diff options
Diffstat (limited to 'video_in_hal/vehicleservice/positioning/server/src/Sensor/DeadReckoning_DataMasterMain.cpp')
-rwxr-xr-x | video_in_hal/vehicleservice/positioning/server/src/Sensor/DeadReckoning_DataMasterMain.cpp | 298 |
1 files changed, 0 insertions, 298 deletions
diff --git a/video_in_hal/vehicleservice/positioning/server/src/Sensor/DeadReckoning_DataMasterMain.cpp b/video_in_hal/vehicleservice/positioning/server/src/Sensor/DeadReckoning_DataMasterMain.cpp deleted file mode 100755 index 93adda0..0000000 --- a/video_in_hal/vehicleservice/positioning/server/src/Sensor/DeadReckoning_DataMasterMain.cpp +++ /dev/null @@ -1,298 +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 name :DeadReckoning_DataMasterMain.cpp - * System name :GPF - * Subsystem name :Vehicle sensor process - * Program name :Vehicle SW Data Master - * Module configuration :DeadReckoningInitDataMaster() Guess Navigation Data Master Initialization Function - * :DeadReckoningSetDataMaster() Estimated Navigational Data Master SW Data Set Processing - * :DeadReckoningGetDataMaster() Estimated Navigational Data Master Get Processing - ******************************************************************************/ - -#include <vehicle_service/positioning_base_library.h> -#include "DeadReckoning_DataMaster.h" - -/*************************************************/ -/* Global variable */ -/*************************************************/ - -#define DR_DEBUG 0 - -/******************************************************************************* -* MODULE : DeadReckoningInitDataMaster -* ABSTRACT : Initialization of Guess Navigation Data Master -* FUNCTION : Initialize the estimated navigation data master -* ARGUMENT : void -* NOTE : -* RETURN : void -******************************************************************************/ -void DeadReckoningInitDataMaster(void) { // LCOV_EXCL_START 8: dead code. - AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert - /* Vehicle sensor data master initialization */ - DeadReckoningInitLongitudeDr(); - DeadReckoningInitLatitudeDr(); - DeadReckoningInitAltitudeDr(); - DeadReckoningInitSpeedDr(); - DeadReckoningInitHeadingDr(); - DeadReckoningInitSnsCounterDr(); - DeadReckoningInitGyroOffsetDr(); - DeadReckoningInitGyroScaleFactorDr(); - DeadReckoningInitGyroScaleFactorLevelDr(); - DeadReckoningInitSpeedPulseScaleFactorDr(); - DeadReckoningInitSpeedPulseScaleFactorLevelDr(); -} - -/******************************************************************************* -* MODULE : DeadReckoning_SetDataMaster_Sub -* ABSTRACT : Estimated Navigational Data Master SW Data Set Processing -* FUNCTION : Set estimated navigation data -* ARGUMENT : *p_data : SW vehicle signal notification data -* : p_datamaster_set_n : Data Master Set Notification(Callback function) -* NOTE : -* RETURN : void -******************************************************************************/ -void DeadReckoningSetDataMaster(const DEADRECKONING_DATA_MASTER *p_data, - PFUNC_DR_DMASTER_SET_N p_datamaster_set_n) { - AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert - u_int8 chg_type; - - static u_int8 gyro_parameter_chg_type = 0; - static u_int8 speedpulse_parameter_chg_type = 0; - - /*------------------------------------------------------*/ - /* Call the data set processing associated with the DID */ - /* Call the data master set notification process */ - /*------------------------------------------------------*/ - switch (p_data->ul_did) { - case VEHICLE_DID_DR_LONGITUDE: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetLongitudeDr(p_data); - /* Implementation of delivery process at LATITUDE updating timings */ - /* Since the order of transmission (updating) at the main receiver is fixed, there is no problem. */ - break; - } - case VEHICLE_DID_DR_LATITUDE: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetLatitudeDr(p_data); - (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR); - break; - } - case VEHICLE_DID_DR_ALTITUDE: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetAltitudeDr(p_data); - (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR); - break; - } - case VEHICLE_DID_DR_SPEED: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetSpeedDr(p_data); - (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR); - break; - } - case VEHICLE_DID_DR_HEADING: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetHeadingDr(p_data); - (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR); - break; - } - case VEHICLE_DID_DR_SNS_COUNTER: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetSnsCounterDr(p_data); - (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR); - break; - } - case VEHICLE_DID_DR_GYRO_OFFSET: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetGyroOffsetDr(p_data); - /* Distribution processing not performed in this DID */ - /* Delivery processing is executed when VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL is updated. */ - /* The GyroParameter order is defined by DeadReckoning_RcvMsg(). */ - if (chg_type == DEADRECKONING_NEQ) { - gyro_parameter_chg_type = DEADRECKONING_NEQ; - } - break; - } - case VEHICLE_DID_DR_GYRO_SCALE_FACTOR: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetGyroScaleFactorDr(p_data); - /* Distribution processing not performed in this DID */ - /* Delivery processing is executed when VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL is updated. */ - /* The GyroParameter order is defined by DeadReckoning_RcvMsg(). */ - if (chg_type == DEADRECKONING_NEQ) { - gyro_parameter_chg_type = DEADRECKONING_NEQ; - } - break; - } - case VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetGyroScaleFactorLevelDr(p_data); - if (gyro_parameter_chg_type == DEADRECKONING_NEQ) { - chg_type = DEADRECKONING_NEQ; - gyro_parameter_chg_type = DEADRECKONING_EQ; - } - (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR); - break; - } - case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetSpeedPulseScaleFactorDr(p_data); - /* Distribution processing not performed in this DID */ - /* Delivery processing is executed when VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL is updated. */ - /* The SpeedPulseParameter order is defined by DeadReckoning_RcvMsg(). */ - if (chg_type == DEADRECKONING_NEQ) { - speedpulse_parameter_chg_type = DEADRECKONING_NEQ; - } - break; - } - case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL: - { -#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ - FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n", - p_data->ul_did, p_data->us_size); -#endif - chg_type = DeadReckoningSetSpeedPulseScaleFactorLevelDr(p_data); - if (speedpulse_parameter_chg_type == DEADRECKONING_NEQ) { - chg_type = DEADRECKONING_NEQ; - speedpulse_parameter_chg_type = DEADRECKONING_EQ; - } - (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR); - break; - } - default: - break; - } -} - -/******************************************************************************* -* MODULE : DeadReckoningGetDataMaster -* ABSTRACT : Estimated Navigational Data Master Get Processing -* FUNCTION : Provide an estimated navigation data master -* ARGUMENT : ul_did : Data ID corresponding to the vehicle information -* : *p_data : Pointer to the data master provider -* NOTE : -* RETURN : void -******************************************************************************/ -void DeadReckoningGetDataMaster(DID ul_did, DEADRECKONING_DATA_MASTER *p_data) { - AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert - /*------------------------------------------------------*/ - /* Call the data Get processing associated with the DID */ - /*------------------------------------------------------*/ - switch (ul_did) { - /*------------------------------------------------------*/ - /* Vehicle sensor data group */ - /*------------------------------------------------------*/ - case VEHICLE_DID_DR_LONGITUDE: - { - DeadReckoningGetLongitudeDr(p_data); - break; - } - case VEHICLE_DID_DR_LATITUDE: - { - DeadReckoningGetLatitudeDr(p_data); - break; - } - case VEHICLE_DID_DR_ALTITUDE: - { - DeadReckoningGetAltitudeDr(p_data); - break; - } - case VEHICLE_DID_DR_SPEED: - { - DeadReckoningGetSpeedDr(p_data); - break; - } - case VEHICLE_DID_DR_HEADING: - { - DeadReckoningGetHeadingDr(p_data); - break; - } - case VEHICLE_DID_DR_SNS_COUNTER: - { - DeadReckoningGetSnsCounterDr(p_data); - break; - } - case VEHICLE_DID_DR_GYRO_OFFSET: - { - DeadReckoningGetGyroOffsetDr(p_data); - break; - } - case VEHICLE_DID_DR_GYRO_SCALE_FACTOR: - { - DeadReckoningGetGyroScaleFactorDr(p_data); - break; - } - case VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL: - { - DeadReckoningGetGyroScaleFactorLevelDr(p_data); - break; - } - case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR: - { - DeadReckoningGetSpeedPulseScaleFactorDr(p_data); - break; - } - case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL: - { - DeadReckoningGetSpeedPulseScaleFactorLevelDr(p_data); - break; - } - default: - break; - } -} -// LCOV_EXCL_STOP |