diff options
Diffstat (limited to 'positioning/client/include/vehicle_service/POS_common_API.h')
| -rw-r--r-- | positioning/client/include/vehicle_service/POS_common_API.h | 164 |
1 files changed, 56 insertions, 108 deletions
diff --git a/positioning/client/include/vehicle_service/POS_common_API.h b/positioning/client/include/vehicle_service/POS_common_API.h index fb1b834a..5ee30055 100644 --- a/positioning/client/include/vehicle_service/POS_common_API.h +++ b/positioning/client/include/vehicle_service/POS_common_API.h @@ -1,5 +1,5 @@ /* - * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION. + * @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. @@ -36,7 +36,7 @@ * Incluce * *---------------------------------------------------------------------------------*/ #include <vehicle_service/POS_define.h> -//#include <gps_hal.h> +#include <gps_hal.h> /*---------------------------------------------------------------------------------* * Definition * @@ -61,11 +61,42 @@ /* Command ID */ /* Vehicle sensor information notification CID (Rate information) */ -#define CID_POSIF_REGISTER_LISTENER_SPEED (0x0203) //!< \~english Delivery speed + +/** + * \~english @brief Delivery speed command ID + * \~english @brief If you want to catch above envents, use NSFW like below. + * \~english @code + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_SPEED, CBCallbackA); + * @endcode + */ +#define CID_POSIF_REGISTER_LISTENER_SPEED (0x0203) + +/** + * \~english @brief Delivery longitude and latitude command ID + * \~english @brief If you want to catch above envents, use NSFW like below. + * \~english @code + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_LONLAT, CBCallbackA); + * @endcode + */ #define CID_POSIF_REGISTER_LISTENER_LONLAT 0x0781 -//!< \~english Delivery longitude and latitude -#define CID_POSIF_REGISTER_LISTENER_ALTITUDE 0x0782 //!< \~english Delivery altitude -#define CID_POSIF_REGISTER_LISTENER_HEADING 0x0783 //!< \~english Delivery heading + +/** + * \~english @brief Delivery altitude command ID + * \~english @brief If you want to catch above envents, use NSFW like below. + * \~english @code + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_ALTITUDE, CBCallbackA); + * @endcode + */ +#define CID_POSIF_REGISTER_LISTENER_ALTITUDE 0x0782 + +/** + * \~english @brief Delivery heading command ID + * \~english @brief If you want to catch above envents, use NSFW like below. + * \~english @code + * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_HEADING, CBCallbackA); + * @endcode + */ +#define CID_POSIF_REGISTER_LISTENER_HEADING 0x0783 /*---------------------------------------------------------------------------------* * Typedef declaration * @@ -94,7 +125,7 @@ typedef struct { * \~english longitude and latitude information data delivery message */ typedef struct { -// SENSORLOCATION_LONLATINFO_DAT data; + SENSORLOCATION_LONLATINFO_DAT data; //!< \~english longitude and latitude information data } SENSORLOCATION_MSG_LONLATINFO; @@ -103,7 +134,7 @@ typedef struct { * \~english altitude information data delivery message */ typedef struct { -// SENSORLOCATION_ALTITUDEINFO_DAT data; //!< \~english altitude information data + SENSORLOCATION_ALTITUDEINFO_DAT data; //!< \~english altitude information data } SENSORLOCATION_MSG_ALTITUDEINFO; /** @@ -111,7 +142,7 @@ typedef struct { * \~english heading information data delivery message */ typedef struct { -// SENSORMOTION_HEADINGINFO_DAT data; //!< \~english heading information data + SENSORMOTION_HEADINGINFO_DAT data; //!< \~english heading information data } SENSORMOTION_MSG_HEADINGINFO; /** @@ -119,7 +150,7 @@ typedef struct { * \~english speed information data delivery message */ typedef struct { -// SENSORMOTION_SPEEDINFO_DAT data; //!< \~english speed information data + SENSORMOTION_SPEEDINFO_DAT data; //!< \~english speed information data } SENSORMOTION_MSG_SPEEDINFO; @@ -264,7 +295,7 @@ extern "C" { /// Notification of message /// - After registered successfully, vehicle sensor information will been sent as system API \n /// message with following format.\n -/// Command ID : CID_POSIF_REGISTER_LISTENER_LONLAT \n +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_LONLAT \n /// message structure /// \~english @code /// typedef struct { @@ -278,8 +309,6 @@ extern "C" { /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* Synchrony count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint8_t posSts; /* position status */ /// uint16_t posAcc; /* Position accuracy */ /// int32_t Longitude; /* Longitude */ @@ -346,7 +375,7 @@ POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, PCSTR notifyName, uint8_t uc /// \~english @param [in] ucDeliveryTiming /// - uint8_t - Delivery timing(change/update) /// \~english @param [in] ucGetMethod -/// - uint8_t - Get method(GPS/Navi/Not specified) +/// - uint8_t - Get method(GPS/Not specified) /// /// \~english @par /// - Delivery control flag(ucCtrlFlg) @@ -361,7 +390,6 @@ POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, PCSTR notifyName, uint8_t uc /// vehicle sensor. /// - Get method(ucGetMethod) /// - SENSOR_GET_METHOD_GPS - GPS. The altitude from GPS will be deliveried. -/// - SENSOR_GET_METHOD_NAVI - Navi. The altitude from Navigation will be deliveried. /// - SENSOR_GET_METHOD_AUTO - Not specified. The altitude will be deliveried according to \n /// the current environment /// - Avaliable method is descriped as following in each environment. \n @@ -454,7 +482,7 @@ POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, PCSTR notifyName, uint8_t uc /// \~english @par /// Notification of message /// - After registered successfully, vehicle sensor will send system API message with following format. \n -/// Command ID : CID_POSIF_REGISTER_LISTENER_ALTITUDE \n +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_ALTITUDE \n /// message structure /// \~english @code /// typedef struct { @@ -467,21 +495,17 @@ POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, PCSTR notifyName, uint8_t uc /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* synchrony count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint8_t Reserve[3]; /* Reserve */ /// int32_t Altitude; /* Altitude(unit:0.01m) */ /// } SENSORLOCATION_ALTITUDEINFO_DAT; /// @endcode /// - Get method(getMethod) /// - SENSOR_GET_METHOD_GPS - altitude from GPS -/// - SENSOR_GET_METHOD_NAVI - altitude from Navigation /// - Synchrony count(SyncCnt) /// - Count for position data synchronous \n /// When delivery altitude and heading data, position data can be synchronized by SyncCnt. \n /// But the data of different method can not be synchronized by SyncCnt.\n -/// example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by SyncCnt.\n -/// example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be +/// example: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by SyncCnt.\n /// synchronized by SyncCnt. \n /// Caution: The sensor count in sensor data delivery is another data. /// - Enable or not(isEnable) \n @@ -491,7 +515,6 @@ POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, PCSTR notifyName, uint8_t uc /// - when GPS data specified, Altitude is invalid at following condition(so [not avaliable] provieded): /// - Immediately after system start, GPS unit has not received current location data and GPS unit status \n /// is not positioning fix -/// - If it is not initialization status, certainly provide [avaliable] when Navi data specified /// - If the status is [not avaliable], data following can not be guaranteed. /// - Altitude /// - altitude data(unit 0.01m) @@ -629,7 +652,7 @@ POS_RET_API POS_RegisterListenerAltitude(HANDLE hApp, PCSTR notifyName, uint8_t /// \~english @par /// Notification of message /// - After registered successfully, vehicle sensor will send system API message with following format. \n -/// Command ID : CID_POSIF_REGISTER_LISTENER_SPEED \n +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_SPEED \n /// message structure /// \~english @code /// typedef struct { @@ -642,9 +665,7 @@ POS_RET_API POS_RegisterListenerAltitude(HANDLE hApp, PCSTR notifyName, uint8_t /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* synchrony count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ /// uint8_t Reserve1[3]; /* Reserve */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint16_t Speed; /* speed(unit:0.01m/sec) */ /// uint8_t Reserve2[2]; /* Reserve */ /// } SENSORMOTION_SPEEDINFO_DAT; @@ -707,7 +728,6 @@ POS_RET_API POS_RegisterListenerSpeed(HANDLE hApp, PCSTR notifyName, uint8_t ucC /// vehicle sensor. /// - Get method(ucGetMethod) /// - SENSOR_GET_METHOD_GPS - GPS. The heading from GPS will be deliveried. -/// - SENSOR_GET_METHOD_NAVI - Navi. The heading from Navi will be deliveried. /// - SENSOR_GET_METHOD_AUTO - Not specified. The heading will be deliveried \n /// according to the current environment /// - Avaliable method is descriped as following in each environment. \n @@ -798,7 +818,7 @@ POS_RET_API POS_RegisterListenerSpeed(HANDLE hApp, PCSTR notifyName, uint8_t ucC /// \~english @par /// Notification of message /// - After registered successfully, vehicle sensor will send system API message with following format. \n -/// Command ID : CID_POSIF_REGISTER_LISTENER_HEADING \n +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_HEADING \n /// message structure /// \~english @code /// typedef struct { @@ -811,8 +831,6 @@ POS_RET_API POS_RegisterListenerSpeed(HANDLE hApp, PCSTR notifyName, uint8_t ucC /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* sync count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint8_t posSts; /* position status */ /// uint8_t Reserve1[2]; /* Reserve */ /// uint16_t Heading; /* heading(unit:0.01degree) */ @@ -889,8 +907,6 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* sync count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint8_t posSts; /* position status */ /// uint16_t posAcc; /* Position accuracy */ /// int32_t Longitude; /* Longitude */ @@ -1025,7 +1041,7 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// - POS_RegisterListenerLonLat /// //////////////////////////////////////////////////////////////////////////////////////////// -//POS_RET_API POS_GetLonLat(HANDLE hApp, SENSORLOCATION_LONLATINFO_DAT *dat, uint9_t ucGetMethod); +POS_RET_API POS_GetLonLat(HANDLE hApp, SENSORLOCATION_LONLATINFO_DAT *dat, uint8_t ucGetMethod); //////////////////////////////////////////////////////////////////////////////////////////// /// \ingroup tag_Positioning @@ -1037,12 +1053,11 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// \~english @param [out] dat /// - SENSORLOCATION_ALTITUDEINFO_DAT* - output pointer to altitude data /// \~english @param [in] ucGetMethod -/// - uint8_t - Get method(GPS/Navi/Not specified) +/// - uint8_t - Get method(GPS/Not specified) /// /// \~english @par /// - Get method(ucGetMethod) /// - SENSOR_GET_METHOD_GPS - GPS The altitude from GPS will be deliveried. -/// - SENSOR_GET_METHOD_NAVI - Navi The altitude from Navi will be deliveried. /// - SENSOR_GET_METHOD_AUTO - Not specified The altitude will be deliveried \n /// according to the current environment /// - Avaliable method is descriped as following in each environment. \n @@ -1056,21 +1071,17 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* sync count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint8_t Reserve[3]; /* Reserve */ /// int32_t Altitude; /* Altitude(unit:0.01m) */ /// } SENSORLOCATION_ALTITUDEINFO_DAT; /// @endcode /// - Get method(getMethod) /// - SENSOR_GET_METHOD_GPS - altitude from GPS -/// - SENSOR_GET_METHOD_NAVI - altitude from Navi /// - Synchrony count(SyncCnt) /// - Count for position data synchronous \n /// When delivery altitude and heading data, position data can be synchronized by this count. \n /// But the data of different method can not be synchronized by this count. \n -/// example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by the count. \n -/// example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be \n +/// example: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by the count. \n /// synchronized by the count. \n /// Caution: The sensor count in sensor data delivery is another data. /// - Enable or not(isEnable)\n @@ -1080,7 +1091,6 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// - Altitude is invalid at following condition when GPS data specified, so [not avaliable] provieded /// - Immediately after system start, GPS unit has not received current location data and GPS unit \n /// status is not positioning fix -/// - If it is not initialization status, certainly provide [avaliable] when Navi data specified /// - If the status is [not avaliable], data following can not be guaranteed. /// - Altitude /// - altitude data(unit 0.01m) @@ -1178,7 +1188,7 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// \~english @see /// - POS_RegisterListenerAltitude //////////////////////////////////////////////////////////////////////////////////////////// -//POS_RET_API POS_GetAltitude(HANDLE hApp, SENSORLOCATION_ALTITUDEINFO_DAT *dat, uint8_t ucGetMethod); +POS_RET_API POS_GetAltitude(HANDLE hApp, SENSORLOCATION_ALTITUDEINFO_DAT *dat, uint8_t ucGetMethod); //////////////////////////////////////////////////////////////////////////////////////////// /// \ingroup tag_Positioning @@ -1210,16 +1220,13 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* sync count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ /// uint8_t Reserve1[3]; /* Reserve */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint16_t Speed; /* speed(unit:0.01m/sec) */ /// uint8_t Reserve2[2]; /* Reserve */ /// } SENSORMOTION_SPEEDINFO_DAT; /// @endcode /// - Get method(getMethod) /// - SENSOR_GET_METHOD_POS - The speed calculated in positioning based on speed pulse will be deliveried. -/// - SENSOR_GET_METHOD_NAVI - speed from Navi /// - Sync count(SyncCnt) /// - 0. /// - Enable or not(isEnable) \n @@ -1327,7 +1334,7 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// - POS_RegisterListenerSpeed /// //////////////////////////////////////////////////////////////////////////////////////////// -//POS_RET_API POS_GetSpeed(HANDLE hApp, SENSORMOTION_SPEEDINFO_DAT *dat, uint8_t ucGetMethod); +POS_RET_API POS_GetSpeed(HANDLE hApp, SENSORMOTION_SPEEDINFO_DAT *dat, uint8_t ucGetMethod); //////////////////////////////////////////////////////////////////////////////////////////// /// \ingroup tag_Positioning @@ -1343,8 +1350,9 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// /// \~english @par /// - Get method(ucGetMethod) -/// - SENSOR_GET_METHOD_GPS - GPS The altitude from GPS will be deliveried. -/// - SENSOR_GET_METHOD_NAVI - Navi The altitude from Navi will be deliveried. +/// - SENSOR_GET_METHOD_GPS - GPS The heading from GPS will be deliveried. +/// - SENSOR_GET_METHOD_NAVI - Navi The heading from Navi will be deliveried. +/// - SENSOR_GET_METHOD_AUTO - Not specified The heading which most suitable in current environment \n /// - Avaliable method is descriped as following in each environment. \n /// In corresponding environment, the SENSOR_GET_METHOD_AUTO is set as default. \n /// In corresponding environment, if the unsupported method has been specified, \n @@ -1356,8 +1364,6 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// uint8_t getMethod; /* get method */ /// uint8_t SyncCnt; /* sync count */ /// uint8_t isEnable; /* enable or not */ -/// uint8_t isExistDR; /* DR exist or not[not used] */ -/// uint8_t DRStatus /* DR status[not used] */ /// uint8_t posSts; /* position status */ /// uint8_t Reserve1[2]; /* Reserve */ /// uint16_t Heading; /* heading(unit:0.01degree) */ @@ -1485,7 +1491,7 @@ POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t u /// - POS_RegisterListenerHeading /// //////////////////////////////////////////////////////////////////////////////////////////// -//POS_RET_API POS_GetHeading(HANDLE hApp, SENSORMOTION_HEADINGINFO_DAT *dat, uint8_t ucGetMethod); +POS_RET_API POS_GetHeading(HANDLE hApp, SENSORMOTION_HEADINGINFO_DAT *dat, uint8_t ucGetMethod); //////////////////////////////////////////////////////////////////////////////////////////// /// \ingroup tag_Positioning @@ -1648,64 +1654,6 @@ POS_RET_API POS_SetSpeedInfo(HANDLE hApp, uint16_t navispeed); //////////////////////////////////////////////////////////////////////////////////////////// POS_RET_API POS_SetLocationInfo(HANDLE hApp, POS_POSDATA* pstPosData); -//////////////////////////////////////////////////////////////////////////////////////////// -/// \ingroup tag_Positioning -/// \~english @par Brief -/// - Set location NMEA information -/// -/// \~english @param [in] hApp -/// - HANDLE - App Handle -/// \~english @param [in] locationInfo -/// - POS_POSDATA * - pointer to location information NMEA -/// -/// \~english @retval POS_RET_NORMAL normal finish -/// \~english @retval POS_RET_ERROR_PARAM parameter error -/// \~english @retval POS_RET_ERROR_INNER internal error -/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported -/// \~english @retval SENSOR_RET_ERROR_NOSUPPORT unsupported -/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource -/// -/// \~english @par Precondition -/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of \n -/// the Dispatcher for App are completed. -/// - Availability of positioning service is TRUE. -/// -/// \~english @par changes of internal status -/// - There is no changes of internal status -/// -/// \~english @par Failure condition -/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM] -/// - The length in parameter locationInfo is invalid value(0). [POS_RET_ERROR_PARAM] -/// - The length in parameter locationInfo is abnormal value(> LOCATIONINFO_NMEA_MAX). [POS_RET_ERROR_PARAM] -/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE] -/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE] -/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE] -/// - The message queue name has not been registered in control table. [POS_RET_ERROR_INNER] -/// - Message transfer HANDLE create failed. [POS_RET_ERROR_INNER] -/// - Message transfer HANDLE get failed from internal table. [POS_RET_ERROR_INNER] -/// - Location NMEA data setting message transfer failed. [POS_RET_ERROR_INNER] -/// -/// \~english @par Detail -/// - Call this API to set location nmea to vehicle sensor. \n -/// This API will finish when get the return value. \n -/// The location set by this API is saved in positioning as the location calculated by Navi. \n -/// -/// \~english @par -/// - Please note the following points when use this API. -/// - This API is only called by Navi proxy. -/// -/// \~english @par Classification -/// - Public -/// -/// \~english @par Type -/// - Fire and Forget -/// -/// \~english @see -/// - None -/// -////////////////////////////////////////////////////////////////////////////////////////////yy -POS_RET_API POS_SetLocationInfoNmea(HANDLE hApp, POS_LOCATIONINFO_NMEA* locationInfo); - #ifdef __cplusplus } #endif |