diff options
Diffstat (limited to 'positioning/server/src/nsfw/positioning_application.cpp')
| -rw-r--r-- | positioning/server/src/nsfw/positioning_application.cpp | 511 |
1 files changed, 236 insertions, 275 deletions
diff --git a/positioning/server/src/nsfw/positioning_application.cpp b/positioning/server/src/nsfw/positioning_application.cpp index 9f4af656..d23daada 100644 --- a/positioning/server/src/nsfw/positioning_application.cpp +++ b/positioning/server/src/nsfw/positioning_application.cpp @@ -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 @@ #include <vehicle_service/POS_gps_API.h> #include <system_service/ss_sm_client_if.h> #include <vehicle_service/positioning_base_library.h> -//#include <stub/vehicle_notifications.h> +#include <stub/vehicle_notifications.h> #include <peripheral_service/communication_notifications.h> #include <other_service/VP_GetEnv.h> #include <cstdlib> @@ -64,8 +64,8 @@ #include "DiagSrvIf.h" #include "PSMShadowIf.h" #include "VehicleIf.h" -//#include "positioning_hal.h" -//#include "gps_hal.h" +#include "positioning_hal.h" +#include "gps_hal.h" #include "CommonDefine.h" #include "VehicleIf.h" @@ -95,12 +95,6 @@ #define THREAD_STS_CREATING (0x01) #define THREAD_STS_CREATED (0x02) -/* - Maximum message size - Note : Set a value that is larger than the local thread's message reception buffer size. -*/ -#define MAX_MSG_BUF_SIZE (2048) - #define POS_SNDMSG_DTSIZE_1 1 /* SndMSG data size 1Byte */ #define POS_SNDMSG_DTSIZE_2 2 /* SndMSG data size 2Byte */ #define POS_SNDMSG_DTSIZE_20 20 /* SndMSG data size of 20 bytes */ @@ -134,22 +128,6 @@ #define POSITIONINGLOG_SYS_FST_DATA 0xF4 #define _pb_strcat(pdest, psrc, size) (strncat(pdest, psrc, size) , (0)) -enum LsDrvKind { - LSDRV_GYRO, /* Gyro output */ - LSDRV_SPEED_PULSE, /* Vehicle speed pulse */ - LSDRV_SPEED_PULSE_FLAG, /* Vehicle speed pulse flag */ - LSDRV_SPEED_KMPH, /* Vehicle speed(km/h) */ - LSDRV_GYRO_EXT, /* Gyro Extended Output */ - LSDRV_REV, /* REV information */ - LSDRV_GYRO_TEMP, /* Gyro Temperature */ - LSDRV_GSENSOR_X, /* G-sensor X-axis */ - LSDRV_GSENSOR_Y, /* G-sensor Y-axis */ - LSDRV_PULSE_TIME, /* Inter-Pulse Time */ - LSDRV_SNS_COUNTER, /* Sensor Counter */ - LSDRV_GPS_INTERRUPT_FLAG, /* GPS interrupt flag */ - LSDRV_KINDS_MAX -}; - // Vehicle sensor information notification message typedef struct { uint32_t did; // Data ID corresponding to vehicle sensor information @@ -213,13 +191,6 @@ typedef struct { u_int8 flag; /* Whether or not the time is set */ } ST_GPS_SET_TIME; -/*! - @brief Structure for managing whether time setting is enabled or disabled(For GRADE2) -*/ -typedef struct { - u_int8 flag; /* Whether or not the time is set */ - u_int8 reserve[3]; -} ST_GPS_SET_TIME_FLAG; /*---------------------------------------------------------------------------------* * Local Function Prototype * *---------------------------------------------------------------------------------*/ @@ -299,69 +270,69 @@ static ST_SHAREDATA g_sharedata_tbl[] = { (10) Boot Sequence(Performance) (0,1,2, ... Note : 0 = Initial value(Not started)) Time of termination,Be destroyed in the reverse order of startup */ static ST_THREAD_CREATE_INFO g_pos_thread_create_info_Grade1[] = { // LCOV_EXCL_BR_LINE 11: unexpected branch -// { /* Pos_main */ -// ETID_POS_MAIN, /* (1) */ -// kThreadNamePosMain, /* (2) */ -// PNO_VEHICLE_SENSOR, /* (3) */ -// &VehicleSensThread, /* (4) */ -// (NTFY_MSK_NONE), /* (5) */ -// (NTFY_MSK_NONE), /* (6) */ -// 0, /* (7) */ -// TRUE, /* (8) */ -// THREAD_STS_NOEXIST, /* (9) */ -// 0 /* (10) */ -// }, -// { /* Pos_sens */ -// ETID_POS_SENS, /* (1) */ -// kThreadNamePosSens, /* (2) */ -// PNO_LINE_SENS_DRV, /* (3) */ -// &StartLineSensorThreadPositioning, /* (4) */ -// (NTFY_MSK_PS_PSMSHADOW_AVAILABILITY), /* (5) */ -// (NTFY_MSK_NONE), /* (6) */ -// THREAD_STS_MSK_POS_MAIN, /* (7) */ -// FALSE, /* (8) */ -// THREAD_STS_NOEXIST, /* (9) */ -// 0 /* (10) */ -// }, -// { /* Pos_gps */ -// ETID_POS_GPS, /* (1) */ -// kThreadNamePosGps, /* (2) */ -// PNO_NAVI_GPS_MAIN, /* (3) */ -// &StartGpsMainThreadPositioning, /* (4) */ -// (NTFY_MSK_NONE), /* (5) */ -// (NTFY_MSK_NONE), /* (6) */ -// THREAD_STS_MSK_POS_MAIN, /* (7) */ -// TRUE, /* (8) */ -// THREAD_STS_NOEXIST, /* (9) */ -// 0 /* (10) */ -// }, -// { /* Pos_gps_recv */ -// ETID_POS_GPS_RECV, /* (1) */ -// kThreadNamePosGpsRecv, /* (2) */ -// PNO_NAVI_GPS_RCV, /* (3) */ -// &StartGpsRecvThreadPositioning, /* (4) */ -// (NTFY_MSK_NONE), /* (5) */ -// (NTFY_MSK_NONE), /* (6) */ -// THREAD_STS_MSK_POS_GPS, /* (7) */ -// FALSE, /* (8) */ -// THREAD_STS_NOEXIST, /* (9) */ -// 0 /* (10) */ -// }, -// { /* Pos_gps_rollover */ -// ETID_POS_GPS_ROLLOVER, /* (1) */ -// kThreadNamePosGpsRollover, /* (2) */ -// PNO_CLK_GPS, /* (3) */ -// &StartGpsRolloverThreadPositioning, /* (4) */ -// (NTFY_MSK_NS_BACKUPMGR_AVAILABILITY), /* (5) */ -// (NTFY_MSK_NONE), /* (6) */ -// THREAD_STS_MSK_POS_GPS, /* (7) */ -// FALSE, /* (8) */ -// THREAD_STS_NOEXIST, /* (9) */ -// 0 /* (10) */ -// }, -// { /* Termination */ -// ETID_POS_MAX, NULL, 0, NULL, NTFY_MSK_NONE, NTFY_MSK_NONE, 0, FALSE, THREAD_STS_NOEXIST, 0 -// }, + { /* Pos_main */ + ETID_POS_MAIN, /* (1) */ + kThreadNamePosMain, /* (2) */ + PNO_VEHICLE_SENSOR, /* (3) */ + &VehicleSensThread, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + 0, /* (7) */ + TRUE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* Pos_sens */ + ETID_POS_SENS, /* (1) */ + kThreadNamePosSens, /* (2) */ + PNO_LINE_SENS_DRV, /* (3) */ + &StartLineSensorThreadPositioning, /* (4) */ + (NTFY_MSK_PS_PSMSHADOW_AVAILABILITY), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + THREAD_STS_MSK_POS_MAIN, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* Pos_gps */ + ETID_POS_GPS, /* (1) */ + kThreadNamePosGps, /* (2) */ + PNO_NAVI_GPS_MAIN, /* (3) */ + &StartGpsMainThreadPositioning, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + THREAD_STS_MSK_POS_MAIN, /* (7) */ + TRUE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* Pos_gps_recv */ + ETID_POS_GPS_RECV, /* (1) */ + kThreadNamePosGpsRecv, /* (2) */ + PNO_NAVI_GPS_RCV, /* (3) */ + &StartGpsRecvThreadPositioning, /* (4) */ + (NTFY_MSK_NONE), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + THREAD_STS_MSK_POS_GPS, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* Pos_gps_rollover */ + ETID_POS_GPS_ROLLOVER, /* (1) */ + kThreadNamePosGpsRollover, /* (2) */ + PNO_CLK_GPS, /* (3) */ + &StartGpsRolloverThreadPositioning, /* (4) */ + (NTFY_MSK_NS_BACKUPMGR_AVAILABILITY), /* (5) */ + (NTFY_MSK_NONE), /* (6) */ + THREAD_STS_MSK_POS_GPS, /* (7) */ + FALSE, /* (8) */ + THREAD_STS_NOEXIST, /* (9) */ + 0 /* (10) */ + }, + { /* Termination */ + ETID_POS_MAX, NULL, 0, NULL, NTFY_MSK_NONE, NTFY_MSK_NONE, 0, FALSE, THREAD_STS_NOEXIST, 0 + }, }; /* State Management Variables */ @@ -542,21 +513,17 @@ EFrameworkunifiedStatus FrameworkunifiedOnInitialization(HANDLE h_app) { /* Clock/Availability Changing notification registration */ (void)ClockIfNotifyOnClockAvailability(&PosNotifyClockAvailability); // LCOV_EXCL_BR_LINE 6: not a branch // NOLINT(whitespace/line_length) + /* NS_BackupMgr/Availability Changing notification registration */ + (void)BackupMgrIfNotifyOnBackupMgrAvailability(&PosNotifyNSBackupMgrAvailability); // LCOV_EXCL_BR_LINE 6: not a branch // NOLINT(whitespace/line_length) /* Regist Vehilce Availability Notification */ (void)VehicleIfNotifyOnVehicleAvailability(&PosNotifyVehicleAvailability); // LCOV_EXCL_BR_LINE 6: not a branch // NOLINT(whitespace/line_length) - - /* NS_BackupMgr/Availability Changing notification registration */ - (void)BackupMgrIfNotifyOnBackupMgrAvailability(&PosNotifyNSBackupMgrAvailability); // LCOV_EXCL_BR_LINE 6: not a branch // NOLINT(whitespace/line_length) - /* DeviceDetectionServiceIf initialization */ if (DevDetectSrvIfInitialize() == eFrameworkunifiedStatusOK) { /* SS_DevDetectSrv/Availability Changing notification registration */ (void)DevDetectSrvIfNotifyOnDeviceDetectionAvailability(&PosNotifyDevDetectSrvAvailability); // LCOV_EXCL_BR_LINE 6: not a branch // NOLINT(whitespace/line_length) } - - (void)VehicleIfNotifyOnVehicleAvailability(&PosNotifyVehicleAvailability); // LCOV_EXCL_BR_LINE 6: not a branch // NOLINT(whitespace/line_length) } } @@ -794,7 +761,6 @@ EFrameworkunifiedStatus FrameworkunifiedOnDebugDump(HANDLE h_app) { // LCOV_EXC ST_THREAD_CREATE_INFO* p_thr_cre_info = g_pos_thread_create_info; ST_GPS_FIX_CNT st_gps_fix_cnt; ST_GPS_SET_TIME st_gps_set_time; - ST_GPS_SET_TIME_FLAG st_gps_set_time_flag; uint8_t len_msg = 4; uint8_t len_mtx = 3; uint8_t len_evt = 9; @@ -917,23 +883,6 @@ EFrameworkunifiedStatus FrameworkunifiedOnDebugDump(HANDLE h_app) { // LCOV_EXC st_gps_set_time.flag); _pb_strcat(reinterpret_cast<char *>(&buf_ram[0]), reinterpret_cast<char *>(&buf_tmp[0]), sizeof(buf_tmp)); - /* Set GPS date and time(Flagging) */ - memset(&buf_tmp[0], 0x00, sizeof(buf_tmp)); - (void)memset( reinterpret_cast<void *>(&st_gps_set_time_flag), 0, (size_t)sizeof(st_gps_set_time_flag) ); - - e_status = BackupMgrIfBackupDataRd(D_BK_ID_POS_GPS_TIME_SET_FLAG, - 0, - &st_gps_set_time_flag, - sizeof(st_gps_set_time_flag), - &b_is_available); - snprintf(reinterpret_cast<char *>(&buf_tmp[0]), sizeof(buf_tmp), - "\n %20s rd:0x%08x av:%d, flag:0x%02x", - "GPS_TIME_SET_FLAG", - e_status, - b_is_available, - st_gps_set_time_flag.flag); - _pb_strcat(reinterpret_cast<char *>(&buf_ram[0]), reinterpret_cast<char *>(&buf_tmp[0]), sizeof(buf_tmp)); - if (e_type == UNIT_TYPE_GRADE1) { /* GPS format anomaly counter */ /* There is no lock control. */ (void)DEVGpsGetDebugGpsFormatFailCnt(&buf_gps_format_fail[0]); @@ -1319,6 +1268,22 @@ static EFrameworkunifiedStatus PosNotifyNSBackupMgrAvailability(HANDLE h_app) { /* When the GPS management thread is started */ if (((pThrCreInfo + ETID_POS_GPS)->status) == THREAD_STS_CREATED) { + if ((*pExeSts == EPOS_EXE_STS_RUNNING_COLDSTART) || + (*peMode == EPOS_SETUP_MODE_DATA_RESET)) { + // GPS reset request. + SENSOR_INTERNAL_MSG_BUF msg_buf = {}; + T_APIMSG_MSGBUF_HEADER *msg_hdr = &msg_buf.hdr; + msg_hdr->hdr.cid = CID_GPS_REQRESET; + msg_hdr->hdr.msgbodysize = sizeof(POS_RESETINFO); + POS_RESETINFO *msg_data = reinterpret_cast<POS_RESETINFO *>(&msg_buf.data); + msg_data->mode = GPS_RST_COLDSTART; + + RET_API ret = _pb_SndMsg(PNO_NAVI_GPS_MAIN, sizeof(msg_buf), &msg_buf, 0); + if (ret != RET_NORMAL) { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "_pb_SndMsg ERROR!! [ret=%d]", ret); + } + } + /* Backup data read request to GSP management thread */ (void)DEVGpsSndBackupDataLoadReq(); } @@ -1411,13 +1376,13 @@ static EFrameworkunifiedStatus PosNotifyVehicleAvailability(HANDLE h_app) { *pLastSrvSts |= NTFY_MSK_VS_VEHICLE_AVAILABILITY; -// if (eFrameworkunifiedStatusFail == VehicleIfDeliveryEntry(VEHICLE_DID_SPEED)) { -// FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "VehicleIfDeliveryEntry SPEED ERROR"); -// } -// -// if (eFrameworkunifiedStatusFail == VehicleIfDeliveryEntry(VEHICLE_DID_REV)) { -// FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "VehicleIfDeliveryEntry REV ERROR"); -// } + if (eFrameworkunifiedStatusFail == VehicleIfDeliveryEntry(VEHICLE_DID_SPEED)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "VehicleIfDeliveryEntry SPEED ERROR"); + } + + if (eFrameworkunifiedStatusFail == VehicleIfDeliveryEntry(VEHICLE_DID_REV)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "VehicleIfDeliveryEntry REV ERROR"); + } if (eFrameworkunifiedStatusFail == VehicleIfDeliveryEntry(VEHICLE_DID_SPEED_PULSE_VEHICLE)) { FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "VehicleIfDeliveryEntry SPEED PULSE ERROR"); @@ -1525,7 +1490,8 @@ static void PosCreateThread(HANDLE h_app) { || (pThrCreInfo->msk_ntfy == NTFY_MSK_NONE))) { if (pThrCreInfo->pno == PNO_LINE_SENS_DRV || \ pThrCreInfo->pno == PNO_NAVI_GPS_MAIN || \ - pThrCreInfo->pno == PNO_NAVI_GPS_RCV) { + pThrCreInfo->pno == PNO_NAVI_GPS_RCV || + pThrCreInfo->pno == PNO_CLK_GPS) { (pThrCreInfo->routine)(h_app); } else { /* Thread creation */ @@ -1620,9 +1586,7 @@ static void PosBackupDataInit(void) { EFrameworkunifiedStatus e_status; BOOL b_is_available; ST_GPS_SET_TIME st_gps_set_time; - ST_GPS_SET_TIME_FLAG st_gps_set_time_flag; - (void)memset( reinterpret_cast<void *>(&st_gps_set_time_flag), 0, (size_t)sizeof(st_gps_set_time_flag) ); (void)memset( reinterpret_cast<void *>(&st_gps_set_time), 0, (size_t)sizeof(st_gps_set_time) ); FRAMEWORKUNIFIEDLOG(ZONE_INIT, __FUNCTION__, "+"); @@ -2132,53 +2096,53 @@ static EFrameworkunifiedStatus PosPosifSetData(HANDLE h_app) { pRcvMsg = g_rcv_msg_buf; size = PosGetMsg(h_app, reinterpret_cast<void**>(&pRcvMsg), MAX_MSG_BUF_SIZE); -// if (size != 0) { // LCOV_EXCL_BR_LINE 4: nsfw error -// ucResult = SENSLOG_RES_SUCCESS; -// -// pName = _pb_CnvPno2Name((reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->pno); -// if (pName == NULL) { -// pName = pNone; -// } -// FRAMEWORKUNIFIEDLOG(ZONE_17, __FUNCTION__, -// "Get message = [Sender:%s][CID:0x%X][DID:0x%X]", -// pName, -// CID_POSIF_SET_DATA, -// (reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->did); -// -// /* Send Messages to Internal Thread */ -// ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_POSIF_SET_DATA, pRcvMsg, size); -// if (ret != RET_NORMAL) { -// FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosSndMsg ERROR!! [ret = %d]", ret); -// if ((reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->did == VEHICLE_DID_SETTINGTIME) { -// /* GPS time setting(When waiting for completion of an event, an event is issued. */ -// /* Event Generation */ -// ulEventId = VehicleCreateEvent((reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->pno); -// if (ulEventId != 0) { -// /* Event publishing */ -// ret = _pb_SetEvent(ulEventId, SAPI_EVSET_ABSOLUTE, POS_RET_ERROR_INNER); -// if (ret != RET_NORMAL) { -// /* Event issuance failure */ -// FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, -// "_pb_SetEvent ERROR!! [ret = %d]", -// ret); -// } -// /* Event deletion */ -// (void)VehicleDeleteEvent(ulEventId); -// } else { -// /* Event generation failure */ -// FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "VehicleCreateEvent ERROR!!"); -// } -// } -// } -// } -// SensLogWriteInputData(SENSLOG_DATA_I_UNSPECIFIED, -// (reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->did, -// 0, -// pRcvMsg, -// static_cast<uint16_t>(size), -// ucResult, -// SENSLOG_ON, -// SENSLOG_ON); + if (size != 0) { // LCOV_EXCL_BR_LINE 4: nsfw error + ucResult = SENSLOG_RES_SUCCESS; + + pName = _pb_CnvPno2Name((reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->pno); + if (pName == NULL) { + pName = pNone; + } + FRAMEWORKUNIFIEDLOG(ZONE_17, __FUNCTION__, + "Get message = [Sender:%s][CID:0x%X][DID:0x%X]", + pName, + CID_POSIF_SET_DATA, + (reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->did); + + /* Send Messages to Internal Thread */ + ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_POSIF_SET_DATA, pRcvMsg, size); + if (ret != RET_NORMAL) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosSndMsg ERROR!! [ret = %d]", ret); + if ((reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->did == VEHICLE_DID_SETTINGTIME) { + /* GPS time setting(When waiting for completion of an event, an event is issued. */ + /* Event Generation */ + ulEventId = VehicleCreateEvent((reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->pno); + if (ulEventId != 0) { + /* Event publishing */ + ret = _pb_SetEvent(ulEventId, SAPI_EVSET_ABSOLUTE, POS_RET_ERROR_INNER); + if (ret != RET_NORMAL) { + /* Event issuance failure */ + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "_pb_SetEvent ERROR!! [ret = %d]", + ret); + } + /* Event deletion */ + (void)VehicleDeleteEvent(ulEventId); + } else { + /* Event generation failure */ + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "VehicleCreateEvent ERROR!!"); + } + } + } + } + SensLogWriteInputData(SENSLOG_DATA_I_UNSPECIFIED, + (reinterpret_cast<POS_MSGINFO*>(pRcvMsg))->did, + 0, + pRcvMsg, + static_cast<uint16_t>(size), + ucResult, + SENSLOG_ON, + SENSLOG_ON); FRAMEWORKUNIFIEDLOG(ZONE_28, __FUNCTION__, "-"); return eFrameworkunifiedStatusOK; @@ -2263,11 +2227,11 @@ static EFrameworkunifiedStatus PosPosifReqGpsReset(HANDLE h_app) { * @return eFrameworkunifiedStatusOK Normal completion */ static EFrameworkunifiedStatus PosVehicleInfoRcv(HANDLE h_app) { -// LSDRV_MSG_LSDATA_DAT_G line_sns_data; + LSDRV_MSG_LSDATA_DAT_G line_sns_data; RET_API ret = RET_NORMAL; -// memset(&line_sns_data, 0, sizeof(line_sns_data)); -// LSDRV_MSG_LSDATA_DAT_G *p_line_sns_data = &line_sns_data; + memset(&line_sns_data, 0, sizeof(line_sns_data)); + LSDRV_MSG_LSDATA_DAT_G *p_line_sns_data = &line_sns_data; VEHICLE_UNIT_MSG_VSINFO *p_vehicle_msg = NULL; uint32_t size = 0; uint16_t us_speed = 0; @@ -2275,96 +2239,96 @@ static EFrameworkunifiedStatus PosVehicleInfoRcv(HANDLE h_app) { uint8_t* pRcvMsg = g_rcv_msg_buf; size = PosGetMsg(h_app, reinterpret_cast<void**>(&pRcvMsg), MAX_MSG_BUF_SIZE); -// if (size != 0) { // LCOV_EXCL_BR_LINE 4: nsfw error -// memset(p_line_sns_data, 0x00, sizeof(line_sns_data)); -// p_vehicle_msg = (reinterpret_cast<VEHICLE_UNIT_MSG_VSINFO*>(pRcvMsg)); -// switch (p_vehicle_msg->data.did) { -// // SPEED info -// case VEHICLE_DID_SPEED: -// { -// p_line_sns_data->uc_data_num = LSDRV_KINDS_MAX; -// p_line_sns_data->st_data[LSDRV_SPEED_KMPH].ul_did = POSHAL_DID_SPEED_KMPH; -// p_line_sns_data->st_data[LSDRV_SPEED_KMPH].uc_size = POS_SNDMSG_DTSIZE_2; -// p_line_sns_data->st_data[LSDRV_SPEED_KMPH].uc_sns_cnt = 0; -// -// char p_env_variable[VP_MAX_LENGTH]; -// -// VP_GetEnv("VP__CWORD31__SPEED", p_env_variable); -// if (0 == strcmp(p_env_variable, "direct")) { -// int16_t speed = 0; -// // To obtain the vehicle speed from Direct lanes,1 to 2 bytes of received data -// memcpy(&speed, &p_vehicle_msg->data.data[0], sizeof(speed)); -// us_speed = static_cast<uint16_t>(abs(speed)); -// // Unit conversion [km/h] -> [0.01km/h] -// us_speed = static_cast<uint16_t>(us_speed * 100); -// } else if (0 == strcmp(p_env_variable, "CAN")) { -// UINT16 speed = 0; -// // To obtain the vehicle speed from CAN,2 to 3 bytes of received data -// memcpy(&speed, &p_vehicle_msg->data.data[1], sizeof(speed)); -// us_speed = static_cast<uint16_t>(abs(speed)); -// // Unit conversion [km/h] -> [0.01km/h] -// us_speed = static_cast<uint16_t>(us_speed * 100); -// } else { -// // In case of invalid value, the vehicle speed is acquired by CAN. -// UINT16 speed = 0; -// memcpy(&speed, &p_vehicle_msg->data.data[1], sizeof(speed)); -// us_speed = static_cast<uint16_t>(abs(speed)); -// // Unit conversion [km/h] -> [0.01km/h] -// us_speed = static_cast<uint16_t>(us_speed * 100); -// } -// -// memcpy(&p_line_sns_data->st_data[LSDRV_SPEED_KMPH].uc_data[0], &us_speed, sizeof(us_speed)); -// -// ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_LINESENS_VEHICLE_DATA_G, -// reinterpret_cast<void*>(p_line_sns_data), sizeof(line_sns_data)); -// -// break; -// } -// // REV information -// case VEHICLE_DID_REV: -// { -// p_line_sns_data->uc_data_num = LSDRV_KINDS_MAX; -// p_line_sns_data->st_data[LSDRV_REV].ul_did = VEHICLE_DID_REV; -// p_line_sns_data->st_data[LSDRV_REV].uc_size = POS_SNDMSG_DTSIZE_1; -// p_line_sns_data->st_data[LSDRV_REV].uc_sns_cnt = 0; -// p_line_sns_data->st_data[LSDRV_REV].uc_data[0] = p_vehicle_msg->data.data[0]; -// -// ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_LINESENS_VEHICLE_DATA_G, -// reinterpret_cast<void*>(p_line_sns_data), sizeof(line_sns_data)); -// break; -// } -// -// // Speed Pulse information -// case VEHICLE_DID_SPEED_PULSE_VEHICLE: -// { -// p_line_sns_data->uc_data_num = LSDRV_KINDS_MAX; -// p_line_sns_data->st_data[LSDRV_SPEED_PULSE].ul_did = POSHAL_DID_SPEED_PULSE; -// p_line_sns_data->st_data[LSDRV_SPEED_PULSE].uc_size = sizeof(float); -// p_line_sns_data->st_data[LSDRV_SPEED_PULSE].uc_sns_cnt = 0; -// -// memcpy(&p_line_sns_data->st_data[LSDRV_SPEED_PULSE].uc_data[0], -// &p_vehicle_msg->data.data[0], sizeof(float)); -// -// p_line_sns_data->st_data[LSDRV_PULSE_TIME].ul_did = POSHAL_DID_PULSE_TIME; -// p_line_sns_data->st_data[LSDRV_PULSE_TIME].uc_size = sizeof(float); -// p_line_sns_data->st_data[LSDRV_PULSE_TIME].uc_sns_cnt = 0; -// -// memcpy(&p_line_sns_data->st_data[LSDRV_PULSE_TIME].uc_data[0], -// &p_vehicle_msg->data.data[sizeof(float)], sizeof(float)); -// -// ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_LINESENS_VEHICLE_DATA_G, -// reinterpret_cast<void*>(p_line_sns_data), sizeof(line_sns_data)); -// -// break; -// } -// default: -// break; -// } -// -// if (ret != RET_NORMAL) { -// FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosSndMsg ERROR!! [ret = %d]", ret); -// } -// } + if (size != 0) { // LCOV_EXCL_BR_LINE 4: nsfw error + memset(p_line_sns_data, 0x00, sizeof(line_sns_data)); + p_vehicle_msg = (reinterpret_cast<VEHICLE_UNIT_MSG_VSINFO*>(pRcvMsg)); + switch (p_vehicle_msg->data.did) { + // SPEED info + case VEHICLE_DID_SPEED: + { + p_line_sns_data->uc_data_num = LSDRV_KINDS_MAX; + p_line_sns_data->st_data[LSDRV_SPEED_KMPH].ul_did = POSHAL_DID_SPEED_KMPH; + p_line_sns_data->st_data[LSDRV_SPEED_KMPH].uc_size = POS_SNDMSG_DTSIZE_2; + p_line_sns_data->st_data[LSDRV_SPEED_KMPH].uc_sns_cnt = 0; + + char p_env_variable[VP_MAX_LENGTH]; + + VP_GetEnv("VP__CWORD31__SPEED", p_env_variable); + if (0 == strcmp(p_env_variable, "direct")) { + int16_t speed = 0; + // To obtain the vehicle speed from Direct lanes,1 to 2 bytes of received data + memcpy(&speed, &p_vehicle_msg->data.data[0], sizeof(speed)); + us_speed = static_cast<uint16_t>(abs(speed)); + // Unit conversion [km/h] -> [0.01km/h] + us_speed = static_cast<uint16_t>(us_speed * 100); + } else if (0 == strcmp(p_env_variable, "CAN")) { + UINT16 speed = 0; + // To obtain the vehicle speed from CAN,2 to 3 bytes of received data + memcpy(&speed, &p_vehicle_msg->data.data[1], sizeof(speed)); + us_speed = static_cast<uint16_t>(abs(speed)); + // Unit conversion [km/h] -> [0.01km/h] + us_speed = static_cast<uint16_t>(us_speed * 100); + } else { + // In case of invalid value, the vehicle speed is acquired by CAN. + UINT16 speed = 0; + memcpy(&speed, &p_vehicle_msg->data.data[1], sizeof(speed)); + us_speed = static_cast<uint16_t>(abs(speed)); + // Unit conversion [km/h] -> [0.01km/h] + us_speed = static_cast<uint16_t>(us_speed * 100); + } + + memcpy(&p_line_sns_data->st_data[LSDRV_SPEED_KMPH].uc_data[0], &us_speed, sizeof(us_speed)); + + ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_LINESENS_VEHICLE_DATA_G, + reinterpret_cast<void*>(p_line_sns_data), sizeof(line_sns_data)); + + break; + } + // REV information + case VEHICLE_DID_REV: + { + p_line_sns_data->uc_data_num = LSDRV_KINDS_MAX; + p_line_sns_data->st_data[LSDRV_REV].ul_did = VEHICLE_DID_REV; + p_line_sns_data->st_data[LSDRV_REV].uc_size = POS_SNDMSG_DTSIZE_1; + p_line_sns_data->st_data[LSDRV_REV].uc_sns_cnt = 0; + p_line_sns_data->st_data[LSDRV_REV].uc_data[0] = p_vehicle_msg->data.data[0]; + + ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_LINESENS_VEHICLE_DATA_G, + reinterpret_cast<void*>(p_line_sns_data), sizeof(line_sns_data)); + break; + } + + // Speed Pulse information + case VEHICLE_DID_SPEED_PULSE_VEHICLE: + { + p_line_sns_data->uc_data_num = LSDRV_KINDS_MAX; + p_line_sns_data->st_data[LSDRV_SPEED_PULSE].ul_did = POSHAL_DID_SPEED_PULSE; + p_line_sns_data->st_data[LSDRV_SPEED_PULSE].uc_size = sizeof(float); + p_line_sns_data->st_data[LSDRV_SPEED_PULSE].uc_sns_cnt = 0; + + memcpy(&p_line_sns_data->st_data[LSDRV_SPEED_PULSE].uc_data[0], + &p_vehicle_msg->data.data[0], sizeof(float)); + + p_line_sns_data->st_data[LSDRV_PULSE_TIME].ul_did = POSHAL_DID_PULSE_TIME; + p_line_sns_data->st_data[LSDRV_PULSE_TIME].uc_size = sizeof(float); + p_line_sns_data->st_data[LSDRV_PULSE_TIME].uc_sns_cnt = 0; + + memcpy(&p_line_sns_data->st_data[LSDRV_PULSE_TIME].uc_data[0], + &p_vehicle_msg->data.data[sizeof(float)], sizeof(float)); + + ret = PosSndMsg(PNO_VEHICLE_SENSOR, CID_LINESENS_VEHICLE_DATA_G, + reinterpret_cast<void*>(p_line_sns_data), sizeof(line_sns_data)); + + break; + } + default: + break; + } + + if (ret != RET_NORMAL) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosSndMsg ERROR!! [ret = %d]", ret); + } + } return eFrameworkunifiedStatusOK; } @@ -2449,12 +2413,9 @@ static RET_API PosSndMsg(PNO pno, CID cid, void* p_msg_body, uint32_t size) { T_APIMSG_MSGBUF_HEADER* p; static u_int8 sndMsgBuf[MAX_MSG_BUF_SIZE + sizeof(T_APIMSG_MSGBUF_HEADER)]; - if (p_msg_body == NULL) { // LCOV_EXCL_BR_LINE 200: can not NULL - // LCOV_EXCL_START 8: invalid - AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert - FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR!! [p_msg_body = %p]", p_msg_body); + if ((p_msg_body == NULL) || (size > MAX_MSG_BUF_SIZE)) { + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR!! [p_msg_body = %p, size = %d]", p_msg_body, size); ret = RET_ERROR; - // LCOV_EXCL_STOP } else { p = reinterpret_cast<T_APIMSG_MSGBUF_HEADER*>(sndMsgBuf); |