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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 MDev_Gps_API.cpp
*/
/*---------------------------------------------------------------------------*/
// Include files
#include "MDev_Gps_API.h"
#include "positioning_hal.h"
#include "positioning_def.h"
#include "MDev_Gps_Nmea.h"
/*---------------------------------------------------------------------------*/
// Functions
/******************************************************************************
@brief SendNmeaGps<BR>
NMEA transmission process
@outline Send NMEA to VehicleSensor Thread
@param[in] TG_GPS_NMEA* : pstNmeaData ... NMEA data
@param[out] none
@return RET_API
@retval RET_NORMAL : Normal completion
@retval RET_ERROR : ABENDs
*******************************************************************************/
RET_API SendNmeaGps(const MDEV_GPS_NMEA* p_nmea_data) {
MDEV_GPS_RAWDATA_NMEA_MSG s_send_msg;
SENSOR_MSG_GPSDATA s_msg_buf;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/* Create GPS Data Notification Message */
(void)memset(&s_send_msg, 0x00, sizeof(s_send_msg));
/* Message header */
s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.h_dr.hdr.respno = 0x0000;
s_send_msg.h_dr.hdr.cid = CID_GPS_DATA;
s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_RAWDATA_NMEA);
s_send_msg.h_dr.hdr.rid = 0x00;
/* Message data */
s_send_msg.st_data.e_kind = MDEV_GPS_DATA_RAWDATA_NMEA;
(void)memcpy(&(s_send_msg.st_data.st_nmea_data), p_nmea_data, sizeof(s_send_msg.st_data.st_nmea_data));
/* Create message buffer */
(void)memset(&s_msg_buf, 0, sizeof(s_msg_buf));
(void)memcpy(&(s_msg_buf.st_head.hdr), &(s_send_msg.h_dr.hdr), sizeof(T_APIMSG_HEADER));
s_msg_buf.st_para.ul_did = POS_DID_GPS_NMEA;
s_msg_buf.st_para.us_size = GPS_NMEA_SZ;
(void)memcpy(&(s_msg_buf.st_para.uc_data), &(s_send_msg.st_data.st_nmea_data), s_msg_buf.st_para.us_size);
ret = _pb_SndMsg(u_pno, sizeof(s_msg_buf), &s_msg_buf, 0);
if (ret != RET_NORMAL) {
POSITIONING_LOG("_pb_SndMsg ERROR!! [ret=%d]\n", ret);
ret = RET_ERROR;
}
return ret;
}
/**
* @brief
* GPS processing data transmission process
*
* @param[in] pstGpsTime SENSOR_MSG_GPSTIME - GPS time information
* @param[in] p_lonlat SENSORLOCATION_LONLATINFO - Latitude and longitude information
* @param[in] p_altitude SENSOR_LOCATION_ALTITUDEINFO - Altitude information
* @param[in] p_heading SENSORMOTION_HEADINGINFO_DAT - Bearing information
*
* @return RET_NORMAL Normal completion
* RET_ERROR ABENDs
*/
RET_API SendCustomGps(const SENSOR_MSG_GPSTIME* p_gps_time,
const SENSORLOCATION_LONLATINFO_DAT* p_lonlat,
const SENSORLOCATION_ALTITUDEINFO_DAT* p_altitude,
const SENSORMOTION_HEADINGINFO_DAT* p_heading,
const NAVIINFO_DIAG_GPS* p_diag_data) {
SENSOR_MSG_GPSDATA s_send_msg = {0};
MDEV_GPS_CUSTOMDATA* p_custom_data = NULL;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/** Create GPS Data Notification Message */
/* Fast _CWORD71_ processing(memset fix) */
/* Initializes an area whose value is undefined in the message buffer. */
(void)memset(&s_send_msg.st_head, 0x00, sizeof(s_send_msg.st_head));
/** Message header */
s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.st_head.hdr.respno = 0x0000;
s_send_msg.st_head.hdr.cid = CID_GPS_DATA;
s_send_msg.st_head.hdr.msgbodysize = sizeof(MDEV_GPS_CUSTOMDATA);
s_send_msg.st_head.hdr.rid = 0x00;
/** Message data */
s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CUSTOMDATA;
s_send_msg.st_para.us_size = sizeof(MDEV_GPS_CUSTOMDATA);
p_custom_data = reinterpret_cast<MDEV_GPS_CUSTOMDATA *>(&(s_send_msg.st_para.uc_data));
(void)memcpy(&(p_custom_data->st_lonlat), p_lonlat, sizeof(SENSORLOCATION_LONLATINFO_DAT));
(void)memcpy(&(p_custom_data->st_altitude), p_altitude, sizeof(SENSORLOCATION_ALTITUDEINFO_DAT));
(void)memcpy(&(p_custom_data->st_heading), p_heading, sizeof(SENSORMOTION_HEADINGINFO_DAT));
(void)memcpy(&(p_custom_data->st_diag_gps), p_diag_data, sizeof(NAVIINFO_DIAG_GPS));
(void)memcpy(&(p_custom_data->st_gps_time), p_gps_time, sizeof(SENSOR_MSG_GPSTIME));
/* Messaging */
ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), reinterpret_cast<void*>(&s_send_msg), 0);
if (ret != RET_NORMAL) {
ret = RET_ERROR;
}
return ret;
}
/******************************************************************************
@brief SendSpeedGps<BR>
Rate information transmission processing
@outline Sending speed information to vehicle sensor thread
@param[in] SENSORMOTION_SPEEDINFO_DAT* : p_seed ... Velocity information
@param[in] u_int16 : us_peed ... Vehicle speed(km/h)
@param[out] none
@return RET_API
@retval RET_NORMAL : Normal completion
@retval RET_ERROR : ABENDs
*******************************************************************************/
RET_API SendSpeedGps(const SENSORMOTION_SPEEDINFO_DAT* p_seed, u_int16 us_peed) {
MDEV_GPS_NAVISPEED_MSG s_send_msg;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/** Create GPS Data Notification Message */
(void)memset(&s_send_msg, 0x00, sizeof(s_send_msg));
/** Message header */
s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.h_dr.hdr.respno = 0x0000;
s_send_msg.h_dr.hdr.cid = CID_GPS_DATA;
s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_NAVISPEED);
s_send_msg.h_dr.hdr.rid = 0x00;
/** Message data */
s_send_msg.st_data.e_kind = MDEV_GPS_DATA_NAVISPEED;
s_send_msg.st_data.us_speed_kmph = us_peed;
(void)memcpy( &s_send_msg.st_data.st_speed, p_seed, sizeof(s_send_msg.st_data.st_speed) );
/* Messaging */
ret = _pb_SndMsg(u_pno, (sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(MDEV_GPS_NAVISPEED)), &s_send_msg, 0);
if (ret != RET_NORMAL) {
ret = RET_ERROR;
}
return ret;
}
/* ++ #GPF_60_103 */
/******************************************************************************
@brief SendTimeGps<BR>
Time information transmission processing
@outline Send GPS time information to vehicle sensor thread
@param[in] MDEV_GPS_RTC* : p_rtc ... GPS time information
@param[out] none
@return RET_API
@retval RET_NORMAL : Normal completion
@retval RET_ERROR : ABENDs
*******************************************************************************/
RET_API SendTimeGps(const MDEV_GPS_RTC* p_rtc) {
MDEV_GPS_GPSTIME_MGS s_send_msg;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/** Create GPS data notification message */
(void)memset(&s_send_msg, 0x00, sizeof(s_send_msg));
/** Message header */
s_send_msg.h_dr.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.h_dr.hdr.respno = 0x0000;
s_send_msg.h_dr.hdr.cid = CID_GPS_DATA;
s_send_msg.h_dr.hdr.msgbodysize = sizeof(MDEV_GPS_GPSTIME);
s_send_msg.h_dr.hdr.rid = 0x00;
/** Message data */
s_send_msg.st_data.e_kind = MDEV_GPS_DATA_GPSTIME;
(void)memcpy(&s_send_msg.st_data.st_rtc_data, p_rtc, sizeof(s_send_msg.st_data.st_rtc_data));
/* Messaging */
ret = _pb_SndMsg(u_pno, (sizeof(T_APIMSG_MSGBUF_HEADER) + sizeof(MDEV_GPS_GPSTIME)), &s_send_msg, 0);
if (ret != RET_NORMAL) {
ret = RET_ERROR;
}
return ret;
}
/**
* @brief
* GPS clock drift transmit process
*
* @param[in] drift Clock drift
*
* @return RET_NORMAL Normal completion
* @return RET_ERROR ABENDs
*/
RET_API SendClockDriftGps(int32_t drift) {
SENSOR_MSG_GPSDATA s_send_msg;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/** Create GPS Data Notification Message */
(void)memset(&s_send_msg, 0x00, sizeof(s_send_msg));
/** Message header */
s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.st_head.hdr.respno = 0x0000;
s_send_msg.st_head.hdr.cid = CID_GPS_DATA;
s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT);
s_send_msg.st_head.hdr.rid = 0x00;
/** Message data */
s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CLOCK_DRIFT;
s_send_msg.st_para.us_size = sizeof(int32_t);
(void)memcpy(&(s_send_msg.st_para.uc_data), &drift, s_send_msg.st_para.us_size);
/* Messaging */
ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0);
if (ret != RET_NORMAL) {
ret = RET_ERROR;
}
return ret;
}
/**
* @brief
* GPS clock-frequency transmit process
*
* @param[in] Freq Clocking frequencies
*
* @return RET_NORMAL Normal completion
* @return RET_ERROR ABENDs
*/
RET_API SendClockFrequencyGps(uint32_t freq) {
SENSOR_MSG_GPSDATA s_send_msg;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/** Create GPS Data Notification Message */
(void)memset(&s_send_msg, 0x00, sizeof(s_send_msg));
/** Message header */
s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.st_head.hdr.respno = 0x0000;
s_send_msg.st_head.hdr.cid = CID_GPS_DATA;
s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT);
s_send_msg.st_head.hdr.rid = 0x00;
/** Message data */
s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_CLOCK_FREQ;
s_send_msg.st_para.us_size = sizeof(uint32_t);
(void)memcpy(&(s_send_msg.st_para.uc_data), &freq, s_send_msg.st_para.us_size);
/* Messaging */
ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0);
if (ret != RET_NORMAL) {
ret = RET_ERROR;
}
return(ret);
}
/**
* @brief
* GPS rollover standard week number transmission processing
*
* @param[in] *p_week_rollover GPS rollover base week number
*
* @return RET_NORMAL Normal completion
* @return RET_ERROR ABENDs
*/
RET_API DevGpsSndWknRollover(const SensorWknRollOverHal* p_week_rollover) {
SENSOR_MSG_GPSDATA s_send_msg;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/** Create GPS Data Notification Message */
(void)memset( &s_send_msg, 0x00, sizeof(s_send_msg) );
/** Message header */
s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.st_head.hdr.respno = 0x0000;
s_send_msg.st_head.hdr.cid = CID_GPS_DATA;
s_send_msg.st_head.hdr.msgbodysize = sizeof(SensorWknRollOverHal);
s_send_msg.st_head.hdr.rid = 0x00;
/** Message data */
s_send_msg.st_para.ul_did = VEHICLE_DID_GPS_WKNROLLOVER;
s_send_msg.st_para.us_size = sizeof(SensorWknRollOverHal);
(void)memcpy(&(s_send_msg.st_para.uc_data), p_week_rollover, s_send_msg.st_para.us_size);
/* Messaging */
ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0);
if (ret != RET_NORMAL) {
ret = RET_ERROR;
}
return ret;
}
/******************************************************************************
@brief DevGpsRstAnsSend<BR>
Reset response issuance processing
@outline Issue a reset response
@param[in] PNO : u_pno ... Notify-To Process No.
@param[in] RID : uc_rid ... Response resource ID
@param[in] u_int32 : ul_rst_sts ... Response result
@param[out] none
@return int32
@retval RET_NORMAL : Normal
@retval RET_ERROR : Abnormality
*******************************************************************************/
int32 DevGpsRstAnsSend(PNO u_pno, RID uc_rid, u_int32 ul_rst_sts) {
TG_GPS_RET_RESET_MSG s_send_msg;
RET_API ret = RET_NORMAL;
PCSTR l_thread_name;
if (u_pno != PNO_NONE) {
/** Create GPS Reset Notification Message */
(void)memset(&s_send_msg, 0x00, sizeof(s_send_msg));
/** Message data */
s_send_msg.data.ret_rst_status = ul_rst_sts;
/* Messaging */
l_thread_name = _pb_CnvPno2Name(u_pno);
/* External Process Transmission and Reception Messages */
ret = _pb_SndMsg_Ext(l_thread_name,
CID_POSIF_REQ_GPS_RESET,
sizeof(s_send_msg.data),
reinterpret_cast<void *>(&(s_send_msg.data)),
0);
if (ret != RET_NORMAL) {
POSITIONING_LOG("GpsCommCtl # DevGpsRstAnsSend SndMsg Error ret[%d] pno[%03X]\n", ret, u_pno);
ret = RET_ERROR;
}
}
return ret;
}
/**
* @brief Time setting response issuance processing
*
* @param[in] us_pno Notify-To Process No.
* @param[in] uc_rid Response resource ID
* @param[in] ul_rst_sts Response result
*
* @return Processing result
* @retval RET_NORMAL : Normal
* @retval RET_ERROR : Abnormality
*/
int32 DevGpsTimesetAnsSend(PNO us_pno, RID uc_rid, u_int32 ul_rst_sts) {
TG_GPS_RET_TIMESET_MSG st_snd_msg;
RET_API ret = RET_NORMAL;
/** Create GPS Reset Notification Message */
memset( &st_snd_msg, 0x00, sizeof(st_snd_msg) ); /* QAC 3200 */
/** Message header */
st_snd_msg.header.hdr.sndpno = PNO_NAVI_GPS_MAIN;
st_snd_msg.header.hdr.respno = 0x0000;
st_snd_msg.header.hdr.cid = CID_GPS_RETTIMESETTING;
st_snd_msg.header.hdr.msgbodysize = sizeof(st_snd_msg.status);
st_snd_msg.header.hdr.rid = uc_rid;
/** Message data */
st_snd_msg.status = ul_rst_sts;
/* Messaging */
if (us_pno != PNO_NONE) {
ret = _pb_SndMsg(us_pno, sizeof(st_snd_msg), &st_snd_msg, 0);
if (ret != RET_NORMAL) {
POSITIONING_LOG("DevGpsTimesetAnsSend SndMsg Error ret[%d] pno[%03X] \r\n", ret, us_pno);
ret = RET_ERROR;
}
}
return(ret);
}
/**
* @brief
* GPS clock drift transmit process
*
* @param[in] drift Clock drift
*
* @return RET_NORMAL Normal completion
* @return RET_ERROR ABENDs
*
*/
RET_API DevSendGpsConnectError(BOOL is_err) {
SENSOR_MSG_GPSDATA s_send_msg;
RET_API ret = RET_NORMAL;
PNO u_pno = PNO_VEHICLE_SENSOR;
/** Create GPS Data Notification Message */
(void)memset(&s_send_msg, 0x00, sizeof(s_send_msg));
/** Message header */
s_send_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN;
s_send_msg.st_head.hdr.respno = 0x0000;
s_send_msg.st_head.hdr.cid = CID_GPS_DATA;
s_send_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT);
s_send_msg.st_head.hdr.rid = 0x00;
/** Message data */
s_send_msg.st_para.ul_did = POSHAL_DID_GPS_CONNECT_ERROR;
s_send_msg.st_para.us_size = sizeof(uint32_t);
(void)memcpy(&(s_send_msg.st_para.uc_data), &is_err, s_send_msg.st_para.us_size);
/* Messaging */
ret = _pb_SndMsg(u_pno, sizeof(s_send_msg), &s_send_msg, 0);
if (ret != RET_NORMAL) {
ret = RET_ERROR;
}
return ret;
}
RET_API SndGpsTimeRaw(const SENSOR_GPSTIME_RAW* ps_gpstime_raw) {
SENSOR_MSG_GPSDATA st_snd_msg;
RET_API ret;
PNO _us_pno = PNO_VEHICLE_SENSOR;
/** Create GPS Data Notification Message */
(void)memset( &st_snd_msg, 0x00, sizeof(st_snd_msg) ); /* QAC 3200 */
/** Message header */
st_snd_msg.st_head.hdr.sndpno = PNO_NAVI_GPS_MAIN;
st_snd_msg.st_head.hdr.respno = 0x0000;
st_snd_msg.st_head.hdr.cid = CID_GPS_DATA;
st_snd_msg.st_head.hdr.msgbodysize = sizeof(SENSOR_MSG_GPSDATA_DAT);
st_snd_msg.st_head.hdr.rid = 0x00;
/** Message data */
st_snd_msg.st_para.ul_did = VEHICLE_DID_GPS_TIME_RAW;
st_snd_msg.st_para.us_size = sizeof(SENSOR_GPSTIME_RAW);
(void)memcpy(&(st_snd_msg.st_para.uc_data), ps_gpstime_raw, st_snd_msg.st_para.us_size); /* QAC 3200 */
/* Messaging */
ret = _pb_SndMsg( _us_pno, sizeof(st_snd_msg), &st_snd_msg, 0 );
if (ret != RET_NORMAL) {
POSITIONING_LOG("_pb_SndMsg ERROR!! [ret=%d]\n", ret);
ret = RET_ERROR;
}
return(ret);
}
/*---------------------------------------------------------------------------*/
/*EOF*/
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