diff options
| -rw-r--r-- | LICENSE | 177 | ||||
| -rw-r--r-- | Makefile | 69 | ||||
| -rw-r--r-- | README.md | 3 | ||||
| -rw-r--r-- | hal_api/vehicle_hal.h | 210 | ||||
| -rw-r--r-- | inc/vehicle_hal_frameworkunifiedlog.h | 78 | ||||
| -rw-r--r-- | src/vehicle_hal.cpp | 398 |
6 files changed, 935 insertions, 0 deletions
diff --git a/LICENSE b/LICENSE new file mode 100644 index 00000000..f433b1a5 --- /dev/null +++ b/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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+ * 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. + */ + +#ifndef HAL_API_VEHICLE_HAL_H_ +#define HAL_API_VEHICLE_HAL_H_ +/** + * @file vehicle_hal.h + */ + +/** @addtogroup vehicle + * @{ + */ +/** @addtogroup vehicle_hal + * @ingroup vehicle + * @{ + */ + +#include <native_service/frameworkunified_types.h> + +/** + * \~english Name of the send thread + */ +#define TN_LINE_SENS_READ "Vehicle Hal" + +/** + * @enum LineSensReadInternalServiceProtocol + * \~english Command ID used by Vehicle_hal to send the vehicle signal input from the jicage line to the user \n + To receive events with this command ID, use the interface defined in framework_unified as follows + * @code + * ret_status = FrameworkunifiedAttachCallbackToDispatcher(h_app, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS, CbCallbackFunc); + * @endcode + */ +enum LineSensReadInternalServiceProtocol { + CID_VEHICLEHAL_LINESENS = 0x00000101, //!< \~english LineSens Message Command ID + CID_VEHICLEHAL_SPDPULSE = 0x00000102, //!< \~english SpeedPulse Message Command ID + CID_VEHICLEHAL_SPD = 0x00000103, //!< \~english Speed Message Command ID + CID_VEHICLEHAL_LINESENS_POL = 0x00000104, + //!< \~english voltage and RHEOSTAT Message Command ID +}; + +/** + * @enum VehiclehalLinesenskindMicBit + * \~english MIC BIT + */ +enum VehiclehalLinesenskindMicBit { + VEHICLEHAL_LINESENSKIND_MIC_BIT_MIC = 0x01, //!< \~english MIC + VEHICLEHAL_LINESENSKIND_MIC_BIT_ANALOGMIC1 = 0x02, //!< \~english ANALOGMIC1 + VEHICLEHAL_LINESENSKIND_MIC_BIT_ANALOGMIC2 = 0x04, //!< \~english ANALOGMIC2 +}; + +/** + * @enum VehiclehalLinesenskindMic2Bit + * \~english MIC2 BIT + */ +enum VehiclehalLinesenskindMic2Bit { + VEHICLEHAL_LINESENSKIND_MIC2_BIT_A2BHUB = 0x01, //!< \~english A2BHUB + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC1 = 0x02, //!< \~english MULTIMIC1 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC2 = 0x04, //!< \~english MULTIMIC2 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC3 = 0x08, //!< \~english MULTIMIC3 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC4 = 0x10, //!< \~english MULTIMIC4 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC5 = 0x20, //!< \~english MULTIMIC5 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC6 = 0x40, //!< \~english MULTIMIC6 + VEHICLEHAL_LINESENSKIND_MIC2_BIT_ANC = 0x80, //!< \~english ANC +}; + +/** + * @enum VehicleHalLineSensKind + * \~english Line Sensor kind + */ +enum VehicleHalLineSensKind { + VEHICLEHAL_LINESENSKIND_IG = 0, //!< \~english IG + VEHICLEHAL_LINESENSKIND_PKB, //!< \~english PKB + VEHICLEHAL_LINESENSKIND_REV, //!< \~english REV + VEHICLEHAL_LINESENSKIND_ILL, //!< \~english ILL + VEHICLEHAL_LINESENSKIND_LOWVOLTAGE, //!< \~english LOWVOLTAGE + VEHICLEHAL_LINESENSKIND_ADIM, //!< \~english ADIM + VEHICLEHAL_LINESENSKIND_MIC, //!< \~english MIC,ANALOGMIC1,ANALOGMIC2 + VEHICLEHAL_LINESENSKIND_USBPOWERSUPPLY, //!< \~english USB Power Supply[10mA] + VEHICLEHAL_LINESENSKIND_MIC2, //!< \~english A2BHUB,MULTIMIC1 to 6,ANC + VEHICLEHAL_LINESENSKIND_NUM, //!< \~english MAX Number +}; + +/** + * @enum VEHICLEHAL_RET_TYPE + * \~english The return value of vehicle_hal API + */ +typedef enum { + /** + * \~english Success + */ + VEHICLEHAL_RET_SUCCESS = 0, + /** + * \~english Car Signal Ctrl Api Initialize failed + */ + VEHICLEHAL_RET_ERR_HARDINIT, + /** + * \~english McSend Open failed + */ + VEHICLEHAL_RET_ERR_MCOPEN, + /** + * \~english Create Thread failed + */ + VEHICLEHAL_RET_ERR_THREADSTART, + /** + * \~english Invalid paramter + */ + VEHICLEHAL_RET_ERR_PARAM, +}VEHICLEHAL_RET_TYPE; + +/** + * @struct VehicleHalSpeedPulse + * \~english Struct of SpeedPulse + */ +struct VehicleHalSpeedPulse { + float pulse; //!< \~english speed pulse[Hz] + float period; //!< \~english pulse period[ms] +}; + +/** + * @struct VehicleHalLineSensMsg + * \~english Struct of Meassage + */ +struct VehicleHalLineSensMsg { + uint8_t stdata[VEHICLEHAL_LINESENSKIND_NUM]; //!< \~english line data +}; + +/** + * @struct VehicleHalPol + * \~english Struct of VehicleHalPolling + */ +struct VehicleHalPol { + uint8_t vb; //!< \~english voltage [10 * v] + uint8_t rheostat; //!< \~english RHEOSTAT [10 * v] +}; + +/** + * \ingroup VehicleHalStart + * \~english @par Brief + * API to start the vehicle_hal + * \~english @param [in] happ + * HANDLE - Handle for Application + * \~english @retval VEHICLEHAL_RET_SUCCESS : Success + * \~english @retval VEHICLEHAL_RET_ERR_HARDINIT : Car Signal Ctrl Api Initialize failed + * \~english @retval VEHICLEHAL_RET_ERR_MCOPEN : McSend Open failed + * \~english @retval VEHICLEHAL_RET_ERR_THREADSTART : Create Thread failed + * \~english @retval VEHICLEHAL_RET_ERR_PARAM : Invalid paramter + * \~english @par Prerequisite + * None + * \~english @par Change of internal state + * - If start successfully, vehicle_hal changes from stop to start. + * - If start failed, the state of the vehicle_hal remains no change. + * \~english @par Conditions of processing failure + * - Car Signal Ctrl Api Initialize failed. + * - McSend Open failed. + * - Create Thread failed. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Start the vehicle_hal service. + * - The API can only be used by 1 process. + * \~english @see + * None + */ +VEHICLEHAL_RET_TYPE VehicleHalStart(HANDLE happ); + +/** + * \ingroup VehicleHalStop + * \~english @par Brief + * API to stop the vehicle_hal + * \~english @param [in] happ + * HANDLE - Handle for Application + * \~english @retval VEHICLEHAL_RET_SUCCESS : Success + * \~english @retval VEHICLEHAL_RET_ERR_PARAM : Invalid paramter + * \~english @par Prerequisite + * vehicle_hal start successfully. + * \~english @par Change of internal state + * - If start successfully, vehicle_hal changes from start to stop. + * - If start failed, the state of the vehicle_hal remains no change. + * \~english @par Conditions of processing failure + * None. + * \~english @par Classification + * Public + * \~english @par Type + * Sync + * \~english @par Detail + * - Stop the vehicle_hal service. + * - The API can only be used by 1 process. + * \~english @see + * None + */ +VEHICLEHAL_RET_TYPE VehicleHalStop(HANDLE happ); + +/** @}*/ //!< end of vehicle_hal +/** @}*/ //!< end of vehicle +#endif // HAL_API_VEHICLE_HAL_H_ diff --git a/inc/vehicle_hal_frameworkunifiedlog.h b/inc/vehicle_hal_frameworkunifiedlog.h new file mode 100644 index 00000000..2cee8ebc --- /dev/null +++ b/inc/vehicle_hal_frameworkunifiedlog.h @@ -0,0 +1,78 @@ +/* + * @copyright Copyright (c) 2017-2020 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. + */ + +#ifndef INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_ +#define INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_ + +#include <native_service/ns_logger_if.h> + +#define ZONE_INIT ZONEMASK(10) +#define ZONE_FUNC ZONEMASK(11) +#define ZONE_MEM ZONEMASK(12) +#define ZONE_13 ZONEMASK(13) +#define ZONE_14 ZONEMASK(14) +#define ZONE_15 ZONEMASK(15) +#define ZONE_16 ZONEMASK(16) +#define ZONE_17 ZONEMASK(17) +#define ZONE_18 ZONEMASK(18) +#define ZONE_19 ZONEMASK(19) +#define ZONE_20 ZONEMASK(20) +#define ZONE_21 ZONEMASK(21) +#define ZONE_22 ZONEMASK(22) +#define ZONE_23 ZONEMASK(23) +#define ZONE_24 ZONEMASK(24) +#define ZONE_25 ZONEMASK(25) +#define ZONE_26 ZONEMASK(26) +#define ZONE_27 ZONEMASK(27) +#define ZONE_28 ZONEMASK(28) +#define ZONE_INFO ZONEMASK(29) +#define ZONE_WARN ZONEMASK(30) +#define ZONE_ERR ZONEMASK(31) + +#define ZONE_TEXT_10 "Init" +#define ZONE_TEXT_11 "Function" +#define ZONE_TEXT_12 "Memory" +#define ZONE_TEXT_13 "" +#define ZONE_TEXT_14 "" +#define ZONE_TEXT_15 "" +#define ZONE_TEXT_16 "" +#define ZONE_TEXT_17 "" +#define ZONE_TEXT_18 "" +#define ZONE_TEXT_19 "" +#define ZONE_TEXT_20 "" +#define ZONE_TEXT_21 "" +#define ZONE_TEXT_22 "" +#define ZONE_TEXT_23 "" +#define ZONE_TEXT_24 "" +#define ZONE_TEXT_25 "" +#define ZONE_TEXT_26 "" +#define ZONE_TEXT_27 "" +#define ZONE_TEXT_28 "" +#define ZONE_TEXT_29 "Info" +#define ZONE_TEXT_30 "Warning" +#define ZONE_TEXT_31 "Error" + +#ifndef FRAMEWORKUNIFIEDLOGOPTIONS +#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM) // LPRINT , LMSGQ, LSLOGGER +#endif + +#ifndef FRAMEWORKUNIFIEDLOGAPPZONES +#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO +#endif + +extern const CHAR AppName[]; // NOLINT (defind outside) +#endif // INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_ + diff --git a/src/vehicle_hal.cpp b/src/vehicle_hal.cpp new file mode 100644 index 00000000..258c51a4 --- /dev/null +++ b/src/vehicle_hal.cpp @@ -0,0 +1,398 @@ +/* + * @copyright Copyright (c) 2017-2020 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. + */ + +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include <unistd.h> +#include <agl_thread.h> +#include <native_service/frameworkunified_framework_if.h> +#include <native_service/frameworkunified_dispatcher.h> +#include <native_service/frameworkunified_multithreading.h> +#include "vehicle_hal_frameworkunifiedlog.h" + +extern "C" { +// #include "carsignal_mng_api.h" +} + +#include "vehicle_hal.h" + +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_ADIM_DATA "VEHICLEHAL_LINESENSKIND_ADIM" +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_MIC_DATA "VEHICLEHAL_LINESENSKIND_MIC" +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_VB_DATA "VEHICLEHAL_LINESENSKIND_VB" +/** +* \~english environment variable define +*/ +#define VEHICLEHAL_LINESENSKIND_RHEOSTAT_DATA "VEHICLEHAL_LINESENSKIND_RHEOSTAT" + +#define VEHICLEHAL_LOWVB_VALUE 75 + +// send message flag +static HANDLE g_sendmsg_handle = NULL; + +// work thread exit flag +static BOOL g_loopendflag = FALSE; + +// polling thread exit flag +static BOOL g_polloopendflag = FALSE; + +// isOpen flag +static BOOL g_isopenflag = FALSE; + +// thread id +static pthread_t g_threadid = 0; + +// hard object struct +//static VclCtlApiObj g_sclientobj; + +// app name +static CHAR g_appname[MAX_NAME_SIZE_APP]; + +// line sense list +const UINT8 kLineSensList[VEHICLEHAL_LINESENSKIND_NUM] = { +// CARSIGNAL_IG, +// CARSIGNAL_PKB, +// CARSIGNAL_REV, +// CARSIGNAL_ILL, +}; + +static void *VehicleHalProcess(void *arg); + +HANDLE g_vehiclehalext_thread; +HANDLE g_vehiclehalpol_thread; +EFrameworkunifiedStatus VehicleHalProcessExtStart(HANDLE happ); +EFrameworkunifiedStatus VehicleHalProcessExtStop(HANDLE happ); +EFrameworkunifiedStatus VehicleHalProcessRecvSpeed(HANDLE happ); + +EFrameworkunifiedStatus VehicleHalProcessPolStart(HANDLE happ); +EFrameworkunifiedStatus VehicleHalProcessPolStop(HANDLE happ); + +static const FrameworkunifiedProtocolCallbackHandler kVehicleHalSpd[] = { { + CID_VEHICLEHAL_SPD, VehicleHalProcessRecvSpeed } }; + +#define VEHICLEHAL_SPEED "VehicleHalSpd" +#define VEHICLEHAL_EXT "VehicleHalExt" +#define VEHICLEHAL_POL "VehicleHalPol" + +VEHICLEHAL_RET_TYPE VehicleHalStart(HANDLE happ) { + if (NULL == happ) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Handle is NULL"); + return VEHICLEHAL_RET_ERR_PARAM; + } + + // check open flag + if (TRUE == g_isopenflag) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Already Opened"); + return VEHICLEHAL_RET_SUCCESS; + } + +// memset(&g_sclientobj, 0, sizeof(g_sclientobj)); + + // enter loop + g_loopendflag = FALSE; + + g_polloopendflag = FALSE; + + // get app name + PCSTR app_name = FrameworkunifiedGetAppName(happ); + if (NULL == app_name) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Get App Name Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + + memset(g_appname, 0, sizeof(g_appname)); + memcpy(g_appname, app_name, sizeof(g_appname)); + g_appname[MAX_NAME_SIZE_APP] = '\0'; + +// // Start VLC data input control API +// UINT32 ret = VclCtlApiOpen(&g_sclientobj); +// if ( CARSIGNAL_CTL_RET_SUCCESS != ret ) { +// FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Ten Api Open Failed"); +// return VEHICLEHAL_RET_ERR_HARDINIT; +// } + + // Open message queue for sending + g_sendmsg_handle = McOpenSender(g_appname); + if (NULL == g_sendmsg_handle) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Open Mc Sender Failed"); +// VclCtlApiClose(&g_sclientobj); + return VEHICLEHAL_RET_ERR_MCOPEN; + } + + // create thread + int iret = pthread_create(&g_threadid, + NULL, + VehicleHalProcess, + NULL); + if ( 0 != iret ) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Create Thread Failed"); + McClose(g_sendmsg_handle); +// VclCtlApiClose(&g_sclientobj); + return VEHICLEHAL_RET_ERR_THREADSTART; + } + + g_vehiclehalext_thread = FrameworkunifiedCreateChildThread(happ, VEHICLEHAL_EXT, + VehicleHalProcessExtStart, + VehicleHalProcessExtStop); + + EFrameworkunifiedStatus estatus = FrameworkunifiedStartChildThread(happ, g_vehiclehalext_thread, 0, NULL); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedStartChildThread Failed"); + McClose(g_sendmsg_handle); + return VEHICLEHAL_RET_ERR_THREADSTART; + } + + g_vehiclehalpol_thread = FrameworkunifiedCreateChildThread(happ, VEHICLEHAL_POL, + VehicleHalProcessPolStart, + VehicleHalProcessPolStop); + + EFrameworkunifiedStatus estatus_pol = FrameworkunifiedStartChildThread(happ, g_vehiclehalpol_thread, 0, NULL); + if (eFrameworkunifiedStatusOK != estatus_pol) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedStartChildThread polling Failed"); + McClose(g_sendmsg_handle); + return VEHICLEHAL_RET_ERR_THREADSTART; + } + + + // set open flag true + g_isopenflag = TRUE; + + return VEHICLEHAL_RET_SUCCESS; +} + +VEHICLEHAL_RET_TYPE VehicleHalStop(HANDLE happ) { + if (NULL == happ) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Handle is NULL"); + return VEHICLEHAL_RET_ERR_PARAM; + } + + if (NULL != g_vehiclehalext_thread) { + EFrameworkunifiedStatus estatus = FrameworkunifiedDestroyChildThread(happ, g_vehiclehalext_thread); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + g_vehiclehalext_thread = NULL; + } + + // set open flag of polling to fasle + g_polloopendflag = TRUE; + + if (NULL != g_vehiclehalpol_thread) { + EFrameworkunifiedStatus estatus = FrameworkunifiedStopChildThread(happ, g_vehiclehalpol_thread, 0, NULL); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread polling Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + estatus = FrameworkunifiedDestroyChildThread(happ, g_vehiclehalpol_thread); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread polling Failed"); + return VEHICLEHAL_RET_ERR_PARAM; + } + g_vehiclehalpol_thread = NULL; + } + + // set open flag fasle + g_isopenflag = FALSE; + + // exit loop + g_loopendflag = TRUE; + + // destroy thead + pthread_join(g_threadid, NULL); + + // Close message queue + McClose(g_sendmsg_handle); + +// // End VLC data input control API +// VclCtlApiClose(&g_sclientobj); + + return VEHICLEHAL_RET_SUCCESS; +} + +void *VehicleHalProcess(void *arg) { + // Line Sense Message + VehicleHalLineSensMsg s_linesensmsg; + memset( &s_linesensmsg, 0xFF, sizeof(s_linesensmsg) ); + + // main loop + while (TRUE != g_loopendflag) { + char* p_env_vb = NULL; + p_env_vb = getenv(VEHICLEHAL_LINESENSKIND_VB_DATA); + if (NULL != p_env_vb) { + // low voltage + if (VEHICLEHAL_LOWVB_VALUE >= atoi(p_env_vb)) { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_LOWVOLTAGE] = 1; + } else { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_LOWVOLTAGE] = 0; + } + } + + // loop to get line sense status + for (UI_32 iloopnum = 0; iloopnum <= VEHICLEHAL_LINESENSKIND_ILL; ++iloopnum) { + // line sense status + UINT8 signalret = 0; + +// // get line sense status +// UINT32 ret = VclCtlApiRcvVclData(&g_sclientobj, kLineSensList[iloopnum], &signalret); +// if ( CARSIGNAL_CTL_RET_SUCCESS != ret ) { +// FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Get LineSens [%d] status faild [%d]", kLineSensList[iloopnum], ret); +// continue; +// } + + // convert 0 to 1 or 1 to 0 for IG,REV according car signal api reference + switch (kLineSensList[iloopnum]) { +// case CARSIGNAL_IG: +// case CARSIGNAL_REV: +// signalret = 1 - signalret; +// break; + + default: + break; + } + + // check status + if (signalret != s_linesensmsg.stdata[iloopnum]) { + s_linesensmsg.stdata[iloopnum] = signalret; + } + } + + char* p_env_adim = NULL; + p_env_adim = getenv(VEHICLEHAL_LINESENSKIND_ADIM_DATA); + if (NULL != p_env_adim) { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_ADIM] = atoi(p_env_adim); + } + + char* p_env_mic = NULL; + p_env_mic = getenv(VEHICLEHAL_LINESENSKIND_MIC_DATA); + if (NULL != p_env_mic) { + s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_MIC] = atoi(p_env_mic); + } + + // send line sens + EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS, + sizeof(s_linesensmsg), (PVOID)&s_linesensmsg); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend LineSens failed"); + } + + // wait 10ms + usleep(10000); + } + return NULL; +} + +EFrameworkunifiedStatus VehicleHalProcessExtStart(HANDLE happ) { + EFrameworkunifiedStatus estatus = FrameworkunifiedAttachCallbacksToDispatcher(happ, VEHICLEHAL_SPEED, + kVehicleHalSpd, + static_cast<UI_32>(_countof(kVehicleHalSpd))); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, + "Error FrameworkunifiedAttachCallbacksToDispatcher Vehicle_Hal_Speed:%d", estatus); + return estatus; + } + + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessExtStop(HANDLE happ) { + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessRecvSpeed(HANDLE happ) { + // Speed Pusle Message + VehicleHalSpeedPulse speedpulsemsg; + memset( &speedpulsemsg, 0xFF, sizeof(speedpulsemsg) ); + + // get vehicle speed + UINT16 speed = 0; + EFrameworkunifiedStatus estatus = eFrameworkunifiedStatusOK; + + estatus = FrameworkunifiedGetMsgDataOfSize(happ, &speed, sizeof(speed), eSMRRelease); + if (eFrameworkunifiedStatusOK != estatus) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "failed FrameworkunifiedGetMsgDataOfSize() Status=[%d]", estatus); + return estatus; + } + + // calculate speed to speed pulse + float speedpulse = static_cast<float>(speed * (4.0*637.0) / (60.0 * 60.0)); + if ( speedpulse != speedpulsemsg.pulse ) { + speedpulsemsg.pulse = speedpulse; + if (0.0 != speedpulse) { + speedpulsemsg.period = static_cast<float>((1 / speedpulse) * 1000); + } else { + speedpulsemsg.period = 0; + } + } + + // send line sens + EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_SPDPULSE, + sizeof(speedpulsemsg), (PVOID)&speedpulsemsg); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Speed Pulse failed"); + } + + eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_SPD, + sizeof(UINT16), (PVOID)&speed); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Speed failed"); + } + + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessPolStart(HANDLE happ) { + VehicleHalPol s_pol; + memset( &s_pol, 0xFF, sizeof(s_pol) ); + + while (!g_polloopendflag) { + char* p_env_vb = NULL; + char* p_env_rheostat = NULL; + p_env_vb = getenv(VEHICLEHAL_LINESENSKIND_VB_DATA); + p_env_rheostat = getenv(VEHICLEHAL_LINESENSKIND_RHEOSTAT_DATA); + if (NULL != p_env_vb) { + // covert voltage value + s_pol.vb = atoi(p_env_vb); + } + + if (NULL != p_env_rheostat) { + // covert RHEOSTAT value + s_pol.rheostat = atoi(p_env_rheostat); + } + // send vb and rheostat + EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS_POL, + sizeof(s_pol), (PVOID)&s_pol); + if (eFrameworkunifiedStatusOK != eretval) { + FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Vb and RHEOSTAT failed"); + } + // sleep 700ms + usleep(700000); + } + return eFrameworkunifiedStatusOK; +} + +EFrameworkunifiedStatus VehicleHalProcessPolStop(HANDLE happ) { + return eFrameworkunifiedStatusOK; +} |