diff options
Diffstat (limited to 'positioning/client/src/POS_sensor_API/Sensor_API.cpp')
| -rw-r--r-- | positioning/client/src/POS_sensor_API/Sensor_API.cpp | 784 |
1 files changed, 784 insertions, 0 deletions
diff --git a/positioning/client/src/POS_sensor_API/Sensor_API.cpp b/positioning/client/src/POS_sensor_API/Sensor_API.cpp new file mode 100644 index 00000000..179eb926 --- /dev/null +++ b/positioning/client/src/POS_sensor_API/Sensor_API.cpp @@ -0,0 +1,784 @@ +/* + * @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 :Sensor_API.cpp + * System name :GPF + * Subsystem name :Sensor I/F library + * Program name :SensorI/F API + ******************************************************************************/ + +#include <stdio.h> +#include <vehicle_service/POS_sensor_API.h> +#include <vehicle_service/POS_define.h> +#include <vehicle_service/POS_sensor_API.h> +#include <vehicle_service/positioning_base_library.h> +#include "POS_sensor_private.h" +#include "Sensor_Common_API.h" +#include "Sensor_API_private.h" +#include "Sensor_Common_API.h" +#include "Vehicle_API_Dummy.h" +#include "Vehicle_API_private.h" +#include "Naviinfo_API.h" +#include "POS_private.h" + +/*************************************************/ +/* Global variable */ +/*************************************************/ +/******************************************************************************** + * TAG :TG_GPS_REQ_RESET + * ABSTRACT :GPS reset request + * NOTE :I/F information between host applications(Reset mode) + ********************************************************************************/ +/** + * @brief POS_RegisterListenerPkgSensData Return code list + */ +static const SENSOR_RET_PKG g_ret_list_reg_lis_pkg_sens_data[SENSOR_PUBLIC_DID_NUM] = { + /* GRADE2 GRADE1 DID (Key) */ + {TRUE, TRUE, POS_DID_SPEED_PULSE }, + {FALSE, TRUE, POS_DID_SPEED_KMPH }, + {TRUE, TRUE, POS_DID_GYRO_X }, + {TRUE, TRUE, POS_DID_GYRO_Y }, + {TRUE, TRUE, POS_DID_GYRO_Z }, + {TRUE, TRUE, POS_DID_GSNS_X }, + {TRUE, TRUE, POS_DID_GSNS_Y }, + {TRUE, TRUE, POS_DID_GSNS_Z }, + {FALSE, TRUE, POS_DID_GPS_ANTENNA }, + {TRUE, TRUE, POS_DID_SNS_COUNTER }, + {FALSE, TRUE, POS_DID_SPEED_PULSE_FST }, + {FALSE, TRUE, POS_DID_GYRO_X_FST }, + {FALSE, TRUE, POS_DID_GYRO_Y_FST }, + {FALSE, TRUE, POS_DID_GYRO_Z_FST }, + {FALSE, TRUE, POS_DID_GPS__CWORD82__NMEA }, + {FALSE, TRUE, POS_DID_GPS__CWORD82___CWORD44_GP4 }, + {FALSE, TRUE, POS_DID_GPS__CWORD82__FULLBINARY }, + {FALSE, TRUE, POS_DID_GPS_NMEA }, + {TRUE, TRUE, POS_DID_REV }, + {FALSE, TRUE, POS_DID_REV_FST }, + {TRUE, TRUE, POS_DID_GYRO_TEMP }, + {FALSE, TRUE, POS_DID_GYRO_TEMP_FST }, + {FALSE, TRUE, POS_DID_GSNS_X_FST }, + {FALSE, TRUE, POS_DID_GSNS_Y_FST }, + {FALSE, TRUE, POS_DID_GSNS_Z_FST }, + {TRUE, TRUE, POS_DID_PULSE_TIME }, + {FALSE, TRUE, POS_DID_GPS_CLOCK_DRIFT }, + {FALSE, TRUE, POS_DID_GPS_CLOCK_FREQ }, + {FALSE, TRUE, VEHICLE_DID_GPS_TIME }, /* For local use */ + {FALSE, TRUE, VEHICLE_DID_GPS_TIME_RAW }, /* For local use */ + {FALSE, TRUE, VEHICLE_DID_GPS_WKNROLLOVER} /* For local use */ +}; + +/** + * @brief POS_RegisterListenerSensData Return code list + */ +static const SENSOR_RET_PKG g_ret_list_reg_lis_sens_data[SENSOR_PUBLIC_DID_NUM] = { + /* GRADE2 GRADE1 DID (Key) */ + {TRUE, TRUE, POS_DID_SPEED_PULSE }, + {FALSE, TRUE, POS_DID_SPEED_KMPH }, + {TRUE, TRUE, POS_DID_GYRO_X }, + {TRUE, TRUE, POS_DID_GYRO_Y }, + {TRUE, TRUE, POS_DID_GYRO_Z }, + {TRUE, TRUE, POS_DID_GSNS_X }, + {TRUE, TRUE, POS_DID_GSNS_Y }, + {TRUE, TRUE, POS_DID_GSNS_Z }, + {TRUE, TRUE, POS_DID_GPS_ANTENNA }, + {FALSE, TRUE, POS_DID_SNS_COUNTER }, + {TRUE, TRUE, POS_DID_SPEED_PULSE_FST }, + {TRUE, TRUE, POS_DID_GYRO_X_FST }, + {TRUE, TRUE, POS_DID_GYRO_Y_FST }, + {TRUE, TRUE, POS_DID_GYRO_Z_FST }, + {TRUE, TRUE, POS_DID_GPS__CWORD82__NMEA }, + {FALSE, TRUE, POS_DID_GPS__CWORD82___CWORD44_GP4 }, + {TRUE, TRUE, POS_DID_GPS__CWORD82__FULLBINARY }, + {FALSE, TRUE, POS_DID_GPS_NMEA }, + {FALSE, TRUE, POS_DID_REV }, + {TRUE, TRUE, POS_DID_REV_FST }, + {TRUE, TRUE, POS_DID_GYRO_TEMP }, + {TRUE, TRUE, POS_DID_GYRO_TEMP_FST }, + {TRUE, TRUE, POS_DID_GSNS_X_FST }, + {TRUE, TRUE, POS_DID_GSNS_Y_FST }, + {TRUE, TRUE, POS_DID_GSNS_Z_FST }, + {FALSE, TRUE, POS_DID_PULSE_TIME }, + {FALSE, TRUE, POS_DID_GPS_CLOCK_DRIFT }, + {FALSE, TRUE, POS_DID_GPS_CLOCK_FREQ }, + {FALSE, TRUE, VEHICLE_DID_GPS_TIME }, /* For local use */ + {FALSE, TRUE, VEHICLE_DID_GPS_TIME_RAW }, /* For local use */ + {FALSE, TRUE, VEHICLE_DID_GPS_WKNROLLOVER } /* For local use */ +}; + +/** + * @brief POS_GetSensData Return code list + */ +static const SENSOR_RET_PKG g_ret_list_get_sens_data[SENSOR_PUBLIC_DID_NUM] = { + /* GRADE2 GRADE1 DID (Key) */ + {TRUE, TRUE, POS_DID_SPEED_PULSE }, + {FALSE, TRUE, POS_DID_SPEED_KMPH }, + {TRUE, TRUE, POS_DID_GYRO_X }, + {TRUE, TRUE, POS_DID_GYRO_Y }, + {TRUE, TRUE, POS_DID_GYRO_Z }, + {TRUE, TRUE, POS_DID_GSNS_X }, + {TRUE, TRUE, POS_DID_GSNS_Y }, + {TRUE, TRUE, POS_DID_GSNS_Z }, + {TRUE, TRUE, POS_DID_GPS_ANTENNA }, + {FALSE, TRUE, POS_DID_SNS_COUNTER }, + {FALSE, TRUE, POS_DID_SPEED_PULSE_FST }, + {FALSE, TRUE, POS_DID_GYRO_X_FST }, + {FALSE, TRUE, POS_DID_GYRO_Y_FST }, + {FALSE, TRUE, POS_DID_GYRO_Z_FST }, + {TRUE, TRUE, POS_DID_GPS__CWORD82__NMEA }, + {FALSE, TRUE, POS_DID_GPS__CWORD82___CWORD44_GP4 }, + {TRUE, TRUE, POS_DID_GPS__CWORD82__FULLBINARY }, + {FALSE, TRUE, POS_DID_GPS_NMEA }, + {FALSE, TRUE, POS_DID_REV }, + {FALSE, TRUE, POS_DID_REV_FST }, + {TRUE, TRUE, POS_DID_GYRO_TEMP }, + {FALSE, TRUE, POS_DID_GYRO_TEMP_FST }, + {FALSE, TRUE, POS_DID_GSNS_X_FST }, + {FALSE, TRUE, POS_DID_GSNS_Y_FST }, + {FALSE, TRUE, POS_DID_GSNS_Z_FST }, + {FALSE, TRUE, POS_DID_PULSE_TIME }, + {FALSE, TRUE, POS_DID_GPS_CLOCK_DRIFT }, + {FALSE, TRUE, POS_DID_GPS_CLOCK_FREQ }, + {FALSE, TRUE, VEHICLE_DID_GPS_TIME }, /* For local use */ + {FALSE, TRUE, VEHICLE_DID_GPS_TIME_RAW }, /* For local use */ + {FALSE, TRUE, VEHICLE_DID_GPS_WKNROLLOVER } /* For local use */ +}; + +/** + * @brief + * DID-decision functions for Sensor API + * + * Determines whether or not the DID specified by the public API corresponds to the DID. + * + * @param[in] did Data ID + * @param[in] mode Operation mode 1:For Package Delivery Registration API<br> + * 2:For Sensor Data Delivery Registration API<br> + * 3:For Sensor Data Acquisition API + * + * @return TRUE Be supported + * FALSE Not supported + */ +BOOL SensorJudgeDid(DID did, uint8_t mode) { + BOOL ret = FALSE; + UNIT_TYPE type; + const SENSOR_RET_PKG *pkg_list = NULL; + int32_t i; + + /* Set Return pakage list */ + switch (mode) { + case MODE_REGISTER_LISTENER_PKG_SENS_DATA: /* POS_RegisterListenerPkgSensData */ + { + pkg_list = g_ret_list_reg_lis_pkg_sens_data; + break; + } + case MODE_REGISTER_LISTENER_SENSDATA: /* POS_RegisterListenerSensData */ + { + pkg_list = g_ret_list_reg_lis_sens_data; + break; + } + case MODE_GET_SENSDATA: /* POS_GetSensData */ + { + pkg_list = g_ret_list_get_sens_data; + break; + } + default: + /* Error log */ + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR [mode = %d]", mode); + break; + } + + if (pkg_list != NULL) { + /* Search Return code list for DID */ + for (i = 0; i < SENSOR_PUBLIC_DID_NUM; i++) { + if (did == pkg_list[i].did) { + break; + } + } + + if (i != SENSOR_PUBLIC_DID_NUM) { + /* Get Unit type */ + type = GetEnvSupportInfo(); + switch (type) { + case UNIT_TYPE_GRADE1: + { + ret = pkg_list[i].GRADE1_ret; + break; + } + case UNIT_TYPE_GRADE2: + { + /* + * Note. + * This feature branches processing depending on the unit type. + */ + ret = pkg_list[i].GRADE2_ret; + break; + } + default: + /* Error log */ + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "GetEnvSupportInfo ERROR [type = %d]", type); + break; + } + } else { + /* Error log */ + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR [did = %d]", did); + } + } + + return ret; +} + +/** + * @brief + * Vehicle Sensor Information Extended Package Delivery Registration + * Sensor information is delivered for the first time.,Extension Packaging and Registering for Delivery. + * + * @param[in] hApp Application handle + * @param[in] notifyName Destination thread name + * @param[in] ucPkgNum Number of package data(1 to 16) + * @param[in] *pulDid Pointer to an array of data IDs for vehicle information + * @param[in] ucCtrlFlg Delivery control<br> + * Delivery registration: SENSOR_DELIVERY_REGIST<br> + * Delivery stop: SENSOR_DELIVERY_STOP (Note: Not mounted)<br> + * Resume delivery: SENSOR_DELIVERY_RESTART (Note: Not mounted) + * @param[in] ucDeliveryTiming Delivery timing<br> + * Updating : SENSOR_DELIVERY_TIMING_UPDATE<br> + * Changing : SENSOR_DELIVERY_TIMING_CHANGE + * + * @return SENSOR_RET_NORMAL Successful registration<br> + * SENSOR_RET_ERROR_CREATE_EVENT Event generation failure<br> + * SENSOR_RET_ERROR_PARAM Parameter error<br> + * SENSOR_RET_ERROR_DID Unregistered ID<br> + * SENSOR_RET_ERROR_BUFFULL FULL of delivery registers<br> + * SENSOR_RET_ERROR_NOSUPPORT Unsupported environment<br> + * SENSOR_RET_ERROR_INNER Internal abnormality + * + */ +SENSOR_RET_API POS_RegisterListenerPkgSensData(HANDLE hApp, + PCSTR notifyName, + uint8_t ucPkgNum, + DID *pulDid, uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming) { + SENSOR_RET_API ret; /* Return value */ + BOOL ret_b; + RET_API ret_api; /* System API return value */ + EventID event_id; /* Event ID */ + int32_t event_val; /* Event value */ + SENSOR_MSG_DELIVERY_ENTRY_DAT data; /* Message data */ + int32_t i; /* Generic counters */ + PNO ch_pno; /* Converted internal PNO */ + UNIT_TYPE type; /* Supported HW Configuration Type */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+"); + + ret = SENSOR_RET_NORMAL; + /* Check Handle */ + if (hApp == NULL) { + /* NULL terminates with an abnormal parameter */ + ret = SENSOR_RET_ERROR_PARAM; + } + + if (ret == SENSOR_RET_NORMAL) { + /* Positioning Base API initialization */ + _pb_Setup_CWORD64_API(hApp); + + /* Supported HW Configuration Check */ + type = GetEnvSupportInfo(); + if (UNIT_TYPE_GRADE1 == type) { + /* GRADE1 */ + ret = SENSOR_RET_NORMAL; + } else if (UNIT_TYPE_GRADE2 == type) { + /* + * Note. + * This feature branches processing depending on the unit type. + */ + ret = SENSOR_RET_ERROR_NOSUPPORT; + } else { + /* Environment error */ + ret = SENSOR_RET_ERROR_NOSUPPORT; + } + } + + if (ret == SENSOR_RET_NORMAL) { + /* Check Delivery Control Designation */ + if (SENSOR_DELIVERY_REGIST != ucCtrlFlg) { + /* Parameters other than delivery registration terminated abnormally. */ + ret = SENSOR_RET_ERROR_PARAM; + } else if ((ucDeliveryTiming != SENSOR_DELIVERY_TIMING_CHANGE) && + (ucDeliveryTiming != SENSOR_DELIVERY_TIMING_UPDATE)) { + /* Check delivery timing */ + /* Change delivery timing,Terminate as a parameter error except update */ + ret = SENSOR_RET_ERROR_PARAM; + } else if (notifyName == NULL) { + /* Check Thread Name */ + /* NULL terminates with an abnormal parameter */ + ret = SENSOR_RET_ERROR_PARAM; + } else if ((0 == ucPkgNum) || (SENSOR_PKG_DELIVERY_MAX < ucPkgNum)) { + /* Check Package Data Count */ + /* Out-of-range is terminated as a parameter error. */ + ret = SENSOR_RET_ERROR_PARAM; + } else if (pulDid == NULL) { + /* Check Data ID */ + /* NULL terminates with an abnormal parameter */ + ret = SENSOR_RET_ERROR_PARAM; + } else { + /* Check if data ID is acceptable */ + for (i = 0; i < ucPkgNum; i++) { + /* Judge DID */ + ret_b = SENSOR_DID_JUDGE_REGLIS_PKG(pulDid[i]); + if (ret_b == FALSE) { + /* An unacceptable ID terminates with an abnormal parameter. */ + ret = SENSOR_RET_ERROR_PARAM; + break; + } else { + ret = SENSOR_RET_NORMAL; + } + } + } + } + + if (ret == SENSOR_RET_NORMAL) { + /* Resource acquisition */ + if (VehicleGetResource() == TRUE) { + + /* Initialization */ + event_id = 0; + event_val = 0; + memset(reinterpret_cast<void *>(&data), 0, sizeof(SENSOR_MSG_DELIVERY_ENTRY_DAT)); + + /* Get PNO from Thread Name */ + ch_pno = _pb_CnvName2Pno(notifyName); + + /* Event Generation */ + event_id = PosCreateEvent(ch_pno); + + if (0 != event_id) { + /* Successful event generation */ + + /*--------------------------------------------------------------* + * Send Vehicle Sensor Information Delivery Registration Message * + *--------------------------------------------------------------*/ + /* Create Message Data */ + data.pno = ch_pno; + data.pkg_num = ucPkgNum; + data.delivery_timing = ucDeliveryTiming; + data.ctrl_flg = ucCtrlFlg; + data.event_id = event_id; + for (i = 0; i < ucPkgNum; i++) { + data.did[i] = pulDid[i]; + } + + /* Messaging */ + ret_api = PosSndMsg(ch_pno, + PNO_VEHICLE_SENSOR, + CID_SENSORIF_PKG_DELIVERY_ENTRY_EXT, + (uint16_t)sizeof(SENSOR_MSG_DELIVERY_ENTRY_DAT), + (const void *)&data); + + if (RET_NORMAL == ret_api) { + /* Message transmission processing is successful */ + /* Wait for completion event from vehicle sensor thread */ + ret_api = _pb_WaitEvent(event_id, + SAPI_EVWAIT_VAL, + SENSOR_RET_ERROR_MIN, + SENSOR_RET_NORMAL, + &event_val, + POS_API_TIME_OUT_MS); + if (RET_NORMAL != ret_api) { + /* Return an internal error */ + ret = SENSOR_RET_ERROR_INNER; + } else { + /* Return from Event Wait */ + /* Set event value (processing result) as return value */ + ret = (SENSOR_RET_API)event_val; + } + } else { + /* Message transmission processing failed */ + /* Return an internal error */ + ret = SENSOR_RET_ERROR_INNER; + } + + /* Event deletion */ + ret_api = PosDeleteEvent(event_id); + } else { + /* Event generation failure */ + ret = SENSOR_RET_ERROR_CREATE_EVENT; + } + } else { + /* When resource shortage occurs, the system terminates with an insufficient resource error. */ + ret = SENSOR_RET_ERROR_RESOURCE; + } + /* Resource release */ + VehicleReleaseResource(); + } + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret); + + return ret; +} + +/******************************************************************************* + * MODULE : PosCreateEvent + * ABSTRACT : Event creation process + * FUNCTION : Generate an event + * ARGUMENT : pno : Thread ID + * NOTE : + * RETURN : Non-zero : Event ID + * : Zero : Event generation failure + ******************************************************************************/ +EventID PosCreateEvent(PNO pno) { + EventID event_id; /* Event ID */ + char event_name[32]; /* Event name character string buffer */ + RET_API ret_api; /* System API return value */ + + /* Initialization of event name character string buffer */ + (void)memset(reinterpret_cast<void *>(event_name), 0, sizeof(event_name)); + + /* Event name creation */ + snprintf(event_name, sizeof(event_name), "SENSOR_%X", pno); /* Ignore->MISRA-C++:2008 Rule 5-2-12 */ + + /* Event Generation */ + event_id = _pb_CreateEvent(FALSE , 0, event_name); /* Ignore->MISRA-C++:2008 Rule 5-2-12 */ + + if (0 != event_id) { + /* For successful event generation */ + + /* Initialize the event */ + ret_api = _pb_SetEvent(event_id, SAPI_EVSET_ABSOLUTE, SENSOR_EVENT_VAL_INIT); + if (RET_NORMAL != ret_api) { + /* Event initialization failed */ + + /* Delete Event and Return Event Generation Failed */ + ret_api = PosDeleteEvent(event_id); + event_id = 0; + } + } + + return event_id; +} + +/******************************************************************************* + * MODULE : PosDeleteEvent + * ABSTRACT : Event deletion processing + * FUNCTION : Delete events + * ARGUMENT : event_id : Event ID of the event to delete + * NOTE : + * RETURN : RET_NORMAL : Normal completion + * : RET_EV_NONE : Specified event does not exist + ******************************************************************************/ +RET_API PosDeleteEvent(EventID event_id) { + return(_pb_DeleteEvent(event_id)); +} + +/******************************************************************************* + * MODULE : SensorLinkShareData + * ABSTRACT : Link to shared memory + * FUNCTION : Link to shared memory + * ARGUMENT : **share_top : Storage destination of shared memory top address + * : *share_size : Storage destination of shared memory area size + * : *offset : Offset storage destination to free shared memory area + * NOTE : + * RETURN : RET_NORMAL : Normal completion + * : RET_ERROR : There is no shared memory area. + ******************************************************************************/ +RET_API SensorLinkShareData(void **share_top, uint32_t *share_size, uint16_t *offset) { // LCOV_EXCL_START 8:dead code + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + RET_API ret_api; /* System API return value */ + SemID sem_id; /* Semaphore ID */ + SENSOR_SHARE *share_top_tmp; + int32_t i; + + /* Initialization */ + ret_api = RET_ERROR; + + /* Create Semaphore */ + sem_id = _pb_CreateSemaphore(const_cast<char *>(SENSOR_SEMAPHO_NAME)); + if (0 != sem_id) { + /* Semaphore Lock */ + ret_api = _pb_SemLock(sem_id); + if (RET_NORMAL == ret_api) { + /* Link to shared memory */ + ret_api = _pb_LinkShareData(const_cast<char *>(SENSOR_SHARE_NAME), share_top, share_size); + if (RET_NORMAL == ret_api) { + /* By searching the free shared memory area,Offset is calculated if there is free space. */ + share_top_tmp = reinterpret_cast<SENSOR_SHARE *>(*share_top); + + /* Because the first block of the shared memory area is the control area,Loop from i = 1 */ + for (i = 1; i < SENSOR_SHARE_BLOCK_NUM; i++) { + if (SENSOR_SHARE_UNLOCK == share_top_tmp->mng.lock_info[i]) { + break; + } + } + if (i < SENSOR_SHARE_BLOCK_NUM) { + /* Empty space */ + /* Lock the block */ + share_top_tmp->mng.lock_info[i] = SENSOR_SHARE_LOCK; + + /* Calculate the offset to the block */ + *offset = static_cast<uint16_t>(i * SENSOR_SHARE_BLOCK_SIZE); + + /* Normal completion */ + ret_api = RET_NORMAL; + } else { + /* No free space */ + ret_api = RET_ERROR; + } + } else { + /* Failed link to shared memory */ + ret_api = RET_ERROR; + } + /* Semaphore unlock */ + _pb_SemUnlock(sem_id); + } else { + /* Semaphore lock failed */ + ret_api = RET_ERROR; + } + } else { + /* Semaphore creation failed */ + ret_api = RET_ERROR; + } + + return ret_api; +} +// LCOV_EXCL_STOP + +/******************************************************************************* + * MODULE : SensorUnLinkShareData + * ABSTRACT : Unlinking shared memory + * FUNCTION : Unlink shared memory + * ARGUMENT : *share_top : Start address of shared memory + * : offset : Offset to shared memory free area + * NOTE : + * RETURN : RET_NORMAL : Normal completion + * : RET_ERROR : There is no shared memory area./semaphore error + ******************************************************************************/ +RET_API SensorUnLinkShareData(SENSOR_SHARE *share_top, uint16_t offset) { // LCOV_EXCL_START 8:dead code + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + RET_API ret_api; /* System API return value */ + SemID sem_id; /* Semaphore ID */ + int32_t i; + + /* Initialization */ + ret_api = RET_ERROR; + + /* Create Semaphore */ + sem_id = _pb_CreateSemaphore(const_cast<char *>(SENSOR_SEMAPHO_NAME)); + if (0 != sem_id) { + /* Semaphore Lock */ + ret_api = _pb_SemLock(sem_id); + if (RET_NORMAL == ret_api) { + /* Unlock the block */ + i = static_cast<int32>(offset) / SENSOR_SHARE_BLOCK_SIZE; + share_top->mng.lock_info[i] = SENSOR_SHARE_UNLOCK; + + /* Semaphore unlock */ + _pb_SemUnlock(sem_id); + + /* Normal completion */ + ret_api = RET_NORMAL; + } else { + /* Semaphore lock failed */ + ret_api = RET_ERROR; + } + } else { + /* Semaphore creation failed */ + ret_api = RET_ERROR; + } + + return ret_api; +} +// LCOV_EXCL_STOP + +/******************************************************************************* + * MODULE : SensorSetShareData + * ABSTRACT : Write processing to shared memory + * FUNCTION : Write shared memory + * ARGUMENT : *share_top : Start address of shared memory + * : offset : Offsets to shared memory write destination + * : *data_src : + : size_src : + * NOTE : + * RETURN : void + ******************************************************************************/ +void SensorSetShareData(void *share_top, uint16_t offset, const void *data_src, uint16_t size_src) { // LCOV_EXCL_START 8:dead code // NOLINT(whitespace/line_length) + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + SENSOR_SHARE_BLOCK_DAT *share_dat; + + /* Calculate Shared Memory Write Address */ + share_dat = reinterpret_cast<SENSOR_SHARE_BLOCK_DAT *>(reinterpret_cast<uint8_t *>(share_top) + offset); + /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */ + + /* Clear Shared Memory */ + memset(reinterpret_cast<void *>(share_dat), 0, sizeof(SENSOR_SHARE_BLOCK_DAT)); + + /* Set write size to shared memory */ + share_dat->size = size_src; + + /* Set specified data in shared memory */ + memcpy(reinterpret_cast<void *>(&share_dat->data), data_src, (size_t)size_src); +} +// LCOV_EXCL_STOP + +/******************************************************************************* + * MODULE : PosSndMsg + * ABSTRACT : Message transmission processing + * FUNCTION : Send a message to the specified PNO + * ARGUMENT : pno_src : Source PNO + * : pno_dest : Destination PNO + * : cid : Command ID + * : msg_len : Message data body length + * : *msg_len : Pointer to message data + * NOTE : + * RETURN : RET_NORMAL : Normal completion + * : RET_ERRNOTRDY : Destination process is not wakeup + * : RET_ERRMSGFULL : Message queue overflows + * : RET_ERRPARAM : Buffer size error + ******************************************************************************/ +RET_API PosSndMsg(PNO pno_src, PNO pno_dest, CID cid, uint16_t msg_len, const void *msg_data) { + SENSOR_INTERNAL_MSG_BUF msg_buf; /* message buffer */ + T_APIMSG_MSGBUF_HEADER *msg_hdr; /* Pointer to the message header */ + RET_API ret_api; /* Return value */ + PCSTR thread_name; /* Destination thread name */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+"); + + /* _CWORD71_ processing speed(Memset modification) */ + /* Initializing the header of the message buffer */ + memset(reinterpret_cast<void *>(&msg_buf.hdr), 0, sizeof(T_APIMSG_MSGBUF_HEADER)); + + /* Get pointer to send buffer */ + msg_hdr = reinterpret_cast<T_APIMSG_MSGBUF_HEADER *>(reinterpret_cast<void *>(&msg_buf)); + + /*--------------------------------------------------------------* + * Create message headers * + *--------------------------------------------------------------*/ + msg_hdr->hdr.sndpno = pno_src; /* Source PNO */ + msg_hdr->hdr.cid = cid; /* Command ID */ + msg_hdr->hdr.msgbodysize = msg_len; /* Message data body length */ + + /*--------------------------------------------------------------* + * Create message data * + *--------------------------------------------------------------*/ + if ((0 != msg_data) && (0 != msg_len)) { /* Ignore->MISRA-C++:2008 Rule 5-0-5 */ + /* Set the message data */ + memcpy(reinterpret_cast<void *>(msg_buf.data), msg_data, (size_t)msg_len); + } + /*--------------------------------------------------------------* + * Send messages * + *--------------------------------------------------------------*/ + /* Get Thread Name from PNO */ + if (pno_dest <= SYS_PNO_MAX) { + thread_name = POS_THREAD_NAME; + } else { + thread_name = _pb_CnvPno2Name(pno_dest); + } + + if ((pno_dest <= SYS_PNO_MAX) && (pno_src <= SYS_PNO_MAX)) { + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "[LOG pno_dest = 0x%x]", pno_dest); + + /* Internal Process Transmission and Reception Messages */ + ret_api = _pb_SndMsg(pno_dest, + (uint16_t)(sizeof(T_APIMSG_MSGBUF_HEADER) + msg_len),/* Ignore->MISRA-C++:2008 Rule 5-0-5 */ + reinterpret_cast<void *>(&msg_buf), 0); + } else { + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, + "[LOG thread_name = %s, cid = 0x%x]", thread_name, cid); + + /* External Process Transmission and Reception Messages */ + ret_api = _pb_SndMsg_Ext(thread_name, + cid, + (uint16_t)(msg_len), /* Ignore->MISRA-C++:2008 Rule 5-0-5 */ + reinterpret_cast<void *>(&(msg_buf.data)), 0); + } + /* If RET_ERROR,Register a dialog if called from a Vehicle related thread */ /* Task_30332 */ + if (ret_api == RET_ERROR) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "[ERROR]"); + } + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret_api); + + return ret_api; +} + +/** + * @brief + * Sensor information acquisition + * + * Obtain sensor information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] did DID - Data ID for vehicle information + * @param[in] dest_data void* - Pointer representing the storage destination of vehicle sensor information + * @param[in] dest_size uint16_t - Storage destination size of vehicle sensor information(byte) + * + * @return 0 or more Stored data size(Include illegal)<br> + * POS_RET_ERROR_CREATE_EVENT Event generation failure<br> + * POS_RET_ERROR_OUTOF_MEMORY Shared memory allocation failed<br> + * POS_RET_ERROR_SIZE Storage destination size error<br> + * POS_RET_ERROR_DID Unregistered ID<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment + * + */ +POS_RET_API POS_GetSensData(HANDLE hApp, DID did, void *dest_data, uint16_t dest_size) +{ + POS_RET_API ret; /* Return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + BOOL ret_b; + + /** NULL checking */ + if ((hApp == NULL) || (dest_data == NULL)) { + /** Parameter error */ + ret = POS_RET_ERROR_PARAM; + } else { + /* Positioning Base API initialization */ + _pb_Setup_CWORD64_API(hApp); + + /* Supported HW Configuration Check */ + type = GetEnvSupportInfo(); + if (UNIT_TYPE_GRADE1 == type) { + /* GRADE1 */ + ret = POS_RET_NORMAL; + } else if (UNIT_TYPE_GRADE2 == type) { + /* + * Note. + * This feature branches processing depending on the unit type. + */ + ret = POS_RET_ERROR_NOSUPPORT; + } else { + /* Environment error */ + ret = POS_RET_ERROR_NOSUPPORT; + } + } + + if (ret == NAVIINFO_RET_NORMAL) { + /* Judge DID*/ + ret_b = SENSOR_DID_JUDGE_GET(did); + if (ret_b == FALSE) { + /* An unacceptable ID is regarded as a parameter error. */ + ret = POS_RET_ERROR_PARAM; + } else { + /* Data acquisition process */ + ret = PosGetProc(did, dest_data, dest_size); + } + } + + return ret; +} |