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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 name :DeadReckoning_DataMasterMain.cpp
* System name :GPF
* Subsystem name :Vehicle sensor process
* Program name :Vehicle SW Data Master
* Module configuration :DeadReckoningInitDataMaster() Guess Navigation Data Master Initialization Function
* :DeadReckoningSetDataMaster() Estimated Navigational Data Master SW Data Set Processing
* :DeadReckoningGetDataMaster() Estimated Navigational Data Master Get Processing
******************************************************************************/
#include <vehicle_service/positioning_base_library.h>
#include "DeadReckoning_DataMaster.h"
/*************************************************/
/* Global variable */
/*************************************************/
#define DR_DEBUG 0
/*******************************************************************************
* MODULE : DeadReckoningInitDataMaster
* ABSTRACT : Initialization of Guess Navigation Data Master
* FUNCTION : Initialize the estimated navigation data master
* ARGUMENT : void
* NOTE :
* RETURN : void
******************************************************************************/
void DeadReckoningInitDataMaster(void) { // LCOV_EXCL_START 8: dead code.
AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
/* Vehicle sensor data master initialization */
DeadReckoningInitLongitudeDr();
DeadReckoningInitLatitudeDr();
DeadReckoningInitAltitudeDr();
DeadReckoningInitSpeedDr();
DeadReckoningInitHeadingDr();
DeadReckoningInitSnsCounterDr();
DeadReckoningInitGyroOffsetDr();
DeadReckoningInitGyroScaleFactorDr();
DeadReckoningInitGyroScaleFactorLevelDr();
DeadReckoningInitSpeedPulseScaleFactorDr();
DeadReckoningInitSpeedPulseScaleFactorLevelDr();
}
/*******************************************************************************
* MODULE : DeadReckoning_SetDataMaster_Sub
* ABSTRACT : Estimated Navigational Data Master SW Data Set Processing
* FUNCTION : Set estimated navigation data
* ARGUMENT : *p_data : SW vehicle signal notification data
* : p_datamaster_set_n : Data Master Set Notification(Callback function)
* NOTE :
* RETURN : void
******************************************************************************/
void DeadReckoningSetDataMaster(const DEADRECKONING_DATA_MASTER *p_data,
PFUNC_DR_DMASTER_SET_N p_datamaster_set_n) {
AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
u_int8 chg_type;
static u_int8 gyro_parameter_chg_type = 0;
static u_int8 speedpulse_parameter_chg_type = 0;
/*------------------------------------------------------*/
/* Call the data set processing associated with the DID */
/* Call the data master set notification process */
/*------------------------------------------------------*/
switch (p_data->ul_did) {
case VEHICLE_DID_DR_LONGITUDE:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetLongitudeDr(p_data);
/* Implementation of delivery process at LATITUDE updating timings */
/* Since the order of transmission (updating) at the main receiver is fixed, there is no problem. */
break;
}
case VEHICLE_DID_DR_LATITUDE:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetLatitudeDr(p_data);
(*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
break;
}
case VEHICLE_DID_DR_ALTITUDE:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetAltitudeDr(p_data);
(*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
break;
}
case VEHICLE_DID_DR_SPEED:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetSpeedDr(p_data);
(*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
break;
}
case VEHICLE_DID_DR_HEADING:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetHeadingDr(p_data);
(*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
break;
}
case VEHICLE_DID_DR_SNS_COUNTER:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetSnsCounterDr(p_data);
(*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
break;
}
case VEHICLE_DID_DR_GYRO_OFFSET:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetGyroOffsetDr(p_data);
/* Distribution processing not performed in this DID */
/* Delivery processing is executed when VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL is updated. */
/* The GyroParameter order is defined by DeadReckoning_RcvMsg(). */
if (chg_type == DEADRECKONING_NEQ) {
gyro_parameter_chg_type = DEADRECKONING_NEQ;
}
break;
}
case VEHICLE_DID_DR_GYRO_SCALE_FACTOR:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetGyroScaleFactorDr(p_data);
/* Distribution processing not performed in this DID */
/* Delivery processing is executed when VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL is updated. */
/* The GyroParameter order is defined by DeadReckoning_RcvMsg(). */
if (chg_type == DEADRECKONING_NEQ) {
gyro_parameter_chg_type = DEADRECKONING_NEQ;
}
break;
}
case VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetGyroScaleFactorLevelDr(p_data);
if (gyro_parameter_chg_type == DEADRECKONING_NEQ) {
chg_type = DEADRECKONING_NEQ;
gyro_parameter_chg_type = DEADRECKONING_EQ;
}
(*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
break;
}
case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetSpeedPulseScaleFactorDr(p_data);
/* Distribution processing not performed in this DID */
/* Delivery processing is executed when VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL is updated. */
/* The SpeedPulseParameter order is defined by DeadReckoning_RcvMsg(). */
if (chg_type == DEADRECKONING_NEQ) {
speedpulse_parameter_chg_type = DEADRECKONING_NEQ;
}
break;
}
case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL:
{
#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
p_data->ul_did, p_data->us_size);
#endif
chg_type = DeadReckoningSetSpeedPulseScaleFactorLevelDr(p_data);
if (speedpulse_parameter_chg_type == DEADRECKONING_NEQ) {
chg_type = DEADRECKONING_NEQ;
speedpulse_parameter_chg_type = DEADRECKONING_EQ;
}
(*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
break;
}
default:
break;
}
}
/*******************************************************************************
* MODULE : DeadReckoningGetDataMaster
* ABSTRACT : Estimated Navigational Data Master Get Processing
* FUNCTION : Provide an estimated navigation data master
* ARGUMENT : ul_did : Data ID corresponding to the vehicle information
* : *p_data : Pointer to the data master provider
* NOTE :
* RETURN : void
******************************************************************************/
void DeadReckoningGetDataMaster(DID ul_did, DEADRECKONING_DATA_MASTER *p_data) {
AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
/*------------------------------------------------------*/
/* Call the data Get processing associated with the DID */
/*------------------------------------------------------*/
switch (ul_did) {
/*------------------------------------------------------*/
/* Vehicle sensor data group */
/*------------------------------------------------------*/
case VEHICLE_DID_DR_LONGITUDE:
{
DeadReckoningGetLongitudeDr(p_data);
break;
}
case VEHICLE_DID_DR_LATITUDE:
{
DeadReckoningGetLatitudeDr(p_data);
break;
}
case VEHICLE_DID_DR_ALTITUDE:
{
DeadReckoningGetAltitudeDr(p_data);
break;
}
case VEHICLE_DID_DR_SPEED:
{
DeadReckoningGetSpeedDr(p_data);
break;
}
case VEHICLE_DID_DR_HEADING:
{
DeadReckoningGetHeadingDr(p_data);
break;
}
case VEHICLE_DID_DR_SNS_COUNTER:
{
DeadReckoningGetSnsCounterDr(p_data);
break;
}
case VEHICLE_DID_DR_GYRO_OFFSET:
{
DeadReckoningGetGyroOffsetDr(p_data);
break;
}
case VEHICLE_DID_DR_GYRO_SCALE_FACTOR:
{
DeadReckoningGetGyroScaleFactorDr(p_data);
break;
}
case VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL:
{
DeadReckoningGetGyroScaleFactorLevelDr(p_data);
break;
}
case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR:
{
DeadReckoningGetSpeedPulseScaleFactorDr(p_data);
break;
}
case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL:
{
DeadReckoningGetSpeedPulseScaleFactorLevelDr(p_data);
break;
}
default:
break;
}
}
// LCOV_EXCL_STOP
|
