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Diffstat (limited to 'vehicleservice/positioning/server/include/Sensor/DeadReckoning_main.h')
| -rw-r--r-- | vehicleservice/positioning/server/include/Sensor/DeadReckoning_main.h | 146 |
1 files changed, 146 insertions, 0 deletions
diff --git a/vehicleservice/positioning/server/include/Sensor/DeadReckoning_main.h b/vehicleservice/positioning/server/include/Sensor/DeadReckoning_main.h new file mode 100644 index 00000000..3e2e9d48 --- /dev/null +++ b/vehicleservice/positioning/server/include/Sensor/DeadReckoning_main.h @@ -0,0 +1,146 @@ +/* + * @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_SERVER_INCLUDE_SENSOR_DEADRECKONING_MAIN_H_ +#define POSITIONING_SERVER_INCLUDE_SENSOR_DEADRECKONING_MAIN_H_ +/**************************************************************************** + * File name :DeadReckoning_main.h + * System name :PastModel002 + * Subsystem name : + ******************************************************************************/ + +#include <vehicle_service/positioning_base_library.h> + +#include "Sensor_Common_API.h" + +#include "Dead_Reckoning_API.h" +#include "Dead_Reckoning_Local_Api.h" +#include "DeadReckoning_Common.h" +#include "DeadReckoning_DataMaster.h" +#include "DeadReckoning_DeliveryCtrl.h" + +#include "Sensor_API.h" +#include "VehicleSens_DeliveryCtrl.h" +#include "VehicleDebug_API.h" +/************************************************************************ +* Macro definitions * +************************************************************************/ +/* Return value */ +#define RET_SWMNG_SUCCESS RET_NORMAL /* Success of API processing */ +#define RET_SWMNG_ERROR RET_ERROR /* API processing failed */ + +/*** Rcv Message Relationships ***************************************************/ +/* Size of data section */ +#define DEAD_RECKONING_RCVMSG_MSGBUF 512 /* RcvMSG Byte count in data section */ +#define DEAD_RECKONING_RCVDATA_SENSOR_MSGBUF 40 /* RcvMSG Byte count of Sensor data section */ +#define DEAD_RECKONING_RCVDATA_SENSOR_FIRST_MSGBUF 1000 /* RcvMSG Initial Byte count of sensor data section */ +#define DEAD_RECKONING_SENSOR_FIRST_NUM 175 /* Initial number of saved sensor data */ + +/* Event initial value */ +/* DR_API_private. Synchronize with DR_EVENT_VAL_INIT in h */ +#define DR_EVENT_VAL_INIT (-101) + +/* Event initial value */ +/* DeadReckoning_main. Synchronize with h's VEHICELEDEBUG_EVENT_VAL_INIT */ +#define VEHICLEDEBUG_EVENT_VAL_INIT (-101) + +/* PastModel002 sleep time[ms] for CPU load balancing in the first sensor data processing */ +#define DR_FST_SENS_CALC_SLEEP_TIME 15 + +/************************************************************************ +* Struct definitions * +************************************************************************/ + +/********************************************************************* +* TAG : DEAD_RECKONING_RCVDATA +* ABSTRACT : Message receive buffer structure +***********************************************************************/ +typedef struct { + T_APIMSG_MSGBUF_HEADER hdr; + u_int8 data[DEAD_RECKONING_RCVMSG_MSGBUF]; /* Data portion */ +} DEAD_RECKONING_RCVDATA; + +/********************************************************************* +* TAG : DEAD_RECKONING_RCVDATA_SENSOR +* ABSTRACT : LineSensor Vehicle Signal Notification Message Structure +***********************************************************************/ +typedef struct { + u_int32 did; /* Data ID */ + u_int8 size; /* Size of the data */ + u_int8 reserve[3]; /* Reserved */ + u_int8 data[DEAD_RECKONING_RCVDATA_SENSOR_MSGBUF]; /* Data content */ +} DEAD_RECKONING_RCVDATA_SENSOR; + +/********************************************************************* +* TAG : DEAD_RECKONING_RCVDATA_SENSOR_FIRST +* ABSTRACT : LineSensor Vehicle Signal Notification Message Structure +***********************************************************************/ +typedef struct { + u_int32 did; /* Data ID */ + u_int16 size; /* Size of the data */ + u_int8 reserve[1]; /* Reserved */ + u_int8 num; /* Number of data */ + u_int8 data[DEAD_RECKONING_RCVDATA_SENSOR_FIRST_MSGBUF]; /* Data content */ +} DEAD_RECKONING_RCVDATA_SENSOR_FIRST; + +/********************************************************************* +* TAG : DEAD_RECKONING_SAVEDATA_SENSOR_FIRST +* ABSTRACT : LineSensor Vehicle Signal-Storage Message Structures +***********************************************************************/ +typedef struct { + u_int16 gyro_x_data[DEAD_RECKONING_SENSOR_FIRST_NUM * NUM_OF_100msData]; /* Data content */ + u_int16 gyro_y_data[DEAD_RECKONING_SENSOR_FIRST_NUM * NUM_OF_100msData]; /* Data content */ + u_int16 gyro_z_data[DEAD_RECKONING_SENSOR_FIRST_NUM * NUM_OF_100msData]; /* Data content */ + u_int16 spd_pulse_data[DEAD_RECKONING_SENSOR_FIRST_NUM]; /* Data content */ + u_int8 spd_pulse_check_data[DEAD_RECKONING_SENSOR_FIRST_NUM]; /* Data content */ + u_int8 rev_data[DEAD_RECKONING_SENSOR_FIRST_NUM]; /* Data content */ + u_int8 data_num; /* Number of data */ + u_int8 reserve[3]; /* reserve */ + u_int16 gyro_x_rcv_size; /* Receiving Size */ + u_int16 gyro_y_rcv_size; /* Receiving Size */ + u_int16 gyro_z_rcv_size; /* Receiving Size */ + u_int16 spd_pulse_rcv_size; /* Receiving Size */ + u_int16 spd_pulse_check_rcv_size; /* Receiving Size */ + u_int16 rev_rcv_size; /* Receiving Size */ +} DEAD_RECKONING_SAVEDATA_SENSOR_FIRST; + +/********************************************************************* +* TAG : DEAD_RECKONING_LONLAT_INFO +* ABSTRACT : Get Position Information Structure +***********************************************************************/ +typedef struct { + u_int8 calc_called; /* Whether Calculate_DeadReckoningData was called */ + u_int8 available; + u_int8 reserve[2]; + LONLAT lonlat; +} DEAD_RECKONING_LONLAT_INFO; + +/************************************************************************ +* DeadReckoning_main function prototype * +************************************************************************/ + +void DeadReckoningRcvMsg(const DEAD_RECKONING_RCVDATA *msg, DEAD_RECKONING_LONLAT_INFO *location_info); +void DeadReckoningRcvMsgFstSens(const DEAD_RECKONING_RCVDATA *msg, DEAD_RECKONING_LONLAT_INFO *location_info, + const SENSOR_MSG_GPSDATA_DAT *rcv_gps_msg, Struct_GpsData* send_gps_msg, + Struct_SensData* send_sensor_msg); +int32 DeadReckoningInit(void); +void DeadReckoningGetDRData(const DEADRECKONING_MSG_GET_DR_DATA *msg); +void DeadReckoningSetMapMatchingData(const DR_MSG_MAP_MATCHING_DATA *msg); +void DeadReckoningClearBackupData(const DR_MSG_CLEAR_BACKUP_DATA *msg); +void DeadReckoningGetLocationLogStatus(PNO pno); +void DeadReckoningSetLocationLogStatus(BOOL log_sw, u_int8 severity); + +#endif // POSITIONING_SERVER_INCLUDE_SENSOR_DEADRECKONING_MAIN_H_ */ |