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gartnera
HUD Navigation
Hey Everyone, Not sure if this is the best place to ask, but I am debating installing this on my car (Mostly being lazy, as I have to dig out the serial console connection :) ), and was wondering if there has been any research into getting navigation directions onto the little HUD display in some cars?
Haven't had a chance to dig into the code to see if this is something android auto passes to the car, but I would assume it may be possible on the car side, as factory navigation does it?
After some more digging, I think it is supported by android auto? https://android.googlesource.com/platform/packages/services/Car/+/master/car-support-lib/src/android/support/car/navigation/
Guess my next step is trying to take a look at how the factory navigation does it.
This would be excellent to have. I'm happy to help test if you get something working.
Yeah, I'm pretty sure AA will send this info if we report it's supported when we enumerate at startup. No idea how to get this to the right spot in the CMU or even where it will show up since I don't have the stock nav system 😃 and we don't have the proto definitions for those messages yet. If you make any progress pull requests are welcome since this would be a really cool addition!
Figure I will just share what I discover as I go... Finally got around to getting the serial connection going, so I now actually have access to mine for testing.
I set up dbus-monitor, and went for a short drive with navigation running on the cmu.
There seemed to be a few relevent entries.
signal sender=:1.138 -> dest=(null destination) serial=1012 path=/com/NNG/Api/Server; interface=com.NNG.Api.Server.Guidance; member=GuidanceChangedForHUD
int32 3
int32 1500
int32 1
string "Centre St"
int32 0
int32 0
int32 0
int32 0
int32 0
int32 0
int32 0
int32 0
int32 0
int32 0
signal sender=:1.138 -> dest=(null destination) serial=1013 path=/com/NNG/Api/Server; interface=com.NNG.Api.Server.NotificationBar; member=Notify
int32 0
int32 1500
int32 1
string "Centre St"
int32 1
method call sender=:1.93 -> dest=com.jci.vbs.navi serial=1447 path=/com/jci/vbs/navi; interface=com.jci.vbs.navi; member=SetHUDDisplayMsgReq
struct {
uint32 3
uint16 1500
byte 1
uint16 0
byte 0
byte 5
}
method call sender=:1.93 -> dest=com.jci.vbs.navi serial=1448 path=/com/jci/vbs/navi; interface=com.jci.vbs.navi.tmc; member=SetHUD_Display_Msg2
struct {
string "Centre St"
byte 5
}
I was able to send a message using
dbus-send --address=unix:path=/tmp/dbus_service_socket /com/NNG/Api/Servercom.NNG.Api.Server.Guidance.GuidanceChangedForHUD int32:25000 int32:3000 int32:1 string:"I can send nav" int32:0 int32:0 int32:0 int32:0 int32:0 int32:0 int32:0 int32:0 int32:0 int32:0
This resulted in this on the HUD
it seems the first int32 is the navigation symbol, the second is the distance in m*1000, the third is unknown but values of 0 and 2 resulted in nothing being displayed
So it this is looking plausible to me
More data. I was able to get it running on linux, and connected to my phone. I added a channel for the navigation, and managed to get some output dumped out.
[root@localhost chris]# cat headunit/hu.log |grep AA_CH_NAVI
D: /home/chris/headunit/hu/hu_aap.cpp:1075: iaap_msg_process : AA_CH_NAVI msg_type: 32771 len: 2 buf: 0x7f166c040ed2
D: /home/chris/headunit/hu/hu_uti.cpp:170: hex_dump : AA_CH_NAVI 00000000 08 01
D: /home/chris/headunit/hu/hu_aap.cpp:1075: iaap_msg_process : AA_CH_NAVI msg_type: 32772 len: 35 buf: 0x7f166c040ed2
D: /home/chris/headunit/hu/hu_uti.cpp:170: hex_dump : AA_CH_NAVI 00000000 0a 07 4a 6f 68 6e 20 53 74 10 02 18 04 28 ff ff ff ff ff ff ff ff ff 01 30 ff ff ff ff ff ff ff ff ff 01
D: /home/chris/headunit/hu/hu_aap.cpp:1075: iaap_msg_process : AA_CH_NAVI msg_type: 32773 len: 27 buf: 0x7f166c040ed2
D: /home/chris/headunit/hu/hu_uti.cpp:170: hex_dump : AA_CH_NAVI 00000000 08 d6 01 10 ff ff ff ff ff ff ff ff ff 01 18 ff ff ff ff ff ff ff ff ff 01 20 01
D: /home/chris/headunit/hu/hu_aap.cpp:1075: iaap_msg_process : AA_CH_NAVI msg_type: 32772 len: 36 buf: 0x7f166c040ed2
D: /home/chris/headunit/hu/hu_uti.cpp:170: hex_dump : AA_CH_NAVI 00000000 0a 08 42 72 6f 61 64 77 61 79 10 02 18 04 28 ff ff ff ff ff ff ff ff ff 01 30 ff ff ff ff ff ff ff ff ff 01
D: /home/chris/headunit/hu/hu_aap.cpp:1075: iaap_msg_process : AA_CH_NAVI msg_type: 32773 len: 27 buf: 0x7f166c040ed2
D: /home/chris/headunit/hu/hu_uti.cpp:170: hex_dump : AA_CH_NAVI 00000000 08 aa 01 10 ff ff ff ff ff ff ff ff ff 01 18 ff ff ff ff ff ff ff ff ff 01 20 01
The first message with msg_type 32772, does contain the street name that was displayed. "John St." The second msg_type 32772 had the correct street name as well, "Broadway"
the last mesg_type 32733 seems to contain the distance in the second position 0xAA == 170 which was the distance in meters displayed.
Did some more digging, and this is what I think the two messages are so far. Both unsurprisingly(?) seem to be encoded by protobuf
msg 32772:
1 <chunk> = "John St" // EventName
2 <varint> = 2 // TurnSide
3 <varint> = 4 // TurnEvent
5 <varint> = -1 (18446744073709551615) // TurnAngle/TurnNumber?
6 <varint> = -1 (18446744073709551615) // TurnAngle/TurnNumber?
msg 32773:
1 <varint> = 214 // distance
2 <varint> = -1 (18446744073709551615)
3 <varint> = -1 (18446744073709551615)
4 <varint> = 1 // DistanceUnit?
Using the naming convention from https://android.googlesource.com/platform/packages/services/Car/+/master/car-support-lib/src/android/support/car/navigation/CarNavigationStatusManager.java
Nice, it seems like you're making some good progress! I dumped a bunch of the dbus xml from scraping the car's binaries and we are generating wrappers in mazda\dbus\generated_cmu.h. It seems there is already the com.jci.vbs.navi interface with SetHUDDisplayMsgReq method although it's missing stuff like SetHUD_Display_Msg2 unfortunately. Maybe the v55 version I dumped from didn't have all the stuff? You can edit https://github.com/gartnera/headunit/blob/master/mazda/dbus/cmu_interfaces.xml to add new stuff manually or rerun the python script to regenerate it from a new dump.
At least for SetHUDDisplayMsgReq it seems like
<method name="SetHUDDisplayMsgReq">
<annotation name="com.jci.type_ref.hudDisplayMsg" value="VBS_NAVI_HUD_Display_s_t"/>
<annotation name="async" value="client"/>
<arg direction="in" name="hudDisplayMsg" type="(uqyqy)"/>
<arg direction="out" name="return_status" type="y"/>
</method>
there are weird annotations specific to CMU which can tell you the params
<annotation name="com.jci.def_struct_names.VBS_NAVI_HUD_Display_s_t" value="nextManeuverInfo,distanceValue,distanceUnit,displaySpeedLimit,displaySpeedUnit"/>
<annotation name="com.jci.def_struct_types.VBS_NAVI_HUD_Display_s_t" value=" u, q, y, q, y"/>
which is uint32, uint16, uint8, uint16, uint8 in this case (https://dbus.freedesktop.org/doc/dbus-specification.html#basic-types) which matches what you saw in the dump.
The proto definitions we are using are in https://github.com/gartnera/headunit/blob/master/hu/hu.proto. The names we have sometimes dont totally match offical sources since a lot of was deduced from the raw datastream. Sometimes you can get clues by dumping symbols from the Linux binary of the desktop headunit emulator since the protoc generated code follows some patterns.
Probably the best way to connect these would be to add new methods to IHUConnectionThreadEventCallbacks so that we can also stub these out on Linux to debug (rendering to another window, terminal etc.)
I did some poking around in the binaries and compared that with the dump you posed. It seems things are starting to match up? At least it looks like a "usual" AA channel, which is a good sign.
//First three are usually 0x8000, 0x8001, 0x8002, not what's what from your dump
//32771 (0x8003)?
message StartNAVMessages
{
}
//32771 (0x8003)?
message StopNAVMessages
{
}
//32771 (0x8003)?
message NAVMessagesStatus
{
enum NAV_MESSAGE_STATUS
{
//????
}
optional NAV_MESSAGE_STATUS status = 1;
}
//32772 (0x8004)
message NAVTurnMessage
{
optional string event_name = 1;
enum TURN_SIDE
{
TURN_SIDE_1 = 1;
TURN_SIDE_2 = 2; //????
}
optional TURN_SIDE turn_side = 2;
enum TURN_EVENT
{
TURN_EVENT_1 = 1;
TURN_EVENT_2 = 2;
TURN_EVENT_3 = 3;
TURN_EVENT_4 = 4;
}
optional TURN_EVENT turn_event = 3;
optional bytes image = 4; //No idea how to interpret this Maybe maps to existing NavigationStatusService image data
optional int32 turn_number = 5;
optional int32 turn_angle = 5;
};
//32773 (0x8005)
message NAVDistanceMessage
{
optional int32 distance = 1; //meters
optional int32 time_until = 2; //seconds
};
Nice, that gives me a lot to go on! When I set up the channel in my testing code, I set our type to 2, which I believes disables the navigation images from AA. I may try getting a dump with it set to 1, which I believe turns the images on
Making some progress!
V: /mnt/Files/Mazda/headunit/hu/hu_aap.cpp:1120: iaap_msg_process : AA_CH_NAVI
V: /mnt/Files/Mazda/headunit/hu/hu_aap.cpp:1121: iaap_msg_process : AA_CH_NAVI msg_type: 8004 len: 38 buf: 0x7f6d7802c2d2
V: /mnt/Files/Mazda/headunit/hu/hu_aap.cpp:1130: iaap_msg_process : AA_CH_NAVI: HU_NAVI_CHANNEL_MESSAGE::Turn
Clarke AveV: callbacks.cpp:207: HandleNaviTurn : AA_CH_NAVI: Clarke Ave, TurnSide: 2, TurnEvent:4, TurnNumber: 0, TurnAngle: -1
V: /mnt/Files/Mazda/headunit/hu/hu_aap.cpp:1120: iaap_msg_process : AA_CH_NAVI
V: /mnt/Files/Mazda/headunit/hu/hu_aap.cpp:1121: iaap_msg_process : AA_CH_NAVI msg_type: 8005 len: 11 buf: 0x7f6d7802c2d2
V: /mnt/Files/Mazda/headunit/hu/hu_aap.cpp:1134: iaap_msg_process : AA_CH_NAVI: HU_NAVI_CHANNEL_MESSAGE::TurnDistance
V: callbacks.cpp:210: HandleNaviTurnDistance : AA_CH_NAVI: Distance: 220
Awesome! if setting the type doesn't work you might need to populate the image_options field of NavigationStatusService. I'm not sure if there is way of displaying these images in CMU though, but at least we would have a full understanding of the protocol.
Another thing we should consider is that not all cars have this display (AFAIK my 2016 MX5 does not unless I get a nice surprise when I run this code 😄 ) so hopefully there is some kind of CMU API we can use to detect the presence of the screen so we can decide to report support for the NavigationStatusService or not. Maybe it's the existence of com.jci.vbs.navi.tmc? I'm not sure.
Enough to make an initial push of what I have done :D https://github.com/silverchris/headunit/commit/286d9b7d799d1f81620e4ff246cad77cfc75335f
I generated a new cmu_interfaces.xml, and it looks like we can check for the HUD's existence with a call to com.jci.navi2IHU.HUDSettings.GetHUDIsInstalled(), I have checked, and on my car that returns true. I feel it would be a good guess that it returns false on cars without it :)
I was also able to get a bit of interface code working, and it looks like SetHUDDisplayMsgReq and SetHUD_Display_Msg2 are exactly what we need.
I think I now need to figure out what all the icon values are... which will probably be fun!
Progress https://github.com/silverchris/headunit/commit/9aa519e06311873f82f5779bbddfa3435320fc2d It is working! I need to actually test the part that handles roundabouts, but it is successfully showing navigation data on my HUD.
It also probably needs a lot of cleanup still :)
How is this feature coming along? It would be really awesome to have it working!
Seems to be working - just installed AA .1.10 on my M3 and saw the hud pop directions up. It's showing in KM instead of MPH - not sure how to change that - but cool that it's there.
I have been running it on my car for a little bit now. There are some notable flaws, that I haven't had a chance to correct yet.
- Only works in km, as I haven't found a way to detect if the car is in km/h or mph
- probably need to refresh the display ever 1 or 2 seconds, instead of every time it is sent a message, as the HUD seems to clear itself periodically(seems to be pretty close to 2 seconds?)
- pretty sure my roundabout code is completely broken, haven't had a chance to dig in to it.
- need a way to set/detect if the car is left hand or right hand drive, for roundabout direction
- Waze only seems to send the navigation messages if I start navigating before connecting my phone for android auto.
I am hoping I will have a few quiet nights this week or next to do some fixes
Guys am I missing something I have installed the AA V1.10 but i dont see anything on the hud even in KM, is there a way to activate it or something !?
I have the same problem.
I'm in a 6 with firmware 59.00.449 EU N.
If it should be there let me know if there's any usefull debug I can grab...
On Mon, 15 Oct 2018, 14:24 amrmori, [email protected] wrote:
Guys am I missing something I have installed the AA V1.10 but i dont see anything on the hud even in KM, is there a way to activate it or something !?
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Do you have factory navigation? It may be helpful to test with that, and make sure it is all working? If you know how to use SSH on the car, I could also upload my test app, that I use for manually sending things to the display to test?
It could be that it works differently on the 6. I also haven't actually tried it without the navigation SD card in(I don't think that should be needed, but who knows!)
I would have both: The old Navigation software via SD-Card an SSH access to my Mazda I have a 6er from 2015 but the latest version (1.10) does not show anything. So if you can share your test app I would test it.
Here is the test app https://github.com/silverchris/headunit/blob/WiFi/mazda/hud-test
to test, you should be able to run it as
hud-test Test 4 1 -1 -1 100 -1 1
Which should show a left turn, with the street name "Test" in 100 meters
It should also show if it detects the HUD, by printing "hud installed 1"
Hi Chris,
Ran the test app, it did pop up on the HUD - but no street name, see https://imagebin.ca/v/4JReLMePCHyU
/mnt/sdb1/hud-test Test 4 1 -1 -1 100 -1 1
DBUS::Glib::BusDispatcher attached hud installed 1 Event Name: Test Turn Event: 4 Turn Side: 1 Turn number: -1 Turn angle: -1 distance: 100 time: -1 msg: 1
So looks like it should work. I've installed AA using mzd-aio v2.8.1 which says it is installing AA v1.10
- is there a good way to double check which version I have running? (Just in case!).
Thanks, Rich
On Wed, 17 Oct 2018 at 00:24, Chris [email protected] wrote:
Here is the test app https://github.com/silverchris/headunit/blob/WiFi/mazda/hud-test to test, you should be able to run it as hud-test Test 4 1 -1 -1 100 -1 1 Which should show a left turn, with the street name "Test" in 100 meters
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Hi Chris, Ran the test app, it did pop up on the HUD - but no street name, see https://imagebin.ca/v/4JReLMePCHyU # /mnt/sdb1/hud-test Test 4 1 -1 -1 100 -1 1 DBUS::Glib::BusDispatcher attached hud installed 1 Event Name: Test Turn Event: 4 Turn Side: 1 Turn number: -1 Turn angle: -1 distance: 100 time: -1 msg: 1 # So looks like it should work. I've installed AA using mzd-aio v2.8.1 which says it is installing AA v1.10 - is there a good way to double check which version I have running? (Just in case!). Thanks, Rich … On Wed, 17 Oct 2018 at 00:24, Chris @.***> wrote: Here is the test app https://github.com/silverchris/headunit/blob/WiFi/mazda/hud-test to test, you should be able to run it as hud-test Test 4 1 -1 -1 100 -1 1 Which should show a left turn, with the street name "Test" in 100 meters — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#135 (comment)>, or mute the thread https://github.com/notifications/unsubscribe-auth/AMGSrlmMGX4Dyh9bSMBfT9McFCPT0EgTks5ulmqOgaJpZM4WX4Q9 .
Interesting, your display seems to be laid out in a different way than mine. Do you get street names when you use the factory nav? If you do, we may need to use dbus-monitor to see if there are any differences in the way they communicate?
Good question! It's been so long since I used the factory navigation I can't remember..I give it a test and report back!
On Thu, 18 Oct 2018 at 00:13, Chris [email protected] wrote:
Hi Chris, Ran the test app, it did pop up on the HUD - but no street name, see https://imagebin.ca/v/4JReLMePCHyU # /mnt/sdb1/hud-test Test 4 1 -1 -1 100 -1 1 DBUS::Glib::BusDispatcher attached hud installed 1 Event Name: Test Turn Event: 4 Turn Side: 1 Turn number: -1 Turn angle: -1 distance: 100 time: -1 msg: 1 # So looks like it should work. I've installed AA using mzd-aio v2.8.1 which says it is installing AA v1.10 - is there a good way to double check which version I have running? (Just in case!). Thanks, Rich … <#m_5045595434835793624_> On Wed, 17 Oct 2018 at 00:24, Chris @.***> wrote: Here is the test app https://github.com/silverchris/headunit/blob/WiFi/mazda/hud-test to test, you should be able to run it as hud-test Test 4 1 -1 -1 100 -1 1 Which should show a left turn, with the street name "Test" in 100 meters — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#135 (comment) https://github.com/gartnera/headunit/issues/135#issuecomment-430435388>, or mute the thread https://github.com/notifications/unsubscribe-auth/AMGSrlmMGX4Dyh9bSMBfT9McFCPT0EgTks5ulmqOgaJpZM4WX4Q9 .
Interesting, your display seems to be laid out in a different way than mine. Do you get street names when you use the factory nav? If you do, we may need to use dbus-monitor to see if there are any differences in the way they communicate?
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Hi Chris, Ran the test app, it did pop up on the HUD - but no street name, see https://imagebin.ca/v/4JReLMePCHyU # /mnt/sdb1/hud-test Test 4 1 -1 -1 100 -1 1 DBUS::Glib::BusDispatcher attached hud installed 1 Event Name: Test Turn Event: 4 Turn Side: 1 Turn number: -1 Turn angle: -1 distance: 100 time: -1 msg: 1 # So looks like it should work. I've installed AA using mzd-aio v2.8.1 which says it is installing AA v1.10 - is there a good way to double check which version I have running? (Just in case!). Thanks, Rich … On Wed, 17 Oct 2018 at 00:24, Chris @.***> wrote: Here is the test app https://github.com/silverchris/headunit/blob/WiFi/mazda/hud-test to test, you should be able to run it as hud-test Test 4 1 -1 -1 100 -1 1 Which should show a left turn, with the street name "Test" in 100 meters — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#135 (comment)>, or mute the thread https://github.com/notifications/unsubscribe-auth/AMGSrlmMGX4Dyh9bSMBfT9McFCPT0EgTks5ulmqOgaJpZM4WX4Q9 .
Interesting, your display seems to be laid out in a different way than mine. Do you get street names when you use the factory nav? If you do, we may need to use dbus-monitor to see if there are any differences in the way they communicate?
I also have the factory Navi but I don't get the street names in the HUD (Mazda 6 2015)
Mazda 3 here - 2017. I had Navi (pulled the SD) and I do get Street names, direction, distance in km/m (although never accurate until you're within a few km of the turn) on my hud.
On Thu, Oct 18, 2018, 2:32 AM Andy [email protected] wrote:
Hi Chris, Ran the test app, it did pop up on the HUD - but no street name, see https://imagebin.ca/v/4JReLMePCHyU # /mnt/sdb1/hud-test Test 4 1 -1 -1 100 -1 1 DBUS::Glib::BusDispatcher attached hud installed 1 Event Name: Test Turn Event: 4 Turn Side: 1 Turn number: -1 Turn angle: -1 distance: 100 time: -1 msg: 1 # So looks like it should work. I've installed AA using mzd-aio v2.8.1 which says it is installing AA v1.10 - is there a good way to double check which version I have running? (Just in case!). Thanks, Rich … <#m_2164902494850279117_> On Wed, 17 Oct 2018 at 00:24, Chris @.***> wrote: Here is the test app https://github.com/silverchris/headunit/blob/WiFi/mazda/hud-test to test, you should be able to run it as hud-test Test 4 1 -1 -1 100 -1 1 Which should show a left turn, with the street name "Test" in 100 meters — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#135 (comment) https://github.com/gartnera/headunit/issues/135#issuecomment-430435388>, or mute the thread https://github.com/notifications/unsubscribe-auth/AMGSrlmMGX4Dyh9bSMBfT9McFCPT0EgTks5ulmqOgaJpZM4WX4Q9 .
Interesting, your display seems to be laid out in a different way than mine. Do you get street names when you use the factory nav? If you do, we may need to use dbus-monitor to see if there are any differences in the way they communicate?
I also have the factory Navi but I don't get the street names in the HUD (Mazda 6 2015)
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No names on the hud with the factory navigation, do get them on the main window status bar though - see the pics.
https://imagebin.ca/v/4JfIj6GS4Atf https://imagebin.ca/v/4JfK05iUXChI
I also tried AA without the Nav SD card inserted, just to make sure there were no issues. Still nothing on the hud from AA.
I'm using Google maps btw, just in case that's relevant.
Let me know if there's anything else usefull I can do.
Cheers, Rich
On Thu, 18 Oct 2018 at 14:42, Dave [email protected] wrote:
Mazda 3 here - 2017. I had Navi (pulled the SD) and I do get Street names, direction, distance in km/m (although never accurate until you're within a few km of the turn) on my hud.
On Thu, Oct 18, 2018, 2:32 AM Andy [email protected] wrote:
Hi Chris, Ran the test app, it did pop up on the HUD - but no street name, see https://imagebin.ca/v/4JReLMePCHyU # /mnt/sdb1/hud-test Test 4 1 -1 -1 100 -1 1 DBUS::Glib::BusDispatcher attached hud installed 1 Event Name: Test Turn Event: 4 Turn Side: 1 Turn number: -1 Turn angle: -1 distance: 100 time: -1 msg: 1 # So looks like it should work. I've installed AA using mzd-aio v2.8.1 which says it is installing AA v1.10 - is there a good way to double check which version I have running? (Just in case!). Thanks, Rich … <#m_2164902494850279117_> On Wed, 17 Oct 2018 at 00:24, Chris @.***> wrote: Here is the test app https://github.com/silverchris/headunit/blob/WiFi/mazda/hud-test to test, you should be able to run it as hud-test Test 4 1 -1 -1 100 -1 1 Which should show a left turn, with the street name "Test" in 100 meters — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#135 (comment) <https://github.com/gartnera/headunit/issues/135#issuecomment-430435388
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Interesting, your display seems to be laid out in a different way than mine. Do you get street names when you use the factory nav? If you do, we may need to use dbus-monitor to see if there are any differences in the way they communicate?
I also have the factory Navi but I don't get the street names in the HUD (Mazda 6 2015)
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I have a mazda3 2016 in japan. Today I test 1.10 on my car. It's seen everything is ok on hub. Street name can be display on hub with japanese.
