ros2/openvehicle-api
3
0
Fork 0
mirror of https://github.com/eclipse-openvehicle-api/openvehicle-api.git synced 2026-08-30 12:15:12 +00:00
Code Issues Packages Projects Releases 1 Wiki Activity

connection between 2 systems and bug fixes (#14)

Browse Source
This commit is contained in:
tompzf
2026-07-03 14:53:48 +02:00
committed by GitHub
parent 0fb5660d27
commit 46842200f1
284 changed files with 35200 additions and 8265 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
examples/open_trunk_example/open_trunk_app/console.cpp
View File

@@ -34,9 +34,11 @@ const CConsole::SConsolePos g_sComment3{ 24, 1 };
const CConsole::SConsolePos g_sSeparator5{ 26, 1 };
const CConsole::SConsolePos g_sOpenViaDevice{ 28, 1 };
const CConsole::SConsolePos g_sOpenViaService{ 29, 1 };
const CConsole::SConsolePos g_sSeparator6{ 31, 1 };
const CConsole::SConsolePos g_sControlDescription{ 33, 1 };
const CConsole::SConsolePos g_sCursor{ 34, 1 };
const CConsole::SConsolePos g_sAutoCloseTrunk{ 30, 1 };
const CConsole::SConsolePos g_sStatusTrunk{ 32, 1 };
const CConsole::SConsolePos g_sSeparator6{ 34, 1 };
const CConsole::SConsolePos g_sControlDescription{ 36, 1 };
const CConsole::SConsolePos g_sCursor{ 37, 1 };
CConsole::CConsole()
{
@@ -92,6 +94,7 @@ void CConsole::PrintHeader(uint32_t uiInstance)
{
subTtitle = "Connected to core instance ";
subTtitle.append(std::to_string(uiInstance));
subTtitle.append(" (not all interfaces available)");
}
// Print the titles
PrintText(g_sTitle, "Open Trunk example: Open trunk when vehicle is not moving");
@@ -108,7 +111,7 @@ void CConsole::PrintHeader(uint32_t uiInstance)
PrintText(g_sSeparator4, "============================================================================");
PrintText(g_sComment1, "The Open Trunk signal has a safety request.");
PrintText(g_sComment2, "Therefore the speed value is required and must be checked.");
PrintText(g_sComment3, "If the car is moving, open is blocked and trunk is closed automatically.");
PrintText(g_sComment3, "If the vehicle is moving, open is blocked and trunk is closed automatically.");
PrintText(g_sSeparator5, "============================================================================");
PrintText(g_sOpenViaDevice, "Vehicle Device Interface not available.");
PrintText(g_sOpenViaService, "Basic Service Interface not available.");
@@ -124,7 +127,7 @@ bool CConsole::PrepareDataConsumers()
if (m_SignalSpeed)
PrintValue(g_sDataLinkSpeed, "Vehicle Speed RX", m_SpeedDL, "m/s");
// Registrate for the vehicle device & basic service of the speed.
// Register for the vehicle device & basic service of the speed.
auto vehicleDevice = sdv::core::GetObject("Vehicle.Speed_Device").GetInterface<vss::Vehicle::SpeedDevice::IVSS_ReadSpeed>();
if (vehicleDevice)
{
@@ -153,6 +156,10 @@ bool CConsole::PrepareDataConsumers()
else
PrintText(g_sOpenViaDevice, "Trunk Device NOT available");
m_SignalStatusTrunk = dispatch.RegisterTxSignal(trunk::dsTrunk, 0);
if (!m_SignalStatusTrunk)
PrintText(g_sStatusTrunk, "Trunk Status not available.");
return true;
}
@@ -172,6 +179,9 @@ void CConsole::ResetSignals()
// Unregister the data link signals
if (m_SignalSpeed)
m_SignalSpeed.Reset();
if (m_SignalStatusTrunk)
m_SignalStatusTrunk.Reset();
}
void CConsole::CallbackSpeed(sdv::any_t value)
@@ -246,7 +256,13 @@ void CConsole::SetSpeed(float value)
if (bIsMoving && !m_bWasMovingBS)
{
PrintText(g_sOpenViaService, "Safety active: speed > 0, trunk close command sent.");
if (m_pTrunkService)
{
if (m_pTrunkService->SetOpen(false))
PrintText(g_sAutoCloseTrunk, "Safety feature active: Trunk closed as the vehicle started moving.");
else
PrintText(g_sOpenViaService, "Close trunk automatically failed.");
}
}
m_bWasMovingBS = bIsMoving;
}
@@ -278,9 +294,24 @@ char CConsole::GetChar()
void CConsole::RunUntilBreak()
{
bool bRunning = true;
bool bTrunkClosed = true;
while (bRunning)
{
if(m_SignalStatusTrunk)
{
auto value =m_SignalStatusTrunk.Read().get<bool>();
if (bTrunkClosed != value)
{
bTrunkClosed = value;
if (bTrunkClosed)
PrintText(g_sStatusTrunk, "Status: Trunk is open.");
else
PrintText(g_sStatusTrunk, "Status: Trunk is closed.");
}
}
// Check for a key
if (!KeyHit())
{
@@ -294,17 +325,19 @@ void CConsole::RunUntilBreak()
{
case 'c':
case 'C':
PrintText(g_sOpenViaDevice, " ");
PrintText(g_sOpenViaService, " ");
PrintText(g_sOpenViaDevice, " ");
PrintText(g_sOpenViaService, " ");
PrintText(g_sAutoCloseTrunk, " ");
break;
case 'd':
case 'D':
if (m_pTrunkDevice)
{
PrintText(g_sAutoCloseTrunk, " ");
if (m_pTrunkDevice->WriteOpen(true))
{
if (m_SpeedVD || m_SpeedBS)
PrintText(g_sOpenViaDevice, "Trunk opened directly although car was moving, not safe.");
PrintText(g_sOpenViaDevice, "Trunk opened directly although vehicle was moving, not safe.");
else
PrintText(g_sOpenViaDevice, "Trunk opened directly, not safe.");
}
@@ -316,10 +349,11 @@ void CConsole::RunUntilBreak()
case 'O':
if (m_pTrunkService)
{
PrintText(g_sAutoCloseTrunk, " ");
if (m_pTrunkService->SetOpen(true))
PrintText(g_sOpenViaService, "Trunk opened safely (auto-close if vehicle starts moving).");
else
PrintText(g_sOpenViaService, "Open trunk failed, car is moving.");
PrintText(g_sOpenViaService, "Open trunk failed, vehicle is moving.");
}
break;
case 'x':

1
examples/open_trunk_example/open_trunk_app/console.h
View File

@@ -157,6 +157,7 @@ private:
mutable std::mutex m_mtxPrintToConsole; ///< Mutex to print complete message
bool m_bRunning = false; ///< When set, the application is running.
sdv::core::CSignal m_SignalStatusTrunk; ///< Status of the trunk, only available in the standalone example
sdv::core::CSignal m_SignalSpeed; ///< Speed
float m_SpeedDL = 0.0; ///< Speed Data Link
float m_SpeedVD = 0.0; ///< Speed Vehicle Device