--- /dev/null
+/*
+ * @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.
+ */
+#ifndef POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_COMMON_API_H_
+#define POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_COMMON_API_H_
+
+/**
+ * @file POS_common_API.h
+ * @brief API definition file for common function
+ */
+
+/** @addtogroup BaseSystem
+ * @{
+ */
+/** @addtogroup vehicle_service
+ * @ingroup BaseSystem
+ * @{
+ */
+/** @addtogroup positioning
+ * @ingroup vehicle_service
+ * @{
+ */
+/*---------------------------------------------------------------------------------*
+ * Incluce *
+ *---------------------------------------------------------------------------------*/
+#include <vehicle_service/POS_define.h>
+#include <gps_hal.h>
+
+/*---------------------------------------------------------------------------------*
+ * Definition *
+ *---------------------------------------------------------------------------------*/
+/* State definitions can be used */
+#define SENSORLOCATION_STATUS_DISABLE (0) //!< \~english Not available
+#define SENSORLOCATION_STATUS_ENABLE (1) //!< \~english Available
+
+/* State definitions can be used */
+#define SENSORMOTION_STATUS_DISABLE (0) //!< \~english Not available
+#define SENSORMOTION_STATUS_ENABLE (1) //!< \~english Available
+/* Acquisition method */
+#define SENSOR_GET_METHOD_AUTO (0) //!< \~english Not specified
+#define SENSOR_GET_METHOD_GPS (1) //!< \~english GPS
+#define SENSOR_GET_METHOD_NAVI (2) //!< \~english Navigation
+#define SENSOR_GET_METHOD_DR (3) //!< \~english Dead Reckoning
+#define SENSOR_GET_METHOD_POS (4) //!< \~english positioning (Internal)
+
+
+#define LOCATIONINFO_NMEA_MAX (1020)
+//!< \~english Max length of 'Location Information'
+
+/* Command ID */
+/* Vehicle sensor information notification CID (Rate information) */
+
+/**
+ * \~english @brief Delivery speed command ID
+ * \~english @brief If you want to catch above envents, use NSFW like below.
+ * \~english @code
+ * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_SPEED, CBCallbackA);
+ * @endcode
+ */
+#define CID_POSIF_REGISTER_LISTENER_SPEED (0x0203)
+
+/**
+ * \~english @brief Delivery longitude and latitude command ID
+ * \~english @brief If you want to catch above envents, use NSFW like below.
+ * \~english @code
+ * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_LONLAT, CBCallbackA);
+ * @endcode
+ */
+#define CID_POSIF_REGISTER_LISTENER_LONLAT 0x0781
+
+/**
+ * \~english @brief Delivery altitude command ID
+ * \~english @brief If you want to catch above envents, use NSFW like below.
+ * \~english @code
+ * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_ALTITUDE, CBCallbackA);
+ * @endcode
+ */
+#define CID_POSIF_REGISTER_LISTENER_ALTITUDE 0x0782
+
+/**
+ * \~english @brief Delivery heading command ID
+ * \~english @brief If you want to catch above envents, use NSFW like below.
+ * \~english @code
+ * l_eStatus = FrameworkUnifiedAttachCallbackToDispatcher(h_app, POS_NTFY_SEND_THREAD, CID_POSIF_REGISTER_LISTENER_HEADING, CBCallbackA);
+ * @endcode
+ */
+#define CID_POSIF_REGISTER_LISTENER_HEADING 0x0783
+
+/*---------------------------------------------------------------------------------*
+ * Typedef declaration *
+ *---------------------------------------------------------------------------------*/
+
+/*---------------------------------------------------------------------------------*
+ * Struct declaration *
+ *---------------------------------------------------------------------------------*/
+/**
+ * @struct POS_POSDATA
+ * \~english position information
+ */
+typedef struct {
+ int8_t status; //!< \~english data status
+ uint8_t posSts; //!< \~english position status
+ uint16_t posAcc; //!< \~english position accuracy
+ int32_t longitude; //!< \~english current longitude
+ int32_t latitude; //!< \~english current latitude
+ int32_t altitude; //!< \~english current altitude
+ int16_t heading; //!< \~english current heading
+ uint8_t reserved[2]; //!< \~english reserve
+} POS_POSDATA;
+
+/**
+ * @struct SENSORLOCATION_MSG_LONLATINFO
+ * \~english longitude and latitude information data delivery message
+ */
+typedef struct {
+ SENSORLOCATION_LONLATINFO_DAT data;
+ //!< \~english longitude and latitude information data
+} SENSORLOCATION_MSG_LONLATINFO;
+
+/**
+ * @struct SENSORLOCATION_MSG_ALTITUDEINFO
+ * \~english altitude information data delivery message
+ */
+typedef struct {
+ SENSORLOCATION_ALTITUDEINFO_DAT data; //!< \~english altitude information data
+} SENSORLOCATION_MSG_ALTITUDEINFO;
+
+/**
+ * @struct SENSORMOTION_MSG_HEADINGINFO
+ * \~english heading information data delivery message
+ */
+typedef struct {
+ SENSORMOTION_HEADINGINFO_DAT data; //!< \~english heading information data
+} SENSORMOTION_MSG_HEADINGINFO;
+
+/**
+ * @struct SENSORMOTION_MSG_SPEEDINFO
+ * \~english speed information data delivery message
+ */
+typedef struct {
+ SENSORMOTION_SPEEDINFO_DAT data; //!< \~english speed information data
+} SENSORMOTION_MSG_SPEEDINFO;
+
+
+/**
+ * @struct POS_LOCATIONINFO_NMEA
+ * \~english Structure of Location Information (NMEA)
+ */
+typedef struct {
+ uint32_t length; //!< \~english length
+ uint8_t data[LOCATIONINFO_NMEA_MAX]; //!< \~english data
+} POS_LOCATIONINFO_NMEA;
+
+
+/*---------------------------------------------------------------------------------*
+ * Prototype Declaration *
+ *---------------------------------------------------------------------------------*/
+/* SENSOR_API public API */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Register for longitude and lattitude delivery
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] notifyName
+/// - PCSTR - Destination thread name
+/// \~english @param [in] ucCtrlFlg
+/// - uint8_t - Delivery control flag(register)
+/// \~english @param [in] ucDeliveryTiming
+/// - uint8_t - Delivery timing(change/update)
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(GPS/Navigation/Not specified)
+///
+/// \~english @par
+/// - Delivery control flag(ucCtrlFlg)
+/// - SENSOR_DELIVERY_REGIST - register
+/// - Register for specified logtitude and latitude delivery
+/// - Please note if call this function for multiple times, the data will be deliveried for multiple times.
+/// - The specified longitude and latitude will be deliveried during the registration(first delivery)
+/// - Delivery timing(ucDeliveryTiming)
+/// - SENSOR_DELIVERY_TIMING_CHANGE - change. Specified longitude and latitude will be deliveried \n
+/// only when it has been changed.
+/// - SENSOR_DELIVERY_TIMING_UPDATE - update. Specified longitude and latitude will be deliveried \n
+/// every time that has been updated by the vehicle sensors.
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_GPS - GPS. The longitude and latitude from GPS will be deliveried.
+/// - SENSOR_GET_METHOD_NAVI - Navi. The longitude and latitude from Navigation will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified. The specified longitude and latitude will be deliveried \n
+/// according to the current environment.
+/// - Avaliable method is descriped as following:\n
+/// In the following environment, if the SENSOR_GET_METHOD_AUTO is set,treated as default \n
+/// In the following environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.\n
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_BUFFULL the register count is full
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the dispatcher for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par changes of the internal status
+/// - There is no changes of the internal status by this API
+///
+/// \~english @par Failure condition
+/// - The parameter ucDeliveryTiming is neither update(SENSOR_DELIVERY_TIMING_UPDATE) nor change \n
+/// (SENSOR_DELIVERY_TIMING_CHANGE) [POS_RET_ERROR_PARAM]
+/// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [POS_RET_ERROR_PARAM]
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter notifyName is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to the max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to the max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to the max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference to the event \n
+/// is reach to the max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference to the event \n
+/// is reach to the max [POS_RET_ERROR_INNER]
+/// - Memory allocate failed during the event table creation for the event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already been registered. \n
+/// [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, try to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message transfered between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message transfer between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between process. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer failed between process. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during waiting event. \n
+/// [POS_RET_ERROR_INNER]
+/// - The count of thread beyond max in event management table during event waiting. [POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during getting event. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - Getting event timeout. [POS_RET_ERROR_INNER]
+/// - Error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The result of positioning service returned is SENSOR_RET_ERROR_PARAM. [POS_RET_ERROR_PARAM]
+/// - The result of positioning service returned is SENSOR_RET_ERROR_BUFFULL. [POS_RET_ERROR_BUFFULL]
+/// - The result of positioning service returned is SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of positioning service returned is not SENSOR_RET_ERROR_PARAM and SENSOR_RET_ERROR_BUFFULL \n
+/// and SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to register longitude and latitude information delivery.\n
+/// This API return the result of registered.
+/// \n
+///
+/// \~english @par
+/// Please note the following points when use this API.
+/// - Duplication registering
+/// - The same destination thread name has already been registered
+/// - The registered delivery data updated and normal return.(first delivery)
+/// - To one delivery destination, the same data will not be duplication deliveried at same time.
+/// - After call this API, if the delivery destination thread name has been changed, please call this API again.
+///
+/// \~english @par
+/// Notification of message
+/// - After registered successfully, vehicle sensor information will been sent as system API \n
+/// message with following format.\n
+/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_LONLAT \n
+/// message structure
+/// \~english @code
+/// typedef struct {
+/// SENSORLOCATION_LONLATINFO_DAT data; /* message data */
+/// } SENSORLOCATION_MSG_LONLATINFO;
+/// @endcode
+/// message data structure \n
+///
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* Synchrony count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t posSts; /* position status */
+/// uint16_t posAcc; /* Position accuracy */
+/// int32_t Longitude; /* Longitude */
+/// int32_t Latitude; /* Latitude */
+/// } SENSORLOCATION_LONLATINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_GPS - longitude and latitude from GPS
+/// - SENSOR_GET_METHOD_NAVI - longitude and latitude from Navigation
+/// - Synchrony count(SyncCnt)
+/// - Count for position data synchronous \n
+/// When delivery altitude and heading data, position data can be synchronized by SyncCnt.\n
+/// But the data of different method can not be synchronized by SyncCnt.\n
+/// Example 1: [LonLat from GPS] and [Heading from GPS] can be synchronized by SyncCnt.\n
+/// Example 2: [LonLat from GPS] and [LonLat from Navi] can not be synchronized by SyncCnt.\n
+/// Caution: The sensor count in sensor data delivery is another data.
+/// - Enable or not(isEnable) \n
+/// To describe this delivery message is whether can be used or not
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - when GPS data is specified,longitude and latitude is invalid at following condition:\n
+/// so [not avaliable] provieded
+/// - After system start, GPS unit has not received current location data and GPS unit \n
+/// status is not positioning fixed.
+/// - If it is not initialized status, certainly provide [avaliable] when Navigation data specified
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Position status(posSts)
+/// - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP)
+/// - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS)
+/// - Bit2 : DR data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DR)
+/// - Bit3 : MapMatching data used result(1:used, 0:not used, definition of \n
+/// maskbit:POS_LOC_INFO_USE_MAPMATCHING)
+/// - Position accuracy(posAcc)
+/// - Detected accruray of current position:1LSB=1m \n
+/// - Longitude : (WGS-84)(10^-7degree as 1) \n
+/// East longitude is positive value and west longitude is negative value.
+/// - Latitude : (WGS-84)(10^-7degree as 1) \n
+/// North latitude positive value and south latitude is negative value.
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Method
+///
+/// \~english @see
+/// - POS_GetLonLat
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, PCSTR notifyName, uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming,
+ uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Register altitude delivery
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] notifyName
+/// - PCSTR - Destination thread name
+/// \~english @param [in] ucCtrlFlg
+/// - uint8_t - Delivery control flag(register)
+/// \~english @param [in] ucDeliveryTiming
+/// - uint8_t - Delivery timing(change/update)
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(GPS/Not specified)
+///
+/// \~english @par
+/// - Delivery control flag(ucCtrlFlg)
+/// - SENSOR_DELIVERY_REGIST - register
+/// - Register specified altitude delivery
+/// - Please note that if the same data delivery has been registered for multiple times, the data will \n
+/// also be deliveried for registered multiple times.
+/// - The specified altitude will be deliveried at registered time (first delivery).
+/// - Delivery timing(ucDeliveryTiming)
+/// - SENSOR_DELIVERY_TIMING_CHANGE - change. Specified altitude will be deliveried only when it is changed.
+/// - SENSOR_DELIVERY_TIMING_UPDATE - update. Specified altitude will be deliveried when it is updated by \n
+/// vehicle sensor.
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_GPS - GPS. The altitude from GPS will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified. The altitude will be deliveried according to \n
+/// the current environment
+/// - Avaliable method is descriped as following in each environment. \n
+/// In the following environment, if the SENSOR_GET_METHOD_AUTO is set,treated as default \n
+/// In the following environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_BUFFULL the register count is full
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the dispatcher \n
+/// for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par changes of internal status
+/// - There is no changes of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter ucDeliveryTiming is neither update(SENSOR_DELIVERY_TIMING_UPDATE) nor change \n
+/// (SENSOR_DELIVERY_TIMING_CHANGE) [POS_RET_ERROR_PARAM]
+/// - The parameter ucCtrlFlg is not registered(SENSOR_DELIVERY_REGIST) [POS_RET_ERROR_PARAM]
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter notifyName is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reached to the max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reached to the max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reached to the max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference to the event \n
+/// is reach to max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference to the event \n
+/// is reach to the max [POS_RET_ERROR_INNER]
+/// - Memory allocate failed during the event table creation for that event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already been registered. \n
+/// [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full during event creation. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, try to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message transfered between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message transfer between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during event waiting. \n
+/// [POS_RET_ERROR_INNER]
+/// - The count of thread is reach to max in event management table during event waiting.[POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - Getting event timeout. [POS_RET_ERROR_INNER]
+/// - Error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The result of positioning service is SENSOR_RET_ERROR_PARAM. [POS_RET_ERROR_PARAM]
+/// - The result of positioning service is SENSOR_RET_ERROR_BUFFULL. [POS_RET_ERROR_BUFFULL]
+/// - The result of positioning service is SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of positioning service is not SENSOR_RET_ERROR_PARAM and SENSOR_RET_ERROR_BUFFULL and \n
+/// SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to register altitude delivery. \n
+/// This API will finish when get the return value.
+///
+/// \~english @par
+/// Please note the following points when use this API.
+/// - Duplication registering
+/// - The same destination thread name has already been registered
+/// - The registered delivery data updated and normal return.(first delivery)
+/// - To one delivery destination, the same data will not be duplication deliveried at same timing.
+/// - After call this API, if the delivery destination thread name is changed, please call this API again.
+///
+/// \~english @par
+/// Notification of message
+/// - After registered successfully, vehicle sensor will send system API message with following format. \n
+/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_ALTITUDE \n
+/// message structure
+/// \~english @code
+/// typedef struct {
+/// SENSORLOCATION_ALTITUDEINFO_DAT data; /* message data */
+/// } SENSORLOCATION_MSG_ALTITUDEINFO;
+/// @endcode
+/// message data structure
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* synchrony count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t Reserve[3]; /* Reserve */
+/// int32_t Altitude; /* Altitude(unit:0.01m) */
+/// } SENSORLOCATION_ALTITUDEINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_GPS - altitude from GPS
+/// - Synchrony count(SyncCnt)
+/// - Count for position data synchronous \n
+/// When delivery altitude and heading data, position data can be synchronized by SyncCnt. \n
+/// But the data of different method can not be synchronized by SyncCnt.\n
+/// example: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by SyncCnt.\n
+/// synchronized by SyncCnt. \n
+/// Caution: The sensor count in sensor data delivery is another data.
+/// - Enable or not(isEnable) \n
+/// To describe this delivery message is whether can be used or not.
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - when GPS data specified, Altitude is invalid at following condition(so [not avaliable] provieded):
+/// - Immediately after system start, GPS unit has not received current location data and GPS unit status \n
+/// is not positioning fix
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Altitude
+/// - altitude data(unit 0.01m)
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Method
+///
+/// \~english @see delivery
+/// - POS_GetAltitude
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_RegisterListenerAltitude(HANDLE hApp, PCSTR notifyName, uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming,
+ uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Register speed delivery
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] notifyName
+/// - PCSTR - Destination thread name
+/// \~english @param [in] ucCtrlFlg
+/// - uint8_t - Delivery control flag(register)
+/// \~english @param [in] ucDeliveryTiming
+/// - uint8_t - Delivery timing(change/update)
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(POS/Navi/Not specified)
+///
+/// \~english @par
+/// - Delivery control flag(ucCtrlFlg)
+/// - SENSOR_DELIVERY_REGIST - register
+/// - Register specified speed delivery
+/// - Please note that if the same data delivery has been registered for multiple times, the data will \n
+/// also be deliveried for registered mutiple times.
+/// - The specified speed will be deliveried at registered time (first delivery).
+/// - Delivery timing(ucDeliveryTiming)
+/// - SENSOR_DELIVERY_TIMING_CHANGE - change. Specified speed will be deliveried only when it is changed.
+/// - SENSOR_DELIVERY_TIMING_UPDATE - update. Specified speed will be deliveried when it is updated by \n
+/// vehicle sensor.
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_POS - The speed calculated in positioning based on speed pulse will be deliveried.
+/// - SENSOR_GET_METHOD_NAVI - Navi The speed from Navi will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified The speed will be deliveried according to the current environment
+/// deliveried.
+/// - Avaliable method is descriped as following in each environment. \n
+/// In the following environment, if the SENSOR_GET_METHOD_AUTO is set,treated as default \n
+/// In the following environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.
+///
+/// \~english @retval POS_RET_NORMAL normal end
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_BUFFULL the register count is full
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher for App \n
+/// are completed.
+/// - Availability of service positioning is TRUE.
+///
+/// \~english @par change of internal status
+/// - There is no change of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter ucDeliveryTiming is neither update(SENSOR_DELIVERY_TIMING_UPDATE) \n
+/// nor change(SENSOR_DELIVERY_TIMING_CHANGE) [POS_RET_ERROR_PARAM]
+/// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [POS_RET_ERROR_PARAM]
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter notifyName is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - Memory allocate failed during the event table creation for event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already been registered. \n
+/// [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full during event creation. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, try to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message transfered between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message transfer between processes.\n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during event waiting. \n
+/// [POS_RET_ERROR_INNER]
+/// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - Getting event timeout. [POS_RET_ERROR_INNER]
+/// - Error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The result of positioning service is SENSOR_RET_ERROR_PARAM. [POS_RET_ERROR_PARAM]
+/// - The result of positioning service is SENSOR_RET_ERROR_BUFFULL. [POS_RET_ERROR_BUFFULL]
+/// - The result of positioning service is SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of positioning service is not SENSOR_RET_ERROR_PARAM and SENSOR_RET_ERROR_BUFFULL \n
+/// and SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to register speed delivery. \n
+/// This API will finish when get the return value.
+///
+/// \~english @par
+/// Please note the following points when use this API.
+/// - Duplication registering
+/// - The same destination thread name has already been registered
+/// - The registered delivery data updated and normal return.(first delivery)
+/// - To one delivery destination, the same data will not be duplication deliveried at same timing.
+/// - After call this API, if the delivery destination thread name is changed, please call this API again.
+///
+/// \~english @par
+/// Notification of message
+/// - After registered successfully, vehicle sensor will send system API message with following format. \n
+/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_SPEED \n
+/// message structure
+/// \~english @code
+/// typedef struct {
+/// SENSORMOTION_SPEEDINFO_DAT data; /* message data */
+/// } SENSORMOTION_MSG_SPEEDINFO;
+/// @endcode
+/// message data structure
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* synchrony count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t Reserve1[3]; /* Reserve */
+/// uint16_t Speed; /* speed(unit:0.01m/sec) */
+/// uint8_t Reserve2[2]; /* Reserve */
+/// } SENSORMOTION_SPEEDINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_POS - The speed calculated in positioning based on speed pulse will be deliveried.
+/// - SENSOR_GET_METHOD_NAVI - speed from Navi
+/// - Synchrony count(SyncCnt)
+/// - 0 (not change).
+/// - Enable or not(isEnable) \n
+/// To describe this data is whether enable or not.
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - Speed is invalid at following condition when speed pulse specified, so [not avaliable] provieded
+/// - Immediately after system start, the sensor data have not been received from SYS micon
+/// - If it is not initialization status, certainly provide [avaliable] when Navi data specified
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Speed
+/// - speed data(unit 0.01m/sec)
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Method
+///
+/// \~english @see
+/// - POS_GetSpeed
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_RegisterListenerSpeed(HANDLE hApp, PCSTR notifyName, uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming,
+ uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Register heading delivery
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] notifyName
+/// - PCSTR - Destination thread name
+/// \~english @param [in] ucCtrlFlg
+/// - uint8_t - Delivery control flag(register)
+/// \~english @param [in] ucDeliveryTiming
+/// - uint8_t - Delivery timing(change/update)
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(GPS/Navi/Not specified)
+///
+/// \~english @par
+/// - Delivery control flag(ucCtrlFlg)
+/// - SENSOR_DELIVERY_REGIST - register
+/// - Register specified heading delivery
+/// - Please note that if the same data delivery has been registered for mutiple times, the data will \n
+/// also be deliveried for registered mutiple times.
+/// - The specified heading will be deliveried at registered time (first delivery).
+/// - Delivery timing(ucDeliveryTiming)
+/// - SENSOR_DELIVERY_TIMING_CHANGE - change. Specified heading will be deliveried only when it is changed.
+/// - SENSOR_DELIVERY_TIMING_UPDATE - update. Specified heading will be deliveried when it is updated by \n
+/// vehicle sensor.
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_GPS - GPS. The heading from GPS will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified. The heading will be deliveried \n
+/// according to the current environment
+/// - Avaliable method is descriped as following in each environment. \n
+/// In the following environment, if the SENSOR_GET_METHOD_AUTO is set,treated as default \n
+/// In the following environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_BUFFULL the register count is full
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher \n
+/// for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par changes of internal status
+/// - There is no changes of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter ucDeliveryTiming is neither update(SENSOR_DELIVERY_TIMING_UPDATE) nor change \n
+/// (SENSOR_DELIVERY_TIMING_CHANGE) [POS_RET_ERROR_PARAM]
+/// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [POS_RET_ERROR_PARAM]
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter notifyName is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference is reach max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - Memory allocate failed during the event table creation for event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already \n
+/// been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full during event creation. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, try to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message transfered between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message transfer between \n
+/// processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during event waiting. \n
+/// [POS_RET_ERROR_INNER]
+/// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - Getting event timeout. [POS_RET_ERROR_INNER]
+/// - Error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The result of positioning service is SENSOR_RET_ERROR_PARAM. [POS_RET_ERROR_PARAM]
+/// - The result of positioning service is SENSOR_RET_ERROR_BUFFULL. [POS_RET_ERROR_BUFFULL]
+/// - The result of positioning service is SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of positioning service is not SENSOR_RET_ERROR_PARAM and SENSOR_RET_ERROR_BUFFULL \n
+/// and SENSOR_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to register heading delivery.
+/// This API will finish when get the return value.
+///
+/// \~english @par
+/// Please note the following points when use this API.
+/// - Duplication registering
+/// - The same destination thread name has already been registered
+/// - The registered delivery data updated and normal return.(first delivery)
+/// - To one delivery destination, the same data will not be duplication deliveried at same timing.
+/// - After call this API, if the delivery destination thread name is changed, please call this API again.
+///
+/// \~english @par
+/// Notification of message
+/// - After registered successfully, vehicle sensor will send system API message with following format. \n
+/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_HEADING \n
+/// message structure
+/// \~english @code
+/// typedef struct {
+/// SENSORMOTION_HEADINGINFO_DAT data; /* message data */
+/// } SENSORMOTION_MSG_HEADINGINFO;
+/// @endcode
+/// message data structure
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* sync count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t posSts; /* position status */
+/// uint8_t Reserve1[2]; /* Reserve */
+/// uint16_t Heading; /* heading(unit:0.01degree) */
+/// uint8_t Reserve2[2]; /* Reserve */
+/// } SENSORMOTION_HEADINGINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_GPS - Heading from GPS
+/// - SENSOR_GET_METHOD_NAVI - Heading from Navi
+/// - Synchrony count(SyncCnt)
+/// - Count for position data synchronous \n
+/// When delivery altitude and heading data, position data can be synchronized by this count. \n
+/// But the data of different method can not be synchronized by this count.\n
+/// example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by the count. \n
+/// example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be \n
+/// synchronized by the count. \n
+/// Caution: The sensor count in sensor data delivery is another data.
+/// - Enable or not(isEnable) \n
+/// To describe this data is whether enable or not.
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - Heading is invalid at following condition when GPS data specified, so [not avaliable] provieded \n
+/// - Immediately after system start, GPS unit has not received current location data and GPS unit status \n
+/// is not positioning fix
+/// - If it is not initialization status, certainly provide [avaliable] when Navi data specified
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Position status(posSts)
+/// - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP)
+/// - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS)
+/// - Bit2 : DR data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DR)
+/// - Bit3 : MapMatching data used result(1:used, 0:not used, definition of \n
+/// maskbit:POS_LOC_INFO_USE_MAPMATCHING)
+/// - Heading
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Method
+///
+/// \~english @see
+/// - POS_GetHeading
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, PCSTR notifyName, uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming,
+ uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Get longitude and latitude information
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [out] dat
+/// - SENSORLOCATION_LONLATINFO_DAT* - output pointer to longitude and latitude informaiton
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(GPS/Navi/Not specified)
+///
+/// \~english @par
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_GPS - GPS The longitude and latitude from GPS will be deliveried.
+/// - SENSOR_GET_METHOD_NAVI - Navi The longitude and latitude from Navi will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified The longitude and latitude will be deliveried \n
+/// according to the current environment.
+/// - Avaliable method is descriped as following in each environment. \n
+/// In the following environment, if the SENSOR_GET_METHOD_AUTO is set,treated as default \n
+/// In the following environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.
+/// \~english @par
+/// - SENSORLOCATION_LONLATINFO_DAT structure
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* sync count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t posSts; /* position status */
+/// uint16_t posAcc; /* Position accuracy */
+/// int32_t Longitude; /* Longitude */
+/// int32_t Latitude; /* Latitude */
+/// } SENSORLOCATION_LONLATINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_GPS - longitude and latitude from GPS
+/// - SENSOR_GET_METHOD_NAVI - longitude and latitude from Navi
+/// - Synchrony count(SyncCnt)
+/// - Count for position data synchronous\n
+/// When delivery altitude and heading data, position data can be synchronized by this count. \n
+/// But the data of different method can not be synchronized by this count. \n
+/// example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by this count. \n
+/// example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be \n
+/// synchronized by this count. \n
+/// Caution: The sensor count in sensor data delivery is another data.
+/// - Enable or not(isEnable) \n
+/// To describe this data is whether enable or not.
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - longitude and latitude is invalid at following condition when GPS data specified, \n
+/// so [not avaliable] provieded
+/// - Immediately after system start, GPS unit has not received current location data and \n
+/// GPS unit status is not positioning fix
+/// - If it is not initialization status, certainly provide [avaliable] when Navi data specified\n
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Position status(posSts)
+/// - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP)
+/// - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS)
+/// - Bit2 : DR data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DR)
+/// - Bit3 : MapMatching data used result(1:used, 0:not used, definition of \n
+/// maskbit:POS_LOC_INFO_USE_MAPMATCHING)
+/// - Position accuracy(posAcc)
+/// - Detected accruray of current position:1LSB=1m
+/// - Longitude : (WGS-84)(10^-7degree as 1) \n
+/// East longitude is positive value and west longitude is minus value.
+/// - Latitude : (WGS-84)(10^-7degree as 1)\n
+/// North latitudeis positive value and south latitude is minus value.
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher \n
+/// for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par change of internal status
+/// - There is no change of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter dat is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - Memory allocate failed during the event table creation for event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already been registered. \n
+/// [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full during event creation. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, try to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - The memory for storing semaphore control data allocate failed. [POS_RET_ERROR_INNER]
+/// - Specified semaphore ID has not been registered when lock semaphore. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE is NULL when lock mutex. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE has not been registered in mutex table when lock mutex. [POS_RET_ERROR_INNER]
+/// - The owner of specified mutex is not itself when lock mutex. [POS_RET_ERROR_INNER]
+/// - Mutex has been multiple locked [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address. [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory map. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory management. [POS_RET_ERROR_INNER]
+/// - Can not open share memory. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory. [POS_RET_ERROR_INNER]
+/// - No empty field in share memory. [POS_RET_ERROR_INNER]
+/// - Failed to guarantee share memory. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message transfered between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message transfer \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered between processes. \n
+/// [POS_RET_ERROR_INNER]
+/// - Message transfer failed between process. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during event waiting. \n
+/// [POS_RET_ERROR_INNER]
+/// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address for accessing received data. \n
+/// [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory map allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory management allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Can not open share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - The size of data stored in share memory is larger than the size of received data. [POS_RET_ERROR_INNER]
+/// - The result of getting sensor data get is POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of getting sensor data get is not POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to get longitude and latitude from vehicle sensor
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Sync
+///
+/// \~english @see
+/// - POS_RegisterListenerLonLat
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_GetLonLat(HANDLE hApp, SENSORLOCATION_LONLATINFO_DAT *dat, uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Get altitude data
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [out] dat
+/// - SENSORLOCATION_ALTITUDEINFO_DAT* - output pointer to altitude data
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(GPS/Not specified)
+///
+/// \~english @par
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_GPS - GPS The altitude from GPS will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified The altitude will be deliveried \n
+/// according to the current environment
+/// - Avaliable method is descriped as following in each environment. \n
+/// In the following environment, if the SENSOR_GET_METHOD_AUTO is set,treated as default \n
+/// In the following environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.
+/// \~english @par
+/// - SENSORLOCATION_ALTITUDEINFO_DAT structure
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* sync count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t Reserve[3]; /* Reserve */
+/// int32_t Altitude; /* Altitude(unit:0.01m) */
+/// } SENSORLOCATION_ALTITUDEINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_GPS - altitude from GPS
+/// - Synchrony count(SyncCnt)
+/// - Count for position data synchronous \n
+/// When delivery altitude and heading data, position data can be synchronized by this count. \n
+/// But the data of different method can not be synchronized by this count. \n
+/// example: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by the count. \n
+/// synchronized by the count. \n
+/// Caution: The sensor count in sensor data delivery is another data.
+/// - Enable or not(isEnable)\n
+/// To describe this data is whether enable or not.
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - Altitude is invalid at following condition when GPS data specified, so [not avaliable] provieded
+/// - Immediately after system start, GPS unit has not received current location data and GPS unit \n
+/// status is not positioning fix
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Altitude
+/// - altitude data(unit 0.01m)
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of \n
+/// the Dispatcher for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par changes of internal status
+/// - There is no changes of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter dat is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - Memory allocate falied during the event table creation for event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already been \n
+/// registered. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full during event creation. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, try to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - The memory for storing semaphore control data allocate failed. [POS_RET_ERROR_INNER]
+/// - Specified semaphore ID has not been registered when lock semaphore. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE is NULL when lock mutex. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE has not been registered in mutex table when lock mutex. [POS_RET_ERROR_INNER]
+/// - The owner of specified mutex is not itself when lock mutex. [POS_RET_ERROR_INNER]
+/// - Mutex has been multiple locked [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address. [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory map. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory management. [POS_RET_ERROR_INNER]
+/// - Can not open share memory. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory. [POS_RET_ERROR_INNER]
+/// - No empty field in share memory. [POS_RET_ERROR_INNER]
+/// - Failed to guarantee share memory. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message \n
+/// transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message \n
+/// transfer between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during \n
+/// event waiting. [POS_RET_ERROR_INNER]
+/// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address for accessing
+/// received data. [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory map allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory management allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Can not open share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - The size of data stored in share memory is larger than the size of received data. [POS_RET_ERROR_INNER]
+/// - The result of getting sensor data is POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of getting sensor data is not POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to get altitude from vehicle sensor
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Sync
+///
+/// \~english @see
+/// - POS_RegisterListenerAltitude
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_GetAltitude(HANDLE hApp, SENSORLOCATION_ALTITUDEINFO_DAT *dat, uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Get speed data
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [out] dat
+/// - SENSORMOTION_SPEEDINFO_DAT* - output buffer pointer to store speed data
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(POS/Navi/Not specified)
+///
+/// \~english @par
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_POS - The speed calculated in positioning based on speed pulse will be deliveried.
+/// - SENSOR_GET_METHOD_NAVI - Navi The speed from Navi will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified The speed will be deliveried according to current \n
+/// environment.
+/// - Avaliable method is descriped as following in each environment. \n
+/// In the following environment, if the SENSOR_GET_METHOD_AUTO is set,treated as default \n
+/// In the following environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.
+///
+/// \~english @par
+/// - SENSORMOTION_SPEEDINFO_DAT structure
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* sync count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t Reserve1[3]; /* Reserve */
+/// uint16_t Speed; /* speed(unit:0.01m/sec) */
+/// uint8_t Reserve2[2]; /* Reserve */
+/// } SENSORMOTION_SPEEDINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_POS - The speed calculated in positioning based on speed pulse will be deliveried.
+/// - Sync count(SyncCnt)
+/// - 0.
+/// - Enable or not(isEnable) \n
+/// To describe this data is whether enable or not.
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - Speed is invalid at following condition when speed pulse specified, so [not avaliable] provieded
+/// - Immediately after system start, the sensor data have not been received from SYS micon
+/// - If it is not initialization status, certainly provide [avaliable] when Navi data specified
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Speed
+/// - speed data(unit 0.01m/sec)
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) \n
+/// of the dispatcher for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par changes of internal status
+/// - There is no changes of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter dat is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - Memory allocate falied when the event table creation that for event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table when the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already been \n
+/// registered. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full when event creation. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed when event table creation. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - The memory for storing semaphore control data allocate failed. [POS_RET_ERROR_INNER]
+/// - Specified semaphore ID has not been registered when semaphore lock. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE is NULL when mutex lock. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE has not been registered in mutex table when mutex lock. [POS_RET_ERROR_INNER]
+/// - The owner of specified mutex is not itself when mutex lock. [POS_RET_ERROR_INNER]
+/// - Mutex has been multiple locked [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address. [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory map. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory management. [POS_RET_ERROR_INNER]
+/// - Can not open share memory. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory. [POS_RET_ERROR_INNER]
+/// - No empty field in share memory. [POS_RET_ERROR_INNER]
+/// - Failed to guarantee share memory. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message transfered \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message transfer \n
+/// between processes [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered between \n
+/// processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during event \n
+/// waiting. [POS_RET_ERROR_INNER]
+/// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address for accessing \n
+/// received data. [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory map allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory management allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Can not open share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - The size of data stored in share memory is larger than the size of received data. [POS_RET_ERROR_INNER]
+/// - The result of getting sensor data is POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of getting sensor data is not POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to get speed from vehicle sensor.
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Sync
+///
+/// \~english @see
+/// - POS_RegisterListenerSpeed
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_GetSpeed(HANDLE hApp, SENSORMOTION_SPEEDINFO_DAT *dat, uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Get heading data
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [out] dat
+/// - SENSORMOTION_HEADINGINFO_DAT* - output buffer pointer to store heading data
+/// \~english @param [in] ucGetMethod
+/// - uint8_t - Get method(GPS/Navi/Not specified)
+///
+/// \~english @par
+/// - Get method(ucGetMethod)
+/// - SENSOR_GET_METHOD_GPS - GPS The heading from GPS will be deliveried.
+/// - SENSOR_GET_METHOD_NAVI - Navi The heading from Navi will be deliveried.
+/// - SENSOR_GET_METHOD_AUTO - Not specified The heading which most suitable in current environment \n
+/// - Avaliable method is descriped as following in each environment. \n
+/// In corresponding environment, the SENSOR_GET_METHOD_AUTO is set as default. \n
+/// In corresponding environment, if the unsupported method has been specified, \n
+/// POS_RET_ERROR_PARAM will be returned.
+/// \~english @par
+/// - SENSORMOTION_HEADINGINFO_DAT structure
+/// \~english @code
+/// typedef struct {
+/// uint8_t getMethod; /* get method */
+/// uint8_t SyncCnt; /* sync count */
+/// uint8_t isEnable; /* enable or not */
+/// uint8_t posSts; /* position status */
+/// uint8_t Reserve1[2]; /* Reserve */
+/// uint16_t Heading; /* heading(unit:0.01degree) */
+/// uint8_t Reserve2[2]; /* Reserve */
+/// } SENSORMOTION_HEADINGINFO_DAT;
+/// @endcode
+/// - Get method(getMethod)
+/// - SENSOR_GET_METHOD_GPS - Heading from GPS
+/// - SENSOR_GET_METHOD_NAVI - Heading from Navi
+/// - Synchrony count(SyncCnt)
+/// - Count for position data synchronous \n
+/// When delivery altitude and heading data, position data can be synchronized by this count. \n
+/// But the data of different method can not be synchronized by this count. \n
+/// example 1: [longitude and latitude from GPS] and [heading from GPS] can be synchronized by the count. \n
+/// example 2: [longitude and latitude from GPS] and [longitude and latitude from Navi] can not be \n
+/// synchronized by the count. \n
+/// Caution: The sensor count in sensor data delivery is another data.
+/// - Enable or not(isEnable) \n
+/// To describe this data is whether enable or not.
+/// - 0 - not avaliable
+/// - not 0 - avaliable
+/// - Heading is invalid at following condition when GPS data specified, so [not avaliable] provieded
+/// - Immediately after system start, GPS unit has not received current location data and GPS unit \n
+/// status is not positioning fix
+/// - If it is not initialization status, certainly provide [avaliable] when Navi data specified
+/// - If the status is [not avaliable], data following can not be guaranteed.
+/// - Position status(posSts)
+/// - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP)
+/// - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS)
+/// - Bit2 : DR data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DR)
+/// - Bit3 : MapMatching data use result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_MAPMATCHING)
+/// - Heading
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher
+/// - for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par changes of internal status
+/// - There is no changes of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter dat is NULL [POS_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The event is created in same process, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_INNER]
+/// - Memory allocate falied during the event table creation for event registering. [POS_RET_ERROR_INNER]
+/// - The thread can not register in the event table. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag has already been \n
+/// registered. [POS_RET_ERROR_INNER]
+/// - After register the thread table in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - The event table is full during event creation. [POS_RET_ERROR_INNER]
+/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_INNER]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_INNER]
+/// - In event table, try to allocate the memory of the thread table creation, but failed. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag has already been registered. [POS_RET_ERROR_INNER]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_INNER]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_INNER]
+/// - Initialize event object failed. [POS_RET_ERROR_INNER]
+/// - The memory for storing semaphore control data allocate failed. [POS_RET_ERROR_INNER]
+/// - Specified semaphore ID has not been registered when semaphore lock. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE is NULL when mutex lock. [POS_RET_ERROR_INNER]
+/// - Internal mutex HANDLE has not been registered in mutex table when mutex lock. [POS_RET_ERROR_INNER]
+/// - The owner of specified mutex is not itself when mutex lock. [POS_RET_ERROR_INNER]
+/// - Mutex has been multiple locked [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address. [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory map. [POS_RET_ERROR_INNER]
+/// - Memory allocate failed for share memory management. [POS_RET_ERROR_INNER]
+/// - Can not open share memory. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory. [POS_RET_ERROR_INNER]
+/// - No empty field in share memory. [POS_RET_ERROR_INNER]
+/// - Failed to guarantee share memory. [POS_RET_ERROR_INNER]
+/// - ProcessNo has not been registered in message control table when message transfered \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message transfer \n
+/// between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered between \n
+/// processes. [POS_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [POS_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table \n
+/// during event waiting[POS_RET_ERROR_INNER]
+/// - The count of thread is reach to max in event management table during event waiting. [POS_RET_ERROR_INNER]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event getting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event getting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event getting [POS_RET_ERROR_INNER]
+/// - Whatever error happened during event getting. [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address for accessing received \n
+/// data. [POS_RET_ERROR_INNER]
+/// - Can not get usable share memory address for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory map allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Memory for share memory management allocate failed for accessing received data. [POS_RET_ERROR_INNER]
+/// - Can not open share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - Failed to mapping share memory for accessing received data. [POS_RET_ERROR_INNER]
+/// - The size of data stored in share memory is larger than the size of received data. [POS_RET_ERROR_INNER]
+/// - The result of getting sensor data is POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_RESOURCE]
+/// - The result of getting sensor data is not POS_RET_ERROR_RESOURCE. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to get heading from vehicle sensor.
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Sync
+///
+/// \~english @see
+/// - POS_RegisterListenerHeading
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_GetHeading(HANDLE hApp, SENSORMOTION_HEADINGINFO_DAT *dat, uint8_t ucGetMethod);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Set speed information
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] navispeed
+/// - uint16_t - speed data[unit: 1.0km/h]
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of \n
+/// the Dispatcher for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par changes of internal status
+/// - There is no changes of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The data size is larger than specified value(POS_MSG_INFO_DSIZE) [POS_RET_ERROR_RESOURCE]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The message queue name has not been registered in control table. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table. [POS_RET_ERROR_INNER]
+/// - Speed data setting message transfer failed. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to set speed to vehicle sensor. \n
+/// This API will finish when get the return value. \n
+/// The speed set by this API is saved in positioning as the speed calculated by Navi.
+///
+/// \~english @par
+/// - Please note the following points when use this API.
+/// - This API is only called by Navi proxy.
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Fire and Forget
+///
+/// \~english @see
+/// - None
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_SetSpeedInfo(HANDLE hApp, uint16_t navispeed);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Set location information
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] pstPosData
+/// - POS_POSDATA * - pointer to location information
+///
+/// \~english @par
+/// - POS_POSDATA structure
+/// \~english @code
+/// typedef struct
+/// {
+/// int8_t status; /* data status */
+/// uint8_t posSts; /* position status */
+/// uint16_t posAcc; /* Position accuracy 1LSB=1m */
+/// int32_t Longitude; /* Longitude(unit:1/128sec) */
+/// int32_t Latitude; /* Latitude(unit:1/128sec) */
+/// int32_t altitude; /* altitude (unit:0.01m) */
+/// int16_t heading; /* heading (unit:1degree) */
+/// uint8_t reserved[2]; /* reserve */
+/// } POS_POSDATA;
+/// @endcode
+///
+/// \~english @par
+/// - data status(status) \n
+/// Do not set the invalid data(do not update data).
+/// - data valid/invalid status
+/// - Bit0 : latitude(1:valid, 0:invalid, definition of maskbit:POS_LOC_INFO_LAT)
+/// - Bit1 : longitude(1:valid, 0:invalid, definition of maskbit:POS_LOC_INFO_LON)
+/// - Bit2 : altitude (1:valid, 0:invalid, definition of maskbit:POS_LOC_INFO_ALT)
+/// - Bit3 : heading (1:valid, 0:invalid, definition of maskbit:POS_LOC_INFO_HEAD)
+/// - Bit4~7 : reserve
+/// - Position status(posSts)
+/// - Bit0 : GPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_GSP)
+/// - Bit1 : DGPS data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DGPS)
+/// - Bit2 : DR data used result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_DR)
+/// - Bit3 : MapMatching data use result(1:used, 0:not used, definition of maskbit:POS_LOC_INFO_USE_MAPMATCHING)
+/// - Bit4~7 : reserve
+/// - Position accuracy(posAcc)
+/// - Detected accruray of current position:1LSB=1m
+/// - longitude
+/// - data range: -180deg ~ +180deg
+/// - +: east longitude -: west longitude
+/// - latitude
+/// - data range:-90deg ~ +90deg
+/// - +: north latitude -: south latitude
+/// - heading
+/// - data range:-179deg ~ +180deg
+/// - Based on north, west(counter-clockwise) is +, east(clockwise) is -
+///
+/// \~english @retval POS_RET_NORMAL normal finish
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_INNER internal error
+/// \~english @retval POS_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval POS_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization(FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher \n
+/// for App are completed.
+/// - Availability of positioning service is TRUE.
+///
+/// \~english @par change of internal status
+/// - There is no change of internal status
+///
+/// \~english @par Failure condition
+/// - The parameter pstPosData is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter hApp is NULL [POS_RET_ERROR_PARAM]
+/// - The data status in parameter pstPosData is invalid value(0). [POS_RET_ERROR_PARAM]
+/// - The data status in parameter pstPosData is abnormal value(<15). [POS_RET_ERROR_PARAM]
+/// - The data size is larger than specified value(POS_MSG_INFO_DSIZE) [POS_RET_ERROR_RESOURCE]
+/// - The count of message in message queue is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [POS_RET_ERROR_RESOURCE]
+/// - The message queue name has not been registered in control table. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed. [POS_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table. [POS_RET_ERROR_INNER]
+/// - Location data setting message transfer failed. [POS_RET_ERROR_INNER]
+///
+/// \~english @par Detail
+/// - Call this API to set location to vehicle sensor. \n
+/// This API will finish when get the return value. \n
+/// The location set by this API is saved in positioning as the location calculated by Navi. \n
+/// If one of longitude and latitude is valid, the another data will be used as valid data no \n
+/// matter what status it is. \n
+/// If one of longitude and latitude is valid, the position accuracy data will be used as valid data.
+///
+/// \~english @par
+/// - Please note the following points when use this API.
+/// - This API is only called by Navi proxy.
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Fire and Forget
+///
+/// \~english @see
+/// - None
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+POS_RET_API POS_SetLocationInfo(HANDLE hApp, POS_POSDATA* pstPosData);
+
+#ifdef __cplusplus
+}
+#endif
+/** @}*/ // end of positioning
+/** @}*/ // end of vehicle_service
+/** @}*/ // end of BaseSystem
+#endif // POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_COMMON_API_H_
Code Review / staging / basesystem.git / blobdiff