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Diffstat (limited to 'vehicleservice/positioning/client/include/vehicle_service/POS_sensor_API.h')
| -rw-r--r-- | vehicleservice/positioning/client/include/vehicle_service/POS_sensor_API.h | 716 |
1 files changed, 716 insertions, 0 deletions
diff --git a/vehicleservice/positioning/client/include/vehicle_service/POS_sensor_API.h b/vehicleservice/positioning/client/include/vehicle_service/POS_sensor_API.h new file mode 100644 index 00000000..a7a35c4a --- /dev/null +++ b/vehicleservice/positioning/client/include/vehicle_service/POS_sensor_API.h @@ -0,0 +1,716 @@ +/* + * @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. + */ +#ifndef POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_ +#define POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_ +/** + * @file POS_sensor_API.h + * @brief API definition file for Sensor function + */ + +/** @addtogroup BaseSystem + * @{ + */ +/** @addtogroup vehicle_service + * @ingroup BaseSystem + * @{ + */ +/** @addtogroup positioning + * @ingroup vehicle_service + * @{ + */ +/*---------------------------------------------------------------------------------* + * Incluce * + *---------------------------------------------------------------------------------*/ +#include <vehicle_service/POS_define.h> + +/*---------------------------------------------------------------------------------* + * Definition * + *---------------------------------------------------------------------------------*/ +/* POSITIONING_DID */ +#define POS_DID_SPEED_PULSE 0x80000012 //!< \~english Data ID of speed pulse +#define POS_DID_SPEED_KMPH 0x80000013 //!< \~english Data ID of KMPH speed +#define POS_DID_SNS_COUNTER 0x8000001A +//!< \~english Data ID of sensor counter +#define POS_DID_GYRO_X 0x80000014 //!< \~english Data ID of X axis gyro +#define POS_DID_GYRO_Y 0x80000085 //!< \~english Data ID of Y axis gyro +#define POS_DID_GYRO_Z 0x80000086 //!< \~english Data ID of Z axis gyro +#define POS_DID_GYRO POS_DID_GYRO_X +//!< \~english Data ID of POS_DID_GYRO is same as POS_DID_GYRO_X +#define POS_DID_GSNS_X 0x80000015 //!< \~english Data ID of x axis gsensor +#define POS_DID_GSNS_Y 0x80000016 //!< \~english Data ID of Y axis gsensor +#define POS_DID_GSNS_Z 0x80000026 //!< \~english Data ID of Z axis gsensor +#define POS_DID_REV 0x80000017 //!< \~english Data ID of reverse signal +#define POS_DID_GPS_ANTENNA 0x80000019 +//!< \~english Data ID of GPS antenna status +#define POS_DID_SPEED_PULSE_FST 0x80000028 +//!< \~english Data ID of first time speed pulse +#define POS_DID_GYRO_X_FST 0x80000029 //!< \~english Data ID of first time X axis gyro +#define POS_DID_GYRO_Y_FST 0x80000043 //!< \~english Data ID of first time Y axis gyro +#define POS_DID_GYRO_Z_FST 0x80000023 //!< \~english Data ID of first time Z axis gyro +#define POS_DID_GYRO_FST POS_DID_GYRO_X_FST +//!< \~~english Data ID of POS_DID_GYRO_FST is same as POS_DID_GYRO_X_FST +#define POS_DID_REV_FST 0x8000007E +//!< \~english Data ID of first time reverse signal +#define POS_DID_GYRO_TEMP 0x80000090 //!< \~english Data ID of gyro temperature +#define POS_DID_GYRO_TEMP_FST 0x80000091 +//!< \~english Data ID of first time gyro temperature +#define POS_DID_GSNS_X_FST 0x80000087 +//!< \~english Data ID of first time x axis gsensor +#define POS_DID_GSNS_Y_FST 0x80000088 +//!< \~english Data ID of first time Y axis gsensor +#define POS_DID_GSNS_Z_FST 0x80000089 +//!< \~english Data ID of first time Z axis gsensor +#define POS_DID_PULSE_TIME 0x8000003A //!< \~english Data ID of pulse time + +#define POS_DID_GPS__CWORD82__NMEA 0x80000030U +//!< \~english Data ID of _CWORD82_ GPS NMEA sentence +#define POS_DID_GPS__CWORD82___CWORD44_GP4 0x80000031U +//!< \~english Data ID of _CWORD82_ GPS _CWORD44_GP4 data +#define POS_DID_GPS__CWORD82__FULLBINARY 0x80000032U +//!< \~english Data ID of _CWORD82_ GPS full binary data +#define POS_DID_GPS_NMEA 0x8000009AU +//!< \~english Data ID of GPS NMEA sentence +#define POS_DID_GPS_CLOCK_DRIFT 0x800000B3U +//!< \~english Data ID of GPS time drift data +#define POS_DID_GPS_CLOCK_FREQ 0x800000B4U +//!< \~english Data ID of GPS time frequency data + +/** + * \~english @brief Delivery sensor extra package 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_PKG_SENSOR_DATA, CBCallbackA); + * @endcode + */ +#define CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA 0x0700 + +/** + * \~english @brief Delivery sensor information 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_SENSOR_DATA, CBCallbackA); + * @endcode + */ +#define CID_POSIF_REGISTER_LISTENER_SENSOR_DATA 0x0200 + +#define SENSOR_MSGBUF_DSIZE 4096 +//!< \~english message body maximum size + +#define SENSOR_VSHEAD_DSIZE 36 +//!< \~english vehicle sensor header size(1+3+16*2) + +#define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE) +//!< \~english vehicle sensor data size + +// Same name/value is defined, but client doesn't include HAL header. +// It defines SENSOR_MSG_VSINFO_DSIZE if not included HAL. +#ifndef HAL_API_POSITIONING_HAL_H_ +#define SENSOR_MSG_VSINFO_DSIZE 1904u +//!< \~english vehicle sensor message body maximum size +#endif + +#define SENSOR_PKG_DELIVERY_MAX 16 +//!< \~english number of data ID per a package + +/*---------------------------------------------------------------------------------* + * Typedef declaration * + *---------------------------------------------------------------------------------*/ + +/*---------------------------------------------------------------------------------* + * Struct declaration * + *---------------------------------------------------------------------------------*/ +/** + * @struct SENSOR_PKG_MSG_VSINFO + * \~english positioning sensor notification message (to User) + */ +typedef struct { + uint8_t ucDNum; //!< \~english number of data + uint8_t ucDataBreak; //!< \~english data lack infomation + uint8_t ucDivideCnt; //!< \~english total partition + uint8_t ucDivideSendCnt; //!< \~english partition transmit count + uint16_t usOffset[SENSOR_PKG_DELIVERY_MAX]; //!< \~english offset + uint8_t ucData[SENSOR_VSINFO_DSIZE]; //!< \~english data body +} SENSOR_PKG_MSG_VSINFO; + +/** + * @struct SENSOR_MSG_VSINFO + * \~english message delivery positioning sensor information + */ +typedef struct { + DID did; //!< \~english data ID + uint16_t size; //!< \~english data size + uint8_t rcvFlag; //!< \~english reception flag + uint8_t reserve; //!< \~english reserve + uint8_t data[SENSOR_MSG_VSINFO_DSIZE]; //!< \~english data body +} SENSOR_MSG_VSINFO; + +/*---------------------------------------------------------------------------------* + * Prototype Declaration * + *---------------------------------------------------------------------------------*/ +/* SENSOR_API public API */ +#ifdef __cplusplus +extern "C" { +#endif +//////////////////////////////////////////////////////////////////////////////////////////// +/// \ingroup tag_Positioning +/// \~english @par Brief +/// - Send the extra package when first delivery. +/// +/// \~english @param [in] hApp +/// - HANDLE - App Handle +/// \~english @param [in] notifyName +/// - PCSTR - Destination thread name +/// \~english @param [in] ucPkgNum +/// - uint8_t - data number in package(1 to 16) +/// \~english @param [in] pulDid +/// - DID * - buffer pointer of the data ID array in package +/// \~english @param [in] ucCtrlFlg +/// - uint8_t - Delivery control flag(register) +/// \~english @param [in] ucDeliveryTiming +/// - uint8_t - Delivery timing(change/update) +/// +/// \~english @par +/// - data number in package(ucPkgNum) \n +/// The following 8 data ID can be registered. And the register data number range is 1~16. +/// - buffer pointer of the data ID array in package(pulDid) \n +/// The data ID set to the first in pulDid is the delivery key. \n +/// If the data ID not one of the following be set, return SENSOR_RET_ERROR_PARAM. +/// - POS_DID_SNS_COUNTER - sensor counter +/// - POS_DID_GYRO_X - gyro output (X axis) +/// - POS_DID_GYRO_Y - gyro output (Y axis) +/// - POS_DID_GYRO_Z - gyro output (Z axis) +/// - POS_DID_SPEED_PULSE - speed pulse +/// - POS_DID_REV - REV signal(0:forward 1:backward) +/// - POS_DID_GSNS_X - Gsensor output X axis +/// - POS_DID_GSNS_Y - Gsensor output Y axis +/// - POS_DID_GSNS_Z - Gsensor output Z axis +/// - POS_DID_GYRO_TEMP - gyro temperature +/// - POS_DID_PULSE_TIME - pulse time\n +/// \~english @par +/// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL. +/// \~english @par +/// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.\n +/// \~english @par +/// - Delivery control flag(ucCtrlFlg) +/// - SENSOR_DELIVERY_REGIST - register +/// - Register specified LonLat delivery +/// - Please note that if the same data delivery has been registered for multiple times, \n +/// the data will also be deliveried for registered multiple times. +/// - The specified LonLat will be deliveried at register time no matter what delivery \n +/// timing has been registered (first delivery). +/// - Delivery timing(ucDeliveryTiming) +/// - SENSOR_DELIVERY_TIMING_CHANGE - change Specified LonLat be deliveried only when it is changed. +/// - SENSOR_DELIVERY_TIMING_UPDATE - update Specified Lonlat be deliveried as long as \n +/// it is updated by vehicle sensor. +/// +/// +/// \~english @retval SENSOR_RET_NORMAL normal end +/// \~english @retval SENSOR_RET_ERROR_CREATE_EVENT event create failed +/// \~english @retval SENSOR_RET_ERROR_PARAM parameter error +/// \~english @retval SENSOR_RET_ERROR_INNER internal error +/// \~english @retval SENSOR_RET_ERROR_NOSUPPORT unsupported +/// \~english @retval SENSOR_RET_ERROR_RESOURCE lack of resource +/// +/// \~english @par Precondition +/// - The creation/initialization \n +/// (FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher for App are completed. +/// - Availability of service positioning is TRUE. +/// +/// \~english @par change of internal status +/// - There is no change of internal status +/// +/// \~english @par Failure condition +/// - The parameter hApp is NULL [SENSOR_RET_ERROR_PARAM] +/// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [SENSOR_RET_ERROR_PARAM] +/// - The parameter ucDeliveryTiming is neither update(SENSOR_DELIVERY_TIMING_UPDATE) \n +/// nor change(SENSOR_DELIVERY_TIMING_CHANGE) [SENSOR_RET_ERROR_PARAM] +/// - The parameter notifyName is NULL [SENSOR_RET_ERROR_PARAM] +/// - The parameter ucPkgNum is 0 or it is larger than 16 [SENSOR_RET_ERROR_PARAM] +/// - The parameter pulDid is NULL [SENSOR_RET_ERROR_PARAM] +/// - The data ID in paramter buffer pulDid is not avaliable value [SENSOR_RET_ERROR_PARAM] +/// - The count of message in message queue is reach to max [SENSOR_RET_ERROR_RESOURCE] +/// - The count of mutex is reach to max [SENSOR_RET_ERROR_RESOURCE] +/// - The count of item in ProcessName-ProcessNo convert table is reach to max [SENSOR_RET_ERROR_RESOURCE] +/// - The event has been registered in event table and created in same process, \n +/// but the count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table and created in system, but the \n +/// count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, but memory for the thread event table \n +/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, but the thread can not be registered in \n +/// event table. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, but memory for thread table creation \n +/// allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, and the event flag has already been \n +/// registered. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, and the event flag register failed. \n +/// [SENSOR_RET_ERROR_CREATE_EVENT] +/// - No empty field for registering the event HANDLE into event table. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - Memory for event HANDLE get failed. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table and not finished registering \n +/// [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table, and memory for thread table \n +/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table, and the event flag has already been \n +/// registered. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table, and the event flag register failed. \n +/// [SENSOR_RET_ERROR_CREATE_EVENT] +/// - ProcessNo has not been registered in message control table when message transfered \n +/// between processes. [SENSOR_RET_ERROR_INNER] +/// - Message transfer HANDLE get failed when message transfered in process. [SENSOR_RET_ERROR_INNER] +/// - Message transfer failed in process. [SENSOR_RET_ERROR_INNER] +/// - The destination process name is NULL. [SENSOR_RET_ERROR_INNER] +/// - The destination process name size is larger than 20 characters when message transfer \n +/// between processes. [SENSOR_RET_ERROR_INNER] +/// - The message queue name has not been registered in control table when message \n +/// transfer between processes. [SENSOR_RET_ERROR_INNER] +/// - Message transfer HANDLE create failed when message transfered between processes. [SENSOR_RET_ERROR_INNER] +/// - Message transfer HANDLE get failed from internal table when message transfered \n +/// between processes. [SENSOR_RET_ERROR_INNER] +/// - Message transfer failed between processes. [SENSOR_RET_ERROR_INNER] +/// - Specified event HANDLE has not been registered in event HANDLE table during event \n +/// waiting. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The count of thread is reach to max in event management table during event \n +/// waiting. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The EV_FLAG_BIT is not set in flagID during event getting. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The ID of message event queue has not been created during event getting. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The flagID has not been registered during event getting. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The interruption happened during event getting [SENSOR_RET_ERROR_CREATE_EVENT] +/// - Whatever error happened during event getting. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - Got event is SENSOR_RET_ERROR_INNER. [SENSOR_RET_ERROR_INNER] +/// +/// \~english @par Detial +/// - Call this API to register vehicle sensor data delivery. \n +/// This API return the result of registering. \n +/// The data from sensor data received to registering will be deliveried. \n +/// The first delivery data is the sensor data(max 64 number of sensor counter, \n +/// reverse signal,gyro temperature, max 640 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n +/// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), max 2048 number of pulse time) in 6.4 second. \n +/// If the data number is more than max number, delivery the data in newest 6.4 second. \n +/// If the sensor data accumulated more than max number, set VEHICLE_SNS_BREAK to data missing information. \n +/// If sensor data number is more than the data number send in one time(10 number of \n +/// sensor counter,reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n +/// speed pulse, Gsensor output(X axis),Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time), \n +/// the old data is divided into partitions(every partition with 10 number of sensor counter, \n +/// reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n +/// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time) to delivery. \n +/// The last message for first delivery is the message that the partition count equal to partition No. \n +/// After first delivery, the message data(1 number of sensor counter,reverse signal, \n +/// gyro temperature, 10 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis),speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 32 number of pulse time) deliveried. \n +/// And because the data missing information, divided partition count, \n +/// diveided partition No is not used, they will be set to 0 in message.\n +/// (sample)The sensor data in 6.4 second divided to delivery +/// - 1st message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7, divided partition No=1) +/// - 2nd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7, divided partition No=2) +/// - 3rd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7,divided partition No=3) +/// - 4th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7,divided partition No=4) +/// - 5th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7,divided partition No=5) +/// - 6th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n +/// partition count=7,divided partition No=6) +/// - 7th message(sensor counter, reverse signal, gyro temperature=4 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n +/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=40 number, pulse time=128 number), divided \n +/// partition count=7,divided partition No=7) +/// +/// \~english @par +/// - Please note the following points when use this API. +/// - Duplication registering +/// - The same destination thread name has already been registered +/// - The registered delivery data updated and normal return.(first delivery) +/// - To one delivery destination, the same data will not be duplication deliveried at same timing. +/// - After delivery the sensor data accumulated in 6.4 second(first delivery), the sensor data \n +/// will not be accumulated any more. So the same data will be deliveried as first \n +/// delivery when registered again. +/// - This API is only called by Navi proxy. +/// - After call this API, if the delivery destination thread name is changed, please call this API again. +/// +/// \~english @par +/// message structure +/// - After success to register, vehicle sensor will send message as system API message with following format. +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA \n +/// Definition of structure +/// \~english @code +/// #define SENSOR_MSGBUF_DSIZE 4096 /* max size of message body */ +/// #define SENSOR_VSHEAD_DSIZE 36 /* vehicle sensor header size(1+3+16*2) */ +/// #define SENSOR_PKG_DELIVERY_MAX 16 /* max number of Data ID in package */ +/// #define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE) +/// typedef struct { +/// uint8_t ucDNum; /* number of data */ +/// uint8_t ucDataBreak; /* data missing information */ +/// uint8_t ucDivideCnt; /* divided partition count */ +/// uint8_t ucDivideSendCnt; /* divided partition No. */ +/// uint16_t usOffset[SENSOR_PKG_DELIVERY_MAX]; /* offset */ +/// uint8_t ucData[SENSOR_VSINFO_DSIZE]; /* vehicle sensor data */ +/// } SENSOR_PKG_MSG_VSINFO; +/// @endcode +/// - number of data \n +/// Data number in package +/// - data missing information \n +/// VEHICLE_SNS_BREAK:not continuous data \n +/// VEHICLE_SNS_NORMAL:continuous data +/// - divided partition count \n +/// All divided partition count \n +/// If it is more than 1, data divided to delivery +/// - divided partition No. \n +/// The No. of the divided partition. If it equal to the divided partition count, \n +/// that meanings this message is the last divided partition of the package. +/// - offset \n +/// The array of the offset from the head of vehicle sensor data +/// - vehicle sensor data +/// - Data ID(4Byte) +/// - Data size(2Byte) +/// - reception flag(1Byte) +/// - If the data get from CAN, direct line, GPS, set to 0x01 +/// - If data has not been received, set to 0x00 +/// - reserve(1Byte)\n +/// - Data body is cycle fit with the packaged data. +/// +/// \~english @par Classification +/// - Public +/// +/// \~english @par Type +/// - Method +/// +/// \~english @see +/// - POS_RegisterListenerSensData, POS_GetSensData +/// +//////////////////////////////////////////////////////////////////////////////////////////// +SENSOR_RET_API POS_RegisterListenerPkgSensData(HANDLE hApp, PCSTR notifyName, uint8_t ucPkgNum, DID *pulDid, + uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming); + +//////////////////////////////////////////////////////////////////////////////////////////// +/// \ingroup tag_Positioning +/// \~english @par Brief +/// - Register sensor data delivery. +/// +/// \~english @param [in] hApp +/// - HANDLE - App Handle +/// \~english @param [in] notifyName +/// - PCSTR - Destination thread name +/// \~english @param [in] ulDid +/// - DID - Data ID of vehicle info +/// \~english @param [in] ucCtrlFlg +/// - uint8_t - Delivery control flag(register) +/// \~english @param [in] ucDeliveryTiming +/// - uint8_t - Delivery timing(change/update) +/// +/// \~english @par +/// - Data ID of vehicle info(ulDid) \n +/// +/// \~english @par +/// - Note:The Gsensor output is 0 in the environment without Gsensor hardware. +/// \~english @par +/// - Delivery control flag(ucCtrlFlg) +/// - SENSOR_DELIVERY_REGIST - register +/// - Register specified LonLat delivery +/// - Please note that if the same data delivery has been registered for multiple times, \n +/// the data will also be deliveried for registered multiple times. +/// - The specified LonLat will be deliveried at register time no matter what delivery \n +/// timing has been registered (first delivery). +/// - Delivery timing(ucDeliveryTiming) +/// - SENSOR_DELIVERY_TIMING_CHANGE - change Specified LonLat be deliveried only when it is changed. +/// - SENSOR_DELIVERY_TIMING_UPDATE - update Specified Lonlat be deliveried \n +/// as long as it is updated by vehicle sensor. +/// +/// \~english @retval SENSOR_RET_NORMAL normal end +/// \~english @retval SENSOR_RET_ERROR_CREATE_EVENT event create failed +/// \~english @retval SENSOR_RET_ERROR_PARAM parameter error +/// \~english @retval SENSOR_RET_ERROR_INNER internal error +/// \~english @retval SENSOR_RET_ERROR_NOSUPPORT unsupported +/// \~english @retval SENSOR_RET_ERROR_RESOURCE lack of resource +/// +/// \~english @par Precondition +/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) \n +/// of the Dispatcher for App are completed. +/// - Availability of service positioning is TRUE. +/// +/// \~english @par change of internal status +/// - There is no change of internal status +/// +/// \~english @par Failure condition +/// - The parameter ucDeliveryTiming is neither update \n +/// (SENSOR_DELIVERY_TIMING_UPDATE) nor change(SENSOR_DELIVERY_TIMING_CHANGE) [SENSOR_RET_ERROR_PARAM] +/// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [SENSOR_RET_ERROR_PARAM] +/// - The parameter hApp is NULL [SENSOR_RET_ERROR_PARAM] +/// - The parameter notifyName is NULL [SENSOR_RET_ERROR_PARAM] +/// - The parameter ulDID is not avaliable value [SENSOR_RET_ERROR_PARAM] +/// - The parameter ulDID is a value can not specified [SENSOR_RET_ERROR_PARAM] +/// - The count of message in message queue is reach to max [SENSOR_RET_ERROR_RESOURCE] +/// - The count of mutex is reach to max [SENSOR_RET_ERROR_RESOURCE] +/// - The count of item in ProcessName-ProcessNo convert table is reach to \n +/// max [SENSOR_RET_ERROR_RESOURCE] +/// - The event has been registered in event table and created in same process, \n +/// but the count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table and created in system, but the count \n +/// of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, but memory for the thread event table \n +/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, but the thread can not be registered \n +/// in event table. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, but memory for thread table creation \n +/// allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, and the event flag has already been \n +/// registered. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has been registered in event table, and the event flag register failed. \n +/// [SENSOR_RET_ERROR_CREATE_EVENT] +/// - No empty field for registering the event HANDLE into event table. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - Memory for event HANDLE get failed. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table and not finished registering \n +/// [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table, and memory for thread table \n +/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table, and the event flag has already \n +/// been registered. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The event has not been registered in event table, and the event flag register \n +/// failed. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - ProcessNo has not been registered in message control table when message transfered \n +/// in process. [SENSOR_RET_ERROR_INNER] +/// - Message transfer HANDLE get failed when message transfered in process. [SENSOR_RET_ERROR_INNER] +/// - Message transfer failed in process. [SENSOR_RET_ERROR_INNER] +/// - The destination process name is NULL. [SENSOR_RET_ERROR_INNER] +/// - The destination process name size is larger than 20 characters when message \n +/// transfer between process. [SENSOR_RET_ERROR_INNER] +/// - The message queue name has not been registered in control table when message \n +/// transfer between process. [SENSOR_RET_ERROR_INNER] +/// - Message transfer HANDLE create failed when message transfered between process. [SENSOR_RET_ERROR_INNER] +/// - Message transfer HANDLE get failed from internal table when message transfered \n +/// between process. [SENSOR_RET_ERROR_INNER] +/// - Message transfer failed between process. [SENSOR_RET_ERROR_INNER] +/// - Specified event HANDLE has not been registered in event HANDLE table during waiting \n +/// event. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The count of thread is reach to max in event management table during waiting \n +/// event. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The EV_FLAG_BIT is not set in flagID during getting event. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The ID of message event queue has not been created during getting event. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The flagID has not been registered during getting event. [SENSOR_RET_ERROR_CREATE_EVENT] +/// - The interruption happened during getting event [SENSOR_RET_ERROR_CREATE_EVENT] +/// - Whatever error happened during getting event. [SENSOR_RET_ERROR_CREATE_EVENT] +/// +/// \~english @par Detial +/// - Call this API to register vehicle sensor data delivery. \n +/// This API return the result of registering. +/// +/// \~english @par +/// Please note the following points when use this API. +/// - Duplication registering +/// - The same destination thread name has already been registered +/// - The registered delivery data updated and normal return.(first delivery) +/// - To one delivery destination, the same data will not be duplication deliveried at same timing. +/// - After call this API, if the delivery destination thread name is changed, please call this API again. +/// +/// \~english @par +/// message structure +/// - After success to register, vehicle sensor will send message as system API message with following format. +/// - If the register successed, certainly delivery first data. And then delivery data according to +/// the delivery timing. \n +/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_SENSOR_DATA \n +/// +/// \~english @code +/// #define SENSOR_MSG_VSINFO_DSIZE 1904 /* max size of message body */ +/// typedef struct +/// { +/// DID did; /* data ID */ +/// uint16_t size; /* data size of vehicle sensor data */ +/// uint8_t rcvFlag; /* reception flag */ +/// uint8_t reserve; /* reserve */ +/// uint8_t data[SENSOR_MSG_VSINFO_DSIZE]; /* vehicle sensor data */ +/// } SENSOR_MSG_VSINFO; +/// @endcode +/// - reception flag(1Byte) +/// - If the data get from CAN or direct line, set to 0x01 +/// - If data has not been received, set to 0x00 +/// +/// \~english @par Classification +/// - Public +/// +/// \~english @par Type +/// - Method +/// +/// \~english @see +/// - POS_RegisterListenerPkgSensData, POS_GetSensData +/// +//////////////////////////////////////////////////////////////////////////////////////////// +SENSOR_RET_API POS_RegisterListenerSensData(HANDLE hApp, PCSTR notifyName, DID ulDid, uint8_t ucCtrlFlg, + uint8_t ucDeliveryTiming); + +//////////////////////////////////////////////////////////////////////////////////////////// +/// \ingroup tag_Positioning +/// \~english @par Brief +/// - Get vehicle sensor data. +/// +/// \~english @param [in] hApp +/// - HANDLE - App Handle +/// \~english @param [in] ulDid +/// - DID - Data ID of vehicle info +/// \~english @param [out] pDestData +/// - void* - pointer of buffer for storing vehicle sensor data +/// \~english @param [in] usDestSize +/// - uint16_t - vehicle sensor data buffer size +/// +/// \~english @par +/// - Data ID of vehicle info(ulDid) +/// - POS_DID_SPEED_PULSE - speed pulse(count of pulse) +/// - POS_DID_GYRO_X - gyro output (X axis) +/// - POS_DID_GYRO_Y - gyro output (Y axis) +/// - POS_DID_GYRO_Z - gyro output (Z axis) +/// - POS_DID_GSNS_X - Gsensor output (X axis) +/// - POS_DID_GSNS_Y - Gsensor output (Y axis) +/// - POS_DID_GSNS_Z - Gsensor output (Z axis) +/// - POS_DID_GPS_ANTENNA - GPS antenna connection status +/// - POS_DID_GPS__CWORD82__NMEA - GPS NMEA(_CWORD82_) +/// - POS_DID_GPS__CWORD82__FULLBINARY - GPS _CWORD82_ full binary(_CWORD82_) +/// - POS_DID_GPS_NMEA - GPS NMEA +/// - POS_DID_GYRO_TEMP - gyro temperature +/// - POS_DID_GPS_CLOCK_DRIFT - GPS clock drift +/// - POS_DID_GPS_CLOCK_FREQ - GPS clock frequency +/// - The avaliable data ID of each hardware type is as following. +/// \~english @par +/// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL. +/// \~english @par +/// - Note:The Gsensor output is 0 in the environment without Gsensor hardware. +/// - vehicle sensor data buffer size(usDestSize) \n +/// Please note it is the size of output buffer, not the size of data. +/// +/// \~english @retval more than 0 data size +/// \~english @retval POS_RET_ERROR_CREATE_EVENT event create failed +/// \~english @retval POS_RET_ERROR_OUTOF_MEMORY share memory guarantee failed +/// \~english @retval POS_RET_ERROR_PARAM parameter error +/// \~english @retval POS_RET_ERROR_SIZE buffer size error +/// \~english @retval POS_RET_ERROR_INNER internal error +/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported +/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource +/// +/// \~english @par Precondition +/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) \n +/// of the Dispatcher for App are completed. +/// - Availability of service positioning is TRUE. +/// +/// \~english @par change of internal status +/// - There is no change of internal status +/// +/// \~english @par Failure condition +/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM] +/// - The parameter pDestData is NULL [POS_RET_ERROR_PARAM] +/// - The parameter ulDid is not avaliable value in current hardware environment [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 event is created in same process, but the count of reference is reach to max \n +/// [POS_RET_ERROR_CREATE_EVENT] +/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_CREATE_EVENT] +/// - Memory allocate falied during the event table creation for \n +/// event registering. [POS_RET_ERROR_CREATE_EVENT] +/// - The thread can not register in the event table. [POS_RET_ERROR_CREATE_EVENT] +/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_CREATE_EVENT] +/// - After register the thread table in event table, the event flag has already \n +/// been registered. [POS_RET_ERROR_CREATE_EVENT] +/// - After register the thread table in event table, the event flag register \n +/// failed. [POS_RET_ERROR_CREATE_EVENT] +/// - The event table is full during event creation. [POS_RET_ERROR_CREATE_EVENT] +/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_CREATE_EVENT] +/// - The thread can not be registered in event table. [POS_RET_ERROR_CREATE_EVENT] +/// - In event table, to allocate the memory of the thread table creation, \n +/// but failed. [POS_RET_ERROR_CREATE_EVENT] +/// - After register the thread in event table, the event flag has already been \n +/// registered. [POS_RET_ERROR_CREATE_EVENT] +/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_CREATE_EVENT] +/// - Specified event ID has not been registered in table. [POS_RET_ERROR_CREATE_EVENT] +/// - Initialize event object failed. [POS_RET_ERROR_CREATE_EVENT] +/// - There is no empty field in semaphore table for semaphore creation [POS_RET_ERROR_OUTOF_MEMORY] +/// - The memory for storing semaphore control data allocate failed. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Specified semaphore ID has not been registered when semaphore lock. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Internal mutex HANDLE is NULL when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Internal mutex HANDLE has not been registered in mutex table when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY] +/// - The owner of specified mutex is not itself when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Mutex has been multiple locked [POS_RET_ERROR_OUTOF_MEMORY] +/// - The HANDLE is NULL when getting usable share memory address. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Can not get usable share memory address. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Memory allocate failed for share memory map. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Memory allocate failed for share memory management. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Can not open share memory. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Failed to mapping share memory. [POS_RET_ERROR_OUTOF_MEMORY] +/// - No empty field in share memory. [POS_RET_ERROR_OUTOF_MEMORY] +/// - ProcessNo has not been registered in message control table when message \n +/// transfered between processes. [POS_RET_ERROR_CREATE_EVENT] +/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_CREATE_EVENT] +/// - Message transfer failed between processes. [POS_RET_ERROR_CREATE_EVENT] +/// - The destination process name size is larger than 20 characters when message \n +/// transfer between processes. [POS_RET_ERROR_CREATE_EVENT] +/// - The message queue name has not been registered in control table when message \n +/// transfer between processes. [POS_RET_ERROR_CREATE_EVENT] +/// - Message transfer HANDLE create failed when message transfered between processes. \n +/// [POS_RET_ERROR_CREATE_EVENT] +/// - Message transfer HANDLE get failed from internal table when message transfered \n +/// between processes. [POS_RET_ERROR_CREATE_EVENT] +/// - Message transfer failed between processes. [POS_RET_ERROR_CREATE_EVENT] +/// - Specified event HANDLE has not been registered in event HANDLE table during \n +/// event waiting. [POS_RET_ERROR_INNER] +/// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER] +/// - The EV_FLAG_BIT is not set in flagID during event waiting. [POS_RET_ERROR_INNER] +/// - The ID of message event queue has not been created during event waiting. [POS_RET_ERROR_INNER] +/// - The flagID has not been registered during event waiting. [POS_RET_ERROR_INNER] +/// - The interruption happened during event waiting [POS_RET_ERROR_INNER] +/// - Whatever error happened during event waiting. [POS_RET_ERROR_INNER] +/// - The EV_FLAG_BIT is not set in flagID during getting event. [POS_RET_ERROR_INNER] +/// - The ID of message event queue has not been created during getting event. [POS_RET_ERROR_INNER] +/// - The flagID has not been registered during getting event. [POS_RET_ERROR_INNER] +/// - The interruption happened during getting event [POS_RET_ERROR_INNER] +/// - Whatever error happened during getting event. [POS_RET_ERROR_INNER] +/// - The HANDLE is NULL when getting usable share memory address for accessing \n +/// received data. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Can not get usable share memory address for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Memory for share memory map allocate failed for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Memory for share memory management allocate failed for accessing received \n +/// data. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Can not open share memory for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Failed to mapping share memory for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY] +/// - Can not get share memory normally [POS_RET_ERROR_OUTOF_MEMORY] +/// - The size of data stored in share memory is larger than the size of received data. [POS_RET_ERROR_SIZE] +/// +/// \~english @par Detial +/// - Call this API to get vehicle sensor data. \n +/// This vehicle sensor data stored in the output buffer of the parameter, this API return. +/// +/// \~english @par Classification +/// - Public +/// +/// \~english @par Type +/// - Sync +/// +/// \~english @see +/// - POS_RegisterListenerPkgSensData, POS_RegisterListenerSensData +/// + +POS_RET_API POS_GetSensData(HANDLE hApp, DID ulDid, void *pDestData, uint16_t usDestSize); + +#ifdef __cplusplus +} +#endif +/** @}*/ // end of positioning +/** @}*/ // end of vehicle_service +/** @}*/ // end of BaseSystem +#endif // POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_ |