diff options
Diffstat (limited to 'vehicleservice/positioning/server/src/Sensor/DeadReckoning_main.cpp')
| -rw-r--r-- | vehicleservice/positioning/server/src/Sensor/DeadReckoning_main.cpp | 1086 |
1 files changed, 1086 insertions, 0 deletions
diff --git a/vehicleservice/positioning/server/src/Sensor/DeadReckoning_main.cpp b/vehicleservice/positioning/server/src/Sensor/DeadReckoning_main.cpp new file mode 100644 index 00000000..1d956b72 --- /dev/null +++ b/vehicleservice/positioning/server/src/Sensor/DeadReckoning_main.cpp @@ -0,0 +1,1086 @@ +/* + * @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 name :DeadReckoning_Main.cpp + * System name :_CWORD107_ + * Subsystem name :DeadReckoning Mains + * Program name :DeadReckoning Mains + * Module configuration :DeadReckoningInit() Guessed navigation initialization processing + * :DeadReckoningRcvMsg() DR Component MSG Receive Processing + ******************************************************************************/ + +#include <positioning_hal.h> + +#include "DeadReckoning_main.h" + +#include "Sensor_Common_API.h" +#include "DeadReckoning_DataMaster.h" +#include "Dead_Reckoning_Local_Api.h" + +#include "DeadReckoning_DbgLogSim.h" + +#include "POS_private.h" + +static RET_API DeadReckoningWriteSharedMemory(VEHICLEDEBUG_MSG_LOGINFO_DAT* loginfo); +static void DeadReckoningSetEvent(PNO pno, RET_API ret); +static void DeadReckoningLinkSharedMemory(char *shared_memory_name, void **share_addr); + +#define DEAD_RECKONING_MAIN_DEBUG 0 +#define DR_DEBUG 0 +#define DR_DEBUG_ENG_MODE 0 + +/*************************************************/ +/* Constant */ +/*************************************************/ + +#define DEAD_RECKONING_BUF_SIZE 7 +#define DR_MASK_WORD_L 0x00FF +#define DR_MASK_WORD_U 0xFF00 + +/*************************************************/ +/* Global variable */ +/*************************************************/ + +/* Data receive confirmation flag */ +BOOL g_gps_data_get_flg = FALSE; +BOOL g_sens_data_get_flg = FALSE; +BOOL g_fst_sens_data_get_flg = FALSE; + +/* Reception flag for each data */ +BOOL g_sens_data_get_sns_cnt_flg = FALSE; +BOOL g_sens_data_get_gyro_x_flg = FALSE; +BOOL g_sens_data_get_gyro_y_flg = FALSE; +BOOL g_sens_data_get_gyro_z_flg = FALSE; +BOOL g_sens_data_get_rev_flg = FALSE; +BOOL g_sens_data_get_spdpulse_flg = FALSE; +BOOL g_sens_data_get_spdpulse_chk_flg = FALSE; + +BOOL g_sens_data_get_gyro_x_fst_flg = FALSE; +BOOL g_sens_data_get_gyro_y_fst_flg = FALSE; +BOOL g_sens_data_get_gyro_z_fst_flg = FALSE; +BOOL g_sens_data_get_rev_fst_flg = FALSE; +BOOL g_sens_data_get_spdpulse_fst_flg = FALSE; +BOOL g_sens_data_get_spdpulse_chk_fst_flg = FALSE; + +/* Receive data storage buffer */ +/* [0]:SNS_COUNTER [1]:REV [2]:SPEED_PULSE_FLAG [3]:SPEED_PULSE [4]:GYRO_X [5]:GYRO_Y [6]:GYRO_Z */ +DEAD_RECKONING_RCVDATA_SENSOR g_sns_buf[DEAD_RECKONING_BUF_SIZE]; +DEAD_RECKONING_SAVEDATA_SENSOR_FIRST g_fst_sns_buf; + +/******************************************************************************* + * MODULE : DeadReckoningInit + * ABSTRACT : Guessed navigation initialization processing + * FUNCTION : Initialize inferred navigation processing + * ARGUMENT : None + * NOTE : + * RETURN : RET_NORMAL :Success in initialization + * RET_ERROR :Master Clear failed + ******************************************************************************/ +int32 DeadReckoningInit(void) { // LCOV_EXCL_START 8: dead code. + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + return RET_NORMAL; +} + +/******************************************************************************* + * MODULE : DeadReckoningRcvMsg + * ABSTRACT : DR Component MSG Receive Processing + * FUNCTION : Receive the DR component MSG + * ARGUMENT : *msg : message buffer + * NOTE : + * RETURN : None + ******************************************************************************/ +void DeadReckoningRcvMsg(const DEAD_RECKONING_RCVDATA *msg, DEAD_RECKONING_LONLAT_INFO *location_info) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + if ((msg == NULL) || (location_info == NULL)) { + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "msg == NULL\r\n"); + } else { + const SENSOR_MSG_GPSDATA_DAT *rcv_gps_msg = NULL; + const VEHICLESENS_DATA_MASTER *rcv_sensor_msg = NULL; + const VEHICLESENS_DATA_MASTER_FST *rcv_sensor_msg_fst = NULL; + + Struct_GpsData send_gps_msg; + Struct_SensData send_sensor_msg; + + /* Initialization */ + (void)memset(reinterpret_cast<void *>(&send_gps_msg), 0, sizeof(Struct_GpsData)); + (void)memset(reinterpret_cast<void *>(&send_sensor_msg), 0, sizeof(Struct_SensData)); + + /* Flag is set to FALSE */ + location_info->calc_called = static_cast<u_int8>(FALSE); + location_info->available = static_cast<u_int8>(FALSE); + + if (CID_DEAD_RECKONING_GPS_DATA == msg->hdr.hdr.cid) { + rcv_gps_msg = (const SENSOR_MSG_GPSDATA_DAT *)(&(msg->data[0])); + /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */ + + /* Receiving GPS Data for DR */ + switch (rcv_gps_msg->ul_did) { + case VEHICLE_DID_GPS_UBLOX_NAV_POSLLH : + case VEHICLE_DID_GPS_UBLOX_NAV_STATUS : + case VEHICLE_DID_GPS_UBLOX_NAV_TIMEUTC : + case VEHICLE_DID_GPS_UBLOX_NAV_VELNED : + case VEHICLE_DID_GPS_UBLOX_NAV_DOP : + case VEHICLE_DID_GPS_UBLOX_NAV_SVINFO : + case VEHICLE_DID_GPS_UBLOX_NAV_CLOCK : + { + g_gps_data_get_flg = TRUE; + break; + } + default: + break; + } + } else if (CID_DEAD_RECKONING_SENS_DATA == msg->hdr.hdr.cid) { + rcv_sensor_msg = (const VEHICLESENS_DATA_MASTER *)(&(msg->data[0])); + /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */ + + /* Sensor data reception for DR */ + switch (rcv_sensor_msg->ul_did) { + case POSHAL_DID_SNS_COUNTER : + { + g_sns_buf[0].did = rcv_sensor_msg->ul_did; + g_sns_buf[0].size = static_cast<u_int8>(rcv_sensor_msg->us_size); + g_sns_buf[0].data[0] = rcv_sensor_msg->uc_data[0]; + g_sens_data_get_sns_cnt_flg = TRUE; + break; + } + case POSHAL_DID_REV : + { + g_sns_buf[1].did = rcv_sensor_msg->ul_did; + g_sns_buf[1].size = static_cast<u_int8>(rcv_sensor_msg->us_size); + (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[1].data[0])), + (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size); + g_sens_data_get_rev_flg = TRUE; + break; + } + case POSHAL_DID_SPEED_PULSE_FLAG : + { + g_sns_buf[2].did = rcv_sensor_msg->ul_did; + g_sns_buf[2].size = static_cast<u_int8>(rcv_sensor_msg->us_size); + (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[2].data[0])), + (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size); + g_sens_data_get_spdpulse_chk_flg = TRUE; + break; + } + case POSHAL_DID_SPEED_PULSE : + { + g_sns_buf[3].did = rcv_sensor_msg->ul_did; + g_sns_buf[3].size = static_cast<u_int8>(rcv_sensor_msg->us_size); + (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[3].data[0])), + (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size); + g_sens_data_get_spdpulse_flg = TRUE; + break; + } + case POSHAL_DID_GYRO_X : + { + g_sns_buf[4].did = rcv_sensor_msg->ul_did; + g_sns_buf[4].size = static_cast<u_int8>(rcv_sensor_msg->us_size); + (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[4].data[0])), + (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size); + g_sens_data_get_gyro_x_flg = TRUE; + break; + } + case POSHAL_DID_GYRO_Y : + { + g_sns_buf[5].did = rcv_sensor_msg->ul_did; + g_sns_buf[5].size = static_cast<u_int8>(rcv_sensor_msg->us_size); + (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[5].data[0])), + (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size); + g_sens_data_get_gyro_y_flg = TRUE; + break; + } + case POSHAL_DID_GYRO_Z : + { + g_sns_buf[6].did = rcv_sensor_msg->ul_did; + g_sns_buf[6].size = static_cast<u_int8>(rcv_sensor_msg->us_size); + (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[6].data[0])), + (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size); + g_sens_data_get_gyro_z_flg = TRUE; + break; + } + default: + break; + } + } else if (CID_DEAD_RECKONING_SENS_FST_DATA == msg->hdr.hdr.cid) { + u_int16 rev_data_size; + + rcv_sensor_msg_fst = (const VEHICLESENS_DATA_MASTER_FST *)(&(msg->data[0])); + /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */ + rev_data_size = static_cast<u_int16>(msg->hdr.hdr.msgbodysize - VEHICLESENS_DELIVERY_FSTSNS_HDR_SIZE); + +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " DID = %08X, rev_data_size = %d ", + rcv_sensor_msg_fst->ul_did, rev_data_size); +#endif + + /* Sensor data reception for DR */ + switch (rcv_sensor_msg_fst->ul_did) { + case POSHAL_DID_REV_FST : + { + (void)memcpy( + reinterpret_cast<void *>(&(g_fst_sns_buf.rev_data[g_fst_sns_buf.rev_rcv_size + / sizeof(g_fst_sns_buf.rev_data[0])])), + (const void *)(&(rcv_sensor_msg_fst->uc_data[0])), + (size_t)(rev_data_size)); + + g_fst_sns_buf.rev_rcv_size = static_cast<u_int16>( + g_fst_sns_buf.rev_rcv_size + rev_data_size); + + if (g_fst_sns_buf.rev_rcv_size == rcv_sensor_msg_fst->us_size) { + g_sens_data_get_rev_fst_flg = TRUE; +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " REV receive flag = TRUE "); +#endif + } + break; + } + case POSHAL_DID_SPEED_PULSE_FLAG_FST : + { + (void)memcpy( + reinterpret_cast<void *>(&(g_fst_sns_buf.spd_pulse_check_data[g_fst_sns_buf.spd_pulse_check_rcv_size + / sizeof(g_fst_sns_buf.spd_pulse_check_data[0])])), + (const void *)(&(rcv_sensor_msg_fst->uc_data[0])), + (size_t)(rev_data_size)); + + g_fst_sns_buf.spd_pulse_check_rcv_size = static_cast<u_int16>( + g_fst_sns_buf.spd_pulse_check_rcv_size + rev_data_size); + + if (g_fst_sns_buf.spd_pulse_check_rcv_size == rcv_sensor_msg_fst->us_size) { + g_sens_data_get_spdpulse_chk_fst_flg = TRUE; +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " SPF receive flag = TRUE "); +#endif + } + break; + } + case POSHAL_DID_SPEED_PULSE_FST : + { + (void)memcpy( + reinterpret_cast<void *>(&(g_fst_sns_buf.spd_pulse_data[g_fst_sns_buf.spd_pulse_rcv_size + / sizeof(g_fst_sns_buf.spd_pulse_data[0])])), + (const void *)(&(rcv_sensor_msg_fst->uc_data[0])), + (size_t)(rev_data_size)); + + g_fst_sns_buf.spd_pulse_rcv_size = static_cast<u_int16>(g_fst_sns_buf.spd_pulse_rcv_size + \ + rev_data_size); + + if (g_fst_sns_buf.spd_pulse_rcv_size == rcv_sensor_msg_fst->us_size) { + g_sens_data_get_spdpulse_fst_flg = TRUE; +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " SP receive flag = TRUE "); +#endif + } + break; + } + case POSHAL_DID_GYRO_X_FST : + { + (void)memcpy( + reinterpret_cast<void *>(&(g_fst_sns_buf.gyro_x_data[g_fst_sns_buf.gyro_x_rcv_size + / sizeof(g_fst_sns_buf.gyro_x_data[0])])), + (const void *)(&(rcv_sensor_msg_fst->uc_data[0])), + (size_t)(rev_data_size)); + + g_fst_sns_buf.gyro_x_rcv_size = static_cast<u_int16>(g_fst_sns_buf.gyro_x_rcv_size + rev_data_size); + +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, + " g_fst_sns_buf.gyro_x_rcv_size = %d, rcv_sensor_msg_fst->us_size = %d ", + g_fst_sns_buf.gyro_x_rcv_size, rcv_sensor_msg_fst->us_size); +#endif + if (g_fst_sns_buf.gyro_x_rcv_size == rcv_sensor_msg_fst->us_size) { + g_sens_data_get_gyro_x_fst_flg = TRUE; +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " GYRO_X receive flag = TRUE "); +#endif + } + break; + } + case POSHAL_DID_GYRO_Y_FST : + { + (void)memcpy( + reinterpret_cast<void *>(&(g_fst_sns_buf.gyro_y_data[g_fst_sns_buf.gyro_y_rcv_size + / sizeof(g_fst_sns_buf.gyro_y_data[0])])), + (const void *)(&(rcv_sensor_msg_fst->uc_data[0])), + (size_t)(rev_data_size)); + + g_fst_sns_buf.gyro_y_rcv_size = static_cast<u_int16>(g_fst_sns_buf.gyro_y_rcv_size + rev_data_size); + +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, + " g_fst_sns_buf.gyro_y_rcv_size = %d, rcv_sensor_msg_fst->us_size = %d ", + g_fst_sns_buf.gyro_y_rcv_size, rcv_sensor_msg_fst->us_size); +#endif + if (g_fst_sns_buf.gyro_y_rcv_size == rcv_sensor_msg_fst->us_size) { + g_sens_data_get_gyro_y_fst_flg = TRUE; +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " GYRO_Y receive flag = TRUE "); +#endif + } + break; + } + case POSHAL_DID_GYRO_Z_FST : + { + (void)memcpy( + reinterpret_cast<void *>(&(g_fst_sns_buf.gyro_z_data[g_fst_sns_buf.gyro_z_rcv_size + / sizeof(g_fst_sns_buf.gyro_z_data[0])])), + (const void *)(&(rcv_sensor_msg_fst->uc_data[0])), + (size_t)(rev_data_size)); + + g_fst_sns_buf.gyro_z_rcv_size = static_cast<u_int16>(g_fst_sns_buf.gyro_z_rcv_size + rev_data_size); + +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, + " g_fst_sns_buf.gyro_z_rcv_size = %d, rcv_sensor_msg_fst->us_size = %d ", + g_fst_sns_buf.gyro_z_rcv_size, rcv_sensor_msg_fst->us_size); +#endif + if (g_fst_sns_buf.gyro_z_rcv_size == rcv_sensor_msg_fst->us_size) { + g_sens_data_get_gyro_z_fst_flg = TRUE; +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " GYRO_Z receive flag = TRUE "); +#endif + } + break; + } + default: + break; + } + } else { + /* nop */ + } + + /* 4 data received? */ + if ((g_sens_data_get_sns_cnt_flg == TRUE) && + (g_sens_data_get_rev_flg == TRUE) && + (g_sens_data_get_gyro_x_flg == TRUE) && + (g_sens_data_get_gyro_y_flg == TRUE) && + (g_sens_data_get_gyro_z_flg == TRUE) && + (g_sens_data_get_spdpulse_flg == TRUE) && + (g_sens_data_get_spdpulse_chk_flg == TRUE)) { + /* Sensor data acquisition flag ON */ + g_sens_data_get_flg = TRUE; + + /* Set all flags to FALSE */ + g_sens_data_get_sns_cnt_flg = FALSE; + g_sens_data_get_gyro_x_flg = FALSE; + g_sens_data_get_gyro_y_flg = FALSE; + g_sens_data_get_gyro_z_flg = FALSE; + g_sens_data_get_rev_flg = FALSE; + g_sens_data_get_spdpulse_flg = FALSE; + g_sens_data_get_spdpulse_chk_flg = FALSE; + } + + /* 4 data received? */ + if ((g_sens_data_get_rev_fst_flg == TRUE) && + (g_sens_data_get_gyro_x_fst_flg == TRUE) && + (g_sens_data_get_gyro_y_fst_flg == TRUE) && + (g_sens_data_get_gyro_z_fst_flg == TRUE) && + (g_sens_data_get_spdpulse_fst_flg == TRUE) && + (g_sens_data_get_spdpulse_chk_fst_flg == TRUE)) { + /* Initial sensor data acquisition flag ON */ + g_fst_sens_data_get_flg = TRUE; + + /* Set all flags to FALSE */ + g_sens_data_get_gyro_x_fst_flg = FALSE; + g_sens_data_get_gyro_y_fst_flg = FALSE; + g_sens_data_get_gyro_z_fst_flg = FALSE; + g_sens_data_get_rev_fst_flg = FALSE; + g_sens_data_get_spdpulse_fst_flg = FALSE; + g_sens_data_get_spdpulse_chk_fst_flg = FALSE; + } + + DeadReckoningRcvMsgFstSens(msg, location_info, rcv_gps_msg, &send_gps_msg, &send_sensor_msg); + } +} + +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) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + /* Verifying Debug Log Simulator Mode + Perform packet reading here to match some timing. + However,,Differ between GPS and SENSOR. + */ + u_int8 fst_sens_send_num = 0U; + /* For GPS data */ + if (g_gps_data_get_flg == TRUE) { +#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, + "DeadReckoningRcvMsg SEND GPS_DATA: DID[0x%08X] DSIZE[%d] MSG_SIZE[%d] SNS_CNT[%d] \r\n", + rcv_gps_msg.ulDid, rcv_gps_msg.ucData[4], msg->hdr.hdr.msgbodysize, rcv_gps_msg.ucSnsCnt); +#endif + + if (1) { + rcv_gps_msg = (const SENSOR_MSG_GPSDATA_DAT *)(&(msg->data[0])); + /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */ + + /* Set and pass the data part except header/footer */ + send_gps_msg->sens_cnt = rcv_gps_msg->uc_sns_cnt; + send_gps_msg->sens_cnt_flag = rcv_gps_msg->uc_gps_cnt_flag; + send_gps_msg->gps_data_size = rcv_gps_msg->us_size; + send_gps_msg->did = rcv_gps_msg->ul_did; + send_gps_msg->gps_data = (const void *)(&rcv_gps_msg->uc_data[0]); + } + + /* Providing GPS data to DR_Lib */ + + g_gps_data_get_flg = FALSE; + + } else if (g_sens_data_get_flg == TRUE) { + Struct_DR_DATA rcv_dr_data; + DR_CALC_INFO rcv_dr_calc_info; + DEADRECKONING_DATA_MASTER send_data_master; + + if (1) { + /* Each data is stored in the data format for transmission. */ + send_sensor_msg->sens_cnt_flag = 1U; + send_sensor_msg->sens_cnt = g_sns_buf[0].data[0]; + send_sensor_msg->pulse_rev_tbl.reverse_flag = g_sns_buf[1].data[0]; + send_sensor_msg->pulse_rev_tbl.pulse_flag = g_sns_buf[2].data[0]; + send_sensor_msg->pulse_rev_tbl.pulse_sum_cyclic = static_cast<u_int16>( + ((((u_int16)g_sns_buf[3].data[0] << 0) & DR_MASK_WORD_L) | + (((u_int16)g_sns_buf[3].data[1] << 8) & DR_MASK_WORD_U))); + /* ToDo */ + (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_x_tbl.gyro_data[0])), + (const void *)(&(g_sns_buf[4].data[0])), sizeof(u_int16) * NUM_OF_100msData); + (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_y_tbl.gyro_data[0])), + (const void *)(&(g_sns_buf[5].data[0])), sizeof(u_int16) * NUM_OF_100msData); + (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_z_tbl.gyro_data[0])), + (const void *)(&(g_sns_buf[6].data[0])), sizeof(u_int16) * NUM_OF_100msData); + } + +#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg SEND SENSOR_COUNTER %d \r\n", + send_sensor_msg->sens_cnt); +#endif + + /* When the sensor data are ready, Call the DR-calculation process. */ + memset(&rcv_dr_data, 0x00, sizeof(rcv_dr_data)); /* Coverity CID:18805 compliant */ + memset(&rcv_dr_calc_info, 0x00, sizeof(rcv_dr_calc_info)); /* Coverity CID:18806 compliant */ + + location_info->calc_called = static_cast<u_int8>(TRUE); + location_info->lonlat.latitude = static_cast<int32>(rcv_dr_data.latitude); + location_info->lonlat.longitude = static_cast<int32>(rcv_dr_data.longitude); + + if (rcv_dr_data.dr_status != static_cast<u_int8>(SENSORLOCATION_DRSTATUS_INVALID)) { + location_info->available = static_cast<u_int8>(TRUE); + } else { + location_info->available = static_cast<u_int8>(FALSE); + } + + /* Changing the order of registration and delivery of the out structure to the data master for DR */ + + send_data_master.ul_did = VEHICLE_DID_DR_SNS_COUNTER; + send_data_master.us_size = VEHICLE_DSIZE_DR_SNS_COUNTER; + send_data_master.uc_rcv_flag = 1; + send_data_master.dr_status = rcv_dr_data.dr_status; + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + (const void *)(&(rcv_dr_data.positioning_time)), (size_t)VEHICLE_DSIZE_DR_SNS_COUNTER); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_LONGITUDE; + send_data_master.us_size = VEHICLE_DSIZE_LONGITUDE; + send_data_master.uc_rcv_flag = 1; + send_data_master.dr_status = rcv_dr_data.dr_status; + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + (const void *)(&(rcv_dr_data.longitude)), (size_t)VEHICLE_DSIZE_LONGITUDE); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_LATITUDE; + send_data_master.us_size = VEHICLE_DSIZE_LATITUDE; + send_data_master.uc_rcv_flag = 1; + send_data_master.dr_status = rcv_dr_data.dr_status; + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + (const void *)(&(rcv_dr_data.latitude)), (size_t)VEHICLE_DSIZE_LATITUDE); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_ALTITUDE; + send_data_master.us_size = VEHICLE_DSIZE_ALTITUDE; + send_data_master.uc_rcv_flag = 1; + send_data_master.dr_status = rcv_dr_data.dr_status; + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + (const void *)(&(rcv_dr_data.altitude)), (size_t)VEHICLE_DSIZE_ALTITUDE); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_SPEED; + send_data_master.us_size = VEHICLE_DSIZE_SPEED; + send_data_master.uc_rcv_flag = 1; + send_data_master.dr_status = rcv_dr_data.dr_status; + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + (const void *)(&(rcv_dr_data.rate)), (size_t)VEHICLE_DSIZE_SPEED); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_HEADING; + send_data_master.us_size = VEHICLE_DSIZE_HEADING; + send_data_master.uc_rcv_flag = 1; + send_data_master.dr_status = rcv_dr_data.dr_status; + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + (const void *)(&(rcv_dr_data.heading)), (size_t)VEHICLE_DSIZE_HEADING); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + /* Data master setting,Data delivery(GyroParameter) */ + /* As it is registered for delivery with DID = VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL */ + /* Process in GyroOffset-> GyroScaleFactor-> GyroScelFactorLevel order(Processing order cannot be changed.) */ + send_data_master.ul_did = VEHICLE_DID_DR_GYRO_OFFSET; + send_data_master.us_size = VEHICLE_DSIZE_GYRO_OFFSET; + send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON; + send_data_master.dr_status = 0U; /* Not used */ + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + reinterpret_cast<void *>(&(rcv_dr_calc_info.gyro_offset)), (size_t)send_data_master.us_size); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_GYRO_SCALE_FACTOR; + send_data_master.us_size = VEHICLE_DSIZE_GYRO_SCALE_FACTOR; + send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON; + send_data_master.dr_status = 0U; /* Not used */ + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + reinterpret_cast<void *>(&(rcv_dr_calc_info.gyro_scale_factor)), + (size_t)send_data_master.us_size); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL; + send_data_master.us_size = VEHICLE_DSIZE_GYRO_SCALE_FACTOR_LEVEL; + send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON; + send_data_master.dr_status = 0U; /* Not used */ + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + reinterpret_cast<void *>(&(rcv_dr_calc_info.gyro_scale_factor_level)), + (size_t)(send_data_master.us_size)); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + /* Data master setting,Data delivery(SpeedPulseParameter) */ + /* As it is registered for delivery with DID = VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL */ + /* Process in SpeedPulseScaleFactor-> SpeedPulseScaleFactorLevel order(Processing order cannot be changed.) */ + send_data_master.ul_did = VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR; + send_data_master.us_size = VEHICLE_DSIZE_SPEED_PULSE_SCALE_FACTOR; + send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON; + send_data_master.dr_status = 0U; /* Not used */ + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + reinterpret_cast<void *>(&(rcv_dr_calc_info.speed_pulse_scale_factor)), + (size_t)(send_data_master.us_size)); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + send_data_master.ul_did = VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL; + send_data_master.us_size = VEHICLE_DSIZE_SPEED_PULSE_SCALE_FACTOR_LEVEL; + send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON; + send_data_master.dr_status = 0U; /* Not used */ + (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])), + reinterpret_cast<void *>(&(rcv_dr_calc_info.speed_pulse_scale_factor_level)), + (size_t)(send_data_master.us_size)); + DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc); + + g_sens_data_get_flg = FALSE; + } else if (g_fst_sens_data_get_flg == TRUE) { +#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg FstSnsData -> DeadReckoningLibrary. \r\n"); +#endif + for (fst_sens_send_num = 0; fst_sens_send_num < g_fst_sns_buf.data_num; fst_sens_send_num++) { + /* Each data is stored in the data format for transmission. */ + send_sensor_msg->sens_cnt_flag = 0U; + send_sensor_msg->sens_cnt = 0U; + send_sensor_msg->pulse_rev_tbl.reverse_flag = g_fst_sns_buf.rev_data[fst_sens_send_num]; + send_sensor_msg->pulse_rev_tbl.pulse_flag = g_fst_sns_buf.spd_pulse_check_data[fst_sens_send_num]; + send_sensor_msg->pulse_rev_tbl.pulse_sum_cyclic = g_fst_sns_buf.spd_pulse_data[fst_sens_send_num]; + (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_x_tbl.gyro_data[0])), + (const void *)(&(g_fst_sns_buf.gyro_x_data[fst_sens_send_num * NUM_OF_100msData])), + (size_t)((sizeof(g_fst_sns_buf.gyro_x_data[fst_sens_send_num])) * NUM_OF_100msData)); + (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_y_tbl.gyro_data[0])), + (const void *)(&(g_fst_sns_buf.gyro_y_data[fst_sens_send_num * NUM_OF_100msData])), + (size_t)((sizeof(g_fst_sns_buf.gyro_y_data[fst_sens_send_num])) * NUM_OF_100msData)); + (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_z_tbl.gyro_data[0])), + (const void *)(&(g_fst_sns_buf.gyro_z_data[fst_sens_send_num * NUM_OF_100msData])), + (size_t)((sizeof(g_fst_sns_buf.gyro_z_data[fst_sens_send_num])) * NUM_OF_100msData)); + +#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */ + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg send_sensor_msg.sens_cnt_flag %d \r\n", + send_sensor_msg->sens_cnt_flag); + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg SEND SENSOR_COUNTER %d \r\n", + send_sensor_msg->sens_cnt); +#endif + + /* Sleep to reduce CPU load */ + MilliSecSleep(DR_FST_SENS_CALC_SLEEP_TIME); + + /* When the sensor data are ready, Call the DR-calculation process. */ + } + + g_sens_data_get_flg = FALSE; + + g_fst_sens_data_get_flg = FALSE; + + } else { + /* nop */ + } +} + +/******************************************************************************* +* MODULE : DeadReckoningGetDRData +* ABSTRACT : Vehicle sensor information acquisition +* FUNCTION : +* ARGUMENT : *msg : message buffer +* NOTE : +* RETURN : void +******************************************************************************/ +void DeadReckoningGetDRData(const DEADRECKONING_MSG_GET_DR_DATA *msg) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + void *share_top; /* Start address of shared memory */ + u_int32 share_size; /* Size of shared memory area */ + RET_API ret_api; + int32 ret; + int32 event_val = VEHICLE_RET_NORMAL; + EventID event_id; + DEADRECKONING_DATA_MASTER dr_master; /* GPS Data Master */ + + DEADRECKONING_MSG_GET_DR_DATA msg_buf; + + /* Defines the data master for each API. */ + SENSORLOCATION_MSG_LONLATINFO_DAT msg_lonlat_info; + SENSORLOCATION_MSG_ALTITUDEINFO_DAT msg_altitude_info; + SENSORMOTION_MSG_SPEEDINFO_DAT msg_speed_info; + SENSORMOTION_MSG_HEADINGINFO_DAT msg_heading_info; + + (void)memset(reinterpret_cast<void *>(&msg_buf), 0, sizeof(DEADRECKONING_MSG_GET_DR_DATA)); + memcpy(&(msg_buf), msg, sizeof(DEADRECKONING_MSG_GET_DR_DATA)); + + /* Check the DID */ + ret = DeadReckoningCheckDid(msg_buf.data.did); + + if (VEHICLESENS_INVALID != ret) { + /* DID normal */ + + /* Link to shared memory */ + ret_api = _pb_LinkShareData(const_cast<char *>(VEHICLE_SHARE_NAME), &share_top, &share_size); + if (RET_NORMAL == ret_api) { + /* Acquire the specified data from the data master. */ + (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER)); + DeadReckoningGetDataMaster(msg_buf.data.did, &dr_master); + + /* Align data from the data master for API I/F */ + switch ((u_int32)(msg_buf.data.did)) { + /* Describes the process for each DID. */ + case VEHICLE_DID_DR_LATITUDE: + { + (void)memset(reinterpret_cast<void *>(&msg_lonlat_info), + 0, sizeof(SENSORLOCATION_MSG_LONLATINFO_DAT)); + + /* Size storage(LATITUDE) */ + msg_lonlat_info.size = static_cast<u_int16>(sizeof(SENSORLOCATION_MSG_LONLATINFO_DAT)); + + /* DR status setting */ + msg_lonlat_info.dr_status = dr_master.dr_status; + + /* The DR enable flag is set to DR status. */ + msg_lonlat_info.is_exist_dr = dr_master.dr_status; + + /* Set the Latitude */ + memcpy(&(msg_lonlat_info.latitude), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Obtain the data master Longitude */ + (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER)); + DeadReckoningGetDataMaster(VEHICLE_DID_DR_LONGITUDE, &dr_master); + + /* Set the Longitude */ + memcpy(&(msg_lonlat_info.longitude), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Acquire data master SensorCnt */ + (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER)); + DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master); + + /* Set the SensorCnt */ + memcpy(&(msg_lonlat_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Write data master to shared memory */ + PosSetShareData(share_top, + msg_buf.data.offset, + (const void *)&msg_lonlat_info, + sizeof(msg_lonlat_info)); + + /* Set Successful Completion */ + event_val = VEHICLE_RET_NORMAL; + + break; + } + case VEHICLE_DID_DR_ALTITUDE: + { + (void)memset(reinterpret_cast<void *>(&msg_altitude_info), + 0, sizeof(SENSORLOCATION_MSG_ALTITUDEINFO_DAT)); + + msg_altitude_info.size = static_cast<u_int16>(sizeof(SENSORLOCATION_MSG_ALTITUDEINFO_DAT)); + /* The DR enable flag is set to DR status. */ + msg_altitude_info.is_exist_dr = dr_master.dr_status; + msg_altitude_info.dr_status = dr_master.dr_status; + + /* Set the Speed */ + memcpy(&(msg_altitude_info.altitude), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Acquire data master SensorCnt */ + (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER)); + DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master); + + /* Set the SensorCnt */ + memcpy(&(msg_altitude_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Write data master to shared memory */ + PosSetShareData(share_top, + msg_buf.data.offset, + (const void *)&msg_altitude_info, + sizeof(msg_altitude_info)); + + /* Set Successful Completion */ + event_val = VEHICLE_RET_NORMAL; + + break; + } + case VEHICLE_DID_DR_SPEED: + { + (void)memset(reinterpret_cast<void *>(&msg_speed_info), + 0, sizeof(SENSORMOTION_MSG_SPEEDINFO_DAT)); + + msg_speed_info.size = static_cast<u_int16>(sizeof(SENSORMOTION_MSG_SPEEDINFO_DAT)); + /* The DR enable flag is set to DR status. */ + msg_speed_info.is_exist_dr = dr_master.dr_status; + msg_speed_info.dr_status = dr_master.dr_status; + + /* Set the Speed */ + memcpy(&(msg_speed_info.speed), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Acquire data master SensorCnt */ + (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER)); + DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master); + /* Set the SensorCnt */ + memcpy(&(msg_speed_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Write data master to shared memory */ + PosSetShareData(share_top, + msg_buf.data.offset, + (const void *)&msg_speed_info, + sizeof(msg_speed_info)); + + /* Set Successful Completion */ + event_val = VEHICLE_RET_NORMAL; + + break; + } + case VEHICLE_DID_DR_HEADING: + { + (void)memset(reinterpret_cast<void *>(&msg_heading_info), + 0, sizeof(SENSORMOTION_MSG_HEADINGINFO_DAT)); + + msg_heading_info.size = static_cast<u_int16>(sizeof(SENSORMOTION_MSG_HEADINGINFO_DAT)); + /* The DR enable flag is set to DR status. */ + msg_heading_info.is_exist_dr = dr_master.dr_status; + msg_heading_info.dr_status = dr_master.dr_status; + + /* Set the Heading */ + memcpy(&(msg_heading_info.heading), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Acquire data master SensorCnt */ + (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER)); + DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master); + /* Set the SensorCnt */ + memcpy(&(msg_heading_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size); + + /* Write data master to shared memory */ + PosSetShareData(share_top, + msg_buf.data.offset, + (const void *)&msg_heading_info, + sizeof(msg_heading_info)); + /* Set Successful Completion */ + event_val = VEHICLE_RET_NORMAL; + + break; + } + /* Other than the above */ + default: + /* Do not edit. */ + break; + } + + /* Check the data size */ + if (msg_buf.data.size < dr_master.us_size) { + /* Shared memory error(Insufficient storage size) */ + event_val = VEHICLE_RET_ERROR_OUTOF_MEMORY; + } + } else { + /* Shared memory error */ + event_val = VEHICLE_RET_ERROR_OUTOF_MEMORY; + } + } else { + /* DID error */ + event_val = VEHICLE_RET_ERROR_DID; + } + + /* Event Generation */ + event_id = VehicleCreateEvent(msg_buf.data.pno); + + /* Publish Events */ + ret_api = _pb_SetEvent(event_id, SAPI_EVSET_ABSOLUTE, event_val); +} + +/******************************************************************************* +* MODULE : DeadReckoningSetMapMatchingData +* ABSTRACT : Map-Matching information setting +* FUNCTION : Setting Map-Matching Information +* ARGUMENT : *msg : message buffer +* NOTE : +* RETURN : void +******************************************************************************/ +void DeadReckoningSetMapMatchingData(const DR_MSG_MAP_MATCHING_DATA *msg) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert +} + +/******************************************************************************* +* MODULE : DeadReckoningClearBackupData +* ABSTRACT : Backup data clear function CALL +* FUNCTION : Call the backup data clear function. +* ARGUMENT : *msg : message buffer +* NOTE : +* RETURN : None +******************************************************************************/ +void DeadReckoningClearBackupData(const DR_MSG_CLEAR_BACKUP_DATA *msg) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + char event_name[32]; /* Event name character string buffer */ + EventID event_id; /* Event ID */ + int32 event_val; /* Event value to set*/ + RET_API ret_api; /* System API return value */ + + if (msg != NULL) { + /* DR backup data initialization function call */ + event_val = RET_NORMAL; + + /* Initialization of event name character string buffer */ + (void)memset(reinterpret_cast<void *>(event_name), 0, sizeof(event_name)); + + /* Event name creation */ + snprintf(event_name, sizeof(event_name), "DR_API_%X", msg->hdr.hdr.sndpno); + /* Match DR_API.cpp side with name */ + + /* Event Generation */ + event_id = _pb_CreateEvent(_CWORD64_EVENT_MANUALRESET_OFF, DR_EVENT_VAL_INIT, event_name); + + if (event_id != 0) { + /* For successful event generation */ + /* Set the event */ + ret_api = _pb_SetEvent(event_id, SAPI_EVSET_ABSOLUTE, event_val); + + if (ret_api == RET_NORMAL) { + /* Successful event set */ + } else { + /* Event set failed */ + /* Delete Event and Return Event Generation Failed */ + ret_api = _pb_DeleteEvent(event_id); + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "_pb_SetEvent Failed\r\n"); + } + } + } +} + +/******************************************************************************* +* MODULE : DeadReckoningSetEvent +* ABSTRACT : Set of events +* FUNCTION : Set event to return successful or unsuccessful log configuration retrieval +* ARGUMENT : PNO pno : Caller Pno +* : RET_API ret : Log setting acquisition Success/Fail +* : RET_NORMAL: Log setting acquisition success +* : RET_ERROR: Log setting acquisition failure +* NOTE : +* RETURN : None +******************************************************************************/ +static void DeadReckoningSetEvent(PNO pno, RET_API ret) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + char event_name[32]; /* Event name character string buffer */ + EventID event_id; /* Event ID */ + RET_API ret_api; /* System API return value */ + + /* Initialization of event name character string buffer */ + (void)memset(reinterpret_cast<void *>(event_name), 0, sizeof(event_name)); + + /* Event name creation */ + snprintf(event_name, sizeof(event_name), "VehicleDebug_%X", pno); + /* Event name should match VehicleDebug_API.cpp */ + + /* Event Generation */ + event_id = _pb_CreateEvent(_CWORD64_EVENT_MANUALRESET_OFF, VEHICLEDEBUG_EVENT_VAL_INIT, event_name); + + if (event_id != 0) { + /* For successful event generation */ + /* Set the event */ + ret_api = _pb_SetEvent(event_id, SAPI_EVSET_ABSOLUTE, ret); + + if (ret_api == RET_NORMAL) { + /* Successful event set */ + } else { + /* Event set failed */ + /* Delete Event */ + ret_api = _pb_DeleteEvent(event_id); + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "_pb_SetEvent Failed\r\n"); + } + } +} + +/******************************************************************************* +* MODULE : DeadReckoningLinkSharedMemory +* ABSTRACT : Shared memory link +* FUNCTION : Link to shared memory +* ARGUMENT : char *shared_memory_name : Name of shared memory to link +* : void **share_addr : Pointer to a variable that stores the address of the linked shared memory. +* NOTE : +* RETURN : None +******************************************************************************/ +static void DeadReckoningLinkSharedMemory(char *shared_memory_name, void **share_addr) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + RET_API ret_api; + void *pv_share_mem; /* Store Shared Memory Address */ + u_int32 share_mem_size; /* Size of the linked shared memory */ + + if ((shared_memory_name != NULL) && (share_addr != NULL)) { + /* Link to the handle storage area */ + ret_api = _pb_LinkShareData(shared_memory_name, &pv_share_mem, &share_mem_size); + + if (ret_api == RET_NORMAL) { + /* If the link is successful */ + if (share_mem_size == VEHICLEDEBUG_MSGBUF_DSIZE) { + /* When the size of the linked shared memory is correct */ + *share_addr = pv_share_mem; /* Set the address */ + } else { + /* The size of the linked shared memory is incorrect. */ + *share_addr = NULL; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Bad shared memory size\r\n"); + } + } else { + /* If the link fails */ + *share_addr = NULL; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Can't link shared memory\r\n"); + } + } +} + +/******************************************************************************* +* MODULE : DeadReckoningWriteSharedMemory +* ABSTRACT : Write Shared Memory +* FUNCTION : Write Shared Memory +* ARGUMENT : VEHICLEDEBUG_MSG_LOGINFO_DAT* loginfo : Logging information +* RETURN : RET_API : Whether writing to shared memory was successful +* : : RET_NORMAL Success +* : : RET_ERROR Failed +* NOTE : +******************************************************************************/ +static RET_API DeadReckoningWriteSharedMemory(VEHICLEDEBUG_MSG_LOGINFO_DAT* loginfo) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + static VEHICLEDEBUG_MSG_LOGINFO_DAT *share_addr = NULL; /* Store Shared Memory Address */ + static SemID sem_id = 0; /* ID of shared memory exclusive semaphore */ + + RET_API ret = RET_NORMAL; /* Return of the functions */ + RET_API ret_api; /* Return of the functions */ + +#if DEAD_RECKONING_MAIN_DEBUG + FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "Call %s\r\n", __func__); +#endif + + /* Get Semaphore ID */ + if (sem_id == 0) { + sem_id = _pb_CreateSemaphore(const_cast<char *>(SENSOR_LOG_SETTING_SEMAPHO_NAME)); + } + + if (sem_id != 0) { + /* Semaphore ID successfully acquired */ + ret_api = _pb_SemLock(sem_id); /* Semaphore Lock */ + + if (ret_api == RET_NORMAL) { + /* Semaphore lock successful */ + + /* When the shared memory is not linked */ + if (share_addr == NULL) { + /* Link to shared memory */ + DeadReckoningLinkSharedMemory(const_cast<char *>(LOG_SETTING_SHARE_MEMORY_NAME), + reinterpret_cast<void **>(&share_addr)); + /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */ + } + + if (share_addr != NULL) { + /* The link to shared memory is successful. */ + /* Writing Data to Shared Memory */ + share_addr->log_sw = loginfo->log_sw; + (void)memcpy(reinterpret_cast<void *>(share_addr->severity), + (const void *)(loginfo->severity), sizeof(share_addr->severity)); + } else { + /* Failed to link to shared memory */ + ret = RET_ERROR; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "DeadReckoningLinkSharedMemory Failed"); + } + /* Semaphore unlock */ + (void)_pb_SemUnlock(sem_id); + } else { + /* Semaphore lock failed */ + ret = RET_ERROR; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "_pb_SemLock Failed"); + } + } else { + ret = RET_ERROR; + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "sem_id == 0"); + } + + return ret; +} + +/******************************************************************************* +* MODULE : DeadReckoningGetLocationLogStatus +* ABSTRACT : CALL of functions for acquiring logging settings +* FUNCTION : Call the log setting acquisition function. +* ARGUMENT : None +* NOTE : +* RETURN : void +******************************************************************************/ +void DeadReckoningGetLocationLogStatus(PNO pno) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + RET_API ret_api; /* System API return value */ + RET_API ret; + VEHICLEDEBUG_MSG_LOGINFO_DAT loginfo; /* Logging information */ + BOOL log_sw = FALSE; + + /* CALL of functions for acquiring logging settings */ + ret_api = RET_NORMAL; + + if (ret_api == RET_NORMAL) { + /* Log setting acquisition function succeeded */ + loginfo.log_sw = (u_int32)(log_sw); + + /* Write to shared memory */ + ret = DeadReckoningWriteSharedMemory(&loginfo); + + /* Event publishing */ + DeadReckoningSetEvent(pno, ret); + } else { + /* Log setting acquisition function failed */ + FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "GetLocationLogSetting Failed"); + + /* Event publishing */ + DeadReckoningSetEvent(pno, RET_ERROR); + } +} + +/******************************************************************************* +* MODULE : DeadReckoningSetLocationLogStatus +* ABSTRACT : CALL of log-setting-request-function +* FUNCTION : Call the log setting request function. +* ARGUMENT : u_int32 log_sw : Log type +* : u_int8 severity : Output level +* NOTE : +* RETURN : void +******************************************************************************/ +void DeadReckoningSetLocationLogStatus(BOOL log_sw, u_int8 severity) { + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert +} + +// LCOV_EXCL_STOP |