diff options
Diffstat (limited to 'vehicleservice/positioning/server/src/Sensor/VehicleSens_Did_MotionHeading_n.cpp')
| -rw-r--r-- | vehicleservice/positioning/server/src/Sensor/VehicleSens_Did_MotionHeading_n.cpp | 162 |
1 files changed, 162 insertions, 0 deletions
diff --git a/vehicleservice/positioning/server/src/Sensor/VehicleSens_Did_MotionHeading_n.cpp b/vehicleservice/positioning/server/src/Sensor/VehicleSens_Did_MotionHeading_n.cpp new file mode 100644 index 00000000..4475b240 --- /dev/null +++ b/vehicleservice/positioning/server/src/Sensor/VehicleSens_Did_MotionHeading_n.cpp @@ -0,0 +1,162 @@ +/* + * @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 + * VehicleSens_Did_MotionHeading_n.cpp + * @brief + */ +/*---------------------------------------------------------------------------------* + * Include Files * + *---------------------------------------------------------------------------------*/ +#include <vehicle_service/positioning_base_library.h> +#include "VehicleSens_DataMaster.h" +#include "SensorMotion_API.h" +#include "CommonDefine.h" + +/*---------------------------------------------------------------------------------* + * Global Value * + *---------------------------------------------------------------------------------*/ +static VEHICLESENS_DATA_MASTER gstMotionHeading_n; // NOLINT(readability/nolint) + +/** + * @brief + * Orientation information data master initialization process(NAVI information) + * + * Initialize the orientation information data master + * + * @param[in] none + * @param[out] none + * @return none + * @retval none + */ +void VehicleSensInitMotionHeadingN(void) { + SENSORMOTION_HEADINGINFO_DAT st_heading; + + memset(&gstMotionHeading_n, 0x00, sizeof(VEHICLESENS_DATA_MASTER)); + + /** Data ID setting */ + gstMotionHeading_n.ul_did = VEHICLE_DID_MOTION_HEADING_NAVI; + + /** Data size setting */ + gstMotionHeading_n.us_size = sizeof(SENSORMOTION_HEADINGINFO_DAT); + + /** Data content setting */ + memset(&st_heading, 0x00, sizeof(st_heading)); + st_heading.getMethod = SENSOR_GET_METHOD_NAVI; + st_heading.SyncCnt = 0x00; + st_heading.isEnable = SENSORMOTION_STATUS_DISABLE; + st_heading.posSts = 0x00; + st_heading.Heading = 0x00; + memcpy(&gstMotionHeading_n.uc_data[0], &st_heading, sizeof(st_heading)); + + return; +} + +/** + * @brief + * Compass Data Master SET Processing(NAVI information) + * + * Update the orientation information data master + * + * @param[in] VEHICLESENS_DATA_MASTER *pst_heading : Pointer to the data master acquisition destination + * @param[out] none + * @return u_int8 + * @retval VEHICLESENS_EQ : No data change + * @retval VEHICLESENS_NEQ : Data change + */ +u_int8 VehicleSensSetMotionHeadingN(const SENSORMOTION_HEADINGINFO_DAT *pst_heading) { + u_int8 uc_ret; + VEHICLESENS_DATA_MASTER *pst_master; + + pst_master = &gstMotionHeading_n; + + /** With the contents of the current data master,Compare received data */ + uc_ret = VehicleSensmemcmp(pst_master->uc_data, pst_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT)); + + /** Received data is set in the data master. */ + pst_master->ul_did = VEHICLE_DID_MOTION_HEADING_NAVI; + pst_master->us_size = sizeof(SENSORMOTION_HEADINGINFO_DAT); + pst_master->uc_rcvflag = VEHICLE_RCVFLAG_ON; + memcpy(pst_master->uc_data, pst_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT)); + + return(uc_ret); +} + +/** + * @brief + * Compass Data Master GET Processing(NAVI information) + * + * Provide an orientation information data master + * + * @param[in] none + * @param[out] VEHICLESENS_DATA_MASTER *pst_data : Pointer to the data master acquisition destination + * @return none + * @retval none + */ +void VehicleSensGetMotionHeadingN(VEHICLESENS_DATA_MASTER *pst_data) { // LCOV_EXCL_START 8: dead code. + AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert + const VEHICLESENS_DATA_MASTER *pst_master; + + pst_master = &gstMotionHeading_n; + + /** Store the data master in the specified destination. */ + pst_data->ul_did = pst_master->ul_did; + pst_data->us_size = pst_master->us_size; + pst_data->uc_rcvflag = pst_master->uc_rcvflag; + memcpy(pst_data->uc_data, pst_master->uc_data, pst_master->us_size); + + return; +} +// LCOV_EXCL_STOP + +/** + * @brief + * Compass Data Master GET Processing(NAVI information) + * + * Providing orientation information data master with orientation and unit conversion + * + * @param[in] none + * @param[out] VEHICLESENS_DATA_MASTER *pst_data : Pointer to the data master acquisition destination + * @return none + * @retval none + */ +void VehicleSensGetMotionHeadingnCnvData(VEHICLESENS_DATA_MASTER *pst_data) { + const VEHICLESENS_DATA_MASTER *pst_master; + SENSORMOTION_HEADINGINFO_DAT st_heading; + int16 i_heading; + + pst_master = &gstMotionHeading_n; + + /* Perform the orientation conversion[-179 to +180] -> [0 to 359] */ + memcpy(&st_heading, pst_master->uc_data, sizeof(st_heading)); + i_heading = static_cast<int16>(st_heading.Heading); + if (i_heading > 0) { + i_heading = static_cast<int16>(360 - i_heading); + } else { + i_heading = static_cast<int16>(i_heading * -1); + } + /* Perform unit conversion[Once] -> [0.01 degree] */ + st_heading.Heading = (u_int16)(i_heading * 100); + + /** Store the data master in the specified destination. */ + pst_data->ul_did = pst_master->ul_did; + pst_data->us_size = pst_master->us_size; + pst_data->uc_rcvflag = pst_master->uc_rcvflag; + memcpy(pst_data->uc_data, &st_heading, sizeof(st_heading)); + + return; +} |