mirror of
https://github.com/eclipse-openvehicle-api/openvehicle-api.git
synced 2026-04-10 15:40:24 +00:00
316 lines
11 KiB
C++
316 lines
11 KiB
C++
/********************************************************************************
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* Copyright (c) 2025-2026 ZF Friedrichshafen AG
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*
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* This program and the accompanying materials are made available under the
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* terms of the Apache License Version 2.0 which is available at
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* SPDX-License-Identifier: Apache-2.0
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********************************************************************************/
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#include "console.h"
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#ifdef _WIN32
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#include <conio.h> // Needed for _kbhit
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#else
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#include <fcntl.h>
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#endif
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const CConsole::SConsolePos g_sTitle{ 1, 1 };
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const CConsole::SConsolePos g_sSubTitle1{ 2, 1 };
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const CConsole::SConsolePos g_sSubTitle2{3, 1};
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const CConsole::SConsolePos g_sSeparator1{ 5, 1 };
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const CConsole::SConsolePos g_sDataUnit{ 7, 1 };
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const CConsole::SConsolePos g_sDataLinkSpeed{ 8, 1 };
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const CConsole::SConsolePos g_sSeparator2{ 10, 1 };
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const CConsole::SConsolePos g_sDeviceServiceSpeed{ 12, 1 };
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const CConsole::SConsolePos g_sSeparator3{ 14, 1 };
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const CConsole::SConsolePos g_sBasicServiceSpeed{ 16, 1 };
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const CConsole::SConsolePos g_sSeparator4{ 18, 1 };
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const CConsole::SConsolePos g_sComment1{ 20, 1 };
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const CConsole::SConsolePos g_sComment2{ 21, 1 };
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const CConsole::SConsolePos g_sComment3{ 23, 1 };
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const CConsole::SConsolePos g_sComment4{ 24, 1 };
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const CConsole::SConsolePos g_sComment5{ 25, 1 };
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const CConsole::SConsolePos g_sComment6{ 27, 1 };
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const CConsole::SConsolePos g_sComment7{ 28, 1 };
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const CConsole::SConsolePos g_sSeparator5{ 30, 1 };
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const CConsole::SConsolePos g_sControlDescription{ 32, 1 };
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const CConsole::SConsolePos g_sCursor{ 33, 1 };
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CConsole::CConsole()
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{
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#ifdef _WIN32
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// Enable ANSI escape codes
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HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
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if (hStdOut != INVALID_HANDLE_VALUE && GetConsoleMode(hStdOut, &m_dwConsoleOutMode))
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SetConsoleMode(hStdOut, m_dwConsoleOutMode | ENABLE_VIRTUAL_TERMINAL_PROCESSING);
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HANDLE hStdIn = GetStdHandle(STD_INPUT_HANDLE);
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if (hStdIn != INVALID_HANDLE_VALUE && GetConsoleMode(hStdIn, &m_dwConsoleInMode))
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SetConsoleMode(hStdIn, m_dwConsoleInMode & ~(ENABLE_ECHO_INPUT | ENABLE_LINE_INPUT));
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#elif defined __unix__
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// Disable echo
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tcgetattr(STDIN_FILENO, &m_sTermAttr);
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struct termios sTermAttrTemp = m_sTermAttr;
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sTermAttrTemp.c_lflag &= ~(ICANON | ECHO);
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tcsetattr(STDIN_FILENO, TCSANOW, &sTermAttrTemp);
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m_iFileStatus = fcntl(STDIN_FILENO, F_GETFL, 0);
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fcntl(STDIN_FILENO, F_SETFL, m_iFileStatus | O_NONBLOCK);
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#else
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#error The OS is not supported!
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#endif
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}
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CConsole::~CConsole()
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{
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SetCursorPos(g_sCursor);
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#ifdef _WIN32
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// Return to the stored console mode
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HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
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if (hStdOut != INVALID_HANDLE_VALUE)
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SetConsoleMode(hStdOut, m_dwConsoleOutMode);
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HANDLE hStdIn = GetStdHandle(STD_INPUT_HANDLE);
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if (hStdIn != INVALID_HANDLE_VALUE)
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SetConsoleMode(hStdIn, m_dwConsoleInMode);
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#elif defined __unix__
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// Return the previous file status flags.
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fcntl(STDIN_FILENO, F_SETFL, m_iFileStatus);
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// Return to previous terminal state
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tcsetattr(STDIN_FILENO, TCSANOW, &m_sTermAttr);
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#endif
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}
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void CConsole::PrintHeader()
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{
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// Clear the screen...
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std::cout << "\x1b[2J";
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// Print the titles
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PrintText(g_sTitle, "Vehicle Abstraction: ");
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PrintText(g_sSubTitle1, "This example demonstrates that the vehicle function implementation is independent of the vehicle itself.");
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PrintText(g_sSubTitle2, "CAN bus vehicle 1 => km/h, CAN bus vehicle 2 => m/s.");
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PrintText(g_sSeparator1, "====================================================================================================================");
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PrintText(g_sDataUnit, m_DataUnit);
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PrintText(g_sDataLinkSpeed, "Data Link not available.");
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PrintText(g_sSeparator2, "--------------------------------------------------------------------------------------------------------------------");
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PrintText(g_sDeviceServiceSpeed, "Platform Abstraction Interface not available.");
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PrintText(g_sSeparator3, "--------------------------------------------------------------------------------------------------------------------");
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PrintText(g_sBasicServiceSpeed, "Basic Service Interface not available.");
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PrintText(g_sSeparator4, "====================================================================================================================");
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PrintText(g_sComment1, "The dispatch service displays the value that is written by the CAN message read from the ASC file.");
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PrintText(g_sComment2, "The speed should be increased by steps of 10 km/h.");
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PrintText(g_sComment3, "The 'Platform Abstraction' component is responsible for the vehicle abstraction and converts the value if necessary.");
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PrintText(g_sComment4, "The example contains 2 components for 'Platform Abstraction' with identical output interfaces.");
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PrintText(g_sComment5, "Depending on the input (m/s or km/h) the correct 'Platform Abstraction' component must be loaded.");
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PrintText(g_sComment6, "Therefore, only one speed sensor component is required, which always receives the speed in km/h.");
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PrintText(g_sComment7, "The vehicle function does not require any logic that depends on the specific vehicle.");
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PrintText(g_sSeparator5, "====================================================================================================================");
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PrintText(g_sControlDescription, "Press 'X' to quit;");
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}
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bool CConsole::PrepareDataConsumers()
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{
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sdv::core::CDispatchService dispatch;
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m_SignalSpeed = dispatch.Subscribe(abstraction::dsVehicleSpeed, [&](sdv::any_t value) { CallbackSpeed(value); });
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if (m_SignalSpeed)
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{
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auto unit = m_Unit;
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unit.append(" [ data dispatch service - input from CAN bus ] ");
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PrintValue(g_sDataLinkSpeed, "Vehicle Speed RX", m_SpeedDataLink, unit);
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}
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auto deviceServiceSpeed = sdv::core::GetObject("Vehicle.Speed_Device").GetInterface<vss::Vehicle::SpeedDevice::IVSS_ReadSpeed>();
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if (deviceServiceSpeed)
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{
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PrintValue(g_sDeviceServiceSpeed, "Vehicle Speed RX", m_PlatformSpeed, "km/h [ Output of Platform Abstraction, not accessible by application ] ");
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deviceServiceSpeed->RegisterSpeedEvent(dynamic_cast<vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event*> (this));
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}
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auto basicServiceSpeed = sdv::core::GetObject("Vehicle.Speed_Service").GetInterface<vss::Vehicle::SpeedService::IVSS_GetSpeed>();
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if (basicServiceSpeed)
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{
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PrintValue(g_sBasicServiceSpeed, "Vehicle Speed RX", m_BasicSpeed, "km/h [ Output of Speed Sensor Service, accessible by application ] ");
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basicServiceSpeed->RegisterOnSignalChangeOfVehicleSpeed(dynamic_cast<vss::Vehicle::SpeedService::IVSS_SetSpeed_Event*> (this));
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}
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return true;
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}
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void CConsole::WriteSpeed( float value)
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{
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if (m_PlatformSpeed != value)
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{
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m_PlatformSpeed = value;
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PrintValue(g_sDeviceServiceSpeed, "Vehicle Speed RX", m_PlatformSpeed, "km/h [ Output of Platform Abstraction, not accessible by application ] ");
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}
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}
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void CConsole::SetSpeed( float value)
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{
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if (m_BasicSpeed != value)
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{
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m_BasicSpeed= value;
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PrintValue(g_sBasicServiceSpeed, "Vehicle Speed RX", m_BasicSpeed, "km/h [ Output of Speed Sensor Service, accessible by application ] ");
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}
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}
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void CConsole::ResetSignals()
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{
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// Set the cursor position at the end
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SetCursorPos(g_sCursor);
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auto deviceServiceSpeed = sdv::core::GetObject("Vehicle.Speed_Devicee").GetInterface<vss::Vehicle::SpeedDevice::IVSS_ReadSpeed>();
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if (deviceServiceSpeed)
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{
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deviceServiceSpeed->UnregisterSpeedEvent(dynamic_cast<vss::Vehicle::SpeedDevice::IVSS_WriteSpeed_Event*> (this));
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}
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auto basicServiceSpeed = sdv::core::GetObject("Vehicle.Speed_Service").GetInterface<vss::Vehicle::SpeedService::IVSS_GetSpeed>();
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if (basicServiceSpeed)
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{
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basicServiceSpeed->UnregisterOnSignalChangeOfVehicleSpeed(dynamic_cast<vss::Vehicle::SpeedService::IVSS_SetSpeed_Event*> (this));
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}
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if (m_SignalSpeed)
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m_SignalSpeed.Reset();
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}
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void CConsole::CallbackSpeed(sdv::any_t value)
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{
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if (m_SpeedDataLink != value.get<float>())
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{
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m_SpeedDataLink = value.get<float>();
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auto unit = m_Unit;
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unit.append(" [ data dispatch service - input from CAN bus ] ");
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PrintValue(g_sDataLinkSpeed, "Vehicle Speed RX", m_SpeedDataLink, unit);
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}
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}
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CConsole::SConsolePos CConsole::GetCursorPos() const
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{
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SConsolePos sPos{};
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std::cout << "\033[6n";
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char buff[128];
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int indx = 0;
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for(;;) {
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int cc = std::cin.get();
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buff[indx] = (char)cc;
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indx++;
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if(cc == 'R') {
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buff[indx + 1] = '\0';
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break;
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}
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}
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int iRow = 0, iCol = 0;
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sscanf(buff, "\x1b[%d;%dR", &iRow, &iCol);
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sPos.uiRow = static_cast<uint32_t>(iRow);
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sPos.uiCol = static_cast<uint32_t>(iCol);
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fseek(stdin, 0, SEEK_END);
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return sPos;
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}
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void CConsole::SetCursorPos(SConsolePos sPos)
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{
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std::cout << "\033[" << sPos.uiRow << ";" << sPos.uiCol << "H";
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}
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void CConsole::PrintText(SConsolePos sPos, const std::string& rssText)
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{
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auto text = rssText;
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while (text.length() < 76)
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text.append(" ");
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std::lock_guard<std::mutex> lock(m_mtxPrintToConsole);
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SetCursorPos(sPos);
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std::cout << text;
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}
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bool CConsole::KeyHit()
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{
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#ifdef _WIN32
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return _kbhit();
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#elif __unix__
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int ch = getchar();
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if (ch != EOF) {
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ungetc(ch, stdin);
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return true;
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}
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return false;
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#endif
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}
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char CConsole::GetChar()
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{
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#ifdef _WIN32
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return static_cast<char>(_getch());
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#else
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return getchar();
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#endif
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}
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void CConsole::RunUntilBreak()
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{
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bool bRunning = true;
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while (bRunning)
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{
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// Check for a key
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if (!KeyHit())
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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continue;
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}
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// Get a keyboard value (if there is any).
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char c = GetChar();
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switch (c)
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{
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case 'x':
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case 'X':
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bRunning = false;
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break;
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default:
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break;
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}
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}
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}
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bool CConsole::SelectInputDataUnits()
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{
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// Clear the screen and goto top...
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std::cout << "\x1b[2J\033[0;0H";
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std::cout << "Click '1' to select km/h or '2' to select m/s";
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bool bIsKmh = false;
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char c = '0';
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while(c != '1' && c != '2')
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{
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c = GetChar();
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switch (c)
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{
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case '1':
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m_DataUnit = "[ --- Input data in km/h --- ]";
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m_Unit = "km/h";
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bIsKmh = true;
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break;
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case '2':
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m_DataUnit = "[ --- Input data in m/s --- ]";
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m_Unit = "m/s";
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bIsKmh = false;
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break;
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default:
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break;
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}
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}
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return bIsKmh;
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} |