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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 DeadReckoning_Did_GyroScaleFactor_dr.cpp
@detail DeadReckoning data Master(VEHICLE_DID_DR_GYRO_OFFSET)
*****************************************************************************/
#include <vehicle_service/positioning_base_library.h>
#include "DeadReckoning_DataMaster.h"
/*************************************************/
/* Global variable */
/*************************************************/
static DEADRECKONING_DATA_MASTER gst_gyrooffset; // NOLINT(readability/nolint)
/************************************************************************
@brief GyroOffset initialization function
@outline GyroOffset initialization process data master
@type Completion return type
@param[in] none
@threshold none
@return void
@retval none
@trace
**************************************************************************** */
void DeadReckoningInitGyroOffsetDr(void) { // LCOV_EXCL_START 8: dead code.
AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
(void)memset(reinterpret_cast<void *>(&gst_gyrooffset), 0x00, sizeof(gst_gyrooffset));
gst_gyrooffset.ul_did = VEHICLE_DID_DR_GYRO_OFFSET;
gst_gyrooffset.us_size = VEHICLE_DSIZE_GYRO_OFFSET;
gst_gyrooffset.uc_rcv_flag = DEADRECKONING_RCVFLAG_OFF;
gst_gyrooffset.dr_status = 0U; /* Not used */
}
/************************************************************************
@brief GyroOffset SET function
@outline To update the master data GyroOffset
@type Completion return type
@param[in] DEADRECKONING_DATA_MASTER *p_st_data : The pointer to incoming message data
@threshold none
@return u_int8
@retval DEADRECKONING_EQ : No data changes
@retval DEADRECKONING_NEQ : With data changes
@trace
*****************************************************************************/
u_int8 DeadReckoningSetGyroOffsetDr(const DEADRECKONING_DATA_MASTER *p_st_data) {
AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
u_int8 uc_ret = DEADRECKONING_EQ;
DEADRECKONING_DATA_MASTER *p_st_master;
if (p_st_data == NULL) {
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "p_st_data == NULL\r\n");
} else {
p_st_master = &gst_gyrooffset;
/** Compare data master and received data */
uc_ret = DeadReckoningMemcmp(reinterpret_cast<void *>(&(p_st_master->uc_data)),
(const void *)(&(p_st_data->uc_data)), (size_t)(p_st_data->us_size));
/** Received data is set in the data master. */
p_st_master->ul_did = p_st_data->ul_did;
p_st_master->us_size = p_st_data->us_size;
p_st_master->uc_rcv_flag = DEADRECKONING_RCVFLAG_ON;
p_st_master->dr_status = 0U; /* Not used */
(void)memcpy(reinterpret_cast<void *>(&(p_st_master->uc_data)),
(const void *)(&(p_st_data->uc_data) ), sizeof(p_st_master->uc_data));
}
return (uc_ret);
}
/************************************************************************
@brief GyroOffset GET function
@outline Master Data provides the GyroOffset
@type Completion return type
@param[in] DEADRECKONING_DATA_MASTER *p_st_data : Where to get a pointer to the data master
@threshold none
@return void
@retval none
@trace
*****************************************************************************/
void DeadReckoningGetGyroOffsetDr(DEADRECKONING_DATA_MASTER *p_st_data) {
AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
const DEADRECKONING_DATA_MASTER *p_st_master;
if (p_st_data == NULL) {
FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "p_st_data == NULL\r\n");
} else {
p_st_master = &gst_gyrooffset;
/** Store the data master in the specified destination. */
p_st_data->ul_did = p_st_master->ul_did;
p_st_data->us_size = p_st_master->us_size;
p_st_data->uc_rcv_flag = p_st_master->uc_rcv_flag;
p_st_data->dr_status = p_st_master->dr_status; /* Not used(Set DataMaster defaults) */
(void)memcpy(reinterpret_cast<void *>(&(p_st_data->uc_data)),
(const void *)(&(p_st_master->uc_data)), (size_t)p_st_master->us_size);
}
}
// LCOV_EXCL_STOP
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