//
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// Created by YY on 2019/12/27.
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//
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#include <cstdint>
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#include <cstdlib>
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#include <cstring>
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#include <pthread.h>
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#include <semaphore.h>
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#include <cmath>
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#include "platform.h"
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#include "../jni_log.h"
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#include "../common/net.h"
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#include "../native-lib.h"
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#include "../common/apptimer.h"
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#include "parse_net.h"
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#include "../defs.h"
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#include "../rtk_module/rtk.h"
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#include "../mcu/mcu_if.h"
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#include "../master/comm_if.h"
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#include "../utils/xconvert.h"
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#include "../utils/num.h"
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#include "../driver_test.h"
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#include "../test_common/car_sensor.h"
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#include "../test_items2/stop_car.h"
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#include "../test_items2/operate_gear.h"
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#include "../test_items2/drive_straight.h"
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#define PARSE_BUFF_SIZE 4096
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#define DEBUG(fmt, args...) LOGD("<platform> <%s>: " fmt, __func__, ##args)
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struct platformSocket {
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char domain_name[32];
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int port;
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};
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static struct deviceInfo_ {
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uint16_t province;
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uint16_t city;
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uint8_t device_model[21];
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uint8_t device_sn[17];
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char imei[17];
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}deviceInfo;
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struct platformSocketInfo {
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char domain_name[32];
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int port;
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};
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static struct platformStatus_ {
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uint8_t platformKey[64];
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int platformKeyLength;
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uint32_t connected : 1;
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uint32_t registed : 1;
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uint32_t login : 1;
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uint32_t downloadRtk : 1;
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} platformStatus;
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struct event_t {
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uint32_t id;
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int length;
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void *data;
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};
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static struct event_queue_t {
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struct event_t event;
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struct event_queue_t *next;
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} *eventQueue;
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struct platformSocket exceptSocket, currSocket;
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static sem_t sem_status_changed;
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static bool requestPlatformSendRtk = false;
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static int platform_tcp_fd = 0;
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static pthread_mutex_t platform_tx_mutex = PTHREAD_MUTEX_INITIALIZER;
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static pthread_mutex_t events_mutex = PTHREAD_MUTEX_INITIALIZER;
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static struct gpsBrief gbf;
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static struct rtkBrief rbf;
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static void AddEvnet(uint32_t event, const uint8_t *data, int length);
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static struct event_t * FetchEvent(void);
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static void RemoveEvent(void);
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static void ReqRtkPlatformConfigTimeout(union sigval sig);
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static void ConnectPlatform(const char *domain_name, int port);
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static void ConnectPlatformLater(union sigval sig);
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static void *PlatformDataListenThread(void *p);
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static void *StatusListenThread(void *p);
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static void PlatformChangeEntry(uint32_t events, const uint8_t *data, int length);
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static void RegisterPlatform(void);
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static void RegisterPlatformTimeout(union sigval sig);
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static void LoginPlatform(void);
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static void LoginPlatformTimeout(union sigval sig);
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static void TriggerHeartbeat(union sigval sig);
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static void RequestRtkNoResp(union sigval sig);
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static void AddEvnet(uint32_t event, const uint8_t *data, int length)
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{
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DEBUG("AddEvnet 0x%04X length %d", event, length);
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struct event_queue_t *nw = (struct event_queue_t *)malloc(sizeof(struct event_queue_t));
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nw->next = NULL;
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nw->event.id = event;
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nw->event.data = NULL;
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nw->event.length = 0;
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if (data != NULL && length > 0) {
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nw->event.data = malloc(length);
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nw->event.length = length;
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memcpy(nw->event.data, data, length);
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}
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pthread_mutex_lock(&events_mutex);
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struct event_queue_t *p = eventQueue;
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while (p != NULL && p->next != NULL) p = p->next;
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if (eventQueue == NULL)
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eventQueue = nw;
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else
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p->next = nw;
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pthread_mutex_unlock(&events_mutex);
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}
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static struct event_t * FetchEvent(void)
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{
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struct event_t *evp = NULL;
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pthread_mutex_lock(&events_mutex);
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struct event_queue_t *p = eventQueue;
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if (p != NULL) {
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evp = &p->event;
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}
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pthread_mutex_unlock(&events_mutex);
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return evp;
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}
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static void RemoveEvent(void)
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{
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void *p1 = NULL, *p2 = NULL;
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pthread_mutex_lock(&events_mutex);
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struct event_queue_t *p = eventQueue;
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if (p != NULL) {
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eventQueue = p->next;
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p1 = p;
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p2 = p->event.data;
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}
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pthread_mutex_unlock(&events_mutex);
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if (p2 != NULL)
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free(p2);
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if (p1 != NULL)
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free(p1);
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}
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void InitPlatform(const uint8_t *phone, const char *domain_name, int port)
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{
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DEBUG("InitPlatform");
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memset(&gbf, 0, sizeof(gbf));
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memset(&rbf, 0, sizeof(rbf));
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pthread_mutex_init(&platform_tx_mutex, NULL);
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pthread_mutex_init(&events_mutex, NULL);
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eventQueue = NULL;
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platform_tcp_fd = -1;
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memset(&currSocket, 0, sizeof(currSocket));
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memset(&platformStatus, 0, sizeof(platformStatus));
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sem_init(&sem_status_changed, 0, 0);
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PlatformTxInit();
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pthread_t pid;
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pthread_attr_t attr;
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pthread_attr_init(&attr);
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pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
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pthread_create(&pid, &attr, StatusListenThread, NULL);
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}
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static void ReqRtkPlatformConfigTimeout(union sigval sig)
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{
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AppTimer_delete(ReqRtkPlatformConfigTimeout);
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AppTimer_add(ReqRtkPlatformConfigTimeout, D_SEC(2));
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MA_ReqRtkPlatformConfig();
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}
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void ConfigPlatform(const rtk_platform_cfg_t *p)
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{
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DEBUG("配置RTK平台资讯");
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AppTimer_delete(ReqRtkPlatformConfigTimeout);
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strcpy(exceptSocket.domain_name, p->domain_name);
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exceptSocket.port = p->port;
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deviceInfo.province = p->province;
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deviceInfo.city = p->city;
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strcpy((char *)deviceInfo.device_model, p->device_model);
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strcpy((char *)deviceInfo.device_sn, p->device_sn);
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strcpy(deviceInfo.imei, p->imei);
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SetPlatformTxPhoneNum(p->phone);
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platformStatus.registed = 0;//p->registered;
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platformStatus.platformKeyLength = strlen(p->password) / 2;
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if (platformStatus.platformKeyLength > 0) {
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ConvertString2Hex(platformStatus.platformKey, sizeof(platformStatus.platformKey), p->password);
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} else {
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platformStatus.registed = 0;
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}
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pthread_mutex_lock(&platform_tx_mutex);
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if (platform_tcp_fd > 0 && (exceptSocket.port != currSocket.port || strcmp(currSocket.domain_name, exceptSocket.domain_name))) {
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DisconnectTCP(platform_tcp_fd);
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platform_tcp_fd = -1;
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} else if (platform_tcp_fd <= 0) {
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ConnectPlatform(exceptSocket.domain_name, exceptSocket.port);
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}
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pthread_mutex_unlock(&platform_tx_mutex);
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}
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void PlatformStatusChanged(uint32_t event, const uint8_t *data, int length)
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{
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AddEvnet(event, data, length);
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sem_post(&sem_status_changed);
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}
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static void ConnectPlatform(const char *domain_name, int port)
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{
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if (domain_name == NULL || strlen(domain_name) == 0 || port == 0)
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return;
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DEBUG("ConnectPlatform %s: %d", domain_name, port);
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// TODO
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struct platformSocketInfo *ptr = (struct platformSocketInfo *)malloc(sizeof(struct platformSocketInfo));
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strcpy(ptr->domain_name, domain_name);
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ptr->port = port;
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pthread_t platform_pid;
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pthread_attr_t attr;
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pthread_attr_init(&attr);
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pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
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pthread_create(&platform_pid, &attr, PlatformDataListenThread, ptr);
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}
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static void ConnectPlatformLater(union sigval sig) {
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AppTimer_delete(ConnectPlatformLater);
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ConnectPlatform(exceptSocket.domain_name, exceptSocket.port);
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}
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static void *StatusListenThread(void *p) {
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while (true) {
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sem_wait(&sem_status_changed);
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struct event_t *evp = FetchEvent();
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if (evp != NULL) {
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PlatformChangeEntry(evp->id, (uint8_t *)evp->data, evp->length);
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}
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RemoveEvent();
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}
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}
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static void PlatformChangeEntry(uint32_t events, const uint8_t *data, int length)
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{
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if (events & PLATFORM_CONNECT_EVT) {
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DEBUG("平台连接成功 %s:%d", currSocket.domain_name, currSocket.port);
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MA_RtkPlatformConnect(1, currSocket.domain_name, currSocket.port);
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platformStatus.connected = 1;
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if (!platformStatus.registed || platformStatus.platformKeyLength == 0) {
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RegisterPlatform();
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} else if (!platformStatus.login) {
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LoginPlatform();
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}
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}
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if (events & PLATFORM_DISCONNECT_EVT) {
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DEBUG("平台断开 %s:%d", currSocket.domain_name, currSocket.port);
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MA_RtkPlatformConnect(0, currSocket.domain_name, currSocket.port);
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AppTimer_delete(ConnectPlatformLater);
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AppTimer_add(ConnectPlatformLater, D_SEC(2));
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platformStatus.login = 0;
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platformStatus.connected = 0;
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AppTimer_delete(TriggerHeartbeat);
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AppTimer_delete(RegisterPlatformTimeout);
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AppTimer_delete(LoginPlatformTimeout);
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// PlayTTS("基准源断开", NULL);
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}
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if (events & PLATFORM_REGISTER_EVT) {
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DEBUG("PLATFORM_REGISTER_EVT");
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platformStatus.login = 0;
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if (data[0] == 0) {
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platformStatus.registed = 1;
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platformStatus.platformKeyLength = length - 1;
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memcpy(platformStatus.platformKey, data+1, length-1);
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LoginPlatform();
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} else {
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platformStatus.registed = 0;
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}
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MA_RtkPlatformRegister(data[0], data + 1, length - 1);
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}
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if (events & PLATFORM_LOGIN_EVT) {
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DEBUG("PLATFORM_LOGIN_EVT");
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if (data[0] == 0) {
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platformStatus.login = 1;
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requestPlatformSendRtk = true;
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AppTimer_delete(TriggerHeartbeat);
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AppTimer_add(TriggerHeartbeat, D_SEC(30));
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// PlayTTS("基准源建立", NULL);
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} else {
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platformStatus.login = 0;
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}
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MA_RtkPlatformLogin(data[0]);
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}
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if (events & GPS_UPDATE_EVT) {
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DEBUG("GPS_UPDATE_EVT length %d", length);
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const gpsStatus_t *gps = (gpsStatus_t *)data;
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gbf.qf = gps->gps_status;
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gbf.latitude = gps->latitude;
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gbf.longitude = gps->longitude;
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gbf.altitude = gps->altitude;
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gbf.speed = gps->speed;
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gbf.sat_num = gps->satNum;
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gbf.trackTure = gps->trackTure;
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sprintf(gbf.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + gps->YY, gps->MM, gps->DD, gps->hh, gps->mm, gps->ss, gps->mss);
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if (!strcmp(rbf.utc, gbf.utc)) {
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rbf.sat_num = gbf.sat_num;
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rbf.latitude = gbf.latitude;
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rbf.longitude = gbf.longitude;
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rbf.altitude = gbf.altitude;
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rbf.speed = gbf.speed;
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rbf.trackTure = gbf.trackTure;
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MA_SendRtkBrief(&rbf);
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}
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// MA_SendGpsBrief(&brief);
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RequestRtkDownload(gps, 1);
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DEBUG("GPS_UPDATE_EVT ================");
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}
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if (events & RTK_UPDATE_EVT) {
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DEBUG("RTK_UPDATE_EVT length %d", length);
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const rtk_info *rtk = (rtk_info *)data;
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rbf.qf = rtk->qf;
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rbf.coord_x = rtk->y;
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rbf.coord_y = rtk->x;
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rbf.heading = rtk->heading;
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rbf.pitch = rtk->pitch;
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rbf.roll = rtk->roll;
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rbf.coord_x_dir = 'N';
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rbf.coord_y_dir = 'E';
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sprintf(rbf.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + rtk->YY, rtk->MM, rtk->DD, rtk->hh, rtk->mm, rtk->ss, rtk->dss);
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if (!strcmp(rbf.utc, gbf.utc)) {
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rbf.sat_num = gbf.sat_num;
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rbf.latitude = gbf.latitude;
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rbf.longitude = gbf.longitude;
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rbf.altitude = gbf.altitude;
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rbf.speed = gbf.speed;
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rbf.trackTure = gbf.trackTure;
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MA_SendRtkBrief(&rbf);
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}
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UpdateRTKInfo(rtk);
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DEBUG("RTK_UPDATE_EVT =================");
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}
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if (events & MCU_UPDATE_EVT) {
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DEBUG("MCU_UPDATE_EVT length %d", length);
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// 0-31 version
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// 32-33 selftest
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// 34-35 gpio
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// 36-37 speed
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// 38-39 engine
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// 40-55 sn
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struct mcuBrief brief;
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memset(&brief, 0, sizeof(brief));
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int x = 0;
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while(data[x] != 0 && x < 32) x++;
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ConvertHex2String(brief.version, data, x);
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brief.selftest = BUILD_UINT16(data[33], data[32]);
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// brief.gpio = BUILD_UINT16(data[35], data[34]);
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// brief.speed = BUILD_UINT16(data[37], data[36]);
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// brief.engine = BUILD_UINT16(data[39], data[38]);
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// memcpy(brief.sn, data+40, 16);
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memcpy(brief.sn, data+34, 16);
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MA_SendMcuBrief(&brief);
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// UpdateSensor(brief.gpio, brief.speed, brief.engine);
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}
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if (events & CAR_SENSOR_UPDATE_EVT) {
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struct carSensorBrief brief;
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int x = 20;
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brief.odo = BUILD_UINT32(data[3], data[2], data[1], data[0]);
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brief.trip = BUILD_UINT32(data[7], data[6], data[5], data[4]);
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brief.tripTime = BUILD_UINT32(data[11], data[10], data[9], data[8]);
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brief.cellVolt = ((double) BUILD_UINT16(data[13], data[12])) / 10.0;
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brief.speed = ((double) BUILD_UINT16(data[15], data[14])) / 10.0;
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brief.engine = BUILD_UINT16(data[17], data[16]);
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brief.sas = (short)BUILD_UINT16(data[19], data[18]);
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brief.key = data[x++];
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brief.gear = data[x++];
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brief.aps = data[x++];
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brief.door = data[x++];
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brief.seatBelt = data[x++];
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brief.clutch = data[x++];
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brief.horn = data[x++];
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brief.wiper = data[x++];
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brief.handBreak = data[x++];
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brief.mainBreak = data[x++];
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brief.leftTurnLamp = data[x++];
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brief.rightTurnLamp = data[x++];
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brief.clearanceLamp = data[x++];
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brief.dippedBeamLamp = data[x++];
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brief.mainBeamLamp = data[x++];
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brief.fogLamp = data[x++];
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brief.assBreak = data[x++];
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brief.surround1 = data[x++];
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brief.surround2 = data[x++];
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brief.surround3 = data[x++];
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brief.surround4 = data[x++];
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MA_SendCarSensorBrief(&brief);
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car_sensor_t sensor;
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x = 20;
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sensor.odo = BUILD_UINT32(data[3], data[2], data[1], data[0]);
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sensor.trip = BUILD_UINT32(data[7], data[6], data[5], data[4]);
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sensor.tripTime = BUILD_UINT32(data[11], data[10], data[9], data[8]);
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sensor.cellVolt = (double)(BUILD_UINT16(data[13], data[12])) / 10.0;
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sensor.speed = BUILD_UINT16(data[15], data[14]);
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sensor.engine = BUILD_UINT16(data[17], data[16]);
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sensor.sas = (short)BUILD_UINT16(data[19], data[18]);
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sensor.key = data[x++];
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sensor.gear = data[x++];
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sensor.aps = data[x++];
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sensor.door = data[x++];
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sensor.seatBelt = data[x++];
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sensor.clutch = data[x++];
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sensor.horn = data[x++];
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sensor.wiper = data[x++];
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sensor.handBreak = data[x++];
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sensor.mainBreak = data[x++];
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sensor.leftTurnLamp = data[x++];
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sensor.rightTurnLamp = data[x++];
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sensor.clearanceLamp = data[x++];
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sensor.dippedBeamLamp = data[x++];
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sensor.mainBeamLamp = data[x++];
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sensor.fogLamp = data[x++];
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sensor.assBreak = data[x++];
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sensor.surround1 = data[x++];
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sensor.surround2 = data[x++];
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sensor.surround3 = data[x++];
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sensor.surround4 = data[x++];
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UpdateSensor(&sensor);
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}
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if (events & CARD_UPDATE_EVT) {
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DEBUG("CARD_UPDATE_EVT length %d", length);
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int ret = -1;
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for (int i = 0; i < length; ++i) {
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if (data[i] != 0) {
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ret = 0;
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break;
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}
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}
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struct cardBrief brief;
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brief.result = ret;
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ConvertHex2String(brief.card, data, length);
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MA_SendCardBrief(&brief);
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}
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if (events & PLAY_TTS_DONE_EVT) {
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tts_back_t *cb = (tts_back_t *) data;
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if (cb->callback != NULL) {
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cb->callback(cb->seq);
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}
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}
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}
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static void *PlatformDataListenThread(void *p) {
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struct platformSocket *ptr = (struct platformSocket *)p;
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uint8_t RxBuf[PARSE_BUFF_SIZE];
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int fds_ret;
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struct timeval tv;
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fd_set rdfds;
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fd_set exfds;
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int fd = -1;
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int RxBufLen = 0;
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fd = ConnectTCP(ptr->domain_name, ptr->port);
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pthread_mutex_lock(&platform_tx_mutex);
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platform_tcp_fd = fd;
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currSocket = *ptr;
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pthread_mutex_unlock(&platform_tx_mutex);
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if (fd > 0) {
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PlatformStatusChanged(PLATFORM_CONNECT_EVT, NULL, 0);
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}
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while (fd > 0) {
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tv.tv_sec = 5;
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tv.tv_usec = 0;
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FD_ZERO(&rdfds); //clean
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FD_SET(fd, &rdfds); //set
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fds_ret = select(fd + 1, &rdfds, NULL, NULL, &tv);
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if (fds_ret < 0) {
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break;
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} else if(fds_ret == 0) {
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//Occur failure(such as line disconnect)
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} else if(FD_ISSET(fd, &rdfds)) {
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RxBufLen = ReadTCP(fd, RxBuf, sizeof(RxBuf));
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if (RxBufLen < 0) {
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break;
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} else if (RxBufLen > 0) {
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Parse(DATA_ACCESS_PLATFORM, RxBuf, RxBufLen);
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}
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}
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}
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pthread_mutex_lock(&platform_tx_mutex);
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if (platform_tcp_fd > 0) {
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DisconnectTCP(platform_tcp_fd);
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platform_tcp_fd = -1;
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}
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pthread_mutex_unlock(&platform_tx_mutex);
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free(ptr);
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PlatformStatusChanged(PLATFORM_DISCONNECT_EVT, NULL, 0);
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pthread_exit(NULL);
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}
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int WritePlatform(const uint8_t * buf, uint32_t len)
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{
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int ret = -1;
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pthread_mutex_lock(&platform_tx_mutex);
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if (platform_tcp_fd > 0) {
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ret = WriteTCP(platform_tcp_fd, buf, len);
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}
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pthread_mutex_unlock(&platform_tx_mutex);
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return ret;
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}
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static void RegisterPlatformTimeout(union sigval sig)
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{
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DEBUG("RegisterPlatformTimeout");
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AppTimer_delete(RegisterPlatformTimeout);
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RegisterPlatform();
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}
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static void RegisterPlatform(void)
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{
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AppTimer_delete(RegisterPlatformTimeout);
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AppTimer_add(RegisterPlatformTimeout, D_SEC(15));
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SendDeviceRegister(deviceInfo.province, deviceInfo.city, deviceInfo.device_model,
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strlen((char *)deviceInfo.device_model), deviceInfo.device_sn, deviceInfo.imei);
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}
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static void TriggerHeartbeat(union sigval sig) {
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AppTimer_delete(TriggerHeartbeat);
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if (platformStatus.login && platformStatus.connected) {
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SendHeartBeat(DATA_ACCESS_PLATFORM);
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AppTimer_add(TriggerHeartbeat, D_SEC(30));
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}
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}
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static void LoginPlatformTimeout(union sigval sig)
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{
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AppTimer_delete(LoginPlatformTimeout);
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LoginPlatform();
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}
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static void LoginPlatform(void)
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{
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uint32_t tim = time(NULL);
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uint8_t data[12];
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uint8_t *ciphertext;
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|
data[0] = BREAK_UINT32(tim, 3);
|
data[1] = BREAK_UINT32(tim, 2);
|
data[2] = BREAK_UINT32(tim, 1);
|
data[3] = BREAK_UINT32(tim, 0);
|
|
AppTimer_delete(LoginPlatformTimeout);
|
AppTimer_add(LoginPlatformTimeout, D_SEC(15));
|
|
DESEncrypt(platformStatus.platformKey, platformStatus.platformKeyLength, data, 4, &ciphertext);
|
|
if (ciphertext != NULL) {
|
memcpy(data + 4, ciphertext, 8);
|
SendDeviceLogin(data, sizeof(data));
|
}
|
}
|
|
void DeviceRegisterCallback(uint8_t res, const uint8_t *data, int length)
|
{
|
uint8_t az[16];
|
AppTimer_delete(RegisterPlatformTimeout);
|
|
az[0] = res;
|
if (res == 0) {
|
memcpy(az+1, data, length);
|
PlatformStatusChanged(PLATFORM_REGISTER_EVT, az, length + 1);
|
} else {
|
PlatformStatusChanged(PLATFORM_REGISTER_EVT, az, 1);
|
}
|
}
|
|
void DeviceLoginCallback(uint8_t res)
|
{
|
uint8_t az;
|
AppTimer_delete(LoginPlatformTimeout);
|
|
az = res;
|
|
PlatformStatusChanged(PLATFORM_LOGIN_EVT, &az, 1);
|
}
|
|
void ReceivedRtk(const uint8_t *data, int length)
|
{
|
DEBUG("ReceivedRtk length %d", length);
|
|
AppTimer_delete(RequestRtkNoResp);
|
// 汇报给单片机
|
if (length > 0) {
|
SendRtkToMcu(data, length);
|
}
|
}
|
|
static void RequestRtkNoResp(union sigval sig)
|
{
|
AppTimer_delete(RequestRtkNoResp);
|
requestPlatformSendRtk = true;
|
}
|
|
void RequestRtkDownload(const gpsStatus_t *gps, uint16_t rtk_pkt_interval)
|
{
|
if (requestPlatformSendRtk && gps->gps_status > 0) {
|
DEBUG("请求下载RTK数据");
|
requestPlatformSendRtk = false;
|
|
AppTimer_delete(RequestRtkNoResp);
|
AppTimer_add(RequestRtkNoResp, D_SEC(5));
|
|
uint32_t latitude = (uint32_t)(gps->latitude * 1000000);
|
uint32_t longitude = (uint32_t)(gps->longitude * 1000000);
|
int altitude = (int) fabs(gps->altitude);
|
|
uint8_t bcd_time[6];
|
|
bcd_time[0] = ((gps->YY/10)<<4) + (gps->YY%10);
|
bcd_time[1] = ((gps->MM/10)<<4) + (gps->MM%10);
|
bcd_time[2] = ((gps->DD/10)<<4) + (gps->DD%10);
|
bcd_time[3] = ((gps->hh/10)<<4) + (gps->hh%10);
|
bcd_time[4] = ((gps->mm/10)<<4) + (gps->mm%10);
|
bcd_time[5] = ((gps->ss/10)<<4) + (gps->ss%10);
|
|
SendRTKStart(latitude, longitude, altitude, bcd_time, rtk_pkt_interval);
|
}
|
}
|
|
void StopRtkDownload(void)
|
{
|
SendRTKStop();
|
}
|
