//
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// Created by fctom on 2020/2/13.
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//
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#include <pthread.h>
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#include "car_sensor.h"
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#include "../driver_test.h"
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#include "../defs.h"
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#include "../common/apptimer.h"
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#include "../jni_log.h"
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#define DEBUG(fmt, args...) LOGD("<car_sensor> <%s>: " fmt, __func__, ##args)
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#define MAX_SENSOR_NUM 32
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static uint16_t gpioStore;
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static int left_turn_signal, right_turn_signal;
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static int flashMainBeamCnt;
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enum {
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SENSOR_SEATBELT,
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SENSOR_LEFT_TURN_SIGNAL,
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SENSOR_RIGHT_TURN_SIGNAL,
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SENSOR_HANDBREAK,
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SENSOR_BREAK,
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SENSOR_DIPPED_BEAM_LIGHT,
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SENSOR_MAIN_BEAM_LIGHT,
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SENSOR_DOOR,
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SENSOR_SHIFT_N,
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SENSOR_SHIFT_1,
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SENSOR_SHIFT_2,
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SENSOR_SHIFT_3,
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SENSOR_SHIFT_4,
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SENSOR_SHIFT_5,
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SENSOR_SHIFT_R,
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SENSOR_ENGINE_START,
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SENSOR_BREAK2,
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SENSOR_SURROUND_CAR_1,
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SENSOR_SURROUND_CAR_2,
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SENSOR_SURROUND_CAR_3,
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SENSOR_SURROUND_CAR_4,
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SENSOR_FOG_LIGHT,
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SENSOR_CLEARANCE_LIGHT,
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SENSOR_ENGINE_RPM,
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SENSOR_SPEED
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};
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static int CarStatus[CAR_STATUS_END];
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static struct sensor_cfg {
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int gpioId;
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int funId;
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int validLvl;
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} SensorConfig[MAX_SENSOR_NUM];
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static int SensorNum = 0;
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static car_sensor_t Sensor;
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static pthread_mutex_t sonser_mutex = PTHREAD_MUTEX_INITIALIZER;
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static pthread_mutex_t status_rw_mutex = PTHREAD_MUTEX_INITIALIZER;
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inline static int BX(int value);
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static void WriteCarStatus(uint16_t id, int value);
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static void LRLightTimeout(union sigval sig);
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static void ChangeLRLight(int light);
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static void ConfirmTurnSigalLater(union sigval sig);
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static void flashBeamLightClose(union sigval sig);
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static void confirmFlashBeamLightLater(union sigval sig);
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static void SensorChanged(int id, int value);
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void CarSensorInit(void)
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{
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gpioStore = 0;
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SensorNum = 0;
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memset(SensorConfig, 0, sizeof(SensorConfig));
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memset(CarStatus, 0, sizeof(CarStatus));
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memset(&Sensor, 0, sizeof(Sensor));
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left_turn_signal = right_turn_signal = 0;
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flashMainBeamCnt = 0;
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pthread_mutex_init(&sonser_mutex, NULL);
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pthread_mutex_init(&status_rw_mutex, NULL);
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}
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void SetSensorCfg(int (*sensor)[3], int sensorNum)
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{
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DEBUG("加入传感器配置 sensorNum %d", sensorNum);
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pthread_mutex_lock(&sonser_mutex);
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SensorNum = sensorNum;
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for (int i = 0; i < sensorNum; ++i) {
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DEBUG(" 配置<%d>: id %d - fun %d - lvl %d", i, sensor[i][0], sensor[i][1], sensor[i][2]);
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SensorConfig[i].gpioId = sensor[i][0];
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SensorConfig[i].funId = sensor[i][1];
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if (sensor[i][2] > 0) {
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SensorConfig[i].validLvl = 1;
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} else {
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SensorConfig[i].validLvl = 0;
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}
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int level = 0;
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if (gpioStore & BV(SensorConfig[i].gpioId)) {
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level = 1;
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}
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if (level == SensorConfig[i].validLvl) {
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SensorChanged(SensorConfig[i].funId, 1);
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} else {
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SensorChanged(SensorConfig[i].funId, 0);
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}
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}
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pthread_mutex_unlock(&sonser_mutex);
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}
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void UpdateSensor(uint16_t gpio, uint16_t speed, uint16_t rpm)
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{
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uint16_t chg = 0;
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pthread_mutex_lock(&sonser_mutex);
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chg = gpioStore^gpio;
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gpioStore = gpio;
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pthread_mutex_unlock(&sonser_mutex);
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WriteCarStatus(OBD_SPEED, speed);
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WriteCarStatus(ENGINE_RPM, rpm);
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for (int i = 0; i < SensorNum; ++i) {
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if (chg & BV(SensorConfig[i].gpioId)) {
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int level = 0;
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if (gpio & BV(SensorConfig[i].gpioId)) {
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level = 1;
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}
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if (level == SensorConfig[i].validLvl) {
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SensorChanged(SensorConfig[i].funId, 1);
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} else {
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SensorChanged(SensorConfig[i].funId, 0);
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}
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}
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}
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}
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void UpdateSensor(const car_sensor_t *s)
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{
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WriteCarStatus(OBD_SPEED, s->speed);
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WriteCarStatus(ENGINE_RPM, s->engine);
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if (s->leftTurnLamp != Sensor.leftTurnLamp && s->leftTurnLamp != '#') {
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SensorChanged(SENSOR_LEFT_TURN_SIGNAL, BX(s->leftTurnLamp));
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}
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if (s->rightTurnLamp != Sensor.rightTurnLamp && s->rightTurnLamp != '#') {
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SensorChanged(SENSOR_RIGHT_TURN_SIGNAL, BX(s->rightTurnLamp));
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}
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if (s->fogLamp != Sensor.fogLamp && s->fogLamp != '#') {
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SensorChanged(SENSOR_FOG_LIGHT, BX(s->fogLamp));
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}
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if (s->clearanceLamp != Sensor.clearanceLamp && s->clearanceLamp != '#') {
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SensorChanged(SENSOR_CLEARANCE_LIGHT, BX(s->clearanceLamp));
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}
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if (s->dippedBeamLamp != Sensor.dippedBeamLamp && s->dippedBeamLamp != '#') {
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SensorChanged(SENSOR_DIPPED_BEAM_LIGHT, BX(s->dippedBeamLamp));
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}
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if (s->mainBeamLamp != Sensor.mainBeamLamp && s->mainBeamLamp != '#') {
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SensorChanged(SENSOR_MAIN_BEAM_LIGHT, BX(s->mainBeamLamp));
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}
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if (s->seatBelt != Sensor.seatBelt && s->seatBelt != '#') {
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SensorChanged(SENSOR_SEATBELT, BX(s->seatBelt));
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}
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if (s->key != Sensor.key && s->key != '#') {
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SensorChanged(SENSOR_ENGINE_START, s->key == 3? 1 : 0);
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}
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if (s->mainBreak != Sensor.mainBreak && s->mainBreak != '#') {
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SensorChanged(SENSOR_BREAK, BX(s->mainBreak));
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}
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if (s->assBreak != Sensor.assBreak && s->assBreak != '#') {
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SensorChanged(SENSOR_BREAK2, BX(s->assBreak));
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}
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if (s->handBreak != Sensor.handBreak && s->handBreak != '#') {
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SensorChanged(SENSOR_HANDBREAK, BX(s->handBreak));
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}
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if (s->lock != Sensor.lock && s->lock != '#') {
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SensorChanged(SENSOR_DOOR, BX(s->lock));
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}
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if (s->surround1 != Sensor.surround1 && s->surround1 != '#') {
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SensorChanged(SENSOR_SURROUND_CAR_1, BX(s->surround1));
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}
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if (s->surround2 != Sensor.surround2 && s->surround2 != '#') {
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SensorChanged(SENSOR_SURROUND_CAR_2, BX(s->surround2));
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}
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if (s->surround3 != Sensor.surround3 && s->surround3 != '#') {
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SensorChanged(SENSOR_SURROUND_CAR_3, BX(s->surround3));
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}
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if (s->surround4 != Sensor.surround4 && s->surround4 != '#') {
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SensorChanged(SENSOR_SURROUND_CAR_4, BX(s->surround4));
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}
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if (s->gear != Sensor.gear && s->gear != '#') {
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// SensorChanged(GEAR, GEAR_N + s->gear);
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DEBUG("状态改变 挡位 %d", s->gear);
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WriteCarStatus(GEAR, s->gear + GEAR_N);
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}
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Sensor = *s;
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}
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int ReadCarStatus(uint16_t id)
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{
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int value;
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pthread_mutex_lock(&status_rw_mutex);
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value = CarStatus[id];
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pthread_mutex_unlock(&status_rw_mutex);
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return value;
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}
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static void WriteCarStatus(uint16_t id, int value)
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{
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pthread_mutex_lock(&status_rw_mutex);
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CarStatus[id] = value;
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pthread_mutex_unlock(&status_rw_mutex);
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}
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static void LRLightTimeout(union sigval sig)
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{
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AppTimer_delete(LRLightTimeout);
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WriteCarStatus(TURN_SIGNAL_LAMP, OFF_LIGHT);
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}
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static void ChangeLRLight(int light)
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{
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WriteCarStatus(TURN_SIGNAL_LAMP, light);
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AppTimer_delete(LRLightTimeout);
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AppTimer_add(LRLightTimeout, 1500);
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}
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static void ConfirmTurnSigalLater(union sigval sig)
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{
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AppTimer_delete(ConfirmTurnSigalLater);
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ChangeLRLight(sig.sival_int);
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}
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static void flashBeamLightClose(union sigval sig)
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{
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WriteCarStatus(FLASH_BEAM_LAMP, OFF_LIGHT);
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}
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static void confirmFlashBeamLightLater(union sigval sig)
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{
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AppTimer_delete(confirmFlashBeamLightLater);
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flashMainBeamCnt = 0;
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}
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static void SensorChanged(int id, int value)
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{
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DEBUG("状态改变 %d = %d", id, value);
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switch (id) {
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case SENSOR_LEFT_TURN_SIGNAL: {
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left_turn_signal = value;
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if (left_turn_signal) {
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AppTimer_delete(ConfirmTurnSigalLater);
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if (right_turn_signal) {
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// 判定为双闪
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ChangeLRLight(HAZARD_LIGHTS);
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} else {
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AppTimer_add(ConfirmTurnSigalLater, 200, LEFT_TURN_LIGHT);
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}
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}
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break;
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}
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case SENSOR_RIGHT_TURN_SIGNAL: {
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right_turn_signal = value;
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if (right_turn_signal) {
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AppTimer_delete(ConfirmTurnSigalLater);
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if (left_turn_signal) {
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// 判定为双闪
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ChangeLRLight(HAZARD_LIGHTS);
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} else {
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AppTimer_add(ConfirmTurnSigalLater, 200, RIGHT_TURN_LIGHT);
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}
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}
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break;
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}
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case SENSOR_FOG_LIGHT: {
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if (value == 0) {
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WriteCarStatus(FOG_LAMP, OFF_LIGHT);
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} else {
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WriteCarStatus(FOG_LAMP, FOG_LIGHT);
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}
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break;
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}
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case SENSOR_CLEARANCE_LIGHT: {
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if (value == 0) {
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WriteCarStatus(CLEARANCE_LAMP, OFF_LIGHT);
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} else {
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WriteCarStatus(CLEARANCE_LAMP, CLEARANCE_LIGHT);
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}
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break;
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}
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case SENSOR_DIPPED_BEAM_LIGHT: {
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if (value == 0) {
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WriteCarStatus(DIPPED_BEAM_LAMP, OFF_LIGHT);
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} else {
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WriteCarStatus(DIPPED_BEAM_LAMP, DIPPED_BEAM_LIGHT);
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}
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break;
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}
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case SENSOR_MAIN_BEAM_LIGHT: {
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if (value == 0) {
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WriteCarStatus(MAIN_BEAM_LAMP, OFF_LIGHT);
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} else {
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WriteCarStatus(MAIN_BEAM_LAMP, MAIN_BEAM_LIGHT);
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}
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if (++flashMainBeamCnt > 3) { // 亮-灭-亮-灭
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WriteCarStatus(FLASH_BEAM_LAMP, FLASH_BEAM_LIGHT);
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AppTimer_delete(flashBeamLightClose);
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AppTimer_add(flashBeamLightClose, D_SEC(2));
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}
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AppTimer_delete(confirmFlashBeamLightLater);
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AppTimer_add(confirmFlashBeamLightLater, D_SEC(3));
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break;
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}
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case SENSOR_SEATBELT: {
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if (value == 0) {
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WriteCarStatus(SEATBELT, EJECT_SEATBELT);
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} else {
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WriteCarStatus(SEATBELT, INSERT_SEATBELT);
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}
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break;
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}
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case SENSOR_ENGINE_START: {
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if (value == 0) {
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WriteCarStatus(ENGINE_START, ENGINE_START_INACTIVE);
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} else {
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WriteCarStatus(ENGINE_START, ENGINE_START_ACTIVE);
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}
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break;
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}
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case SENSOR_BREAK: {
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if (value == 0) {
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WriteCarStatus(BREAK, BREAK_INACTIVE);
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} else {
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WriteCarStatus(BREAK, BREAK_ACTIVE);
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}
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break;
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}
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case SENSOR_BREAK2: {
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if (value == 0) {
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WriteCarStatus(SECOND_BREAK, BREAK_INACTIVE);
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} else {
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WriteCarStatus(SECOND_BREAK, BREAK_ACTIVE);
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}
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break;
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}
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case SENSOR_HANDBREAK: {
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if (value == 0) {
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WriteCarStatus(HAND_BREAK, BREAK_INACTIVE);
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} else {
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WriteCarStatus(HAND_BREAK, BREAK_ACTIVE);
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}
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break;
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}
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case SENSOR_DOOR: {
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if (value == 0) {
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WriteCarStatus(DOOR, DOOR_CLOSE);
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} else {
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WriteCarStatus(DOOR, DOOR_OPEN);
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}
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break;
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}
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case SENSOR_SURROUND_CAR_1: {
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if (value == 0) {
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WriteCarStatus(SURROUND_CAR_1, SURROUND_CAR_INACTIVE);
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} else {
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WriteCarStatus(SURROUND_CAR_1, SURROUND_CAR_ACTIVE);
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}
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break;
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}
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case SENSOR_SURROUND_CAR_2: {
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if (value == 0) {
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WriteCarStatus(SURROUND_CAR_2, SURROUND_CAR_INACTIVE);
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} else {
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WriteCarStatus(SURROUND_CAR_2, SURROUND_CAR_ACTIVE);
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}
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break;
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}
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case SENSOR_SURROUND_CAR_3: {
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if (value == 0) {
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WriteCarStatus(SURROUND_CAR_3, SURROUND_CAR_INACTIVE);
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} else {
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WriteCarStatus(SURROUND_CAR_3, SURROUND_CAR_ACTIVE);
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}
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break;
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}
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case SENSOR_SURROUND_CAR_4: {
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if (value == 0) {
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WriteCarStatus(SURROUND_CAR_4, SURROUND_CAR_INACTIVE);
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} else {
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WriteCarStatus(SURROUND_CAR_4, SURROUND_CAR_ACTIVE);
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}
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break;
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}
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// case SENSOR_SHIFT_N:
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// case SENSOR_SHIFT_1:
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// case SENSOR_SHIFT_2:
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// case SENSOR_SHIFT_3:
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// case SENSOR_SHIFT_4:
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// case SENSOR_SHIFT_5:
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// case SENSOR_SHIFT_R: {
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// if (value != 0) {
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// WriteCarStatus(GEAR, id - SENSOR_SHIFT_N + GEAR_N);
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// }
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// break;
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// }
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default:
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break;
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}
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}
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inline static int BX(int value)
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{
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return (value == 1) ? 1 : 0;
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}
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