diff options
Diffstat (limited to 'video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp')
| -rwxr-xr-x | video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp | 362 |
1 files changed, 0 insertions, 362 deletions
diff --git a/video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp b/video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp deleted file mode 100755 index 0b9a4be..0000000 --- a/video_in_hal/positioning_hal/src/GpsCommon/MDev_Gps_Main.cpp +++ /dev/null @@ -1,362 +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_Main.cpp -*/ - -/*---------------------------------------------------------------------------*/ -// Include files - -#include "MDev_Gps_Main.h" -#include "positioning_common.h" -#include "MDev_Gps_Mtrx.h" -#include "MDev_Gps_TimerCtrl.h" -#include "MDev_Gps_Common.h" -#include "MDev_Gps_Nmea.h" -#include "MDev_GpsRecv.h" -#include "LineSensDrv_Thread.h" - -/*---------------------------------------------------------------------------*/ -// Global values - -BOOL g_gps_rcv_thread_stop = FALSE; - -/******************************************************************************** - * Matrix event translation table(Message input) - ********************************************************************************/ -const TG_GPS_MSGEVTCHNG kGpsMsgchkC[MDEV_GPSMSGCHKC_MAX] = { - /* ++ #GPF_60_024 */ - /* Matrix Event Translation Table for _CWORD82_ NMEA */ - {CID_GPS__CWORD82__REQUEST, GPS_EVT_SENDREQ}, /* NMEA transmission request */ - {CID_INI_INTERNAL_ACCOFF_START, GPS_EVT_ACC_OFF}, /* In-function ACC-OFF instructions */ - {CID_GPS_REQRESET, GPS_EVT_RESETREQ}, /* GPS reset request */ - {CID_NAVIINFO_DELIVER, GPS_EVT_NAVI_LOCATIONINFO}, /* Providing navigation information */ - {CID_NAVIINFO_SPEED_DELIVER, GPS_EVT_NAVI_SPEEDINFO}, /* Navigation speed information service */ - {CID_GPS_TIMESETTING, GPS_EVT_TIMESETTING}, /* GPS time setting instruction */ - {CID_GPS_BACKUPDATA_LOAD, GPS_EVT_BACKUPDATA_LOAD}, /* Backup memory read request */ - {CID_THREAD_STOP_REQ, GPS_EVT_STOPREQ}, /* Thread stop request */ - {CID_GPSWEEKCOR_CNT_NOTIFICATION, GPS_EVT_WEEKCOR_CNT_NOTIFICATIO}, /* GPS Week Adjustment Counter Notification */ - {DAT_END, DAT_END} /* Table end */ - /* -- #GPF_60_024 */ -}; - -/******************************************************************************** - * Matrix event translation table(Input Timeout [ Timer ID]) - ********************************************************************************/ -const TG_GPS_TIMEVTCHNG kGpsTimchkC[MDEV_PSTIMCHKC_MAX] = { - {GPS_STARTUP_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Start confirmation monitoring timer */ - {GPS_CYCL_TIMER, 0, GPS_EVT_TIMEOUT_CYCLDAT}, /* Periodic reception data monitoring timer */ - {GPS_RECV_ACK_TIMER, 0, GPS_EVT_TIMEOUT_RSPDAT}, /* ACK reception monitoring timer */ - {GPS_NAVIFST_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* Initial NAVI monitoring timer */ - {GPS_NAVICYCLE_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION monitoring timer */ - {GPS_NAVIDISRPT_TIMER, 0, GPS_EVT_TIMEOUT_NAVI}, /* NAVIGATION Disruption Log Output Timer */ - {GPS_DIAGCLK_GUARDTIMER, 0, GPS_EVT_TIMEOUT_DIAGCLKGUARD}, /* Diagnosis provision time guard monitoring timer */ - {GPS_NMEADATA_GUARDTIMER, 0, GPS_EVT_TIMEOUT_NMEADATAGUARD}, /* NMEA data-providing guard monitoring timer */ - {GPS_RECOVERY_TIMER, 0, GPS_EVT_TIMEOUT_RECOVERY}, /* GPS recovery timer */ - {GPS_RECEIVERERR_TIMER, 0, GPS_EVT_TIMEOUT_RECEIVERERR}, /* GPS receiver anomaly detection timer */ - {DAT_END, 0, DAT_END} /* Table end */ -}; - -/******************************************************************************** - * Processing Branch Table - ********************************************************************************/ -/******************************************************************************** - * TAG : TG_GPS_JMP_TBL - * ABSTRACT : GPS jump table - * NOTE : GPS Communication Management Matrix Table - ********************************************************************************/ -const TG_GPS_JMP_TBL kGpsMatxC[GPS_STS_NUM][GPS_EVT_NUM] = { - /* - - - - - Confirming Start - - - - - */ - { - {&DevGpsInitStartSendReq}, /* Transmission request */ - {&DevGpsInitStartGPSResetReq}, /* GPS reset request */ - {&DevGpsInitStartRcvCyclCmd}, /* Cyclic reception command reception */ - {&DevGpsNop}, /* Receive Response Command */ - {&DevGpsNop}, /* Response monitoring timeout */ - {&DevGpsInitStartCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ - {&DevGpsInitStartNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ - {&DevGpsInitStartDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ - {&DevGpsInitStartAccOffStart}, /* In-function ACC-OFF instructions */ - {&DevGpsInitStartNaviInfoDeliver}, /* Providing navigation information */ - {&DevGpsInitStartNaviSpeedDeliver}, /* Navigation speed information service */ - {&DevGpsInitStartSettingTime}, /* GPS time setting instruction */ - {&DevGpsInitStartNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ - {&DevGpsInitStartBackupDataLoadReq}, /* Backup data read request */ - {&DevGpsInitStartStopReq}, /* Thread stop request */ - {&DevGpsInitStartGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ - {&DevGpsInitStartRecoveryTimeOut}, /* GPS error monitoring timer out */ - {&DevGpsInitStartGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ - }, - /* - - - - - - In operation - - - - - - */ - { - {&DevGpsNormalSendReq}, /* Transmission request */ - {&DevGpsNormalGPSResetReq}, /* GPS reset request */ - {&DevGpsNormalRcvCyclCmd}, /* Cyclic reception command reception */ - {&DevGpsNop}, /* Receive Response Command */ - {&DevGpsNop}, /* Response monitoring timeout */ - {&DevGpsNormalCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ - {&DevGpsNormalNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ - {&DevGpsNormalDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ - {&DevGpsNormalAccOffStart}, /* In-function ACC-OFF instructions */ - {&DevGpsNormalNaviInfoDeliver}, /* Providing navigation information */ - {&DevGpsNormalNaviSpeedDeliver}, /* Navigation speed information service */ - {&DevGpsNormalSettingTime}, /* GPS time setting instruction */ - {&DevGpsNormalNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ - {&DevGpsNormalBackupDataLoadReq}, /* Backup data read request */ - {&DevGpsNormalStopReq}, /* Thread stop request */ - {&DevGpsNormalGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ - {&DevGpsNormalRecoveryTimeOut}, /* GPS error monitoring timer out */ - {&DevGpsNormalGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ - }, - /* - - - - -- Sending - - - - - - */ - { - {&DevGpsSendSendReq}, /* Transmission request */ - {&DevGpsSendGPSResetReq}, /* GPS reset request */ - {&DevGpsSendRcvCyclCmd}, /* Cyclic reception command reception */ - {&DevGpsSendRcvRspCmd}, /* Receive Response Command */ - {&DevGpsSendRspDataTimeOut}, /* Response monitoring timeout */ - {&DevGpsSendCyclDataTimeOut}, /* Periodic reception data monitoring timeout */ - {&DevGpsSendNaviDataTimeOut}, /* Navigation providing data monitoring timeout */ - {&DevGpsSendDiagClkGuardTimeOut}, /* Diagnosis provision time guard monitoring timeout */ - {&DevGpsSendAccOffStart}, /* In-function ACC-OFF instructions */ - {&DevGpsSendNaviInfoDeliver}, /* Providing navigation information */ - {&DevGpsSendNaviSpeedDeliver}, /* Navigation speed information service */ - {&DevGpsSendSettingTime}, /* GPS time setting instruction */ - {&DevGpsSendNmeaDataGuardTimeOut}, /* NMEA data-providing guard monitoring timeout */ - {&DevGpsSendBackupDataLoadReq}, /* Backup data read request */ - {&DevGpsSendStopReq}, /* Thread stop request */ - {&DevGpsSendGpsweekcorcntNtf}, /* GPS Week Adjustment Counter Notification */ - {&DevGpsSendRecoveryTimeOut}, /* GPS error monitoring timer out */ - {&DevGpsSendGpsReceiverErrTimeOut} /* GPS receiver anomaly detection timeout */ - } -}; - -// Receive command analysis table(NMEA format) -const TG_GPS_CMD_ANA_TBL* kGpsCmdAnaTbl = kGpsCmdAnaTblUblox; - -//GPS process pending buffer management table -TG_GPS_MSGRCV g_gps_msg_rcvr; /* Incoming message */ -TG_GPS_MNG g_gps_mngr; /* GPS process management information */ - -// Global variable for GPS communication management -u_int16 g_wsend_err; /* Number of transmission errors */ -u_int16 g_wcnct_err; /* Number of connection errors */ -TG_GPS_OUTPUT_FORMAT g_rcv_format; /* Receive Format */ - -// Global variable for the receive thread -TG_GPS_RECV_RcvData g_gps_rcvdata; /* Serial receive buffer */ -TG_GPS_RECV_RcvBuf g_gps_rcvbuf; /* Receive data storage buffer */ -TG_GPS_RECV_AnaDataBuf g_gps_ana_databuf; /* Analysis data buffer */ -TG_GPS_RECV_RcvFrameBuf g_gps_rcv_framebuf; /* Receive frame buffer */ -TG_GPS_SAVEBUF g_gps_save_cmdr; /* Command pending buffer */ -u_int16 g_wrecv_err; /* Number of reception errors */ - -/*---------------------------------------------------------------------------*/ -// Functions - -/******************************************************************************** - * MODULE : DEV_Gps_MainThread - * ABSTRACT : Communication Management Thread Domain Processing - * FUNCTION : Receive a request from the host application and send a command to the serial port. - * ARGUMENT : PVOID pv....Thread Creation Arguments - * NOTE : - * RETURN : TRUE :Normal completion - * FALSE:ABENDs - ********************************************************************************/ -EFrameworkunifiedStatus DevGpsMainThread(HANDLE h_app) { - BOOL ret = FALSE; - - PosSetupThread(h_app, ETID_POS_GPS); - - ret = DevGpsInit(); - - if (TRUE == ret) { - g_gps_rcv_thread_stop = FALSE; - - /* Start receiving message */ - DevGpsRcvMsg(); - } else { - /* Initialization failed */ - POSITIONING_LOG("DevGpsMainThread Init Fail \n"); - } - - return eFrameworkunifiedStatusFail; -} - - -/******************************************************************************** - * MODULE : DEV_Gps_Init - * ABSTRACT : Communication management thread initialization processing - * FUNCTION : Initialize internal tables and serial ports - * ARGUMENT : None - * NOTE : - * RETURN : TRUE :Normal completion - * FALSE:ABENDs - ********************************************************************************/ -BOOL DevGpsInit(void) { - BOOL ret = FALSE; - - /* Global variable initialization(GPS Communication Management Thread Internal Use Variable) */ - /* Clear process management information */ - memset(&g_gps_mngr, 0x00, sizeof(g_gps_mngr)); /* #05 */ - - /* Clear the message receive buffer */ - memset(&g_gps_msg_rcvr, 0x00, sizeof(g_gps_msg_rcvr)); /* #05 */ - - /* Clear the pending buffer */ - memset(&g_gps_save_cmdr, 0x00, sizeof(g_gps_save_cmdr)); /* #05 */ - - /* Clear RTC backup-related data */ - g_gps_mngr.rcv_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */ - g_gps_mngr.resp_cmd = GPS_FORMAT_MIN; /* #GPF_60_040 */ - g_gps_mngr.rcv_err_flag = FALSE; - - g_wsend_err = 0; /* Initialization of the number of transmission errors */ - g_wcnct_err = 0; /* Connection error count initialization */ - g_rcv_format = GPS_FORMAT_MIN; /* Initialize Receive Format #GPF_60_024*/ - - /* Initialize the timer function initialization processing management table */ - DevGpsTimInit(); - - /* Start confirmation monitoring timer setting(5Sec) */ - ret = DevGpsTimeSet(GPS_STARTUP_TIMER); - - /* GPS receiver anomaly detection timer setting(600Sec) */ - ret = DevGpsTimeSet(GPS_RECEIVERERR_TIMER); - - // Set command table - kGpsCmdAnaTbl = kGpsCmdAnaTblUblox; - - /* State transition processing(Start Confirmation Monitor) */ - ChangeStatusGpsCommon(GPS_STS_STARTUP); - - return(ret); -} - -/****************************************************************************** -@brief DEV_Gps_RcvMsg<BR> - Message reception processing -@outline Receive a message and distribute processing into a matrix -@param[in] none -@param[out] none -@return none -@retval none -*******************************************************************************/ -void DevGpsRcvMsg(void) { - RET_API ret = RET_NORMAL; - void* p_rcv_msg = &g_gps_msg_rcvr; - - while (1) { - p_rcv_msg = &g_gps_msg_rcvr; - - // Receive meaasge - ret = _pb_RcvMsg(PNO_NAVI_GPS_MAIN, sizeof(g_gps_msg_rcvr), &p_rcv_msg, RM_WAIT); - - if (RET_RCVMSG == ret) { - memcpy(&g_gps_msg_rcvr, p_rcv_msg, sizeof(g_gps_msg_rcvr)); - - /* Message Event Check Processing */ - DevGpsMsgEventCheck(); - - if ((u_int32)NG != g_gps_mngr.event) { - /* If the event check is successful */ - /* Start Processing by Matrix */ - (kGpsMatxC[g_gps_mngr.sts][g_gps_mngr.event].func)(); - } - } else { - /** MSG reception error */ - POSITIONING_LOG("DevGpsRcvMsg error ret[%d] \n", ret); - } - } -} - -static inline void SetStopFlag(void) { - g_gps_rcv_thread_stop = TRUE; -} - -/******************************************************************************** - * MODULE : DEV_Gps_MsgEventCheck - * ABSTRACT : Message Event Check Processing - * FUNCTION : Check received messages and convert them to events - * ARGUMENT : None - * NOTE : - * RETURN : None - ********************************************************************************/ -void DevGpsMsgEventCheck(void) { - u_int32 ul_cnt = 0; - - /* Set Error to Event No. */ - g_gps_mngr.event = (u_int32)NG; - - /* For timeout notification */ - if (g_gps_msg_rcvr.header.hdr.cid == CID_TIMER_TOUT) { - /* Get event number from sequence number */ - DevGpsTimEventCheck(); - } else if (g_gps_msg_rcvr.header.hdr.cid == CID_GPS_RECVDATA) { - DevGpsCmdEventCheckNmea(); - } else { - while (kGpsMsgchkC[ul_cnt].cid != DAT_END) { - if (g_gps_msg_rcvr.header.hdr.cid == kGpsMsgchkC[ul_cnt].cid) { - POSITIONING_LOG("DevGpsMsgEventCheck: cid = %d", g_gps_msg_rcvr.header.hdr.cid); - - /* Get event number */ - g_gps_mngr.event = kGpsMsgchkC[ul_cnt].event; - - if (GPS_EVT_STOPREQ == g_gps_mngr.event) { - SetStopFlag(); - LineSensDrvThreadStopProcess(); - } - - break; - } - - ul_cnt++; - } - } -} - -/******************************************************************************** - * MODULE : DEV_Gps_TimEventCheck - * ABSTRACT : Timeout-Event check processing - * FUNCTION : Check received timeout messages and convert them to events - * ARGUMENT : None - * NOTE : - * RETURN : None - ********************************************************************************/ -void DevGpsTimEventCheck(void) { - u_int8 uc_time_kind = 0; - TimerToutMsg st_rcv_msg; - BOOL ret = FALSE; - - // Set Error to Event No. - g_gps_mngr.event = (u_int32)NG; - - // Get message - memcpy(&st_rcv_msg, &g_gps_msg_rcvr, sizeof(TimerToutMsg)); - - // Time judge kind - ret = DevGpsTimeJdgKind((u_int16)st_rcv_msg.TimerSeq); - - if (TRUE == ret) { - /* If the sequence numbers match, */ - /* Set the conversion code to the event number */ - uc_time_kind = (u_int8)((st_rcv_msg.TimerSeq >> 8) & 0x00FF); - g_gps_mngr.event = kGpsTimchkC[uc_time_kind].event; - } -} - -/*---------------------------------------------------------------------------*/ -/*EOF*/ |