vehicleservice/positioning/server/include/Sensor/VehicleSens_Thread.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_VEHICLESENS_THREAD_H_
  18 #define POSITIONING_SERVER_INCLUDE_SENSOR_VEHICLESENS_THREAD_H_
  19 /******************************************************************************
  20  * File name        :VehicleSens_Thread.h
  21  * System name        :_CWORD107_
  22  * Subsystem name    :
  23  ******************************************************************************/
  24
  25 #include "Vehicle_API_Dummy.h"
  26 #include "Sensor_API.h"
  27 #include "Vehicle_API_private.h"
  28 #include "Sensor_API_private.h"
  29 #include "VehicleSens_Common.h"
  30 #include "VehicleSens_SelectionItemList.h"
  31 #include "VehicleSens_DataMaster.h"
  32 #include "VehicleSens_DeliveryCtrl.h"
  33 #include "VehicleSens_SharedMemory.h"
  34 #include "CanInput_API.h"
  35 #include "CanInput_API_private.h"
  36 #include "VehicleDebug_API.h"
  37 #include "VehicleSens_FromAccess.h"
  38 #include "ClockDataMng.h"
  39 #include "gps_hal.h"
  40 #include "positioning_hal.h"
  41 #include "CommonDefine.h"
  42
  43 /* ++ DR support */
  44 #include "DeadReckoning_main.h"
  45 #include "Dead_Reckoning_Local_Api.h"
  46 /* -- DR support */
  47
  48 #include "POS_common_private.h"
  49
  50 /************************************************************************
  51 *            Macro definitions                                                 *
  52 ************************************************************************/
  53
  54 /* ++ Porting from PastModel002 enabled APIs */
  55 #define CID_VEHICLEIF_GET_VEHICLE_DATA    0x0102    /* Vehicle sensor information acquisition CID        */
  56 #define CID_VEHICLEIF_COMM_WATCH          0x0103    /* Vehicle Sensor Information Disruption Monitoring CID    */
  57 #define CID_SENSORIF__CWORD82__REQUEST          0x0800    /* Vehicle sensor information setting CID        */
  58
  59 #define VEHICLE_RET_ERROR_OUTOF_MEMORY    (-8)      /* Shared memory allocation failure    */
  60 #define VEHICLE_RET_ERROR_INVALID         (-10)     /* CANID undetermined        */
  61
  62 /* -- Porting from PastModel002 enabled APIs */
  63
  64
  65 /* NMEA */
  66 #define VEHICLESENS_NMEA_LF                      "\n"
  67 #define VEHICLESENS_NMEA_CR                      "\r"
  68 #define VEHICLESENS_NMEA_FIELDDELIMITER          ","
  69 #define VEHICLESENS_NMEA_DECIMALPOINT            "."
  70 #define VEHICLESENS_NMEA_ASTARISK                "*"
  71
  72 #define VEHICLESENS_NMEA_PASCD_LEN_MAX           256
  73
  74 #define VEHICLESENS_NMEA_PASCD_ID                "$PASCD"
  75
  76 #define VEHICLESENS_NMEA_PASCD_TS_MAX            86400
  77 #define VEHICLESENS_NMEA_PASCD_TS_INT_LEN_MAX    6   /* max length of integer part of timestamp */
  78 #define VEHICLESENS_NMEA_PASCD_TS_FRA_LEN_MAX    3   /* max length of fractional part of timestamp */
  79
  80 #define VEHICLESENS_NMEA_PASCD_SENSORTYPE_C      "C" /* Combined left and right wheel speed sensors */
  81
  82 #define VEHICLESENS_NMEA_PASCD_TMS_U             "U" /* Unkonwn */
  83 #define VEHICLESENS_NMEA_PASCD_TMS_P             "P" /* Park */
  84 #define VEHICLESENS_NMEA_PASCD_TMS_R             "R" /* Reverse */
  85 #define VEHICLESENS_NMEA_PASCD_TMS_D             "D" /* Driving forword */
  86 #define VEHICLESENS_NMEA_PASCD_TMS_N             "N" /* Neutral */
  87
  88 #define VEHICLESNES_NMEA_PASCD_SLIP              "1" /* 1 = a wheel speed slippage was detected */
  89 #define VEHICLESNES_NMEA_PASCD_NOSLIP            "0" /* 0 = no slip was detected */
  90
  91 #define VEHICLESENS_NMEA_PASCD_TO_FRA_LEN_MAX    2   /* max length of fractional part of timeoffset */
  92
  93 #define VEHICLESENS_NMEA_PASCD_SPD_FRA_LEN_MAX   3   /* max length of fractional part of speed */
  94
  95 #define VEHICLESENS_NMEA_PASCD_SAMPLECOUNT_MAX   50
  96
  97 /************************************************************************
  98  *            Struct definitions                                                *
  99  ************************************************************************/
 100
 101 /*!
 102     @brief   Structure of Vehicle Speed and TimeSpec
 103  */
 104 typedef struct {
 105     timespec ts;
 106     uint16_t speed; /* [0.01m/s] */
 107 } VEHICLESENS_VEHICLE_SPEED_DAT;
 108
 109 /*!
 110     @brief   Structure of Vehilce Speeds and TimeSpecs
 111  */
 112 typedef struct {
 113     VEHICLESENS_VEHICLE_SPEED_DAT listSpd[VEHICLESENS_NMEA_PASCD_SAMPLECOUNT_MAX];
 114     uint8_t sampleCount;
 115 } VEHICLESENS_VEHICLE_SPEED_INFO;
 116
 117 /*!
 118     @brief   Structure for LUT to Derive Transmission State
 119  */
 120 typedef struct {
 121     uint8_t type;     /* Transmission Type */
 122     uint8_t shift;    /* Shift Position from Vehicle */
 123
 124     uint8_t pkb;      /* Parking Brake from Vehicle */
 125     char    state[8]; /* Transmission State for _CWORD27_ */
 126 } VEHICLESENS_TRANSMISSION_PKG;
 127
 128 /************************************************************************
 129  * TAG       : VEHICLE_MSG_SEND_DAT
 130  * ABSTRACT  : Vehicle sensor information setting message(-> Vehicle sensor)
 131  ************************************************************************/
 132
 133
 134
 135 /************************************************************************
 136 *            Function prototype                                            *
 137 ************************************************************************/
 138 EFrameworkunifiedStatus VehicleSensThread(HANDLE h_app);
 139 RET_API VehicleSensThreadInit(void);
 140 void VehicleSensDeliveryEntry(const VEHICLE_MSG_DELIVERY_ENTRY *);
 141 void VehicleSensGetVehicleData(const VEHICLE_MSG_GET_VEHICLE_DATA *);
 142 void VehicleSensWatchStopPage(const VEHICLE_MSG_WATCH_STOPPAGE *);
 143 void VehicleSensPkgDeliveryEntry(const SENSOR_MSG_DELIVERY_ENTRY *);
 144 void VehicleSensGetVehiclePkgData(const SENSOR_MSG_GET_SENSOR_DATA *);
 145 void VehicleSensLineSensDataDelivery(const LSDRV_MSG_LSDATA *, PFUNC_DMASTER_SET_N);
 146 void VehicleSensLineSensDataDeliveryG(const LSDRV_MSG_LSDATA_G *, PFUNC_DMASTER_SET_N);
 147 void VehicleSensLineSensDataDeliveryGyroTrouble(const LSDRV_MSG_LSDATA_GYRO_TROUBLE *msg,
 148                                                 PFUNC_DMASTER_SET_N p_datamaster_set_n);
 149 void VehicleSensLineSensDataDeliverySysGpsInterruptSignal(const LSDRV_MSG_LSDATA_GPS_INTERRUPT_SIGNAL *msg,
 150                                                 PFUNC_DMASTER_SET_SHARED_MEMORY p_datamaster_set_sharedmemory);
 151 void VehicleSensLineSensDataDeliveryGyroConnectStatus(const LSDRV_MSG_LSDATA_GYRO_CONNECT_STATUS *msg,
 152                                                       PFUNC_DMASTER_SET_SHARED_MEMORY p_datamaster_set_sharedmemory);
 153 void VehicleSensLineSensDataDeliveryGpsAntennaStatus(const LSDRV_MSG_LSDATA_GPS_ANTENNA_STATUS *msg,
 154                                                      PFUNC_DMASTER_SET_N p_datamaster_set_n);
 155
 156 #if CONFIG_SENSOR_EXT_VALID                /* Initial Sensor Support */
 157 void VehicleSensPkgDeliveryEntryExt(const SENSOR_MSG_DELIVERY_ENTRY *msg);
 158 void VehicleSensLineSensDataDeliveryFst(const LSDRV_MSG_LSDATA_FST *, PFUNC_DMASTER_SET_N);
 159 void VehicleSensLineSensDataDeliveryFstG(const LSDRV_MSG_LSDATA_FST *msg, PFUNC_DMASTER_SET_N p_datamaster_set_n);
 160 #else
 161 void VehicleSensPkgDeliveryEntryError(const SENSOR_MSG_DELIVERY_ENTRY *msg);
 162 #endif
 163 void VehicleSensGpsDataDelivery(SENSOR_MSG_GPSDATA *msg,
 164                                 PFUNC_DMASTER_SET_N p_datamaster_set_n,
 165                                 PFUNC_DMASTER_SET_SHARED_MEMORY p_datamaster_set_sharedmemory);
 166
 167 void VehicleSensDataMasterSetN(DID did, u_int8 chg_type, u_int8 get_method);
 168 void VehicleSensDataMasterSetSharedMemory(DID did, u_int8 chg_type);
 169 /* ++ GPS _CWORD82_ support */
 170 void VehicleSensSetVehicleData(const VEHICLE_MSG_SEND *);
 171 /* -- GPS _CWORD82_ support */
 172
 173 void VehicleSensDrDeliveryEntry(const VEHICLE_MSG_DELIVERY_ENTRY *);
 174 void VehicleSensGetLog(const VEHICLEDEBUG_MSG_BUF* msg);
 175 void VehicleSensSetLog(const VEHICLEDEBUG_MSG_BUF* msg);
 176 void VehicleSensWriteLocalTime(const CANINPUT_MSG_INFO *msg);
 177 void VehicleSensSetEphNumSharedMemory(const SENSOR_MSG_GPSDATA *msg);
 178 void VehicleSensDrRcvMsg(const DEAD_RECKONING_RCVDATA *msg);
 179
 180 void VehicleSensCommonDataDelivery(const VEHICLE_MSG_BUF *msg, PFUNC_DMASTER_SET_N p_datamaster_set_n);
 181 void VehicleSensGpsTimeSndMsg(const POS_MSGINFO *pos_msg);
 182 void VehicleSensGpsTimeDelivery(const VEHICLE_MSG_BUF *msg);
 183 RET_API VehicleSensSendEvent(uint16_t snd_pno, int32_t event_val);
 184 void VehicleSensThreadStopProcess(void);
 185 #endif  // POSITIONING_SERVER_INCLUDE_SENSOR_VEHICLESENS_THREAD_H_