service/vehicle/positioning/server/include/Sensor/DeadReckoning_main.h

   1 /*
   2  * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
   3  *
   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
   7  *
   8  *      http://www.apache.org/licenses/LICENSE-2.0
   9  *
  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.
  15  */
  16
  17 #ifndef POSITIONING_SERVER_INCLUDE_SENSOR_DEADRECKONING_MAIN_H_
  18 #define POSITIONING_SERVER_INCLUDE_SENSOR_DEADRECKONING_MAIN_H_
  19 /****************************************************************************
  20  * File name        :DeadReckoning_main.h
  21  * System name        :PastModel002
  22  * Subsystem name    :
  23  ******************************************************************************/
  24
  25 #include <vehicle_service/positioning_base_library.h>
  26
  27 #include "Sensor_Common_API.h"
  28
  29 #include "Dead_Reckoning_API.h"
  30 #include "Dead_Reckoning_Local_Api.h"
  31 #include "DeadReckoning_Common.h"
  32 #include "DeadReckoning_DataMaster.h"
  33 #include "DeadReckoning_DeliveryCtrl.h"
  34
  35 #include "Sensor_API.h"
  36 #include "VehicleSens_DeliveryCtrl.h"
  37 #include "VehicleDebug_API.h"
  38 /************************************************************************
  39 *            Macro definitions                                                 *
  40 ************************************************************************/
  41 /* Return value */
  42 #define RET_SWMNG_SUCCESS                             RET_NORMAL    /* Success of API processing                */
  43 #define RET_SWMNG_ERROR                               RET_ERROR     /* API processing failed                */
  44
  45 /*** Rcv Message Relationships ***************************************************/
  46 /* Size of data section */
  47 #define DEAD_RECKONING_RCVMSG_MSGBUF                  512           /* RcvMSG Byte count in data section    */
  48 #define DEAD_RECKONING_RCVDATA_SENSOR_MSGBUF          40            /* RcvMSG Byte count of Sensor data section     */
  49 #define DEAD_RECKONING_RCVDATA_SENSOR_FIRST_MSGBUF    1000          /* RcvMSG Initial Byte count of sensor data section    */
  50 #define DEAD_RECKONING_SENSOR_FIRST_NUM               175           /* Initial number of saved sensor data            */
  51
  52 /* Event initial value                                            */
  53 /* DR_API_private. Synchronize with DR_EVENT_VAL_INIT in h    */
  54 #define DR_EVENT_VAL_INIT                             (-101)
  55
  56 /* Event initial value                                                        */
  57 /* DeadReckoning_main. Synchronize with h's VEHICELEDEBUG_EVENT_VAL_INIT    */
  58 #define VEHICLEDEBUG_EVENT_VAL_INIT                   (-101)
  59
  60 /* PastModel002 sleep time[ms] for CPU load balancing in the first sensor data processing            */
  61 #define DR_FST_SENS_CALC_SLEEP_TIME                   15
  62
  63 /************************************************************************
  64 *            Struct definitions                                                 *
  65 ************************************************************************/
  66
  67 /*********************************************************************
  68 * TAG       : DEAD_RECKONING_RCVDATA
  69 * ABSTRACT  : Message receive buffer structure
  70 ***********************************************************************/
  71 typedef struct {
  72     T_APIMSG_MSGBUF_HEADER    hdr;
  73     u_int8                    data[DEAD_RECKONING_RCVMSG_MSGBUF];                               /* Data portion */
  74 } DEAD_RECKONING_RCVDATA;
  75
  76 /*********************************************************************
  77 * TAG       : DEAD_RECKONING_RCVDATA_SENSOR
  78 * ABSTRACT  : LineSensor Vehicle Signal Notification Message Structure
  79 ***********************************************************************/
  80 typedef struct {
  81     u_int32                   did;                                                              /* Data ID */
  82     u_int8                    size;                                                             /* Size of the data */
  83     u_int8                    reserve[3];                                                       /* Reserved */
  84     u_int8                    data[DEAD_RECKONING_RCVDATA_SENSOR_MSGBUF];                       /* Data content */
  85 } DEAD_RECKONING_RCVDATA_SENSOR;
  86
  87 /*********************************************************************
  88 * TAG       : DEAD_RECKONING_RCVDATA_SENSOR_FIRST
  89 * ABSTRACT  : LineSensor Vehicle Signal Notification Message Structure
  90 ***********************************************************************/
  91 typedef struct {
  92     u_int32                   did;                                                              /* Data ID */
  93     u_int16                   size;                                                             /* Size of the data */
  94     u_int8                    reserve[1];                                                       /* Reserved */
  95     u_int8                    num;                                                              /* Number of data */
  96     u_int8                    data[DEAD_RECKONING_RCVDATA_SENSOR_FIRST_MSGBUF];                 /* Data content */
  97 } DEAD_RECKONING_RCVDATA_SENSOR_FIRST;
  98
  99 /*********************************************************************
 100 * TAG       : DEAD_RECKONING_SAVEDATA_SENSOR_FIRST
 101 * ABSTRACT  : LineSensor Vehicle Signal-Storage Message Structures
 102 ***********************************************************************/
 103 typedef struct {
 104     u_int16                   gyro_x_data[DEAD_RECKONING_SENSOR_FIRST_NUM * NUM_OF_100msData];  /* Data content */
 105     u_int16                   gyro_y_data[DEAD_RECKONING_SENSOR_FIRST_NUM * NUM_OF_100msData];  /* Data content */
 106     u_int16                   gyro_z_data[DEAD_RECKONING_SENSOR_FIRST_NUM * NUM_OF_100msData];  /* Data content */
 107     u_int16                   spd_pulse_data[DEAD_RECKONING_SENSOR_FIRST_NUM];                  /* Data content */
 108     u_int8                    spd_pulse_check_data[DEAD_RECKONING_SENSOR_FIRST_NUM];            /* Data content */
 109     u_int8                    rev_data[DEAD_RECKONING_SENSOR_FIRST_NUM];                        /* Data content */
 110     u_int8                    data_num;                                                         /* Number of data */
 111     u_int8                    reserve[3];                                                       /* reserve */
 112     u_int16                   gyro_x_rcv_size;                                                  /* Receiving Size */
 113     u_int16                   gyro_y_rcv_size;                                                  /* Receiving Size */
 114     u_int16                   gyro_z_rcv_size;                                                  /* Receiving Size */
 115     u_int16                   spd_pulse_rcv_size;                                               /* Receiving Size */
 116     u_int16                   spd_pulse_check_rcv_size;                                         /* Receiving Size */
 117     u_int16                   rev_rcv_size;                                                     /* Receiving Size */
 118 } DEAD_RECKONING_SAVEDATA_SENSOR_FIRST;
 119
 120 /*********************************************************************
 121 * TAG       : DEAD_RECKONING_LONLAT_INFO
 122 * ABSTRACT  : Get Position Information Structure
 123 ***********************************************************************/
 124 typedef struct {
 125     u_int8                    calc_called;    /* Whether Calculate_DeadReckoningData was called */
 126     u_int8                    available;
 127     u_int8                    reserve[2];
 128     LONLAT                    lonlat;
 129 } DEAD_RECKONING_LONLAT_INFO;
 130
 131 /************************************************************************
 132 *            DeadReckoning_main function prototype                         *
 133 ************************************************************************/
 134
 135 void DeadReckoningRcvMsg(const DEAD_RECKONING_RCVDATA *msg, DEAD_RECKONING_LONLAT_INFO *location_info);
 136 void  DeadReckoningRcvMsgFstSens(const DEAD_RECKONING_RCVDATA *msg, DEAD_RECKONING_LONLAT_INFO *location_info,
 137                             const SENSOR_MSG_GPSDATA_DAT  *rcv_gps_msg, Struct_GpsData* send_gps_msg,
 138                             Struct_SensData* send_sensor_msg);
 139 int32 DeadReckoningInit(void);
 140 void DeadReckoningGetDRData(const DEADRECKONING_MSG_GET_DR_DATA *msg);
 141 void DeadReckoningSetMapMatchingData(const DR_MSG_MAP_MATCHING_DATA *msg);
 142 void DeadReckoningClearBackupData(const DR_MSG_CLEAR_BACKUP_DATA *msg);
 143 void DeadReckoningGetLocationLogStatus(PNO pno);
 144 void DeadReckoningSetLocationLogStatus(BOOL log_sw, u_int8 severity);
 145
 146 #endif  // POSITIONING_SERVER_INCLUDE_SENSOR_DEADRECKONING_MAIN_H_ */