Precommit (#1)

* first commit * cleanup
2026-04-20 03:08:17 +00:00 · 2025-11-04 13:28:06 +01:00
parent dba45dc636
commit 6ed4b1534e
898 changed files with 256340 additions and 0 deletions
--- a/examples/auto_headlamp_example/autoheadlight_app/autoheadlight_console.cpp
+++ b/examples/auto_headlamp_example/autoheadlight_app/autoheadlight_console.cpp
@@ -0,0 +1,355 @@
+#include "autoheadlight_console.h"
+
+#ifdef _WIN32
+#include <conio.h>      // Needed for _kbhit
+#else
+#include <fcntl.h>
+#endif
+
+const CConsole::SConsolePos g_sTitle{ 1, 1 };
+const CConsole::SConsolePos g_sLatitudeMin{ 3, 1 };
+const CConsole::SConsolePos g_sLatitudeMax{ 3, 30 };
+const CConsole::SConsolePos g_sLongitudeMin{ 4, 1 };
+const CConsole::SConsolePos g_sLongitudeMax{ 4, 30 };
+const CConsole::SConsolePos g_sSeparator11{ 6, 1 };
+const CConsole::SConsolePos g_sSeparator12{ 8, 1 };
+const CConsole::SConsolePos g_sDispatchService1{ 9, 1 };
+const CConsole::SConsolePos g_sDispatchService2{ 10, 1 };
+const CConsole::SConsolePos g_sDispatchService4{ 12, 1 };
+const CConsole::SConsolePos g_sSeparator21{ 14, 1 };
+const CConsole::SConsolePos g_sSeparator22{ 16, 1 };
+const CConsole::SConsolePos g_sVehicleDevice1{ 17, 1 };
+const CConsole::SConsolePos g_sVehicleDevice2{ 18, 1 };
+const CConsole::SConsolePos g_sSeparator31{ 20, 1 };
+const CConsole::SConsolePos g_sSeparator32{ 22, 1 };
+const CConsole::SConsolePos g_sBasicService1{ 23, 1 };
+const CConsole::SConsolePos g_sBasicService2{ 24, 1 };
+const CConsole::SConsolePos g_sSeparator4{ 26, 1 };
+const CConsole::SConsolePos g_sComplexService1{ 28, 1 };
+const CConsole::SConsolePos g_sComplexService2{ 29, 1 };
+const CConsole::SConsolePos g_sComplexService3{ 30, 1 };
+const CConsole::SConsolePos g_sSeparator5{ 32, 1 };
+const CConsole::SConsolePos g_sControlDescription{ 34, 1 };
+const CConsole::SConsolePos g_sCursor{ 35, 1 };
+
+CConsole::CConsole()
+{
+#ifdef _WIN32
+    // Enable ANSI escape codes
+    HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
+    if (hStdOut != INVALID_HANDLE_VALUE && GetConsoleMode(hStdOut, &m_dwConsoleOutMode))
+        SetConsoleMode(hStdOut, m_dwConsoleOutMode | ENABLE_VIRTUAL_TERMINAL_PROCESSING);
+    HANDLE hStdIn = GetStdHandle(STD_INPUT_HANDLE);
+    if (hStdIn != INVALID_HANDLE_VALUE && GetConsoleMode(hStdIn, &m_dwConsoleInMode))
+        SetConsoleMode(hStdIn, m_dwConsoleInMode & ~(ENABLE_ECHO_INPUT | ENABLE_LINE_INPUT));
+#elif defined __unix__
+    // Disable echo
+    tcgetattr(STDIN_FILENO, &m_sTermAttr);
+    struct termios sTermAttrTemp = m_sTermAttr;
+    sTermAttrTemp.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &sTermAttrTemp);
+    m_iFileStatus = fcntl(STDIN_FILENO, F_GETFL, 0);
+    fcntl(STDIN_FILENO, F_SETFL, m_iFileStatus | O_NONBLOCK);
+#else
+#error The OS is not supported!
+#endif
+}
+
+CConsole::~CConsole()
+{
+    SetCursorPos(g_sCursor);
+
+#ifdef _WIN32
+    // Return to the stored console mode
+    HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
+    if (hStdOut != INVALID_HANDLE_VALUE)
+        SetConsoleMode(hStdOut, m_dwConsoleOutMode);
+    HANDLE hStdIn = GetStdHandle(STD_INPUT_HANDLE);
+    if (hStdIn != INVALID_HANDLE_VALUE)
+        SetConsoleMode(hStdIn, m_dwConsoleInMode);
+#elif defined __unix__
+    // Return the previous file status flags.
+    fcntl(STDIN_FILENO, F_SETFL, m_iFileStatus);
+
+    // Return to previous terminal state
+    tcsetattr(STDIN_FILENO, TCSANOW, &m_sTermAttr);
+#endif
+}
+
+void CConsole::PrintHeader()
+{
+    // Clear the screen...
+    std::cout << "\x1b[2J";
+
+    // Print the titles
+    PrintText(g_sTitle, "Headlight");
+    PrintText(g_sSeparator11, "============================================================================");
+    PrintText(g_sSeparator12, "Data dispatch service:");
+    PrintText(g_sSeparator21, "----------------------------------------------------------------------------");
+    PrintText(g_sSeparator22, "Vehicle device:");
+    PrintText(g_sSeparator31, "----------------------------------------------------------------------------");
+    PrintText(g_sSeparator32, "Basic services:");
+    PrintText(g_sSeparator4, "----------------------------------------------------------------------------");
+    PrintText(g_sComplexService1, "Complex service:");
+    PrintText(g_sSeparator5, "----------------------------------------------------------------------------");
+    PrintText(g_sControlDescription, "Press 'X' to quit.");
+}
+
+bool CConsole::PrepareDataConsumers()
+{
+    // Vehicle Device
+    auto pVDCurrentLatitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLatitude_Device").GetInterface<vss::Vehicle::Position::CurrentLatitudeDevice::IVSS_CurrentLatitude>();
+    if (!pVDCurrentLatitudeSvc)
+    {
+        SDV_LOG_ERROR("Could not get interface 'IVSS_GetVDCurrentLatitude': [CAutoHeadlightService]");
+        return false;
+    }
+
+    auto pVDCurrentLongitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLongitude_Device").GetInterface<vss::Vehicle::Position::CurrentLongitudeDevice::IVSS_CurrentLongitude>();
+    if (!pVDCurrentLongitudeSvc)
+    {
+        SDV_LOG_ERROR("Could not get interface 'IVSS_GetVDCurrentLongitude': [CAutoHeadlightService]");
+        return false;
+    }
+
+    if (pVDCurrentLatitudeSvc)
+        pVDCurrentLatitudeSvc->RegisterCurrentLatitudeEvent(static_cast<vss::Vehicle::Position::CurrentLatitudeDevice::IVSS_WriteCurrentLatitude_Event*> (this));
+
+    if (pVDCurrentLongitudeSvc)
+        pVDCurrentLongitudeSvc->RegisterCurrentLongitudeEvent(static_cast<vss::Vehicle::Position::CurrentLongitudeDevice::IVSS_WriteCurrentLongitude_Event*> (this));
+
+    // BASIC SERVICES
+    auto pBSCurrentLatitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLatitude_Service").GetInterface<vss::Vehicle::Position::CurrentLatitudeService::IVSS_GetCurrentLatitude>();
+    if (!pBSCurrentLatitudeSvc)
+    {
+        SDV_LOG_ERROR("Could not get interface 'IVSS_GetBSCurrentLatitude': [CAutoHeadlightService]");
+        return false;
+    }
+
+    auto pBSCurrentLongitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLongitude_Service").GetInterface<vss::Vehicle::Position::CurrentLongitudeService::IVSS_GetCurrentLongitude>();
+    if (!pBSCurrentLongitudeSvc)
+    {
+        SDV_LOG_ERROR("Could not get interface 'IVSS_GetBSCurrentLongitude': [CAutoHeadlightService]");
+        return false;
+    }
+
+    if (pBSCurrentLatitudeSvc)
+        pBSCurrentLatitudeSvc->RegisterOnSignalChangeOfFCurrentLatitude(static_cast<vss::Vehicle::Position::CurrentLatitudeService::IVSS_SetCurrentLatitude_Event*> (this));
+
+    if (pBSCurrentLongitudeSvc)
+        pBSCurrentLongitudeSvc->RegisterOnSignalChangeOfFCurrentLongitude(static_cast<vss::Vehicle::Position::CurrentLongitudeService::IVSS_SetCurrentLongitude_Event*> (this));
+
+    RegisterSignals();
+    UpdateTXSignal(g_sDispatchService4, "Headlight:", m_signalHeadlight, m_bHeadLight);
+
+    m_pIAutoheadlightComplexService = sdv::core::GetObject("Auto Headlight Service").GetInterface<IAutoheadlightService>();
+
+    if (!m_pIAutoheadlightComplexService)
+    {
+        SDV_LOG_ERROR("Console ERROR: Could not get complex service interface 'IAutoheadlightService'");
+        return false;
+    }
+
+    auto tunnel = m_pIAutoheadlightComplexService->GetGPSBoundBox();
+
+    std::string minLatitude = "Tunnel Latitude: ";
+    std::string maxLatitude = " - ";
+    std::string minLongitude = "       Longitude: ";
+    std::string maxLongitude = " - ";
+    minLatitude.append(std::to_string(tunnel.fTunnelMinLat));
+    maxLatitude.append(std::to_string(tunnel.fTunnelMaxLat));
+    minLongitude.append(std::to_string(tunnel.fTunnelMinLon));
+    maxLongitude.append(std::to_string(tunnel.fTunnelMaxLon));
+
+    PrintText(g_sLatitudeMin, minLatitude);
+    PrintText(g_sLatitudeMax, maxLatitude);
+    PrintText(g_sLongitudeMin, minLongitude);
+    PrintText(g_sLongitudeMax, maxLongitude);
+
+    return true;
+}
+
+
+bool  CConsole::RegisterSignals()
+{
+    // Set the cursor position at the end
+    SetCursorPos(g_sCursor);
+
+    sdv::core::CDispatchService dispatch;
+    m_signalCurrentLatitude = dispatch.Subscribe(headlight::dsFCurrentLatitude, [&](sdv::any_t value) {  CallbackCurrentLatitude(value); });
+    m_signalCurrentLongitude = dispatch.Subscribe(headlight::dsFCurrentLongitude, [&](sdv::any_t value) { CallbackCurrentLongitude(value); });
+    m_signalHeadlight = dispatch.RegisterTxSignal(headlight::dsBHeadLightLowBeam, false);
+
+    return true;
+}
+
+
+void CConsole::CallbackCurrentLatitude(sdv::any_t value)
+{
+    m_fCurrentLatitude = value.get<float>();
+    PrintValue(g_sDispatchService1, "Latitude: ", m_fCurrentLatitude, " N");
+}
+void CConsole::CallbackCurrentLongitude(sdv::any_t value)
+{
+    m_fCurrentLongitude = value.get<float>();
+    PrintValue(g_sDispatchService2, "Longitude: ", m_fCurrentLongitude, " E");
+}
+
+
+void CConsole::ResetSignals()
+{
+    // Set the cursor position at the end
+    SetCursorPos(g_sCursor);
+
+    // Vehicle Device
+    auto pVDCurrentLatitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLatitude_Device").GetInterface<vss::Vehicle::Position::CurrentLatitudeDevice::IVSS_CurrentLatitude>();
+    if (pVDCurrentLatitudeSvc)
+        pVDCurrentLatitudeSvc->UnregisterCurrentLatitudeEvent(static_cast<vss::Vehicle::Position::CurrentLatitudeDevice::IVSS_WriteCurrentLatitude_Event*> (this));
+
+    auto pVDCurrentLongitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLongitude_Device").GetInterface<vss::Vehicle::Position::CurrentLongitudeDevice::IVSS_CurrentLongitude>();
+    if (pVDCurrentLongitudeSvc)
+        pVDCurrentLongitudeSvc->UnregisterCurrentLongitudeEvent(static_cast<vss::Vehicle::Position::CurrentLongitudeDevice::IVSS_WriteCurrentLongitude_Event*> (this));
+
+    // BASIC SERVICES
+    auto pBSCurrentLatitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLatitude_Service").GetInterface<vss::Vehicle::Position::CurrentLatitudeService::IVSS_GetCurrentLatitude>();
+    if (pBSCurrentLatitudeSvc)
+        pBSCurrentLatitudeSvc->RegisterOnSignalChangeOfFCurrentLatitude(static_cast<vss::Vehicle::Position::CurrentLatitudeService::IVSS_SetCurrentLatitude_Event*> (this));
+
+    auto pBSCurrentLongitudeSvc = sdv::core::GetObject("Vehicle.Position.CurrentLongitude_Service").GetInterface<vss::Vehicle::Position::CurrentLongitudeService::IVSS_GetCurrentLongitude>();
+    if (pBSCurrentLongitudeSvc)
+        pBSCurrentLongitudeSvc->RegisterOnSignalChangeOfFCurrentLongitude(static_cast<vss::Vehicle::Position::CurrentLongitudeService::IVSS_SetCurrentLongitude_Event*> (this)); 
+
+
+    if (m_signalCurrentLatitude)
+    {
+        m_signalCurrentLatitude.Reset();
+    }
+    if (m_signalCurrentLongitude)
+    {
+        m_signalCurrentLongitude.Reset();
+    }
+    if (m_signalHeadlight)
+    {
+        m_signalHeadlight.Reset();
+    }
+}
+
+
+void CConsole::WriteCurrentLatitude(float value)
+{
+    m_fVehicleDeviceCurrentLatitude = value;
+    PrintValue(g_sVehicleDevice1, "Latitude: ", m_fVehicleDeviceCurrentLatitude, " N");
+}
+
+void CConsole::WriteCurrentLongitude(float value)
+{
+    m_fVehicleDeviceCurrentLongitude = value;
+    PrintValue(g_sVehicleDevice2, "Longitude: ", m_fVehicleDeviceCurrentLongitude, " E");
+}
+
+void CConsole::SetCurrentLatitude(float value)
+{
+    m_fBasicServiceCurrentLatitude = value;
+    PrintValue(g_sBasicService1, "Latitude: ", m_fBasicServiceCurrentLatitude, " N");
+}
+
+void CConsole::SetCurrentLongitude(float value)
+{
+    m_fBasicServiceCurrentLongitude = value;
+    PrintValue(g_sBasicService2, "Longitude: ", m_fBasicServiceCurrentLongitude, " E");
+}
+
+CConsole::SConsolePos CConsole::GetCursorPos() const
+{
+    SConsolePos sPos{};
+    std::cout << "\033[6n";
+
+    char buff[128];
+    int indx = 0;
+    for (;;) {
+        int cc = std::cin.get();
+        buff[indx] = (char)cc;
+        indx++;
+        if (cc == 'R') {
+            buff[indx + 1] = '\0';
+            break;
+        }
+    }
+    int iRow = 0, iCol = 0;
+    sscanf(buff, "\x1b[%d;%dR", &iRow, &iCol);
+    sPos.uiRow = static_cast<uint32_t>(iRow);
+    sPos.uiCol = static_cast<uint32_t>(iCol);
+    fseek(stdin, 0, SEEK_END);
+
+    return sPos;
+}
+
+void CConsole::SetCursorPos(SConsolePos sPos)
+{
+    std::cout << "\033[" << sPos.uiRow << ";" << sPos.uiCol << "H";
+}
+
+void CConsole::PrintText(SConsolePos sPos, const std::string& rssText)
+{
+    std::lock_guard<std::mutex> lock(m_mtxPrintToConsole);
+    SetCursorPos(sPos);
+    std::cout << rssText;
+}
+
+
+void CConsole::UpdateTXSignal(SConsolePos sPos, const std::string& label, sdv::core::CSignal& signal, bool& value)
+{
+    if (signal)
+    {
+        auto headlight = value;
+        value = signal.Read().get<bool>();
+        if (headlight != value)
+        {
+            PrintValue(sPos, label, value, (value ? "on >>>>>>>>>>>>>>>>>>>>>>" : "off                       "));
+        }
+    }
+}
+
+void CConsole::UpdateDataThreadFunc()
+{
+    static auto oldLight = m_pIAutoheadlightComplexService->GetHeadlightStatus();
+    static auto olsIsInTunnel = m_pIAutoheadlightComplexService->IsinTunnel();
+    PrintValue(g_sComplexService2, "Light: ", olsIsInTunnel, (olsIsInTunnel ? "on" : "off")); 
+    PrintValue(g_sComplexService3, "Is in tunnel: ", oldLight, (oldLight ? "yes" : "no"));
+    while (m_bRunning)
+    {
+        UpdateTXSignal(g_sDispatchService4, "Headlight:", m_signalHeadlight, m_bHeadLight);
+        auto light = m_pIAutoheadlightComplexService->GetHeadlightStatus();
+        if (oldLight != light)
+        {
+            PrintValue(g_sComplexService3, "Is in tunnel: ", light, (light ? "yes" : "no"));
+            oldLight = light;
+        }
+        auto isInTunnel = m_pIAutoheadlightComplexService->IsinTunnel();
+        if (olsIsInTunnel != isInTunnel)
+        {
+            PrintValue(g_sComplexService2, "Headlight: ", isInTunnel, (isInTunnel ? "on" : "off"));
+            olsIsInTunnel = isInTunnel;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+}
+
+void CConsole::StartUpdateDataThread()
+{
+    if (m_bThreadStarted)
+        return;
+
+    m_bThreadStarted = true;
+
+    m_bRunning = true;
+    m_threadReadTxSignals = std::thread(&CConsole::UpdateDataThreadFunc, this);
+}
+
+void CConsole::StopUpdateDataThread()
+{
+    // Stop running and wait for any thread to finalize
+    m_bRunning = false;
+    if (m_threadReadTxSignals.joinable())
+        m_threadReadTxSignals.join();
+}