diff options
Diffstat (limited to 'vehicleservice/positioning/client/src/POS_common_API/Common_API.cpp')
| -rw-r--r-- | vehicleservice/positioning/client/src/POS_common_API/Common_API.cpp | 889 |
1 files changed, 889 insertions, 0 deletions
diff --git a/vehicleservice/positioning/client/src/POS_common_API/Common_API.cpp b/vehicleservice/positioning/client/src/POS_common_API/Common_API.cpp new file mode 100644 index 00000000..f266decd --- /dev/null +++ b/vehicleservice/positioning/client/src/POS_common_API/Common_API.cpp @@ -0,0 +1,889 @@ +/* + * @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 + * Common_API.cpp + * @brief + * Module : POSITIONING + * Common I/F service functionality + */ +#include <vehicle_service/positioning_base_library.h> +#include <vehicle_service/POS_define.h> +#include <vehicle_service/POS_common_API.h> +#include "POS_common_private.h" +#include "Vehicle_API_private.h" +#include "POS_private.h" + +/** + * @brief + * Latitude and longitude informationDelivery registration + * + * Registering Latitude and Longitude Information Delivery + * + * @param[in] hApp HANDLE - Application handle + * @param[in] notifyName PCSTR - Destination thread name + * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery) + * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating) + * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_BUFFULL Buffer-full<br> + * POS_RET_ERROR_INNER Internal error<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment + * + */ +POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, // NOLINT(readability/nolint) + PCSTR notifyName, // NOLINT(readability/nolint) + uint8_t ucCtrlFlg, // NOLINT(readability/nolint) + uint8_t ucDeliveryTiming, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value of this function */ + SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did = VEHICLE_DID_LOCATION_LONLAT; /* Data ID */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+"); + + /* 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 = POS_RET_ERROR_PARAM; + } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) { + /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */ + ret = POS_RET_ERROR_PARAM; + } else if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + } else if (notifyName == NULL) { + /* If the thread name is NULL, it terminates with an abnormal parameter. */ + 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; + if (ucGetMethod == SENSOR_GET_METHOD_GPS) { + did = VEHICLE_DID_LOCATION_LONLAT; + } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_LOCATION_LONLAT_NAVI; + } else { + /* End as a parameter error abnormality except for GPS/unspecified acquisition method */ + ret = POS_RET_ERROR_PARAM; + } + } 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; + } + } + + /* Delivery registration */ + if (ret == POS_RET_NORMAL) { + /* Delivery registry SensorAPI calls */ + ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */ + did, /* Data ID */ + ucCtrlFlg, /* Delivery control */ + ucDeliveryTiming); /* Delivery timing */ + + /* Decision of delivery registration result */ + if (ret_sens == SENSOR_RET_NORMAL) { + ret = POS_RET_NORMAL; + } else if (ret_sens == SENSOR_RET_ERROR_PARAM) { + ret = POS_RET_ERROR_PARAM; + } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) { + ret = POS_RET_ERROR_BUFFULL; + } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) { + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + } + + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Altitude information delivery registration + * + * Register for the delivery of altitude information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] notifyName PCSTR - Destination thread name + * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery) + * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating) + * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment + * + */ +POS_RET_API POS_RegisterListenerAltitude(HANDLE hApp, // NOLINT(readability/nolint) + PCSTR notifyName, // NOLINT(readability/nolint) + uint8_t ucCtrlFlg, // NOLINT(readability/nolint) + uint8_t ucDeliveryTiming, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value */ + SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did = VEHICLE_DID_LOCATION_ALTITUDE; /* Data ID */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+"); + + /* 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 = POS_RET_ERROR_PARAM; + } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) { + /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */ + ret = POS_RET_ERROR_PARAM; + } else if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + } else if (notifyName == NULL) { + /* If the thread name is NULL, it terminates with an abnormal parameter. */ + 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; + if ((ucGetMethod == SENSOR_GET_METHOD_GPS) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_LOCATION_ALTITUDE; + } else { + /* End as a parameter error abnormality except for GPS/unspecified acquisition method */ + ret = POS_RET_ERROR_PARAM; + } + } 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; + } + } + + /* Delivery registration */ + if (ret == POS_RET_NORMAL) { + /* Delivery registry SensorAPI calls */ + ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */ + did, /* Data ID */ + ucCtrlFlg, /* Delivery control */ + ucDeliveryTiming); /* Delivery timing */ + + /* Decision of delivery registration result */ + if (ret_sens == SENSOR_RET_NORMAL) { + ret = POS_RET_NORMAL; + } else if (ret_sens == SENSOR_RET_ERROR_PARAM) { + ret = POS_RET_ERROR_PARAM; + } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) { + ret = POS_RET_ERROR_BUFFULL; + } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) { + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + } + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Vehicle Speed Information Transmission Registration + * + * Register delivery of vehicle speed information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] notifyName PCSTR - Destination thread name + * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery) + * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating) + * @param[in] ucGetMethod uint8_t - Acquisition method(POS/Navigation/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_BUFFULL Buffer-full<br> + * POS_RET_ERROR_INNER Internal error<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment + * + */ +POS_RET_API POS_RegisterListenerSpeed(HANDLE hApp, // NOLINT(readability/nolint) + PCSTR notifyName, // NOLINT(readability/nolint) + uint8_t ucCtrlFlg, // NOLINT(readability/nolint) + uint8_t ucDeliveryTiming, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value of this function */ + SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did; /* Data ID */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+"); + + /* 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 = POS_RET_ERROR_PARAM; + } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) { + /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */ + ret = POS_RET_ERROR_PARAM; + } else if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + } else if (notifyName == NULL) { + /* If the thread name is NULL, it terminates with an abnormal parameter. */ + 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; + if (ucGetMethod == SENSOR_GET_METHOD_POS) { + did = VEHICLE_DID_MOTION_SPEED_INTERNAL; + } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_MOTION_SPEED_NAVI; + } else { + ret = POS_RET_ERROR_PARAM; + } + } 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; + } + } + + /* Delivery registration */ + if (ret == POS_RET_NORMAL) { + /* Delivery registry SensorAPI calls */ + ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */ + did, /* Data ID */ + ucCtrlFlg, /* Delivery control */ + ucDeliveryTiming); /* Delivery timing */ + + /* Decision of delivery registration result */ + if (ret_sens == SENSOR_RET_NORMAL) { + ret = POS_RET_NORMAL; + } else if (ret_sens == SENSOR_RET_ERROR_PARAM) { + ret = POS_RET_ERROR_PARAM; + } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) { + ret = POS_RET_ERROR_BUFFULL; + } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) { + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + } + + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Compass Information Transmission Register + * + * Register the delivery of the vehicle orientation information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] notifyName PCSTR - Destination thread name + * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery) + * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating) + * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment + * + */ +POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, // NOLINT(readability/nolint) + PCSTR notifyName, // NOLINT(readability/nolint) + uint8_t ucCtrlFlg, // NOLINT(readability/nolint) + uint8_t ucDeliveryTiming, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value */ + SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did = VEHICLE_DID_MOTION_HEADING; /* TODO VEHICLE_DID_LOCATION_HEADING Missing */ + /* Data ID */ + + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+"); + + /* 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 = POS_RET_ERROR_PARAM; + } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) { + /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */ + ret = POS_RET_ERROR_PARAM; + } else if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + } else if (notifyName == NULL) { + /* If the thread name is NULL, it terminates with an abnormal parameter. */ + 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; + if (ucGetMethod == SENSOR_GET_METHOD_GPS) { + did = VEHICLE_DID_MOTION_HEADING; + } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_MOTION_HEADING_NAVI; + } else { + /* End as a parameter error abnormality except for GPS/unspecified acquisition method */ + ret = POS_RET_ERROR_PARAM; + } + } 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; + } + } + + /* Delivery registration */ + if (ret == POS_RET_NORMAL) { + /* Delivery registry SensorAPI calls */ + ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */ + did, /* Data ID */ + ucCtrlFlg, /* Delivery control */ + ucDeliveryTiming); /* Delivery timing */ + + /* Decision of delivery registration result */ + if (ret_sens == SENSOR_RET_NORMAL) { + ret = POS_RET_NORMAL; + } else if (ret_sens == SENSOR_RET_ERROR_PARAM) { + ret = POS_RET_ERROR_PARAM; + } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) { + ret = POS_RET_ERROR_BUFFULL; + } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) { + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + } + + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Get Lltitude and longitude information + * + * Get Lltitude and longitude information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] dat SENSORLOCATION_LONLATINFO_DAT* - Pointer to the acquired latitude/longitude information storage destination + * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment<br> + * POS_RET_ERROR_INNER Internal error + * + */ +POS_RET_API POS_GetLonLat(HANDLE hApp, // NOLINT(readability/nolint) + SENSORLOCATION_LONLATINFO_DAT *dat, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did = VEHICLE_DID_LOCATION_LONLAT; /* DID */ + int32_t ret_get_proc; /* POS_GetProc Return Values */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+"); + + /* Arguments & Support Configuration Check */ + if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + } else if (dat == NULL) { + /* If the longitude/latitude data is NULL, it ends with an abnormal parameter. */ + 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 */ + if (ucGetMethod == SENSOR_GET_METHOD_GPS) { + did = VEHICLE_DID_LOCATION_LONLAT; + } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_LOCATION_LONLAT_NAVI; + } else { + /* End as a parameter error abnormality except for GPS/unspecified acquisition method */ + ret = POS_RET_ERROR_PARAM; + } + } 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; + } + } + + /* Sensor information acquisition */ + if (ret == POS_RET_NORMAL) { + /* Data acquisition process */ + ret_get_proc = PosGetProc(did, reinterpret_cast<void *>(dat), sizeof(SENSORLOCATION_LONLATINFO_DAT)); + if (static_cast<int32_t>(sizeof(SENSORLOCATION_LONLATINFO_DAT)) > ret_get_proc) { + /* Failed to acquire */ + if (ret_get_proc == POS_RET_ERROR_RESOURCE) { + /* Insufficient resource */ + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret); + } + } + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Altitude information acquisition + * + * Obtain altitude information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] dat SENSORLOCATION_ALTITUDEINFO_DAT* - Pointer to the acquired altitude information storage destination + * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment<br> + * POS_RET_ERROR_INNER Internal error + * + */ +POS_RET_API POS_GetAltitude(HANDLE hApp, // NOLINT(readability/nolint) + SENSORLOCATION_ALTITUDEINFO_DAT *dat, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did = VEHICLE_DID_LOCATION_ALTITUDE; /* DID */ + int32_t ret_get_proc; /* POS_GetProc Return Values */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+"); + + /* Arguments & Support Configuration Check */ + if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + } else if (dat == NULL) { + /* If the altitude data is NULL, it terminates with an abnormal parameter. */ + 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 */ + if ((ucGetMethod == SENSOR_GET_METHOD_GPS) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_LOCATION_ALTITUDE; + } else { + /* End as a parameter error abnormality except for GPS/unspecified acquisition method */ + ret = POS_RET_ERROR_PARAM; + } + } 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; + } + } + /* Sensor information acquisition */ + if (ret == POS_RET_NORMAL) { + /* Data acquisition process */ + ret_get_proc = PosGetProc(did, reinterpret_cast<void *>(dat), sizeof(SENSORLOCATION_ALTITUDEINFO_DAT)); + if (static_cast<int32_t>(sizeof(SENSORLOCATION_ALTITUDEINFO_DAT)) > ret_get_proc) { + /* Failed to acquire */ + if (ret_get_proc == POS_RET_ERROR_RESOURCE) { + /* Insufficient resource */ + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret); + } + } + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Vehicle Speed Information Acquisition + * + * Obtain vehicle speed information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] dat SENSORMOTION_SPEEDINFO_DAT* - Pointer to the acquired car speed information storage destination + * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment<br> + * POS_RET_ERROR_INNER Internal error + * + */ +POS_RET_API POS_GetSpeed(HANDLE hApp, // NOLINT(readability/nolint) + SENSORMOTION_SPEEDINFO_DAT *dat, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did; /* Data ID */ + int32_t ret_get_proc; /* POS_GetProc Return Values */ + + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+"); + if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR [hApp = %p]", hApp); + } else if (dat == NULL) { + /* When the pointer to the vehicle speed data storage destination is NULL, the pointer terminates with an error in the parameter. */ + ret = POS_RET_ERROR_PARAM; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR [dat = %p]", dat); + } 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; + if (ucGetMethod == SENSOR_GET_METHOD_POS) { + did = VEHICLE_DID_MOTION_SPEED_INTERNAL; + } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_MOTION_SPEED_NAVI; + } else { + /* End as a parameter error abnormality except for POS/unspecified acquisition method */ + ret = POS_RET_ERROR_PARAM; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, + "Argument ERROR [type = %d, ucGetMethod = %d]", + type, ucGetMethod); + } + } 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; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "GetEnvSupportInfo ERROR [type = %d]", type); + } + } + + if (ret == POS_RET_NORMAL) { + /* Data acquisition process */ + ret_get_proc = PosGetProc(did, dat, sizeof(SENSORMOTION_SPEEDINFO_DAT)); + if (static_cast<int32_t>(sizeof(SENSORMOTION_SPEEDINFO_DAT)) > ret_get_proc) { + /* Failed to acquire */ + if (ret_get_proc == POS_RET_ERROR_RESOURCE) { + /* Insufficient resource */ + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret); + } + } + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret); + + return ret; +} + +/** + * @brief + * Compass information acquisition + * + * Get Bill Direction Information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] dat SENSORMOTION_HEADINGINFO_DAT* - Pointer to the acquired altitude information storage destination + * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified) + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment<br> + * POS_RET_ERROR_INNER Internal error + * + */ +POS_RET_API POS_GetHeading(HANDLE hApp, // NOLINT(readability/nolint) + SENSORMOTION_HEADINGINFO_DAT *dat, // NOLINT(readability/nolint) + uint8_t ucGetMethod) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + DID did = VEHICLE_DID_MOTION_HEADING; /* Data ID */ + int32_t ret_get_proc; /* POS_GetProc Return Values */ + + /* Internal debug log output */ + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+"); + + /* Arguments & Support Configuration Check */ + if (hApp == NULL) { + /* If the handler is NULL, the process terminates with an error. */ + ret = POS_RET_ERROR_PARAM; + } else if (dat == NULL) { + /* If the longitude/latitude data is NULL, it ends with an abnormal parameter. */ + 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 */ + if (ucGetMethod == SENSOR_GET_METHOD_GPS) { + did = VEHICLE_DID_MOTION_HEADING; + } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) || + (ucGetMethod == SENSOR_GET_METHOD_AUTO)) { + did = VEHICLE_DID_MOTION_HEADING_NAVI; + } else { + /* End as a parameter error abnormality except for GPS/unspecified acquisition method */ + ret = POS_RET_ERROR_PARAM; + } + } 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; + } + } + /* Sensor information acquisition */ + if (ret == POS_RET_NORMAL) { + /* Data acquisition process */ + ret_get_proc = PosGetProc(did, reinterpret_cast<void *>(dat), sizeof(SENSORMOTION_HEADINGINFO_DAT)); + if (static_cast<int32_t>(sizeof(SENSORMOTION_HEADINGINFO_DAT)) > ret_get_proc) { + /** Failed to acquire */ + if (ret_get_proc == POS_RET_ERROR_RESOURCE) { + /** Insufficient resource */ + ret = POS_RET_ERROR_RESOURCE; + } else { + ret = POS_RET_ERROR_INNER; + } + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret); + } + } + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Vehicle speed information setting + * + * Setting Vehicle Speed Information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] navispped uint16_t - Vehicle speed information[Unit:1.0km/h] + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment + * + */ +POS_RET_API POS_SetSpeedInfo(HANDLE hApp, uint16_t navispeed) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + uint16_t speed; /* Vehicle speed */ + + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+"); + + /* Arguments & Support Configuration Check */ + if (hApp == NULL) { + 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 = SENSOR_RET_ERROR_NOSUPPORT; + } else { + /* Environment error */ + ret = SENSOR_RET_ERROR_NOSUPPORT; + } + } + + if (ret == POS_RET_NORMAL) { + /* Adjustment by unit [1.0km/h]->[0.01m/sec] */ + speed = static_cast<uint16_t>(navispeed * 10000 / 360); + /* Data setting(After setting,Immediate termination) */ + ret = PosSetProc(VEHICLE_DID_MOTION_SPEED_NAVI, + reinterpret_cast<void *>(&speed), sizeof(uint16_t), FALSE); + } + + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} + +/** + * @brief + * Location information setting + * + * Set location information + * + * @param[in] hApp HANDLE - Application handle + * @param[in] posData POS_POSDATA - Pointer to location information + * + * @return POS_RET_NORMAL Normal completion(Include illegal)<br> + * POS_RET_ERROR_PARAM Parameter error<br> + * POS_RET_ERROR_INNER Internal error<br> + * POS_RET_ERROR_NOSUPPORT Unsupported environment + * + */ +POS_RET_API POS_SetLocationInfo(HANDLE hApp, POS_POSDATA* pstPosData) { // NOLINT(readability/nolint) + POS_RET_API ret = POS_RET_NORMAL; /* Return value of this function */ + UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */ + + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+"); + + /* Arguments & Support Configuration Check */ + if ((pstPosData == NULL) || (hApp == NULL)) { + 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 = SENSOR_RET_ERROR_NOSUPPORT; + } else { + /* Environment error */ + ret = SENSOR_RET_ERROR_NOSUPPORT; + } + } + + if (ret == POS_RET_NORMAL) { + /* Data status check */ + if ((0x01 > pstPosData->status) || (0x0F < pstPosData->status)) { + ret = POS_RET_ERROR_PARAM; + } else { + /* Parameter range check */ + /* Latitude */ + if ((pstPosData->status & POS_LOC_INFO_LAT) == POS_LOC_INFO_LAT) { + (void)POS_CHKPARAM32(pstPosData->latitude, -41472000, 41472000); + } + /* Longitude */ + if ((pstPosData->status & POS_LOC_INFO_LON) == POS_LOC_INFO_LON) { + (void)POS_CHKPARAM32(pstPosData->longitude, -82944000, 82944000); + } + /* Orientation */ + if ((pstPosData->status & POS_LOC_INFO_HEAD) == POS_LOC_INFO_HEAD) { + (void)POS_CHKPARAM16(pstPosData->heading, -179, 180); + } + + /* Data setting(After setting,Immediate termination) */ + ret = PosSetProc(VEHICLE_DID_GPS_CUSTOMDATA_NAVI, // == POSHAL_DID_GPS_CUSTOMDATA_NAVI + reinterpret_cast<void *>(pstPosData), sizeof(POS_POSDATA), FALSE); + } + } + + FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret); + return ret; +} |