diff options
Diffstat (limited to 'positioning_base_library/library/src/_pbOSCtrl.cpp')
| -rw-r--r-- | positioning_base_library/library/src/_pbOSCtrl.cpp | 417 |
1 files changed, 3 insertions, 414 deletions
diff --git a/positioning_base_library/library/src/_pbOSCtrl.cpp b/positioning_base_library/library/src/_pbOSCtrl.cpp index 575caf91..c38016a7 100644 --- a/positioning_base_library/library/src/_pbOSCtrl.cpp +++ b/positioning_base_library/library/src/_pbOSCtrl.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. @@ -44,16 +44,11 @@ static u_int8 file_buf[FILE_OUT_LINE][1024]; static u_int16 line_size_buf[FILE_OUT_LINE]; /* Log destination selection (Activate the one you want to output.) */ -#define POS_GPS_R_LOGFILE_PATH "/nv/log/frameworkunifiedlog/Test_Pos_gps_read_data.txt" -#define POS_GPS_W_LOGFILE_PATH "/nv/log/frameworkunifiedlog/Test_Pos_gps_write_data.txt" +#define POS_GPS_R_LOGFILE_PATH "/nv/BS/vs/positioning_base_library/rwdata/Test_Pos_gps_read_data.txt" +#define POS_GPS_W_LOGFILE_PATH "/nv/BS/vs/positioning_base_library/rwdata/Test_Pos_gps_write_data.txt" #endif /* GPS_FUNC_DEBUG_MSG__CWORD71__FILE */ -static BOOL ReadFile_CWORD82_(HANDLE h_file, LPVOID lp_buffer, DWORD n_number_of_bytes_to_read, \ - LPDWORD lp_number_of_bytes_read, LPOVERLAPPED lp_overlapped); -static BOOL ReadFileUblox(HANDLE h_file, LPVOID lp_buffer, DWORD n_number_of_bytes_to_read, \ - LPDWORD lp_number_of_bytes_read, LPOVERLAPPED lp_overlapped); - /* For CreateFile--> */ #define BAUDRATE B9600 #define MODEMDEVICE "/dev/tty.gps" @@ -361,412 +356,6 @@ BOOL CloseFile(HANDLE h_object) { // LCOV_EXCL_START 8:dead code } // LCOV_EXCL_STOP -#define MAX_READ_SIZE 2048 -/** - * @brief - * - * Read file - * - * Read data from a file (Wrapper Function) - * - * @param[in] h_file Handle - * @param[in] lp_buffer Buffer for reading - * @param[out] n_number_of_bytes_to_read Maximum read size - * @param[out] lp_number_of_bytes_read Read size - * @param lp_overlapped Not used - * - * @return Processing result - * @retval TRUE Processing succeeded - * @retval FALSE Processing failed - */ -BOOL ReadFile(HANDLE h_file, LPVOID lp_buffer, DWORD n_number_of_bytes_to_read, LPDWORD lp_number_of_bytes_read, LPOVERLAPPED lp_overlapped) { // LCOV_EXCL_START 8:dead code // NOLINT(whitespace/line_length) - AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert - BOOL ret = 0; - UNIT_TYPE e_type = UNIT_TYPE_NONE; /* Supported HW configuration type */ - - e_type = PbGetEnvSupportInfo(); - if (UNIT_TYPE_GRADE1 == e_type) { - ret = ReadFileUblox(h_file, lp_buffer, n_number_of_bytes_to_read, lp_number_of_bytes_read, lp_overlapped); - } else if (UNIT_TYPE_GRADE2 == e_type) { - /* - * Note. - * This feature branches processing depending on the unit type. - */ - ret = ReadFile_CWORD82_(h_file, lp_buffer, n_number_of_bytes_to_read, lp_number_of_bytes_read, lp_overlapped); - } else { - ret = FALSE; - } - - return ret; -} -// LCOV_EXCL_STOP - -/** - * @brief - * - * Read file - * - * Read data from a file(Implementation Functions for _CWORD82_) - * - * @param[in] h_file Handle - * @param[in] lp_buffer Read buffer - * @param[out] n_number_of_bytes_to_read Maximum read size - * @param[out] lp_number_of_bytes_read Read size - * @param lp_overlapped Not used - * - * @return Processing result - * @retval TRUE Processing succeeded - * @retval FALSE Processing failed - */ -BOOL ReadFile_CWORD82_(HANDLE h_file, LPVOID lp_buffer, DWORD n_number_of_bytes_to_read, LPDWORD lp_number_of_bytes_read, LPOVERLAPPED lp_overlapped) { // LCOV_EXCL_START 8:dead code // NOLINT(whitespace/line_length) - AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert - BOOL ret = 0; - static int res = 0; - DWORD fdw_comm_mask; /* Communication event storage area */ - - static u_int8 ret_buf[MAX_READ_SIZE] = {0}; /* Buffer for return */ - static u_int8 *wp = ret_buf; - - static u_int8 work_buf[MAX_READ_SIZE]; - - static u_int8 key = 0; /* Primary key */ - static BOOL is_set_key = FALSE; /* Key is set or not */ - static u_int8 key2 = 0; /* Secondary key */ - static BOOL is_set_key2 = FALSE; /* Key2 is set or not */ - static int32 work_bufcnt = 0; /* Backup read pointer of work_buf */ - - int32 i; - int32 j; - u_int8 val; - BOOL ret_flg = FALSE; - static BOOL is_detect_err = FALSE; - -#if GPS_FUNC_DEBUG_MSG__CWORD71__FILE - static u_int16 file_line_size = 0; - static FILE* fp = NULL; /* For debugging */ - u_int16 line_size = 0; - u_int16 file_loop; - u_int16 file_loop2; -#endif /* GPS_FUNC_DEBUG_MSG__CWORD71__FILE */ - - for (i = 0; i < MAX_READ_SIZE; i++) { - if (work_bufcnt == 0) /* Last read completed */ { - res = -1; - if (WaitCommEvent(h_file, (LPDWORD)&fdw_comm_mask, NULL) != FALSE) { - /* h_file is FD, and less than INT_MAX(0x7fffffff) */ - res = static_cast<int>(read(static_cast<int>((long)h_file), work_buf, // NOLINT(runtime/int) - n_number_of_bytes_to_read)); - } - } - - if (res == -1) { - break; - } else { - for (j = work_bufcnt; j < res; j++) { - val = *(work_buf + j); - *wp = val; - - if (is_detect_err == TRUE) { - /* If any errors are detected, skip the 1-byte so that the system can be restored to normal */ - is_detect_err = FALSE; - } else { - if ((key == val) && (is_set_key == TRUE)) { - ret_flg = TRUE; - *lp_number_of_bytes_read = (wp - ret_buf) + 1; /* calculate total read size */ - - key = 0; - is_set_key = FALSE; - wp = ret_buf; - ret = TRUE; - break; - } else if ((val == 0x24) && - ((key != 0xDA) || (is_set_key == FALSE)) && - ((key2 != 0xBF) || (is_set_key2 == FALSE))) { - key = 0x0A; /* End of NEMA sentence */ - is_set_key = TRUE; - wp++; - } else if ((val == 0xB0) && - ((key != 0x0A) || (is_set_key == FALSE))) { - key2 = 0xBF; - is_set_key2 = TRUE; - wp++; - } else if ((key2 == val) && (is_set_key2 == TRUE)) { - key = 0xDA; /* End of _CWORD82_ Binary */ - is_set_key = TRUE; - is_set_key2 = FALSE; - wp++; - } else if ((is_set_key == TRUE) || (is_set_key2 == TRUE)) { - wp++; - } else { - /* nothing */ - } - - /* PastModel008 Fix reset problem + */ - if ((wp - ret_buf) + 1 >= MAX_READ_SIZE) { - ret_flg = TRUE; - *lp_number_of_bytes_read = (wp - ret_buf) + 1; /* calculate total read size */ - wp = ret_buf; -// fprintf(fp, "detect buffer ret_buf full!! size = %d\n", *lp_number_of_bytes_read); - break; - } - /* PastModel008 Fix reset probrem - */ - } - } - - if (j == res) /* When break was not performed during work_buf analysis */ { - work_bufcnt = 0; - } - - if (ret_flg == TRUE) { - work_bufcnt = j; - break; - } - } - } - - -// if ((i == MAX_READ_SIZE) || ((wp - ret_buf) + 1 > MAX_READ_SIZE)) { - if ((i == MAX_READ_SIZE) || (*lp_number_of_bytes_read >= MAX_READ_SIZE)) { /* detect error */ - /* detect error */ - key = 0; - is_set_key = FALSE; - is_set_key2 = FALSE; - is_detect_err = TRUE; - } else { - if (ret_flg == TRUE) { - /* PastModel008 Fix reset problem + */ - if (*lp_number_of_bytes_read >= MAX_READ_SIZE) { /* PastModel008 Fix reset problem */ - ret = FALSE; - } else { - memcpy(lp_buffer, ret_buf, *lp_number_of_bytes_read); - } - /* PastModel008 Fix reset problem - */ - } - } - -#if GPS_FUNC_DEBUG_MSG__CWORD71__FILE - for (file_loop = 0; file_loop < *lp_number_of_bytes_read; file_loop++) { - file_buf[file_line_size][line_size++] = *(ret_buf + file_loop); - } - - line_size_buf[file_line_size] = line_size; - file_line_size++; - - if (file_line_size >= FILE_OUT_LINE) { - if (fp == NULL) { - /* File initialization */ - fp = fopen(POS_GPS_R_LOGFILE_PATH, "w+"); - } else { - fp = fopen(POS_GPS_R_LOGFILE_PATH, "a+"); - } - - for (file_loop = 0; file_loop < FILE_OUT_LINE; file_loop++) { - for (file_loop2 = 0; file_loop2 < line_size_buf[file_loop]; file_loop2++) { - fprintf(fp, "%02x ", file_buf[file_loop][file_loop2]); - } - fprintf(fp, "\n"); - } - fclose(fp); - file_line_size = 0; - } -#endif /* GPS_FUNC_DEBUG_MSG__CWORD71__FILE */ - - return ret; -} -// LCOV_EXCL_STOP - -/** - * @brief - * - * Read file - * - * Read data from a file(Implemented Function for ublox) - * - * @param[in] h_file Handle - * @param[in] lp_buffer Read buffer - * @param[out] n_number_of_bytes_to_read Maximum read size - * @param[out] lp_number_of_bytes_read Read size - * @param lp_overlapped Not used - * - * @return Processing result - * @retval TRUE processing succeeded - * @retval FALSE Processing failed - */ -BOOL ReadFileUblox(HANDLE h_file, LPVOID lp_buffer, DWORD n_number_of_bytes_to_read, LPDWORD lp_number_of_bytes_read, LPOVERLAPPED lp_overlapped) { // LCOV_EXCL_START 8:dead code NOLINT(whitespace/line_length) - AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert - BOOL ret = 0; - static int res = 0; - DWORD fdw_comm_mask; /* Communication event storage area */ - - static u_int8 ret_buf[MAX_READ_SIZE] = {0}; /* Buffer for return */ - static u_int8 *wp = ret_buf; - - static u_int8 work_buf[MAX_READ_SIZE]; - - static u_int8 key = 0; /* Primary key */ - static BOOL is_set_key = FALSE; /* Key is set or not */ - static BOOL is_set_key2 = FALSE; /* Key2 is set or not */ - - int32 i; - int32 j; - u_int8 val; - BOOL ret_flg = FALSE; - static BOOL is_detect_err = FALSE; - static int32 ubx_size = 0; /* Support when Sentence span more than one read() */ - static int32 ubx_count = 0; /* Support when Sentence span more than one read() */ - static int32 work_bufcnt = 0; /* Backup the read pointer of work_buf */ - -#if GPS_FUNC_DEBUG_MSG__CWORD71__FILE - static u_int16 file_line_size = 0; - static FILE* fp = NULL; /* For debugging */ - u_int16 line_size = 0; - u_int16 file_loop; - u_int16 file_loop2; -#endif /* GPS_FUNC_DEBUG_MSG__CWORD71__FILE */ - - for (i = 0; i < MAX_READ_SIZE; i++) { - if (work_bufcnt == 0) /* Last read completed */ { - res = -1; - if (WaitCommEvent(h_file, (LPDWORD)&fdw_comm_mask, NULL) != FALSE) { - /* h_file is FD, and less than INT_MAX(0x7fffffff) */ - res = static_cast<int>(read(static_cast<int>((long)h_file), work_buf, // NOLINT(runtime/int) - n_number_of_bytes_to_read)); - } - } - - if (res == -1) { - break; - } else { - for (j = work_bufcnt; j < res; j++) { - val = *(work_buf + j); - *wp = val; - - if (is_detect_err == TRUE) { - /* If any errors are detected, skip the 1Byte so that the system can be restored to normal */ - is_detect_err = FALSE; - } else { - if (((key == val) && (is_set_key == TRUE)) - || ((ubx_count >= (7 + ubx_size)) && (is_set_key2 == TRUE))) { - /* At the end of the sentence */ - ret_flg = TRUE; - *lp_number_of_bytes_read = (wp - ret_buf) + 1; /* calculate total read size */ - -// fprintf(fp, "fixed UBX sentence ubx_size = %d, ubx_count = %d, *lp_number_of_bytes_read = %d, -// wp = %x, ret_buf = %x\n", ubx_size, ubx_count, *lpNumberOfBytesRead, wp, retBuf); - key = 0; - ubx_size = 0; /* Clear when end of ubx is judged */ - ubx_count = 0; /* Clear when end of ubx is judged */ - is_set_key = FALSE; - is_set_key2 = FALSE; - ret = TRUE; - wp = ret_buf; - break; - } else if ((val == 0x24) && (is_set_key == FALSE) && (is_set_key2 == FALSE)) { - /* At the beginning of the NMEA */ - key = 0x0A; /* End of NEMA sentence */ - is_set_key = TRUE; - wp++; - } else if ((val == 0xB5) && (is_set_key == FALSE) && (is_set_key2 == FALSE)) { - /* At the beginning of the UBX */ - is_set_key2 = TRUE; - wp++; - } else if ((ubx_count == 4) && (is_set_key2 == TRUE)) { - /* Payload size of the UBX(Lower byte) */ - ubx_size = val; - wp++; - } else if ((ubx_count == 5) && (is_set_key2 == TRUE)) { - /* Payload size of the UBX(Upper byte) */ - ubx_size += (val << 8); - wp++; - } else if ((is_set_key == TRUE) || (is_set_key2 == TRUE)) { - wp++; - } else { - /* nothing */ - } - - /* PastModel008 Fix reset problem + */ - if ((wp - ret_buf) + 1 >= MAX_READ_SIZE) { - ret_flg = TRUE; - *lp_number_of_bytes_read = (wp - ret_buf) + 1; /* calculate total read size */ - wp = ret_buf; -// fprintf(fp, "detect buffer ret_buf full!! size = %d\n", *lp_number_of_bytes_read); - break; - } - /* PastModel008 Fix reset problem - */ - - if (((ubx_count == 5) && (is_set_key2 == TRUE)) && - ((ubx_size < 0) || (ubx_size > MAX_READ_SIZE))) { - is_set_key2 = FALSE; - } - } - if (is_set_key2 == TRUE) { - ubx_count++; - } - } - /* When break was not performed during work_buf analysis */ - if (j == res) { - work_bufcnt = 0; - } - if (ret_flg == TRUE) { - work_bufcnt = j + 1; - break; - } - } - } - - /* detect error */ - -// if ((i == MAX_READ_SIZE) || ((wp - ret_buf) + 1 > MAX_READ_SIZE)) { - if ((i == MAX_READ_SIZE) || (*lp_number_of_bytes_read >= MAX_READ_SIZE)) { /* detect error */ /* PastModel008 Fix reset problem */ // NOLINT(whitespace/line_length) - key = 0; - ubx_count = 0; - ubx_size = 0; - is_set_key = FALSE; - is_set_key2 = FALSE; - is_detect_err = TRUE; - } else { - if (ret_flg == TRUE) { - /* PastModel008 Fix reset problem + */ - if (*lp_number_of_bytes_read >= MAX_READ_SIZE) { /* PastModel008 Fix reset problem */ - ret = FALSE; - } else { - memcpy(lp_buffer, ret_buf, *lp_number_of_bytes_read); - } - /* PastModel008 Fix reset problem - */ - } - } - -#if GPS_FUNC_DEBUG_MSG__CWORD71__FILE - for (file_loop = 0; file_loop < *lp_number_of_bytes_read; file_loop++) { - file_buf[file_line_size][line_size++] = *(ret_buf + file_loop); - } - - line_size_buf[file_line_size] = line_size; - file_line_size++; - - if (file_line_size >= FILE_OUT_LINE) { - if (fp == NULL) { - /* File initialization */ - fp = fopen(POS_GPS_R_LOGFILE_PATH, "w+"); - } else { - fp = fopen(POS_GPS_R_LOGFILE_PATH, "a+"); - } - - for (file_loop = 0; file_loop < FILE_OUT_LINE; file_loop++) { - for (file_loop2 = 0; file_loop2 < line_size_buf[file_loop]; file_loop2++) { - fprintf(fp, "%02x ", file_buf[file_loop][file_loop2]); - } - fprintf(fp, "\n"); - } - fclose(fp); - file_line_size = 0; - } -#endif /* GPS_FUNC_DEBUG_MSG__CWORD71__FILE */ - - return ret; -} -// LCOV_EXCL_STOP - /** * @brief * |