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/*
* @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 Naviinfo_API.cpp
@detail Naviinfo_API Functions
@lib libNaviinfo_API.so
******************************************************************************/
/*****************************************************************************
* Include *
*****************************************************************************/
#include "Naviinfo_API.h"
#include <vehicle_service/POS_define.h>
#include <vehicle_service/POS_sensor_API.h>
#include <vehicle_service/POS_gps_API.h>
#include "Vehicle_API_Dummy.h"
#include "POS_private.h"
#include <native_service/frameworkunified_types.h> // NOLINT(build/include_order)
void PosCnvGpsInfo(NAVIINFO_ALL *navi_loc_info);
/**
* @brief
* GPS information setting
*
* Set GPS information
*
* @param[in] hApp HANDLE - Application handle
* @param[in] navilocinfo NAVIINFO_ALL* - Pointer to GPS information storage area
*
* @return NAVIINFO_RET_NORMAL Normal completion<br>
* NAVIINFO_RET_ERROR_PARAM Parameter error<br>
* NAVIINFO_RET_ERROR_INNER Internal error<br>
* NAVIINFO_RET_ERROR_NOSUPPORT Unsupported environment
*
*/
NAVIINFO_RET_API POS_SetGPSInfo(HANDLE hApp, NAVIINFO_ALL *navilocinfo)
{
NAVIINFO_RET_API ret = NAVIINFO_RET_NORMAL; /* Return value of this function */
UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
NAVIINFO_ALL navi_loc_info_tmp; /* Conversion quantity area */
RET_API ret_api;
/** NULL checking */
if (navilocinfo == NULL) {
/** Parameter error */
ret = NAVIINFO_RET_ERROR_PARAM;
} else if (hApp == NULL) {
/** Parameter error */
ret = NAVIINFO_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 = NAVIINFO_RET_NORMAL;
} else if (UNIT_TYPE_GRADE2 == type) {
/*
* Note.
* This feature branches processing depending on the unit type.
*/
ret = NAVIINFO_RET_ERROR_NOSUPPORT;
} else {
/* Environment error */
ret = NAVIINFO_RET_ERROR_NOSUPPORT;
}
}
if (ret == NAVIINFO_RET_NORMAL) {
/* Parameter range check */
if (navilocinfo->stNaviGps.tdsts != 0) { /* Other than ""Time not calibrated after receiver reset"" */
/* Positioning status information */
if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stDiagGps.stFix.ucFixSts, 0, 2)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* Latitude */
if (POS_RET_ERROR == POS_CHKPARAM32(navilocinfo->stDiagGps.stFix.stWgs84.lLat, -82944000, 82944000)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* Longitude */
if (POS_RET_ERROR == POS_CHKPARAM32(navilocinfo->stDiagGps.stFix.stWgs84.lLon, -165888000, 165888000)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* Measurement Azimuth */
if (POS_RET_ERROR == POS_CHKPARAMU16(navilocinfo->stNaviGps.heading, 0, 3599)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* UTC(Month) */
if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.month, 1, 12)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* UTC(Day) */
if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.date, 1, 31)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* UTC(Hour) */
if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.hour, 0, 23)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* UTC(Minutes) */
if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.minute, 0, 59)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* UTC(Second) */
if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.second, 0, 59)) {
return NAVIINFO_RET_ERROR_PARAM;
}
}
/* Date and Time Status */
if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.tdsts, 0, 2)) {
return NAVIINFO_RET_ERROR_PARAM;
}
/* Copy to conversion area */
memcpy(&navi_loc_info_tmp, navilocinfo, sizeof(NAVIINFO_ALL));
/** Data unit conversion */
PosCnvGpsInfo(&navi_loc_info_tmp);
/* Resource acquisition */
if (VehicleGetResource() == TRUE) {
/** Send navigation information to vehicle sensor */
ret_api = _pb_SndMsg_Ext(POS_THREAD_NAME,
CID_NAVIINFO_DELIVER,
sizeof(NAVIINFO_ALL),
reinterpret_cast<void*>(&navi_loc_info_tmp), 0);
if (ret_api != RET_NORMAL) {
/** Message transmission failure */
ret = NAVIINFO_RET_ERROR_INNER;
}
} else {
/* When resource shortage occurs, the system terminates with an insufficient resource error. */
ret = NAVIINFO_RET_ERROR_RESOURCE;
}
/* Resource release */
VehicleReleaseResource();
}
return ret;
}
/**
* @brief
* GPS information acquisition
*
* Access GPS information
*
* @param[in] hApp HANDLE - Application handle
* @param[in] navidiaginfo NAVIINFO_DIAG_GPS* - Pointer to GPS information storage area
*
* @return NAVIINFO_RET_NORMAL Normal completion<br>
* NAVIINFO_RET_ERROR_PARAM Parameter error<br>
* NAVIINFO_RET_ERROR_INNER Internal error<br>
* NAVIINFO_RET_ERROR_NOSUPPORT Unsupported environment
*
*/
NAVIINFO_RET_API POS_GetGPSInfo(HANDLE hApp, NAVIINFO_DIAG_GPS *navidiaginfo)
{
NAVIINFO_RET_API ret = NAVIINFO_RET_NORMAL; /* Return value of this function */
UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
int32_t ret_veh; /* VehicleAPI Return Values */
NAVIINFO_DIAG_GPS dest_data; /* Data acquisition area */
/** NULL checking */
if (navidiaginfo == NULL) {
/** Parameter error */
ret = NAVIINFO_RET_ERROR_PARAM;
} else if (hApp == NULL) {
/** Parameter error */
ret = NAVIINFO_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 = NAVIINFO_RET_NORMAL;
} else if (UNIT_TYPE_GRADE2 == type) {
/*
* Note.
* This feature branches processing depending on the unit type.
*/
ret = NAVIINFO_RET_ERROR_NOSUPPORT;
} else {
/* Environment error */
ret = NAVIINFO_RET_ERROR_NOSUPPORT;
}
}
if (ret == NAVIINFO_RET_NORMAL) {
/** Acquisition of navigation data for Diag provide */
ret_veh = PosGetProc(
(DID)VEHICLE_DID_NAVIINFO_DIAG_GPS,
reinterpret_cast<void*>(&dest_data),
(u_int16)sizeof(dest_data));
if (static_cast<int32_t>(sizeof(NAVIINFO_DIAG_GPS)) > ret_veh) {
/** Failed to acquire */
if (ret_veh == POS_RET_ERROR_RESOURCE) {
ret = NAVIINFO_RET_ERROR_RESOURCE;
} else {
ret = NAVIINFO_RET_ERROR_INNER;
}
} else {
/** Successful acquisition */
memcpy( navidiaginfo, &dest_data, sizeof(NAVIINFO_DIAG_GPS));
}
}
return ret;
}
/* ++ GPS _CWORD82_ support */
/**
* @brief
* GPS setting transmission request
*
* Requesting GPS Settings with Complete Return
*
* @param[in] hApp HANDLE - Application handle
* @param[in] p_data SENSOR_MSG_SEND_DAT* - GPS setting information to be sent
*
* @return SENSOR_RET_NORMAL Normal completion<br>
* SENSOR_RET_ERROR_CREATE_EVENT Event generation failure<br>
* SENSOR_RET_ERROR_PARAM Parameter error<br>
* SENSOR_RET_ERROR_DID Unregistered DID<br>
* SENSOR_RET_ERROR_NOSUPPORT Unsupported environment
*
*/
int32 POS_ReqGPSSetting(HANDLE hApp, SENSOR_MSG_SEND_DAT *p_data) { /* Ignore->MISRA-C++:2008 Rule 7-1-2 */
SENSOR_RET_API ret = SENSOR_RET_NORMAL; /* Return value */
RET_API ret_api; /* System API return value */
uint16_t expected_size; /* Message size for the specified DID */
UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
if (hApp == NULL) {
/* Parameter error */
ret = SENSOR_RET_ERROR_PARAM;
}
if (ret == SENSOR_RET_NORMAL) {
/* Positioning Base API initialization */
_pb_Setup_CWORD64_API(hApp);
/* Argument check (DID) + Size calculation */
if (p_data != reinterpret_cast<SENSOR_MSG_SEND_DAT*>(NULL)) {
switch (p_data->did) {
case VEHICLE_DID_GPS__CWORD82__SETINITIAL:
{
expected_size = 71;
break;
}
case VEHICLE_DID_GPS__CWORD82__SETRMODE:
{
expected_size = 50;
break;
}
case VEHICLE_DID_GPS__CWORD82__SETRMODEEX:
{
expected_size = 63;
break;
}
case VEHICLE_DID_GPS__CWORD82__SELSENT:
{
expected_size = 21;
break;
}
case VEHICLE_DID_GPS__CWORD82__SETSBAS:
{
expected_size = 34;
break;
}
case VEHICLE_DID_GPS__CWORD82__SETCONF1:
{
expected_size = 37;
break;
}
case VEHICLE_DID_GPS__CWORD82__SETCONF2:
{
expected_size = 45;
break;
}
default: /* Ignore->MISRA-C++:2008 Rule 6-3-1, 6-4-1 */
ret = SENSOR_RET_ERROR_DID;
break;
}
} else {
ret = SENSOR_RET_ERROR_PARAM;
}
}
/* Supported HW Configuration Check */
if (ret == SENSOR_RET_NORMAL) {
type = GetEnvSupportInfo();
if (UNIT_TYPE_GRADE1 == type) {
/* GRADE1 */
ret = SENSOR_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 == SENSOR_RET_NORMAL) {
/* Argument check (Size)*/
if (expected_size != p_data->usSize) {
ret = SENSOR_RET_ERROR_PARAM;
} else {
/* Message buffer initialization */
/* Create message data */
/* Resource acquisition */
if (VehicleGetResource() == TRUE) {
/* External Process Transmission and Reception Messages */
FRAMEWORKUNIFIEDLOG(ZONE_27, __FUNCTION__,
"POSITIONING: POS_ReqGPSSetting() --> cid = %d",
CID_SENSORIF__CWORD82__REQUEST);
ret_api = _pb_SndMsg_Ext(POS_THREAD_NAME,
CID_SENSORIF__CWORD82__REQUEST,
sizeof(SENSOR_MSG_SEND_DAT),
reinterpret_cast<void *>(p_data), 0);
FRAMEWORKUNIFIEDLOG(ZONE_27, __FUNCTION__, "POSITIONING: POS_ReqGPSSetting() <--");
if (ret_api != RET_NORMAL) {
ret = SENSOR_RET_ERROR_CREATE_EVENT;
}
} else {
/* When resource shortage occurs, the system terminates with an insufficient resource error. */
ret = SENSOR_RET_ERROR_RESOURCE;
}
/* Resource release */
VehicleReleaseResource();
}
}
return ret;
}
/* -- GPS _CWORD82_ support */
/**
* @brief
* GPS information conversion process
*
* Convert GPS information to a format to be provided to the vehicle sensor
*
* @param[in] none
* @param[in] navi_loc_info NAVIINFO_ALL* - GPS information pointer
*
* @return none
*/
void PosCnvGpsInfo(NAVIINFO_ALL *navi_loc_info) {
int32_t altitude;
int64_t tmp;
uint16_t heading;
/* Unit conversion of fix altitude[1m]->[0.01m] */
tmp = (int64_t)((int64_t)(navi_loc_info->stNaviGps.altitude) * 100);
if (tmp > static_cast<int32_t>(0x7FFFFFFF)) {
/* +Overflow of digits */
altitude = static_cast<int32_t>(0x7FFFFFFF);
} else if (tmp < static_cast<int32_t>(0x80000000)) { /* Ignore->MISRA-C:2004 Rule 3.1 */
/* -Overflow of digits */
altitude = static_cast<int32_t>(0x80000000); /* Ignore->MISRA-C:2004 Rule 3.1 */
} else {
altitude = static_cast<int32_t>(tmp);
}
navi_loc_info->stNaviGps.altitude = altitude;
/* Measurement Azimuth Conversion[0.Once]->[0.01 degree] */
heading = navi_loc_info->stNaviGps.heading;
heading = static_cast<uint16_t>(heading - ((heading / 3600) * 3600));
heading = static_cast<uint16_t>(heading * 10);
navi_loc_info->stNaviGps.heading = heading;
return;
}
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