diff options
Diffstat (limited to 'video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp')
| -rwxr-xr-x | video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp | 491 |
1 files changed, 0 insertions, 491 deletions
diff --git a/video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp b/video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp deleted file mode 100755 index 35f5201..0000000 --- a/video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_API.cpp +++ /dev/null @@ -1,491 +0,0 @@ -/* - * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ -/** -* @file MDev_Gps_API.cpp -*/ - -/*---------------------------------------------------------------------------*/ -// Include files - -#include "MDev_Gps_API.h" -#include "positioning_hal.h" -#include "positioning_def.h" -#include "MDev_Gps_Nmea.h" - -/*---------------------------------------------------------------------------*/ -// Functions - -/****************************************************************************** -@brief SendNmeaGps<BR> - NMEA transmission process -@outline Send NMEA to VehicleSensor Thread -@param[in] TG_GPS_NMEA* : pstNmeaData ... NMEA data -@param[out] none -@return RET_API -@retval RET_NORMAL : Normal completion -@retval RET_ERROR : ABENDs -*******************************************************************************/ -RET_API SendNmeaGps(const MDEV_GPS_NMEA* p_nmea_data) { - MDEV_GPS_RAWDATA_NMEA_MSG s_send_msg; - SENSOR_MSG_GPSDATA s_msg_buf; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /* Create GPS Data Notification Message */ - (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); - - /* Message header */ - s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.h_dr.hdr.respno = 0x0000; - s_send_msg.h_dr.hdr.cid = CID_GPS_DATA; - s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_RAWDATA_NMEA); - s_send_msg.h_dr.hdr.rid = 0x00; - - /* Message data */ - s_send_msg.st_data.e_kind = MDEV_GPS_DATA_RAWDATA_NMEA; - (void)memcpy(&(s_send_msg.st_data.st_nmea_data), p_nmea_data, sizeof(s_send_msg.st_data.st_nmea_data)); - - /* Create message buffer */ - (void)memset(&s_msg_buf, 0, sizeof(s_msg_buf)); - (void)memcpy(&(s_msg_buf.st_head.hdr), &(s_send_msg.h_dr.hdr), sizeof(T_APIMSG_HEADER)); - - s_msg_buf.st_para.ul_did = POS_DID_GPS_NMEA; - s_msg_buf.st_para.us_size = GPS_NMEA_SZ; - - (void)memcpy(&(s_msg_buf.st_para.uc_data), &(s_send_msg.st_data.st_nmea_data), s_msg_buf.st_para.us_size); - - ret = _pb_SndMsg(u_pno, sizeof(s_msg_buf), &s_msg_buf, 0); - - if (ret != RET_NORMAL) { - POSITIONING_LOG("_pb_SndMsg ERROR!! [ret=%d]\n", ret); - ret = RET_ERROR; - } - - return ret; -} - -/** - * @brief - * GPS processing data transmission process - * - * @param[in] pstGpsTime SENSOR_MSG_GPSTIME - GPS time information - * @param[in] p_lonlat SENSORLOCATION_LONLATINFO - Latitude and longitude information - * @param[in] p_altitude SENSOR_LOCATION_ALTITUDEINFO - Altitude information - * @param[in] p_heading SENSORMOTION_HEADINGINFO_DAT - Bearing information - * - * @return RET_NORMAL Normal completion - * RET_ERROR ABENDs - */ -RET_API SendCustomGps(const SENSOR_MSG_GPSTIME* p_gps_time, - const SENSORLOCATION_LONLATINFO_DAT* p_lonlat, - const SENSORLOCATION_ALTITUDEINFO_DAT* p_altitude, - const SENSORMOTION_HEADINGINFO_DAT* p_heading, - const NAVIINFO_DIAG_GPS* p_diag_data) { - SENSOR_MSG_GPSDATA s_send_msg = {0}; - MDEV_GPS_CUSTOMDATA* p_custom_data = NULL; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS Data Notification Message */ - /* Fast _CWORD71_ processing(memset fix) */ - /* Initializes an area whose value is undefined in the message buffer. */ - (void)memset(&s_send_msg.st_head, 0x00, sizeof(s_send_msg.st_head)); - - /** Message header */ - s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.st_head.hdr.respno = 0x0000; - s_send_msg.st_head.hdr.cid = CID_GPS_DATA; - s_send_msg.st_head.hdr.msgbodysize = sizeof(MDEV_GPS_CUSTOMDATA); - s_send_msg.st_head.hdr.rid = 0x00; - - /** Message data */ - s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CUSTOMDATA; - s_send_msg.st_para.us_size = sizeof(MDEV_GPS_CUSTOMDATA); - p_custom_data = reinterpret_cast<MDEV_GPS_CUSTOMDATA *>(&(s_send_msg.st_para.uc_data)); - - (void)memcpy(&(p_custom_data->st_lonlat), p_lonlat, sizeof(SENSORLOCATION_LONLATINFO_DAT)); - (void)memcpy(&(p_custom_data->st_altitude), p_altitude, sizeof(SENSORLOCATION_ALTITUDEINFO_DAT)); - (void)memcpy(&(p_custom_data->st_heading), p_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT)); - (void)memcpy(&(p_custom_data->st_diag_gps), p_diag_data, sizeof(NAVIINFO_DIAG_GPS)); - (void)memcpy(&(p_custom_data->st_gps_time), p_gps_time, sizeof(SENSOR_MSG_GPSTIME)); - /* Messaging */ - ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), reinterpret_cast<void*>(&s_send_msg), 0); - - if (ret != RET_NORMAL) { - ret = RET_ERROR; - } - - return ret; -} - -/****************************************************************************** -@brief SendSpeedGps<BR> - Rate information transmission processing -@outline Sending speed information to vehicle sensor thread -@param[in] SENSORMOTION_SPEEDINFO_DAT* : p_seed ... Velocity information -@param[in] u_int16 : us_peed ... Vehicle speed(km/h) -@param[out] none -@return RET_API -@retval RET_NORMAL : Normal completion -@retval RET_ERROR : ABENDs -*******************************************************************************/ -RET_API SendSpeedGps(const SENSORMOTION_SPEEDINFO_DAT* p_seed, u_int16 us_peed) { - MDEV_GPS_NAVISPEED_MSG s_send_msg; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS Data Notification Message */ - (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); - - /** Message header */ - s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.h_dr.hdr.respno = 0x0000; - s_send_msg.h_dr.hdr.cid = CID_GPS_DATA; - s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_NAVISPEED); - s_send_msg.h_dr.hdr.rid = 0x00; - - /** Message data */ - s_send_msg.st_data.e_kind = MDEV_GPS_DATA_NAVISPEED; - s_send_msg.st_data.us_speed_kmph = us_peed; - - (void)memcpy( &s_send_msg.st_data.st_speed, p_seed, sizeof(s_send_msg.st_data.st_speed) ); - - /* Messaging */ - ret = _pb_SndMsg(u_pno, (sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(MDEV_GPS_NAVISPEED)), &s_send_msg, 0); - - if (ret != RET_NORMAL) { - ret = RET_ERROR; - } - - return ret; -} - -/* ++ #GPF_60_103 */ -/****************************************************************************** -@brief SendTimeGps<BR> - Time information transmission processing -@outline Send GPS time information to vehicle sensor thread -@param[in] MDEV_GPS_RTC* : p_rtc ... GPS time information -@param[out] none -@return RET_API -@retval RET_NORMAL : Normal completion -@retval RET_ERROR : ABENDs -*******************************************************************************/ -RET_API SendTimeGps(const MDEV_GPS_RTC* p_rtc) { - MDEV_GPS_GPSTIME_MGS s_send_msg; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS data notification message */ - (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); - - /** Message header */ - s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.h_dr.hdr.respno = 0x0000; - s_send_msg.h_dr.hdr.cid = CID_GPS_DATA; - s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_GPSTIME); - s_send_msg.h_dr.hdr.rid = 0x00; - - /** Message data */ - s_send_msg.st_data.e_kind = MDEV_GPS_DATA_GPSTIME; - - (void)memcpy(&s_send_msg.st_data.st_rtc_data, p_rtc, sizeof(s_send_msg.st_data.st_rtc_data)); - - /* Messaging */ - ret = _pb_SndMsg(u_pno, (sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(MDEV_GPS_GPSTIME)), &s_send_msg, 0); - - if (ret != RET_NORMAL) { - ret = RET_ERROR; - } - - return ret; -} - -/** - * @brief - * GPS clock drift transmit process - * - * @param[in] drift Clock drift - * - * @return RET_NORMAL Normal completion - * @return RET_ERROR ABENDs - */ -RET_API SendClockDriftGps(int32_t drift) { - SENSOR_MSG_GPSDATA s_send_msg; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS Data Notification Message */ - (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); - - /** Message header */ - s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.st_head.hdr.respno = 0x0000; - s_send_msg.st_head.hdr.cid = CID_GPS_DATA; - s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); - s_send_msg.st_head.hdr.rid = 0x00; - - /** Message data */ - s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CLOCK_DRIFT; - s_send_msg.st_para.us_size = sizeof(int32_t); - - (void)memcpy(&(s_send_msg.st_para.uc_data), &drift, s_send_msg.st_para.us_size); - - /* Messaging */ - ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); - - if (ret != RET_NORMAL) { - ret = RET_ERROR; - } - - return ret; -} - -/** - * @brief - * GPS clock-frequency transmit process - * - * @param[in] Freq Clocking frequencies - * - * @return RET_NORMAL Normal completion - * @return RET_ERROR ABENDs - */ -RET_API SendClockFrequencyGps(uint32_t freq) { - SENSOR_MSG_GPSDATA s_send_msg; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS Data Notification Message */ - (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); - - /** Message header */ - s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.st_head.hdr.respno = 0x0000; - s_send_msg.st_head.hdr.cid = CID_GPS_DATA; - s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); - s_send_msg.st_head.hdr.rid = 0x00; - - /** Message data */ - s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CLOCK_FREQ; - s_send_msg.st_para.us_size = sizeof(uint32_t); - - (void)memcpy(&(s_send_msg.st_para.uc_data), &freq, s_send_msg.st_para.us_size); - - /* Messaging */ - ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); - - if (ret != RET_NORMAL) { - ret = RET_ERROR; - } - - return(ret); -} - -/** - * @brief - * GPS rollover standard week number transmission processing - * - * @param[in] *p_week_rollover GPS rollover base week number - * - * @return RET_NORMAL Normal completion - * @return RET_ERROR ABENDs - */ -RET_API DevGpsSndWknRollover(const SensorWknRollOverHal* p_week_rollover) { - SENSOR_MSG_GPSDATA s_send_msg; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS Data Notification Message */ - (void)memset( &s_send_msg, 0x00, sizeof(s_send_msg) ); - - /** Message header */ - s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.st_head.hdr.respno = 0x0000; - s_send_msg.st_head.hdr.cid = CID_GPS_DATA; - s_send_msg.st_head.hdr.msgbodysize = sizeof(SensorWknRollOverHal); - s_send_msg.st_head.hdr.rid = 0x00; - - /** Message data */ - s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_WKNROLLOVER; - s_send_msg.st_para.us_size = sizeof(SensorWknRollOverHal); - - (void)memcpy(&(s_send_msg.st_para.uc_data), p_week_rollover, s_send_msg.st_para.us_size); - - /* Messaging */ - ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); - - if (ret != RET_NORMAL) { - ret = RET_ERROR; - } - - return ret; -} - -/****************************************************************************** -@brief DevGpsRstAnsSend<BR> - Reset response issuance processing -@outline Issue a reset response -@param[in] PNO : u_pno ... Notify-To Process No. -@param[in] RID : uc_rid ... Response resource ID -@param[in] u_int32 : ul_rst_sts ... Response result -@param[out] none -@return int32 -@retval RET_NORMAL : Normal -@retval RET_ERROR : Abnormality -*******************************************************************************/ -int32 DevGpsRstAnsSend(PNO u_pno, RID uc_rid, u_int32 ul_rst_sts) { - TG_GPS_RET_RESET_MSG s_send_msg; - RET_API ret = RET_NORMAL; - PCSTR l_thread_name; - - if (u_pno != PNO_NONE) { - /** Create GPS Reset Notification Message */ - (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); - - /** Message data */ - s_send_msg.data.ret_rst_status = ul_rst_sts; - - /* Messaging */ - l_thread_name = _pb_CnvPno2Name(u_pno); - /* External Process Transmission and Reception Messages */ - ret = _pb_SndMsg_Ext(l_thread_name, - CID_POSIF_REQ_GPS_RESET, - sizeof(s_send_msg.data), - reinterpret_cast<void *>(&(s_send_msg.data)), - 0); - if (ret != RET_NORMAL) { - POSITIONING_LOG("GpsCommCtl # DevGpsRstAnsSend SndMsg Error ret[%d] pno[%03X]\n", ret, u_pno); - ret = RET_ERROR; - } - } - - return ret; -} - - -/** - * @brief Time setting response issuance processing - * - * @param[in] us_pno Notify-To Process No. - * @param[in] uc_rid Response resource ID - * @param[in] ul_rst_sts Response result - * - * @return Processing result - * @retval RET_NORMAL : Normal - * @retval RET_ERROR : Abnormality - */ -int32 DevGpsTimesetAnsSend(PNO us_pno, RID uc_rid, u_int32 ul_rst_sts) { - TG_GPS_RET_TIMESET_MSG st_snd_msg; - RET_API ret = RET_NORMAL; - - /** Create GPS Reset Notification Message */ - memset( &st_snd_msg, 0x00, sizeof(st_snd_msg) ); /* QAC 3200 */ - /** Message header */ - st_snd_msg.header.hdr.sndpno = PNO_NAVI_GPS_MAIN; - st_snd_msg.header.hdr.respno = 0x0000; - st_snd_msg.header.hdr.cid = CID_GPS_RETTIMESETTING; - st_snd_msg.header.hdr.msgbodysize = sizeof(st_snd_msg.status); - st_snd_msg.header.hdr.rid = uc_rid; - /** Message data */ - st_snd_msg.status = ul_rst_sts; - - /* Messaging */ - if (us_pno != PNO_NONE) { - ret = _pb_SndMsg(us_pno, sizeof(st_snd_msg), &st_snd_msg, 0); - - if (ret != RET_NORMAL) { - POSITIONING_LOG("DevGpsTimesetAnsSend SndMsg Error ret[%d] pno[%03X] \r\n", ret, us_pno); - - ret = RET_ERROR; - } - } - - return(ret); -} - - -/** - * @brief - * GPS clock drift transmit process - * - * @param[in] drift Clock drift - * - * @return RET_NORMAL Normal completion - * @return RET_ERROR ABENDs - * - */ -RET_API DevSendGpsConnectError(BOOL is_err) { - SENSOR_MSG_GPSDATA s_send_msg; - RET_API ret = RET_NORMAL; - PNO u_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS Data Notification Message */ - (void)memset(&s_send_msg, 0x00, sizeof(s_send_msg)); - - /** Message header */ - s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; - s_send_msg.st_head.hdr.respno = 0x0000; - s_send_msg.st_head.hdr.cid = CID_GPS_DATA; - s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); - s_send_msg.st_head.hdr.rid = 0x00; - - /** Message data */ - s_send_msg.st_para.ul_did = POSHAL_DID_GPS_CONNECT_ERROR; - s_send_msg.st_para.us_size = sizeof(uint32_t); - - (void)memcpy(&(s_send_msg.st_para.uc_data), &is_err, s_send_msg.st_para.us_size); - - /* Messaging */ - ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0); - - if (ret != RET_NORMAL) { - ret = RET_ERROR; - } - - return ret; -} - - -RET_API SndGpsTimeRaw(const SENSOR_GPSTIME_RAW* ps_gpstime_raw) { - SENSOR_MSG_GPSDATA st_snd_msg; - RET_API ret; - PNO _us_pno = PNO_VEHICLE_SENSOR; - - /** Create GPS Data Notification Message */ - (void)memset( &st_snd_msg, 0x00, sizeof(st_snd_msg) ); /* QAC 3200 */ - /** Message header */ - st_snd_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN; - st_snd_msg.st_head.hdr.respno = 0x0000; - st_snd_msg.st_head.hdr.cid = CID_GPS_DATA; - st_snd_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT); - st_snd_msg.st_head.hdr.rid = 0x00; - /** Message data */ - st_snd_msg.st_para.ul_did = VEHICLE_DID_GPS_TIME_RAW; - st_snd_msg.st_para.us_size = sizeof(SENSOR_GPSTIME_RAW); - (void)memcpy(&(st_snd_msg.st_para.uc_data), ps_gpstime_raw, st_snd_msg.st_para.us_size); /* QAC 3200 */ - - /* Messaging */ - ret = _pb_SndMsg( _us_pno, sizeof(st_snd_msg), &st_snd_msg, 0 ); - if (ret != RET_NORMAL) { - POSITIONING_LOG("_pb_SndMsg ERROR!! [ret=%d]\n", ret); - ret = RET_ERROR; - } - - return(ret); -} - -/*---------------------------------------------------------------------------*/ -/*EOF*/ |