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/*
* @copyright Copyright (c) 2016-2019 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_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_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_ */
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