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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_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_FromMng.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_
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