2 * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
16 #ifndef POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_
17 #define POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_
19 * @file POS_sensor_API.h
20 * @brief API definition file for Sensor function
23 /** @addtogroup BaseSystem
26 /** @addtogroup vehicle_service
30 /** @addtogroup positioning
31 * @ingroup vehicle_service
34 /*---------------------------------------------------------------------------------*
36 *---------------------------------------------------------------------------------*/
37 #include <vehicle_service/POS_define.h>
39 /*---------------------------------------------------------------------------------*
41 *---------------------------------------------------------------------------------*/
43 #define POS_DID_SPEED_PULSE 0x80000012 //!< \~english Data ID of speed pulse
44 #define POS_DID_SPEED_KMPH 0x80000013 //!< \~english Data ID of KMPH speed
45 #define POS_DID_SNS_COUNTER 0x8000001A
46 //!< \~english Data ID of sensor counter
47 #define POS_DID_GYRO_X 0x80000014 //!< \~english Data ID of X axis gyro
48 #define POS_DID_GYRO_Y 0x80000085 //!< \~english Data ID of Y axis gyro
49 #define POS_DID_GYRO_Z 0x80000086 //!< \~english Data ID of Z axis gyro
50 #define POS_DID_GYRO POS_DID_GYRO_X
51 //!< \~english Data ID of POS_DID_GYRO is same as POS_DID_GYRO_X
52 #define POS_DID_GSNS_X 0x80000015 //!< \~english Data ID of x axis gsensor
53 #define POS_DID_GSNS_Y 0x80000016 //!< \~english Data ID of Y axis gsensor
54 #define POS_DID_GSNS_Z 0x80000026 //!< \~english Data ID of Z axis gsensor
55 #define POS_DID_REV 0x80000017 //!< \~english Data ID of reverse signal
56 #define POS_DID_GPS_ANTENNA 0x80000019
57 //!< \~english Data ID of GPS antenna status
58 #define POS_DID_SPEED_PULSE_FST 0x80000028
59 //!< \~english Data ID of first time speed pulse
60 #define POS_DID_GYRO_X_FST 0x80000029 //!< \~english Data ID of first time X axis gyro
61 #define POS_DID_GYRO_Y_FST 0x80000043 //!< \~english Data ID of first time Y axis gyro
62 #define POS_DID_GYRO_Z_FST 0x80000023 //!< \~english Data ID of first time Z axis gyro
63 #define POS_DID_GYRO_FST POS_DID_GYRO_X_FST
64 //!< \~~english Data ID of POS_DID_GYRO_FST is same as POS_DID_GYRO_X_FST
65 #define POS_DID_REV_FST 0x8000007E
66 //!< \~english Data ID of first time reverse signal
67 #define POS_DID_GYRO_TEMP 0x80000090 //!< \~english Data ID of gyro temperature
68 #define POS_DID_GYRO_TEMP_FST 0x80000091
69 //!< \~english Data ID of first time gyro temperature
70 #define POS_DID_GSNS_X_FST 0x80000087
71 //!< \~english Data ID of first time x axis gsensor
72 #define POS_DID_GSNS_Y_FST 0x80000088
73 //!< \~english Data ID of first time Y axis gsensor
74 #define POS_DID_GSNS_Z_FST 0x80000089
75 //!< \~english Data ID of first time Z axis gsensor
76 #define POS_DID_PULSE_TIME 0x8000003A //!< \~english Data ID of pulse time
78 #define POS_DID_GPS__CWORD82__NMEA 0x80000030U
79 //!< \~english Data ID of _CWORD82_ GPS NMEA sentence
80 #define POS_DID_GPS__CWORD82___CWORD44_GP4 0x80000031U
81 //!< \~english Data ID of _CWORD82_ GPS _CWORD44_GP4 data
82 #define POS_DID_GPS__CWORD82__FULLBINARY 0x80000032U
83 //!< \~english Data ID of _CWORD82_ GPS full binary data
84 #define POS_DID_GPS_NMEA 0x8000009AU
85 //!< \~english Data ID of GPS NMEA sentence
86 #define POS_DID_GPS_CLOCK_DRIFT 0x800000B3U
87 //!< \~english Data ID of GPS time drift data
88 #define POS_DID_GPS_CLOCK_FREQ 0x800000B4U
89 //!< \~english Data ID of GPS time frequency data
92 * \~english @brief Delivery sensor extra package command ID
93 * \~english @brief If you want to catch above envents, use NSFW like below.
95 * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA, CBCallbackA);
98 #define CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA 0x0700
101 * \~english @brief Delivery sensor information command ID
102 * \~english @brief If you want to catch above envents, use NSFW like below.
104 * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_SENSOR_DATA, CBCallbackA);
107 #define CID_POSIF_REGISTER_LISTENER_SENSOR_DATA 0x0200
109 #define SENSOR_MSGBUF_DSIZE 4096
110 //!< \~english message body maximum size
112 #define SENSOR_VSHEAD_DSIZE 36
113 //!< \~english vehicle sensor header size(1+3+16*2)
115 #define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE)
116 //!< \~english vehicle sensor data size
118 // Same name/value is defined, but client doesn't include HAL header.
119 // It defines SENSOR_MSG_VSINFO_DSIZE if not included HAL.
120 #ifndef HAL_API_POSITIONING_HAL_H_
121 #define SENSOR_MSG_VSINFO_DSIZE 1904u
122 //!< \~english vehicle sensor message body maximum size
125 #define SENSOR_PKG_DELIVERY_MAX 16
126 //!< \~english number of data ID per a package
128 /*---------------------------------------------------------------------------------*
129 * Typedef declaration *
130 *---------------------------------------------------------------------------------*/
132 /*---------------------------------------------------------------------------------*
133 * Struct declaration *
134 *---------------------------------------------------------------------------------*/
136 * @struct SENSOR_PKG_MSG_VSINFO
137 * \~english positioning sensor notification message (to User)
140 uint8_t ucDNum; //!< \~english number of data
141 uint8_t ucDataBreak; //!< \~english data lack infomation
142 uint8_t ucDivideCnt; //!< \~english total partition
143 uint8_t ucDivideSendCnt; //!< \~english partition transmit count
144 uint16_t usOffset[SENSOR_PKG_DELIVERY_MAX]; //!< \~english offset
145 uint8_t ucData[SENSOR_VSINFO_DSIZE]; //!< \~english data body
146 } SENSOR_PKG_MSG_VSINFO;
149 * @struct SENSOR_MSG_VSINFO
150 * \~english message delivery positioning sensor information
153 DID did; //!< \~english data ID
154 uint16_t size; //!< \~english data size
155 uint8_t rcvFlag; //!< \~english reception flag
156 uint8_t reserve; //!< \~english reserve
157 uint8_t data[SENSOR_MSG_VSINFO_DSIZE]; //!< \~english data body
160 /*---------------------------------------------------------------------------------*
161 * Prototype Declaration *
162 *---------------------------------------------------------------------------------*/
163 /* SENSOR_API public API */
167 ////////////////////////////////////////////////////////////////////////////////////////////
168 /// \ingroup tag_Positioning
169 /// \~english @par Brief
170 /// - Send the extra package when first delivery.
172 /// \~english @param [in] hApp
173 /// - HANDLE - App Handle
174 /// \~english @param [in] notifyName
175 /// - PCSTR - Destination thread name
176 /// \~english @param [in] ucPkgNum
177 /// - uint8_t - data number in package(1 to 16)
178 /// \~english @param [in] pulDid
179 /// - DID * - buffer pointer of the data ID array in package
180 /// \~english @param [in] ucCtrlFlg
181 /// - uint8_t - Delivery control flag(register)
182 /// \~english @param [in] ucDeliveryTiming
183 /// - uint8_t - Delivery timing(change/update)
186 /// - data number in package(ucPkgNum) \n
187 /// The following 8 data ID can be registered. And the register data number range is 1~16.
188 /// - buffer pointer of the data ID array in package(pulDid) \n
189 /// The data ID set to the first in pulDid is the delivery key. \n
190 /// If the data ID not one of the following be set, return SENSOR_RET_ERROR_PARAM.
191 /// - POS_DID_SNS_COUNTER - sensor counter
192 /// - POS_DID_GYRO_X - gyro output (X axis)
193 /// - POS_DID_GYRO_Y - gyro output (Y axis)
194 /// - POS_DID_GYRO_Z - gyro output (Z axis)
195 /// - POS_DID_SPEED_PULSE - speed pulse
196 /// - POS_DID_REV - REV signal(0:forward 1:backward)
197 /// - POS_DID_GSNS_X - Gsensor output X axis
198 /// - POS_DID_GSNS_Y - Gsensor output Y axis
199 /// - POS_DID_GSNS_Z - Gsensor output Z axis
200 /// - POS_DID_GYRO_TEMP - gyro temperature
201 /// - POS_DID_PULSE_TIME - pulse time\n
203 /// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL.
205 /// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.\n
207 /// - Delivery control flag(ucCtrlFlg)
208 /// - SENSOR_DELIVERY_REGIST - register
209 /// - Register specified LonLat delivery
210 /// - Please note that if the same data delivery has been registered for multiple times, \n
211 /// the data will also be deliveried for registered multiple times.
212 /// - The specified LonLat will be deliveried at register time no matter what delivery \n
213 /// timing has been registered (first delivery).
214 /// - Delivery timing(ucDeliveryTiming)
215 /// - SENSOR_DELIVERY_TIMING_CHANGE - change Specified LonLat be deliveried only when it is changed.
216 /// - SENSOR_DELIVERY_TIMING_UPDATE - update Specified Lonlat be deliveried as long as \n
217 /// it is updated by vehicle sensor.
220 /// \~english @retval SENSOR_RET_NORMAL normal end
221 /// \~english @retval SENSOR_RET_ERROR_CREATE_EVENT event create failed
222 /// \~english @retval SENSOR_RET_ERROR_PARAM parameter error
223 /// \~english @retval SENSOR_RET_ERROR_INNER internal error
224 /// \~english @retval SENSOR_RET_ERROR_NOSUPPORT unsupported
225 /// \~english @retval SENSOR_RET_ERROR_RESOURCE lack of resource
227 /// \~english @par Precondition
228 /// - The creation/initialization \n
229 /// (FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher for App are completed.
230 /// - Availability of service positioning is TRUE.
232 /// \~english @par change of internal status
233 /// - There is no change of internal status
235 /// \~english @par Failure condition
236 /// - The parameter hApp is NULL [SENSOR_RET_ERROR_PARAM]
237 /// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [SENSOR_RET_ERROR_PARAM]
238 /// - The parameter ucDeliveryTiming is neither update(SENSOR_DELIVERY_TIMING_UPDATE) \n
239 /// nor change(SENSOR_DELIVERY_TIMING_CHANGE) [SENSOR_RET_ERROR_PARAM]
240 /// - The parameter notifyName is NULL [SENSOR_RET_ERROR_PARAM]
241 /// - The parameter ucPkgNum is 0 or it is larger than 16 [SENSOR_RET_ERROR_PARAM]
242 /// - The parameter pulDid is NULL [SENSOR_RET_ERROR_PARAM]
243 /// - The data ID in paramter buffer pulDid is not avaliable value [SENSOR_RET_ERROR_PARAM]
244 /// - The count of message in message queue is reach to max [SENSOR_RET_ERROR_RESOURCE]
245 /// - The count of mutex is reach to max [SENSOR_RET_ERROR_RESOURCE]
246 /// - The count of item in ProcessName-ProcessNo convert table is reach to max [SENSOR_RET_ERROR_RESOURCE]
247 /// - The event has been registered in event table and created in same process, \n
248 /// but the count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
249 /// - The event has been registered in event table and created in system, but the \n
250 /// count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
251 /// - The event has been registered in event table, but memory for the thread event table \n
252 /// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
253 /// - The event has been registered in event table, but the thread can not be registered in \n
254 /// event table. [SENSOR_RET_ERROR_CREATE_EVENT]
255 /// - The event has been registered in event table, but memory for thread table creation \n
256 /// allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
257 /// - The event has been registered in event table, and the event flag has already been \n
258 /// registered. [SENSOR_RET_ERROR_CREATE_EVENT]
259 /// - The event has been registered in event table, and the event flag register failed. \n
260 /// [SENSOR_RET_ERROR_CREATE_EVENT]
261 /// - No empty field for registering the event HANDLE into event table. [SENSOR_RET_ERROR_CREATE_EVENT]
262 /// - Memory for event HANDLE get failed. [SENSOR_RET_ERROR_CREATE_EVENT]
263 /// - The event has not been registered in event table and not finished registering \n
264 /// [SENSOR_RET_ERROR_CREATE_EVENT]
265 /// - The event has not been registered in event table, and memory for thread table \n
266 /// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
267 /// - The event has not been registered in event table, and the event flag has already been \n
268 /// registered. [SENSOR_RET_ERROR_CREATE_EVENT]
269 /// - The event has not been registered in event table, and the event flag register failed. \n
270 /// [SENSOR_RET_ERROR_CREATE_EVENT]
271 /// - ProcessNo has not been registered in message control table when message transfered \n
272 /// between processes. [SENSOR_RET_ERROR_INNER]
273 /// - Message transfer HANDLE get failed when message transfered in process. [SENSOR_RET_ERROR_INNER]
274 /// - Message transfer failed in process. [SENSOR_RET_ERROR_INNER]
275 /// - The destination process name is NULL. [SENSOR_RET_ERROR_INNER]
276 /// - The destination process name size is larger than 20 characters when message transfer \n
277 /// between processes. [SENSOR_RET_ERROR_INNER]
278 /// - The message queue name has not been registered in control table when message \n
279 /// transfer between processes. [SENSOR_RET_ERROR_INNER]
280 /// - Message transfer HANDLE create failed when message transfered between processes. [SENSOR_RET_ERROR_INNER]
281 /// - Message transfer HANDLE get failed from internal table when message transfered \n
282 /// between processes. [SENSOR_RET_ERROR_INNER]
283 /// - Message transfer failed between processes. [SENSOR_RET_ERROR_INNER]
284 /// - Specified event HANDLE has not been registered in event HANDLE table during event \n
285 /// waiting. [SENSOR_RET_ERROR_CREATE_EVENT]
286 /// - The count of thread is reach to max in event management table during event \n
287 /// waiting. [SENSOR_RET_ERROR_CREATE_EVENT]
288 /// - The EV_FLAG_BIT is not set in flagID during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
289 /// - The ID of message event queue has not been created during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
290 /// - The flagID has not been registered during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
291 /// - The interruption happened during event getting [SENSOR_RET_ERROR_CREATE_EVENT]
292 /// - Whatever error happened during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
293 /// - Got event is SENSOR_RET_ERROR_INNER. [SENSOR_RET_ERROR_INNER]
295 /// \~english @par Detial
296 /// - Call this API to register vehicle sensor data delivery. \n
297 /// This API return the result of registering. \n
298 /// The data from sensor data received to registering will be deliveried. \n
299 /// The first delivery data is the sensor data(max 64 number of sensor counter, \n
300 /// reverse signal,gyro temperature, max 640 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n
301 /// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), max 2048 number of pulse time) in 6.4 second. \n
302 /// If the data number is more than max number, delivery the data in newest 6.4 second. \n
303 /// If the sensor data accumulated more than max number, set VEHICLE_SNS_BREAK to data missing information. \n
304 /// If sensor data number is more than the data number send in one time(10 number of \n
305 /// sensor counter,reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n
306 /// speed pulse, Gsensor output(X axis),Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time), \n
307 /// the old data is divided into partitions(every partition with 10 number of sensor counter, \n
308 /// reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n
309 /// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time) to delivery. \n
310 /// The last message for first delivery is the message that the partition count equal to partition No. \n
311 /// After first delivery, the message data(1 number of sensor counter,reverse signal, \n
312 /// gyro temperature, 10 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis),speed pulse, \n
313 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 32 number of pulse time) deliveried. \n
314 /// And because the data missing information, divided partition count, \n
315 /// diveided partition No is not used, they will be set to 0 in message.\n
316 /// (sample)The sensor data in 6.4 second divided to delivery
317 /// - 1st message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
318 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
319 /// partition count=7, divided partition No=1)
320 /// - 2nd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
321 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
322 /// partition count=7, divided partition No=2)
323 /// - 3rd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
324 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
325 /// partition count=7,divided partition No=3)
326 /// - 4th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
327 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
328 /// partition count=7,divided partition No=4)
329 /// - 5th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
330 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
331 /// partition count=7,divided partition No=5)
332 /// - 6th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
333 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
334 /// partition count=7,divided partition No=6)
335 /// - 7th message(sensor counter, reverse signal, gyro temperature=4 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
336 /// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=40 number, pulse time=128 number), divided \n
337 /// partition count=7,divided partition No=7)
340 /// - Please note the following points when use this API.
341 /// - Duplication registering
342 /// - The same destination thread name has already been registered
343 /// - The registered delivery data updated and normal return.(first delivery)
344 /// - To one delivery destination, the same data will not be duplication deliveried at same timing.
345 /// - After delivery the sensor data accumulated in 6.4 second(first delivery), the sensor data \n
346 /// will not be accumulated any more. So the same data will be deliveried as first \n
347 /// delivery when registered again.
348 /// - This API is only called by Navi proxy.
349 /// - After call this API, if the delivery destination thread name is changed, please call this API again.
352 /// message structure
353 /// - After success to register, vehicle sensor will send message as system API message with following format.
354 /// Command ID : @ref CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA \n
355 /// Definition of structure
357 /// #define SENSOR_MSGBUF_DSIZE 4096 /* max size of message body */
358 /// #define SENSOR_VSHEAD_DSIZE 36 /* vehicle sensor header size(1+3+16*2) */
359 /// #define SENSOR_PKG_DELIVERY_MAX 16 /* max number of Data ID in package */
360 /// #define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE)
362 /// uint8_t ucDNum; /* number of data */
363 /// uint8_t ucDataBreak; /* data missing information */
364 /// uint8_t ucDivideCnt; /* divided partition count */
365 /// uint8_t ucDivideSendCnt; /* divided partition No. */
366 /// uint16_t usOffset[SENSOR_PKG_DELIVERY_MAX]; /* offset */
367 /// uint8_t ucData[SENSOR_VSINFO_DSIZE]; /* vehicle sensor data */
368 /// } SENSOR_PKG_MSG_VSINFO;
370 /// - number of data \n
371 /// Data number in package
372 /// - data missing information \n
373 /// VEHICLE_SNS_BREAK:not continuous data \n
374 /// VEHICLE_SNS_NORMAL:continuous data
375 /// - divided partition count \n
376 /// All divided partition count \n
377 /// If it is more than 1, data divided to delivery
378 /// - divided partition No. \n
379 /// The No. of the divided partition. If it equal to the divided partition count, \n
380 /// that meanings this message is the last divided partition of the package.
382 /// The array of the offset from the head of vehicle sensor data
383 /// - vehicle sensor data
385 /// - Data size(2Byte)
386 /// - reception flag(1Byte)
387 /// - If the data get from CAN, direct line, GPS, set to 0x01
388 /// - If data has not been received, set to 0x00
389 /// - reserve(1Byte)\n
390 /// - Data body is cycle fit with the packaged data.
392 /// \~english @par Classification
395 /// \~english @par Type
399 /// - POS_RegisterListenerSensData, POS_GetSensData
401 ////////////////////////////////////////////////////////////////////////////////////////////
402 SENSOR_RET_API POS_RegisterListenerPkgSensData(HANDLE hApp, PCSTR notifyName, uint8_t ucPkgNum, DID *pulDid,
403 uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming);
405 ////////////////////////////////////////////////////////////////////////////////////////////
406 /// \ingroup tag_Positioning
407 /// \~english @par Brief
408 /// - Register sensor data delivery.
410 /// \~english @param [in] hApp
411 /// - HANDLE - App Handle
412 /// \~english @param [in] notifyName
413 /// - PCSTR - Destination thread name
414 /// \~english @param [in] ulDid
415 /// - DID - Data ID of vehicle info
416 /// \~english @param [in] ucCtrlFlg
417 /// - uint8_t - Delivery control flag(register)
418 /// \~english @param [in] ucDeliveryTiming
419 /// - uint8_t - Delivery timing(change/update)
422 /// - Data ID of vehicle info(ulDid) \n
425 /// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.
427 /// - Delivery control flag(ucCtrlFlg)
428 /// - SENSOR_DELIVERY_REGIST - register
429 /// - Register specified LonLat delivery
430 /// - Please note that if the same data delivery has been registered for multiple times, \n
431 /// the data will also be deliveried for registered multiple times.
432 /// - The specified LonLat will be deliveried at register time no matter what delivery \n
433 /// timing has been registered (first delivery).
434 /// - Delivery timing(ucDeliveryTiming)
435 /// - SENSOR_DELIVERY_TIMING_CHANGE - change Specified LonLat be deliveried only when it is changed.
436 /// - SENSOR_DELIVERY_TIMING_UPDATE - update Specified Lonlat be deliveried \n
437 /// as long as it is updated by vehicle sensor.
439 /// \~english @retval SENSOR_RET_NORMAL normal end
440 /// \~english @retval SENSOR_RET_ERROR_CREATE_EVENT event create failed
441 /// \~english @retval SENSOR_RET_ERROR_PARAM parameter error
442 /// \~english @retval SENSOR_RET_ERROR_INNER internal error
443 /// \~english @retval SENSOR_RET_ERROR_NOSUPPORT unsupported
444 /// \~english @retval SENSOR_RET_ERROR_RESOURCE lack of resource
446 /// \~english @par Precondition
447 /// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) \n
448 /// of the Dispatcher for App are completed.
449 /// - Availability of service positioning is TRUE.
451 /// \~english @par change of internal status
452 /// - There is no change of internal status
454 /// \~english @par Failure condition
455 /// - The parameter ucDeliveryTiming is neither update \n
456 /// (SENSOR_DELIVERY_TIMING_UPDATE) nor change(SENSOR_DELIVERY_TIMING_CHANGE) [SENSOR_RET_ERROR_PARAM]
457 /// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [SENSOR_RET_ERROR_PARAM]
458 /// - The parameter hApp is NULL [SENSOR_RET_ERROR_PARAM]
459 /// - The parameter notifyName is NULL [SENSOR_RET_ERROR_PARAM]
460 /// - The parameter ulDID is not avaliable value [SENSOR_RET_ERROR_PARAM]
461 /// - The parameter ulDID is a value can not specified [SENSOR_RET_ERROR_PARAM]
462 /// - The count of message in message queue is reach to max [SENSOR_RET_ERROR_RESOURCE]
463 /// - The count of mutex is reach to max [SENSOR_RET_ERROR_RESOURCE]
464 /// - The count of item in ProcessName-ProcessNo convert table is reach to \n
465 /// max [SENSOR_RET_ERROR_RESOURCE]
466 /// - The event has been registered in event table and created in same process, \n
467 /// but the count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
468 /// - The event has been registered in event table and created in system, but the count \n
469 /// of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
470 /// - The event has been registered in event table, but memory for the thread event table \n
471 /// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
472 /// - The event has been registered in event table, but the thread can not be registered \n
473 /// in event table. [SENSOR_RET_ERROR_CREATE_EVENT]
474 /// - The event has been registered in event table, but memory for thread table creation \n
475 /// allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
476 /// - The event has been registered in event table, and the event flag has already been \n
477 /// registered. [SENSOR_RET_ERROR_CREATE_EVENT]
478 /// - The event has been registered in event table, and the event flag register failed. \n
479 /// [SENSOR_RET_ERROR_CREATE_EVENT]
480 /// - No empty field for registering the event HANDLE into event table. [SENSOR_RET_ERROR_CREATE_EVENT]
481 /// - Memory for event HANDLE get failed. [SENSOR_RET_ERROR_CREATE_EVENT]
482 /// - The event has not been registered in event table and not finished registering \n
483 /// [SENSOR_RET_ERROR_CREATE_EVENT]
484 /// - The event has not been registered in event table, and memory for thread table \n
485 /// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
486 /// - The event has not been registered in event table, and the event flag has already \n
487 /// been registered. [SENSOR_RET_ERROR_CREATE_EVENT]
488 /// - The event has not been registered in event table, and the event flag register \n
489 /// failed. [SENSOR_RET_ERROR_CREATE_EVENT]
490 /// - ProcessNo has not been registered in message control table when message transfered \n
491 /// in process. [SENSOR_RET_ERROR_INNER]
492 /// - Message transfer HANDLE get failed when message transfered in process. [SENSOR_RET_ERROR_INNER]
493 /// - Message transfer failed in process. [SENSOR_RET_ERROR_INNER]
494 /// - The destination process name is NULL. [SENSOR_RET_ERROR_INNER]
495 /// - The destination process name size is larger than 20 characters when message \n
496 /// transfer between process. [SENSOR_RET_ERROR_INNER]
497 /// - The message queue name has not been registered in control table when message \n
498 /// transfer between process. [SENSOR_RET_ERROR_INNER]
499 /// - Message transfer HANDLE create failed when message transfered between process. [SENSOR_RET_ERROR_INNER]
500 /// - Message transfer HANDLE get failed from internal table when message transfered \n
501 /// between process. [SENSOR_RET_ERROR_INNER]
502 /// - Message transfer failed between process. [SENSOR_RET_ERROR_INNER]
503 /// - Specified event HANDLE has not been registered in event HANDLE table during waiting \n
504 /// event. [SENSOR_RET_ERROR_CREATE_EVENT]
505 /// - The count of thread is reach to max in event management table during waiting \n
506 /// event. [SENSOR_RET_ERROR_CREATE_EVENT]
507 /// - The EV_FLAG_BIT is not set in flagID during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
508 /// - The ID of message event queue has not been created during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
509 /// - The flagID has not been registered during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
510 /// - The interruption happened during getting event [SENSOR_RET_ERROR_CREATE_EVENT]
511 /// - Whatever error happened during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
513 /// \~english @par Detial
514 /// - Call this API to register vehicle sensor data delivery. \n
515 /// This API return the result of registering.
518 /// Please note the following points when use this API.
519 /// - Duplication registering
520 /// - The same destination thread name has already been registered
521 /// - The registered delivery data updated and normal return.(first delivery)
522 /// - To one delivery destination, the same data will not be duplication deliveried at same timing.
523 /// - After call this API, if the delivery destination thread name is changed, please call this API again.
526 /// message structure
527 /// - After success to register, vehicle sensor will send message as system API message with following format.
528 /// - If the register successed, certainly delivery first data. And then delivery data according to
529 /// the delivery timing. \n
530 /// Command ID : @ref CID_POSIF_REGISTER_LISTENER_SENSOR_DATA \n
533 /// #define SENSOR_MSG_VSINFO_DSIZE 1904 /* max size of message body */
536 /// DID did; /* data ID */
537 /// uint16_t size; /* data size of vehicle sensor data */
538 /// uint8_t rcvFlag; /* reception flag */
539 /// uint8_t reserve; /* reserve */
540 /// uint8_t data[SENSOR_MSG_VSINFO_DSIZE]; /* vehicle sensor data */
541 /// } SENSOR_MSG_VSINFO;
543 /// - reception flag(1Byte)
544 /// - If the data get from CAN or direct line, set to 0x01
545 /// - If data has not been received, set to 0x00
547 /// \~english @par Classification
550 /// \~english @par Type
554 /// - POS_RegisterListenerPkgSensData, POS_GetSensData
556 ////////////////////////////////////////////////////////////////////////////////////////////
557 SENSOR_RET_API POS_RegisterListenerSensData(HANDLE hApp, PCSTR notifyName, DID ulDid, uint8_t ucCtrlFlg,
558 uint8_t ucDeliveryTiming);
560 ////////////////////////////////////////////////////////////////////////////////////////////
561 /// \ingroup tag_Positioning
562 /// \~english @par Brief
563 /// - Get vehicle sensor data.
565 /// \~english @param [in] hApp
566 /// - HANDLE - App Handle
567 /// \~english @param [in] ulDid
568 /// - DID - Data ID of vehicle info
569 /// \~english @param [out] pDestData
570 /// - void* - pointer of buffer for storing vehicle sensor data
571 /// \~english @param [in] usDestSize
572 /// - uint16_t - vehicle sensor data buffer size
575 /// - Data ID of vehicle info(ulDid)
576 /// - POS_DID_SPEED_PULSE - speed pulse(count of pulse)
577 /// - POS_DID_GYRO_X - gyro output (X axis)
578 /// - POS_DID_GYRO_Y - gyro output (Y axis)
579 /// - POS_DID_GYRO_Z - gyro output (Z axis)
580 /// - POS_DID_GSNS_X - Gsensor output (X axis)
581 /// - POS_DID_GSNS_Y - Gsensor output (Y axis)
582 /// - POS_DID_GSNS_Z - Gsensor output (Z axis)
583 /// - POS_DID_GPS_ANTENNA - GPS antenna connection status
584 /// - POS_DID_GPS__CWORD82__NMEA - GPS NMEA(_CWORD82_)
585 /// - POS_DID_GPS__CWORD82__FULLBINARY - GPS _CWORD82_ full binary(_CWORD82_)
586 /// - POS_DID_GPS_NMEA - GPS NMEA
587 /// - POS_DID_GYRO_TEMP - gyro temperature
588 /// - POS_DID_GPS_CLOCK_DRIFT - GPS clock drift
589 /// - POS_DID_GPS_CLOCK_FREQ - GPS clock frequency
590 /// - The avaliable data ID of each hardware type is as following.
592 /// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL.
594 /// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.
595 /// - vehicle sensor data buffer size(usDestSize) \n
596 /// Please note it is the size of output buffer, not the size of data.
598 /// \~english @retval more than 0 data size
599 /// \~english @retval POS_RET_ERROR_CREATE_EVENT event create failed
600 /// \~english @retval POS_RET_ERROR_OUTOF_MEMORY share memory guarantee failed
601 /// \~english @retval POS_RET_ERROR_PARAM parameter error
602 /// \~english @retval POS_RET_ERROR_SIZE buffer size error
603 /// \~english @retval POS_RET_ERROR_INNER internal error
604 /// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
605 /// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
607 /// \~english @par Precondition
608 /// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) \n
609 /// of the Dispatcher for App are completed.
610 /// - Availability of service positioning is TRUE.
612 /// \~english @par change of internal status
613 /// - There is no change of internal status
615 /// \~english @par Failure condition
616 /// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
617 /// - The parameter pDestData is NULL [POS_RET_ERROR_PARAM]
618 /// - The parameter ulDid is not avaliable value in current hardware environment [POS_RET_ERROR_PARAM]
619 /// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
620 /// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
621 /// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
622 /// - The event is created in same process, but the count of reference is reach to max \n
623 /// [POS_RET_ERROR_CREATE_EVENT]
624 /// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_CREATE_EVENT]
625 /// - Memory allocate falied during the event table creation for \n
626 /// event registering. [POS_RET_ERROR_CREATE_EVENT]
627 /// - The thread can not register in the event table. [POS_RET_ERROR_CREATE_EVENT]
628 /// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_CREATE_EVENT]
629 /// - After register the thread table in event table, the event flag has already \n
630 /// been registered. [POS_RET_ERROR_CREATE_EVENT]
631 /// - After register the thread table in event table, the event flag register \n
632 /// failed. [POS_RET_ERROR_CREATE_EVENT]
633 /// - The event table is full during event creation. [POS_RET_ERROR_CREATE_EVENT]
634 /// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_CREATE_EVENT]
635 /// - The thread can not be registered in event table. [POS_RET_ERROR_CREATE_EVENT]
636 /// - In event table, to allocate the memory of the thread table creation, \n
637 /// but failed. [POS_RET_ERROR_CREATE_EVENT]
638 /// - After register the thread in event table, the event flag has already been \n
639 /// registered. [POS_RET_ERROR_CREATE_EVENT]
640 /// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_CREATE_EVENT]
641 /// - Specified event ID has not been registered in table. [POS_RET_ERROR_CREATE_EVENT]
642 /// - Initialize event object failed. [POS_RET_ERROR_CREATE_EVENT]
643 /// - There is no empty field in semaphore table for semaphore creation [POS_RET_ERROR_OUTOF_MEMORY]
644 /// - The memory for storing semaphore control data allocate failed. [POS_RET_ERROR_OUTOF_MEMORY]
645 /// - Specified semaphore ID has not been registered when semaphore lock. [POS_RET_ERROR_OUTOF_MEMORY]
646 /// - Internal mutex HANDLE is NULL when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY]
647 /// - Internal mutex HANDLE has not been registered in mutex table when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY]
648 /// - The owner of specified mutex is not itself when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY]
649 /// - Mutex has been multiple locked [POS_RET_ERROR_OUTOF_MEMORY]
650 /// - The HANDLE is NULL when getting usable share memory address. [POS_RET_ERROR_OUTOF_MEMORY]
651 /// - Can not get usable share memory address. [POS_RET_ERROR_OUTOF_MEMORY]
652 /// - Memory allocate failed for share memory map. [POS_RET_ERROR_OUTOF_MEMORY]
653 /// - Memory allocate failed for share memory management. [POS_RET_ERROR_OUTOF_MEMORY]
654 /// - Can not open share memory. [POS_RET_ERROR_OUTOF_MEMORY]
655 /// - Failed to mapping share memory. [POS_RET_ERROR_OUTOF_MEMORY]
656 /// - No empty field in share memory. [POS_RET_ERROR_OUTOF_MEMORY]
657 /// - ProcessNo has not been registered in message control table when message \n
658 /// transfered between processes. [POS_RET_ERROR_CREATE_EVENT]
659 /// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_CREATE_EVENT]
660 /// - Message transfer failed between processes. [POS_RET_ERROR_CREATE_EVENT]
661 /// - The destination process name size is larger than 20 characters when message \n
662 /// transfer between processes. [POS_RET_ERROR_CREATE_EVENT]
663 /// - The message queue name has not been registered in control table when message \n
664 /// transfer between processes. [POS_RET_ERROR_CREATE_EVENT]
665 /// - Message transfer HANDLE create failed when message transfered between processes. \n
666 /// [POS_RET_ERROR_CREATE_EVENT]
667 /// - Message transfer HANDLE get failed from internal table when message transfered \n
668 /// between processes. [POS_RET_ERROR_CREATE_EVENT]
669 /// - Message transfer failed between processes. [POS_RET_ERROR_CREATE_EVENT]
670 /// - Specified event HANDLE has not been registered in event HANDLE table during \n
671 /// event waiting. [POS_RET_ERROR_INNER]
672 /// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER]
673 /// - The EV_FLAG_BIT is not set in flagID during event waiting. [POS_RET_ERROR_INNER]
674 /// - The ID of message event queue has not been created during event waiting. [POS_RET_ERROR_INNER]
675 /// - The flagID has not been registered during event waiting. [POS_RET_ERROR_INNER]
676 /// - The interruption happened during event waiting [POS_RET_ERROR_INNER]
677 /// - Whatever error happened during event waiting. [POS_RET_ERROR_INNER]
678 /// - The EV_FLAG_BIT is not set in flagID during getting event. [POS_RET_ERROR_INNER]
679 /// - The ID of message event queue has not been created during getting event. [POS_RET_ERROR_INNER]
680 /// - The flagID has not been registered during getting event. [POS_RET_ERROR_INNER]
681 /// - The interruption happened during getting event [POS_RET_ERROR_INNER]
682 /// - Whatever error happened during getting event. [POS_RET_ERROR_INNER]
683 /// - The HANDLE is NULL when getting usable share memory address for accessing \n
684 /// received data. [POS_RET_ERROR_OUTOF_MEMORY]
685 /// - Can not get usable share memory address for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
686 /// - Memory for share memory map allocate failed for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
687 /// - Memory for share memory management allocate failed for accessing received \n
688 /// data. [POS_RET_ERROR_OUTOF_MEMORY]
689 /// - Can not open share memory for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
690 /// - Failed to mapping share memory for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
691 /// - Can not get share memory normally [POS_RET_ERROR_OUTOF_MEMORY]
692 /// - The size of data stored in share memory is larger than the size of received data. [POS_RET_ERROR_SIZE]
694 /// \~english @par Detial
695 /// - Call this API to get vehicle sensor data. \n
696 /// This vehicle sensor data stored in the output buffer of the parameter, this API return.
698 /// \~english @par Classification
701 /// \~english @par Type
705 /// - POS_RegisterListenerPkgSensData, POS_RegisterListenerSensData
708 POS_RET_API POS_GetSensData(HANDLE hApp, DID ulDid, void *pDestData, uint16_t usDestSize);
713 /** @}*/ // end of positioning
714 /** @}*/ // end of vehicle_service
715 /** @}*/ // end of BaseSystem
716 #endif // POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_