diff options
Diffstat (limited to 'positioning/client/src/POS_sensor_API/Vehicle_API.cpp')
| -rw-r--r-- | positioning/client/src/POS_sensor_API/Vehicle_API.cpp | 292 |
1 files changed, 292 insertions, 0 deletions
diff --git a/positioning/client/src/POS_sensor_API/Vehicle_API.cpp b/positioning/client/src/POS_sensor_API/Vehicle_API.cpp new file mode 100644 index 00000000..3cd97f86 --- /dev/null +++ b/positioning/client/src/POS_sensor_API/Vehicle_API.cpp @@ -0,0 +1,292 @@ +/* + * @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 :Vehicle_API.cpp + * System name :GPF + * Subsystem name :Vehicle I/F library + * Program name :Vehicle I/F API + * Module configuration :POS_RegisterListenerSensData() Vehicle sensor information delivery registration + ******************************************************************************/ +#include <vehicle_service/positioning_base_library.h> +#include <stdio.h> +#include <vehicle_service/POS_sensor_API.h> +#include "Sensor_API_private.h" +#include "Vehicle_API_Dummy.h" +#include "Vehicle_API_private.h" +#include "POS_private.h" + +/*************************************************/ +/* Global variable */ +/*************************************************/ + +/******************************************************************************* + * initialize +******************************************************************************/ +VEHICLE_RET_API VehicleInitialize(u_int32 (*sighand)()) { // LCOV_EXCL_START 8:dead code // NOLINT(readability/nolint) + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + RET_API _CWORD64_api_ret; + VEHICLE_RET_API ret; + + _CWORD64_api_ret = _pb_Setup_CWORD64_API(NULL); + + if (_CWORD64_api_ret == RET_NORMAL) { + ret = RET_NORMAL; + } else { + ret = RET_ERROR; + } + return ret; +} +// LCOV_EXCL_STOP + +/** + * @brief + * Vehicle sensor information delivery registration + * Register delivery of vehicle sensor information + * + * @param[in] hApp Application handle + * @param[in] notifyName Destination thread name + * @param[in] ulDid 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 + * + */ +SENSOR_RET_API POS_RegisterListenerSensData(HANDLE hApp, + PCSTR notifyName, DID ulDid, u_int8 ucCtrlFlg, u_int8 ucDeliveryTiming) { + SENSOR_RET_API ret; /* Return value */ + UNIT_TYPE type; /* Supported HW Configuration Type */ + BOOL ret_b; + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+"); + + /* Check Delivery Control Designation */ + ret = SENSOR_RET_NORMAL; + /* Arguments & Support Configuration Check */ + if ((ucDeliveryTiming != SENSOR_DELIVERY_TIMING_CHANGE) && + (ucDeliveryTiming != SENSOR_DELIVERY_TIMING_UPDATE)) { + /* Change delivery timing,Terminate as a parameter error except update */ + ret = SENSOR_RET_ERROR_PARAM; + } else if (SENSOR_DELIVERY_REGIST != ucCtrlFlg) { + /* Parameters other than delivery registration terminated abnormally. */ + ret = SENSOR_RET_ERROR_PARAM; + } else if (hApp == NULL) { + /* Check Handle */ + /* NULL terminates with an abnormal parameter */ + ret = SENSOR_RET_ERROR_PARAM; + } else if (notifyName == NULL) { + /* Check Thread Name */ + /* NULL terminates with an abnormal parameter */ + ret = SENSOR_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 = 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 (SENSOR_RET_NORMAL == ret) { + /* Judge DID */ + ret_b = SENSOR_DID_JUDGE_REGLIS(ulDid); + if (ret_b == FALSE) { + /* An unacceptable ID is regarded as a parameter error. */ + ret = SENSOR_RET_ERROR_PARAM; + } else { + /* Delivery registration process */ + ret = PosRegisterListenerProc(notifyName, ulDid, ucCtrlFlg, ucDeliveryTiming); + } + } + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret); + + return ret; +} + +/******************************************************************************* + * MODULE : PosSetShareData + * 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 : Data + * : size_src : Size + * NOTE : + * RETURN : void + ******************************************************************************/ +void PosSetShareData(void *share_top, u_int16 offset, const void *data_src, u_int16 size_src) { + VEHICLE_SHARE_BLOCK_DAT *share_dat; + /* Calculate Shared Memory Write Address */ + share_dat = reinterpret_cast<VEHICLE_SHARE_BLOCK_DAT *>(reinterpret_cast<u_int8 *>(share_top) + offset); + + /* _CWORD71_ processing speed(Memset modification) */ + /* Clear Shared Memory(Unused area) */ + share_dat->reserve[0] = 0; + share_dat->reserve[1] = 0; + + /* 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); +} + +/******************************************************************************* +* MODULE : VehicleGetDrData +* ABSTRACT : DR information acquisition +* FUNCTION : Retrieves DR information (optional data) by returning to completion. +* ARGUMENT : pno : Thread ID +* : did : Data ID for DR information +* : *dest_data : Pointer to the storage destination of DR information +* : dest_size : Storage destination size of DR information(byte) +* NOTE : +* RETURN : Zero or more : Stored data size +* : VEHICLE_RET_ERROR_CREATE_EVENT : Event generation failure +* : VEHICLE_RET_ERROR_OUTOF_MEMORY : Shared memory allocation failed +* : VEHICLE_RET_ERROR_SIZE : Storage destination size error +* : VEHICLE_RET_ERROR_DID : Unregistered ID +******************************************************************************/ +int32 VehicleGetDrData(PNO pno, DID did, void *dest_data, u_int16 dest_size) { // LCOV_EXCL_START 8:dead code + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + VEHICLE_RET_API ret; /* Return value */ + RET_API ret_api; /* System API return value */ + EventID event_id; /* Event ID */ + int32 event_val; /* Event value */ + void *share_top; /* Start address of shared memory */ + u_int32 share_size; /* Size of shared memory area */ + u_int16 offset; /* Offset to free shared memory area */ + VEHICLE_SHARE_BLOCK_DAT *share_dat; /* Address of free shared memory area */ + VEHICLE_MSG_GET_VEHICLE_DATA_DAT data; /* Message data */ + + /* Initialization */ + event_id = 0; + event_val = 0; + memset(reinterpret_cast<void *>(&data), 0, sizeof(VEHICLE_MSG_GET_VEHICLE_DATA_DAT)); + + /* Event Generation */ + event_id = VehicleCreateEvent(pno); + + if (0 != event_id) { + /* Successful event generation */ + /* Allocate shared memory */ + ret_api = VehicleLinkShareData(reinterpret_cast<void **>(&share_top), &share_size, &offset); + if (RET_NORMAL != ret_api) { + /* Failed to allocate shared memory */ + ret = VEHICLE_RET_ERROR_OUTOF_MEMORY; + } else { + /* When the shared memory is allocated successfully */ + + /* Calculate start address of free shared memory area */ + share_dat = reinterpret_cast<VEHICLE_SHARE_BLOCK_DAT *>(reinterpret_cast<u_int8 *>(share_top) + offset); + + /* Send vehicle sensor information acquisition message */ + data.did = did; + data.pno = pno; + data.offset = offset; + data.size = VEHICLE_SHARE_BLOCK_DSIZE; + data.event_id = event_id; + /* Messaging */ + + ret_api = VehicleSndMsg(pno, + PNO_VEHICLE_SENSOR, + CID_VEHICLEIF_GET_DR_DATA, + sizeof(VEHICLE_MSG_GET_VEHICLE_DATA_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, + VEHICLE_RET_ERROR_MIN, VEHICLE_RET_NORMAL, &event_val, INFINITE); + if (RET_NORMAL != ret_api) { + /* When not put in event wait state */ + /* Return an event generation failure */ + ret = VEHICLE_RET_ERROR_CREATE_EVENT; + } else { + /* Return from Event Wait */ + + /* Link to shared memory */ + ret_api = _pb_LinkShareData(const_cast<char *>(VEHICLE_SHARE_NAME), &share_top, &share_size); + + /* Calculate the address of the shared memory storage area. */ + share_dat = reinterpret_cast<VEHICLE_SHARE_BLOCK_DAT *>(reinterpret_cast<u_int8 *>(share_top) + + offset); + + if (event_val < 0) { + /* Vehicle sensor information acquisition failure */ + ret = (VEHICLE_RET_API)event_val; + } else if (RET_NORMAL != ret_api) { + /* Shared memory error */ + ret = VEHICLE_RET_ERROR_OUTOF_MEMORY; + } else if (dest_size < share_dat->size) { + /* Storage destination size error */ + ret = VEHICLE_RET_ERROR_SIZE; + } else { + /* Vehicle sensor information acquisition success */ + + /* Copy from shared memory to user memory */ + memcpy(dest_data, share_dat->data, (size_t)share_dat->size); + + /* Set Write Size to Return Value */ + ret = static_cast<int32>(share_dat->size); + } + } + } else { + /* Message transmission processing failed */ + /* Return an event generation failure */ + ret = VEHICLE_RET_ERROR_CREATE_EVENT; + } + /* Free shared memory */ + (void)VehicleUnLinkShareData(reinterpret_cast<VEHICLE_SHARE*>(share_top), offset); + } + + /* Event deletion */ + ret_api = VehicleDeleteEvent(event_id); + + } else { + /* Event generation failure */ + ret = VEHICLE_RET_ERROR_CREATE_EVENT; + } + return ret; +} +// LCOV_EXCL_STOP |