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

add roadmap information file (#16)

Browse Source
This commit is contained in:
Thomas Pfleiderer
2026-08-13 12:30:12 +02:00
committed by GitHub
parent f900e8dff5
commit 5118aaf379
6 changed files with 140 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
examples/open_trunk_example/open_trunk_app/trunk_application.cpp
View File

@@ -43,7 +43,7 @@ bool CTrunkControl::IsSDVFrameworkEnvironmentSet()
return false;
}
bool CTrunkControl::Initialize(uint32_t uiInstance)
bool CTrunkControl::Initialize(bool bSimulate, uint32_t uiInstance)
{
if (m_bInitialized)
return true;
@@ -54,7 +54,7 @@ bool CTrunkControl::Initialize(uint32_t uiInstance)
m_appcontrol.SetFrameworkRuntimeDirectory("../../bin");
}
if (uiInstance != 0)
if (uiInstance != 0 && !bSimulate)
{
std::stringstream sstreamAppConfig;
sstreamAppConfig << "[Application]" << std::endl;
@@ -76,8 +76,17 @@ bool CTrunkControl::Initialize(uint32_t uiInstance)
bool bResult = LoadConfigFile("Load dispatch service: ", "data_dispatch_trunk.toml");
bResult &= LoadConfigFile("Load task_timer_trunk: ", "task_timer_trunk.toml");
bResult &= LoadConfigFile("Load can_com_simulation_trunk: ", "can_com_simulation_trunk.toml");
bResult &= LoadConfigFile("Load data_link_trunk: ", "data_link_trunk.toml");
if (bSimulate)
{
sdv::core::CDispatchService dispatch;
m_signalSpeed = dispatch.RegisterRxSignal("CAN_Input.Speed");
m_signalTrunk = dispatch.RegisterTxSignal("CAN_Output.OpenTrunk", 0);
}
else
{
bResult &= LoadConfigFile("Load can_com_simulation_trunk: ", "can_com_simulation_trunk.toml");
bResult &= LoadConfigFile("Load data_link_trunk: ", "data_link_trunk.toml");
}
bResult &= LoadConfigFile("Load trunk_vehicle_device_and_basic_service: ", "trunk_vehicle_device_and_basic_service.toml");
//bResult &= LoadConfigFile("Load trunk service (complex service): ", "complex_service_trunk.toml");
@@ -96,6 +105,19 @@ bool CTrunkControl::Initialize(uint32_t uiInstance)
void CTrunkControl::Shutdown()
{
m_bSimulateRunning = false;
if (m_threadSimulate.joinable())
m_threadSimulate.join();
if (m_signalSpeed)
{
m_signalSpeed.Reset();
};
if (m_signalTrunk)
{
m_signalTrunk.Reset();
};
if (!m_bInitialized)
m_appcontrol.Shutdown();
m_bInitialized = false;
@@ -105,4 +127,35 @@ void CTrunkControl::SetRunningMode()
{
m_appcontrol.SetRunningMode();
}
void CTrunkControl::StartSimulation()
{
m_bSimulateRunning = true;
m_threadSimulate = sdv::core::secure_thread(&CTrunkControl::SimulateThreadFunction, this);
}
void CTrunkControl::SimulateThreadFunction()
{
bool bIsMoving = true;
uint32_t maxLoopCount = 20;
m_signalSpeed.Write(0);
while (m_bSimulateRunning)
{
uint32_t loop = 0;
uint32_t speed = 0;
while (loop < maxLoopCount && m_bSimulateRunning)
{
if (bIsMoving)
{
speed = loop * 5;
}
m_signalSpeed.Write(speed);
loop++;
std::this_thread::sleep_for(std::chrono::milliseconds(300));
}
bIsMoving = !bIsMoving;
}
}