*
* @return Always zero
*/
int lightship_init();
/*
* @brief Checks if a CAM must be sent
*
* @return True if CAM must be sent, false otherwise
*/
int lightship_check();
/*
* @brief Resets the CAM sending timer
*
* @return Nothing
*/
void lightship_reset_timer();
/*
* @brief Analyzes a received CAM
*
* @return A CAM check code
*/
enum CAM_CHECK_R check_cam(BTPPacketIndication_t* bpi, CAM_t* cam,uint8_t* ssp, uint32_t ssp_len);
/*
* @brief Main CA service
*
* @return NULL
*/
void* ca_service();
#endif