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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
* VehicleSens_Did_MotionHeading_n.cpp
* @brief
*/
/*---------------------------------------------------------------------------------*
* Include Files *
*---------------------------------------------------------------------------------*/
#include <vehicle_service/positioning_base_library.h>
#include "VehicleSens_DataMaster.h"
#include "SensorMotion_API.h"
#include "CommonDefine.h"
/*---------------------------------------------------------------------------------*
* Global Value *
*---------------------------------------------------------------------------------*/
static VEHICLESENS_DATA_MASTER gstMotionHeading_n; // NOLINT(readability/nolint)
/**
* @brief
* Orientation information data master initialization process(NAVI information)
*
* Initialize the orientation information data master
*
* @param[in] none
* @param[out] none
* @return none
* @retval none
*/
void VehicleSensInitMotionHeadingN(void) {
SENSORMOTION_HEADINGINFO_DAT st_heading;
memset(&gstMotionHeading_n, 0x00, sizeof(VEHICLESENS_DATA_MASTER));
/** Data ID setting */
gstMotionHeading_n.ul_did = VEHICLE_DID_MOTION_HEADING_NAVI;
/** Data size setting */
gstMotionHeading_n.us_size = sizeof(SENSORMOTION_HEADINGINFO_DAT);
/** Data content setting */
memset(&st_heading, 0x00, sizeof(st_heading));
st_heading.getMethod = SENSOR_GET_METHOD_NAVI;
st_heading.SyncCnt = 0x00;
st_heading.isEnable = SENSORMOTION_STATUS_DISABLE;
st_heading.posSts = 0x00;
st_heading.Heading = 0x00;
memcpy(&gstMotionHeading_n.uc_data[0], &st_heading, sizeof(st_heading));
return;
}
/**
* @brief
* Compass Data Master SET Processing(NAVI information)
*
* Update the orientation information data master
*
* @param[in] VEHICLESENS_DATA_MASTER *pst_heading : Pointer to the data master acquisition destination
* @param[out] none
* @return u_int8
* @retval VEHICLESENS_EQ : No data change
* @retval VEHICLESENS_NEQ : Data change
*/
u_int8 VehicleSensSetMotionHeadingN(const SENSORMOTION_HEADINGINFO_DAT *pst_heading) {
u_int8 uc_ret;
VEHICLESENS_DATA_MASTER *pst_master;
pst_master = &gstMotionHeading_n;
/** With the contents of the current data master,Compare received data */
uc_ret = VehicleSensmemcmp(pst_master->uc_data, pst_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT));
/** Received data is set in the data master. */
pst_master->ul_did = VEHICLE_DID_MOTION_HEADING_NAVI;
pst_master->us_size = sizeof(SENSORMOTION_HEADINGINFO_DAT);
pst_master->uc_rcvflag = VEHICLE_RCVFLAG_ON;
memcpy(pst_master->uc_data, pst_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT));
return(uc_ret);
}
/**
* @brief
* Compass Data Master GET Processing(NAVI information)
*
* Provide an orientation information data master
*
* @param[in] none
* @param[out] VEHICLESENS_DATA_MASTER *pst_data : Pointer to the data master acquisition destination
* @return none
* @retval none
*/
void VehicleSensGetMotionHeadingN(VEHICLESENS_DATA_MASTER *pst_data) { // LCOV_EXCL_START 8: dead code.
AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
const VEHICLESENS_DATA_MASTER *pst_master;
pst_master = &gstMotionHeading_n;
/** Store the data master in the specified destination. */
pst_data->ul_did = pst_master->ul_did;
pst_data->us_size = pst_master->us_size;
pst_data->uc_rcvflag = pst_master->uc_rcvflag;
memcpy(pst_data->uc_data, pst_master->uc_data, pst_master->us_size);
return;
}
// LCOV_EXCL_STOP
/**
* @brief
* Compass Data Master GET Processing(NAVI information)
*
* Providing orientation information data master with orientation and unit conversion
*
* @param[in] none
* @param[out] VEHICLESENS_DATA_MASTER *pst_data : Pointer to the data master acquisition destination
* @return none
* @retval none
*/
void VehicleSensGetMotionHeadingnCnvData(VEHICLESENS_DATA_MASTER *pst_data) {
const VEHICLESENS_DATA_MASTER *pst_master;
SENSORMOTION_HEADINGINFO_DAT st_heading;
int16 i_heading;
pst_master = &gstMotionHeading_n;
/* Perform the orientation conversion[-179 to +180] -> [0 to 359] */
memcpy(&st_heading, pst_master->uc_data, sizeof(st_heading));
i_heading = static_cast<int16>(st_heading.Heading);
if (i_heading > 0) {
i_heading = static_cast<int16>(360 - i_heading);
} else {
i_heading = static_cast<int16>(i_heading * -1);
}
/* Perform unit conversion[Once] -> [0.01 degree] */
st_heading.Heading = (u_int16)(i_heading * 100);
/** Store the data master in the specified destination. */
pst_data->ul_did = pst_master->ul_did;
pst_data->us_size = pst_master->us_size;
pst_data->uc_rcvflag = pst_master->uc_rcvflag;
memcpy(pst_data->uc_data, &st_heading, sizeof(st_heading));
return;
}
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