workaround for backup camera switching.

Make video work on firmware 70.00.100

CMakeLists.txt

@@ -130,7 +130,8 @@ add_executable(autoapp
         "Mazda/Dbus/com.jci.lds.data.h"
         "Mazda/Dbus/com.jci.navi2IHU.HUDSettings.h"
         "Mazda/Dbus/com.jci.vbs.navi.tmc.h"
-        "Mazda/Dbus/com.jci.vbs.navi.h")
+        "Mazda/Dbus/com.jci.vbs.navi.h"
+        "Mazda/Dbus/com.jci.nativeguictrl.h")
 target_include_directories(autoapp PUBLIC ${CMAKE_CURRENT_BINARY_DIR}/generated/)
 target_include_directories(autoapp PRIVATE ${include_directory})
 

include/autoapp/Managers/VideoManager.hpp

@@ -7,6 +7,45 @@
 #include <autoapp/Service/VideoService.hpp>
 #include <autoapp/Signals/VideoSignals.hpp>
 
+#include <Mazda/Dbus/com.jci.nativeguictrl.h>
+
+class NativeGUICtrlClient final : public sdbus::ProxyInterfaces<com::jci::nativeguictrl_proxy> {
+ public:
+  NativeGUICtrlClient(std::unique_ptr<sdbus::IConnection> &connection, std::string destination, std::string objectPath)
+      : sdbus::ProxyInterfaces<com::jci::nativeguictrl_proxy>(std::move(connection),
+                                                              std::move(destination),
+                                                              std::move(objectPath)) {
+    registerProxy();
+  }
+
+  ~NativeGUICtrlClient() {
+    unregisterProxy();
+  }
+
+  enum SURFACES {
+    NNG_NAVI_ID = 0,
+    TV_TOUCH_SURFACE = 1,
+    NATGUI_SURFACE = 2,
+    LOOPLOGO_SURFACE = 3,
+    TRANLOGOEND_SURFACE = 4,
+    TRANLOGO_SURFACE = 5,
+    QUICKTRANLOGO_SURFACE = 6,
+    EXITLOGO_SURFACE = 8,
+    JCI_OPERA_PRIMARY = 9,
+    JCI_OPERA_SECONDARY = 10,
+    lvdsSurface = 11,
+    SCREENREP_IVI_NAME = 12,
+    NNG_NAVI_MAP1 = 13,
+    NNG_NAVI_MAP2 = 14,
+    NNG_NAVI_HMI = 15,
+    NNG_NAVI_TWN = 16,
+  };
+
+  void SetRequiredSurfacesByEnum(const int surface, bool fadeOpera) {
+    SetRequiredSurfaces(std::to_string(surface), static_cast<int16_t>(fadeOpera ? 1 : 0));
+  }
+};
+
 class VideoManager {
  private:
   std::unique_ptr<sdbus::IProxy> bucpsa;
@@ -16,6 +55,7 @@ class VideoManager {
   sigc::connection releaseFocusConnection;
   bool currentDisplayMode;
   bool hasFocus = false;
+  NativeGUICtrlClient *gui;
 
  public:
   explicit VideoManager(VideoSignals::Pointer videosignals);

include/autoapp/Projection/GSTVideoOutput.hpp

@@ -44,9 +44,11 @@ class GSTVideoOutput : public IVideoOutput {
   int p_stdin[2]{}, p_stdout[2]{};
   asio::streambuf buffer;
   asio::posix::stream_descriptor *sd = nullptr;
+  bool running;
 
   void message_handler(asio::error_code ec, size_t bytes_transferred);
 
   void spawn_gst();
+  int CheckReverse();
 };
 }

src/autoapp/Managers/VideoManager.cpp

@@ -3,6 +3,8 @@
 
 VideoManager::VideoManager(VideoSignals::Pointer videosignals) :
     vs(std::move(videosignals)) {
+  auto guiConnection = sdbus::createSessionBusConnection();
+  gui = new NativeGUICtrlClient(guiConnection, "com.jci.nativeguictrl", "/com/jci/nativeguictrl");
   auto bucpsaConnection = sdbus::createSessionBusConnection();
   bucpsa = sdbus::createProxy(std::move(bucpsaConnection), "com.jci.bucpsa", "/com/jci/bucpsa");
   bucpsa->uponSignal("DisplayMode").onInterface("com.jci.bucpsa").call([this](const uint32_t &DisplayMode) {
@@ -40,13 +42,15 @@ void VideoManager::requestFocus(VIDEO_FOCUS_REQUESTOR requestor) {
   LOG(DEBUG) << "Setting focus, requested by "
              << static_cast<std::underlying_type<VIDEO_FOCUS_REQUESTOR>::type>(requestor);
   hasFocus = true;
+  gui->SetRequiredSurfacesByEnum(NativeGUICtrlClient::TV_TOUCH_SURFACE, true);
   vs->focusChanged.emit(true);
 }
 
 void VideoManager::releaseFocus(VIDEO_FOCUS_REQUESTOR requestor) {
   LOG(DEBUG) << "Releasing focus, requested by "
              << static_cast<std::underlying_type<VIDEO_FOCUS_REQUESTOR>::type>(requestor);
   hasFocus = false;
+  gui->SetRequiredSurfacesByEnum(NativeGUICtrlClient::JCI_OPERA_PRIMARY, true);
   vs->focusChanged.emit(false);
 }
 

src/autoapp/Projection/GSTVideoOutput.cpp

@@ -91,6 +91,11 @@ bool GSTVideoOutput::open() {
   std::ofstream ofs("/proc/sys/vm/drop_caches");
   ofs << "3" << std::endl;
 
+  if (CheckReverse()) {
+    running = true;
+    return true;
+  }
+
   if (gstpid == -1) {
     spawn_gst();
 
@@ -108,6 +113,14 @@ bool GSTVideoOutput::init() {
 
 void GSTVideoOutput::write(__attribute__((unused)) uint64_t timestamp,
                            const aasdk::common::DataConstBuffer &buf) {
+  if (CheckReverse()) {
+    running = true;
+    stop();
+  } else {
+    if (running && gstpid == -1) {
+      open();
+    }
+  }
   if (gstpid != -1) {
     fwrite(buf.cdata, sizeof(buf.cdata[0]), buf.size, gst_file);
   }
@@ -123,6 +136,20 @@ void GSTVideoOutput::stop() {
   }
 }
 
+int GSTVideoOutput::CheckReverse() {
+  bool reverse = false;
+  char gpio_value[3];
+  FILE *fd = fopen("/sys/class/gpio/Reverse/value", "r");
+  if (fd == nullptr) {
+    LOG(ERROR) << "Failed to open Reverse gpio value for reading";
+  } else {
+    fread(gpio_value, 1, 2, fd);
+    reverse = (gpio_value[0] == '0');
+  }
+  fclose(fd);
+  return reverse;
+}
+
 GSTVideoOutput::~GSTVideoOutput() = default;
 
 VideoMargins GSTVideoOutput::getVideoMargins() const {