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Diffstat (limited to 'vehicleservice/positioning/server/include/Sensor/VehicleSens_Thread.h')
| -rw-r--r-- | vehicleservice/positioning/server/include/Sensor/VehicleSens_Thread.h | 185 |
1 files changed, 185 insertions, 0 deletions
diff --git a/vehicleservice/positioning/server/include/Sensor/VehicleSens_Thread.h b/vehicleservice/positioning/server/include/Sensor/VehicleSens_Thread.h new file mode 100644 index 00000000..17a342d8 --- /dev/null +++ b/vehicleservice/positioning/server/include/Sensor/VehicleSens_Thread.h @@ -0,0 +1,185 @@ +/* + * @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_VEHICLESENS_THREAD_H_ +#define POSITIONING_SERVER_INCLUDE_SENSOR_VEHICLESENS_THREAD_H_ +/****************************************************************************** + * File name :VehicleSens_Thread.h + * System name :_CWORD107_ + * Subsystem name : + ******************************************************************************/ + +#include "Vehicle_API_Dummy.h" +#include "Sensor_API.h" +#include "Vehicle_API_private.h" +#include "Sensor_API_private.h" +#include "VehicleSens_Common.h" +#include "VehicleSens_SelectionItemList.h" +#include "VehicleSens_DataMaster.h" +#include "VehicleSens_DeliveryCtrl.h" +#include "VehicleSens_SharedMemory.h" +#include "CanInput_API.h" +#include "CanInput_API_private.h" +#include "VehicleDebug_API.h" +#include "VehicleSens_FromAccess.h" +#include "ClockDataMng.h" +#include "gps_hal.h" +#include "positioning_hal.h" +#include "CommonDefine.h" + +/* ++ DR support */ +#include "DeadReckoning_main.h" +#include "Dead_Reckoning_Local_Api.h" +/* -- DR support */ + +#include "POS_common_private.h" + +/************************************************************************ +* Macro definitions * +************************************************************************/ + +/* ++ Porting from PastModel002 enabled APIs */ +#define CID_VEHICLEIF_GET_VEHICLE_DATA 0x0102 /* Vehicle sensor information acquisition CID */ +#define CID_VEHICLEIF_COMM_WATCH 0x0103 /* Vehicle Sensor Information Disruption Monitoring CID */ +#define CID_SENSORIF__CWORD82__REQUEST 0x0800 /* Vehicle sensor information setting CID */ + +#define VEHICLE_RET_ERROR_OUTOF_MEMORY (-8) /* Shared memory allocation failure */ +#define VEHICLE_RET_ERROR_INVALID (-10) /* CANID undetermined */ + +/* -- Porting from PastModel002 enabled APIs */ + + +/* NMEA */ +#define VEHICLESENS_NMEA_LF "\n" +#define VEHICLESENS_NMEA_CR "\r" +#define VEHICLESENS_NMEA_FIELDDELIMITER "," +#define VEHICLESENS_NMEA_DECIMALPOINT "." +#define VEHICLESENS_NMEA_ASTARISK "*" + +#define VEHICLESENS_NMEA_PASCD_LEN_MAX 256 + +#define VEHICLESENS_NMEA_PASCD_ID "$PASCD" + +#define VEHICLESENS_NMEA_PASCD_TS_MAX 86400 +#define VEHICLESENS_NMEA_PASCD_TS_INT_LEN_MAX 6 /* max length of integer part of timestamp */ +#define VEHICLESENS_NMEA_PASCD_TS_FRA_LEN_MAX 3 /* max length of fractional part of timestamp */ + +#define VEHICLESENS_NMEA_PASCD_SENSORTYPE_C "C" /* Combined left and right wheel speed sensors */ + +#define VEHICLESENS_NMEA_PASCD_TMS_U "U" /* Unkonwn */ +#define VEHICLESENS_NMEA_PASCD_TMS_P "P" /* Park */ +#define VEHICLESENS_NMEA_PASCD_TMS_R "R" /* Reverse */ +#define VEHICLESENS_NMEA_PASCD_TMS_D "D" /* Driving forword */ +#define VEHICLESENS_NMEA_PASCD_TMS_N "N" /* Neutral */ + +#define VEHICLESNES_NMEA_PASCD_SLIP "1" /* 1 = a wheel speed slippage was detected */ +#define VEHICLESNES_NMEA_PASCD_NOSLIP "0" /* 0 = no slip was detected */ + +#define VEHICLESENS_NMEA_PASCD_TO_FRA_LEN_MAX 2 /* max length of fractional part of timeoffset */ + +#define VEHICLESENS_NMEA_PASCD_SPD_FRA_LEN_MAX 3 /* max length of fractional part of speed */ + +#define VEHICLESENS_NMEA_PASCD_SAMPLECOUNT_MAX 50 + +/************************************************************************ + * Struct definitions * + ************************************************************************/ + +/*! + @brief Structure of Vehicle Speed and TimeSpec + */ +typedef struct { + timespec ts; + uint16_t speed; /* [0.01m/s] */ +} VEHICLESENS_VEHICLE_SPEED_DAT; + +/*! + @brief Structure of Vehilce Speeds and TimeSpecs + */ +typedef struct { + VEHICLESENS_VEHICLE_SPEED_DAT listSpd[VEHICLESENS_NMEA_PASCD_SAMPLECOUNT_MAX]; + uint8_t sampleCount; +} VEHICLESENS_VEHICLE_SPEED_INFO; + +/*! + @brief Structure for LUT to Derive Transmission State + */ +typedef struct { + uint8_t type; /* Transmission Type */ + uint8_t shift; /* Shift Position from Vehicle */ + + uint8_t pkb; /* Parking Brake from Vehicle */ + char state[8]; /* Transmission State for _CWORD27_ */ +} VEHICLESENS_TRANSMISSION_PKG; + +/************************************************************************ + * TAG : VEHICLE_MSG_SEND_DAT + * ABSTRACT : Vehicle sensor information setting message(-> Vehicle sensor) + ************************************************************************/ + + + +/************************************************************************ +* Function prototype * +************************************************************************/ +EFrameworkunifiedStatus VehicleSensThread(HANDLE h_app); +RET_API VehicleSensThreadInit(void); +void VehicleSensDeliveryEntry(const VEHICLE_MSG_DELIVERY_ENTRY *); +void VehicleSensGetVehicleData(const VEHICLE_MSG_GET_VEHICLE_DATA *); +void VehicleSensWatchStopPage(const VEHICLE_MSG_WATCH_STOPPAGE *); +void VehicleSensPkgDeliveryEntry(const SENSOR_MSG_DELIVERY_ENTRY *); +void VehicleSensGetVehiclePkgData(const SENSOR_MSG_GET_SENSOR_DATA *); +void VehicleSensLineSensDataDelivery(const LSDRV_MSG_LSDATA *, PFUNC_DMASTER_SET_N); +void VehicleSensLineSensDataDeliveryG(const LSDRV_MSG_LSDATA_G *, PFUNC_DMASTER_SET_N); +void VehicleSensLineSensDataDeliveryGyroTrouble(const LSDRV_MSG_LSDATA_GYRO_TROUBLE *msg, + PFUNC_DMASTER_SET_N p_datamaster_set_n); +void VehicleSensLineSensDataDeliverySysGpsInterruptSignal(const LSDRV_MSG_LSDATA_GPS_INTERRUPT_SIGNAL *msg, + PFUNC_DMASTER_SET_SHARED_MEMORY p_datamaster_set_sharedmemory); +void VehicleSensLineSensDataDeliveryGyroConnectStatus(const LSDRV_MSG_LSDATA_GYRO_CONNECT_STATUS *msg, + PFUNC_DMASTER_SET_SHARED_MEMORY p_datamaster_set_sharedmemory); +void VehicleSensLineSensDataDeliveryGpsAntennaStatus(const LSDRV_MSG_LSDATA_GPS_ANTENNA_STATUS *msg, + PFUNC_DMASTER_SET_N p_datamaster_set_n); + +#if CONFIG_SENSOR_EXT_VALID /* Initial Sensor Support */ +void VehicleSensPkgDeliveryEntryExt(const SENSOR_MSG_DELIVERY_ENTRY *msg); +void VehicleSensLineSensDataDeliveryFst(const LSDRV_MSG_LSDATA_FST *, PFUNC_DMASTER_SET_N); +void VehicleSensLineSensDataDeliveryFstG(const LSDRV_MSG_LSDATA_FST *msg, PFUNC_DMASTER_SET_N p_datamaster_set_n); +#else +void VehicleSensPkgDeliveryEntryError(const SENSOR_MSG_DELIVERY_ENTRY *msg); +#endif +void VehicleSensGpsDataDelivery(SENSOR_MSG_GPSDATA *msg, + PFUNC_DMASTER_SET_N p_datamaster_set_n, + PFUNC_DMASTER_SET_SHARED_MEMORY p_datamaster_set_sharedmemory); + +void VehicleSensDataMasterSetN(DID did, u_int8 chg_type, u_int8 get_method); +void VehicleSensDataMasterSetSharedMemory(DID did, u_int8 chg_type); +/* ++ GPS _CWORD82_ support */ +void VehicleSensSetVehicleData(const VEHICLE_MSG_SEND *); +/* -- GPS _CWORD82_ support */ + +void VehicleSensDrDeliveryEntry(const VEHICLE_MSG_DELIVERY_ENTRY *); +void VehicleSensGetLog(const VEHICLEDEBUG_MSG_BUF* msg); +void VehicleSensSetLog(const VEHICLEDEBUG_MSG_BUF* msg); +void VehicleSensWriteLocalTime(const CANINPUT_MSG_INFO *msg); +void VehicleSensSetEphNumSharedMemory(const SENSOR_MSG_GPSDATA *msg); +void VehicleSensDrRcvMsg(const DEAD_RECKONING_RCVDATA *msg); + +void VehicleSensCommonDataDelivery(const VEHICLE_MSG_BUF *msg, PFUNC_DMASTER_SET_N p_datamaster_set_n); +void VehicleSensGpsTimeSndMsg(const POS_MSGINFO *pos_msg); +void VehicleSensGpsTimeDelivery(const VEHICLE_MSG_BUF *msg); +RET_API VehicleSensSendEvent(uint16_t snd_pno, int32_t event_val); +void VehicleSensThreadStopProcess(void); +#endif // POSITIONING_SERVER_INCLUDE_SENSOR_VEHICLESENS_THREAD_H_ |