--- /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_SENSOR_API_H_
+#define POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_
+/**
+ * @file POS_sensor_API.h
+ * @brief API definition file for Sensor function
+ */
+
+/** @addtogroup BaseSystem
+ * @{
+ */
+/** @addtogroup vehicle_service
+ * @ingroup BaseSystem
+ * @{
+ */
+/** @addtogroup positioning
+ * @ingroup vehicle_service
+ * @{
+ */
+/*---------------------------------------------------------------------------------*
+ * Incluce *
+ *---------------------------------------------------------------------------------*/
+#include <vehicle_service/POS_define.h>
+
+/*---------------------------------------------------------------------------------*
+ * Definition *
+ *---------------------------------------------------------------------------------*/
+/* POSITIONING_DID */
+#define POS_DID_SPEED_PULSE 0x80000012 //!< \~english Data ID of speed pulse
+#define POS_DID_SPEED_KMPH 0x80000013 //!< \~english Data ID of KMPH speed
+#define POS_DID_SNS_COUNTER 0x8000001A
+//!< \~english Data ID of sensor counter
+#define POS_DID_GYRO_X 0x80000014 //!< \~english Data ID of X axis gyro
+#define POS_DID_GYRO_Y 0x80000085 //!< \~english Data ID of Y axis gyro
+#define POS_DID_GYRO_Z 0x80000086 //!< \~english Data ID of Z axis gyro
+#define POS_DID_GYRO POS_DID_GYRO_X
+//!< \~english Data ID of POS_DID_GYRO is same as POS_DID_GYRO_X
+#define POS_DID_GSNS_X 0x80000015 //!< \~english Data ID of x axis gsensor
+#define POS_DID_GSNS_Y 0x80000016 //!< \~english Data ID of Y axis gsensor
+#define POS_DID_GSNS_Z 0x80000026 //!< \~english Data ID of Z axis gsensor
+#define POS_DID_REV 0x80000017 //!< \~english Data ID of reverse signal
+#define POS_DID_GPS_ANTENNA 0x80000019
+//!< \~english Data ID of GPS antenna status
+#define POS_DID_SPEED_PULSE_FST 0x80000028
+//!< \~english Data ID of first time speed pulse
+#define POS_DID_GYRO_X_FST 0x80000029 //!< \~english Data ID of first time X axis gyro
+#define POS_DID_GYRO_Y_FST 0x80000043 //!< \~english Data ID of first time Y axis gyro
+#define POS_DID_GYRO_Z_FST 0x80000023 //!< \~english Data ID of first time Z axis gyro
+#define POS_DID_GYRO_FST POS_DID_GYRO_X_FST
+//!< \~~english Data ID of POS_DID_GYRO_FST is same as POS_DID_GYRO_X_FST
+#define POS_DID_REV_FST 0x8000007E
+//!< \~english Data ID of first time reverse signal
+#define POS_DID_GYRO_TEMP 0x80000090 //!< \~english Data ID of gyro temperature
+#define POS_DID_GYRO_TEMP_FST 0x80000091
+//!< \~english Data ID of first time gyro temperature
+#define POS_DID_GSNS_X_FST 0x80000087
+//!< \~english Data ID of first time x axis gsensor
+#define POS_DID_GSNS_Y_FST 0x80000088
+//!< \~english Data ID of first time Y axis gsensor
+#define POS_DID_GSNS_Z_FST 0x80000089
+//!< \~english Data ID of first time Z axis gsensor
+#define POS_DID_PULSE_TIME 0x8000003A //!< \~english Data ID of pulse time
+
+#define POS_DID_GPS__CWORD82__NMEA 0x80000030U
+//!< \~english Data ID of _CWORD82_ GPS NMEA sentence
+#define POS_DID_GPS__CWORD82___CWORD44_GP4 0x80000031U
+//!< \~english Data ID of _CWORD82_ GPS _CWORD44_GP4 data
+#define POS_DID_GPS__CWORD82__FULLBINARY 0x80000032U
+//!< \~english Data ID of _CWORD82_ GPS full binary data
+#define POS_DID_GPS_NMEA 0x8000009AU
+//!< \~english Data ID of GPS NMEA sentence
+#define POS_DID_GPS_CLOCK_DRIFT 0x800000B3U
+//!< \~english Data ID of GPS time drift data
+#define POS_DID_GPS_CLOCK_FREQ 0x800000B4U
+//!< \~english Data ID of GPS time frequency data
+
+/**
+ * \~english @brief Delivery sensor extra package 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_PKG_SENSOR_DATA, CBCallbackA);
+ * @endcode
+ */
+#define CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA 0x0700
+
+/**
+ * \~english @brief Delivery sensor information 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_SENSOR_DATA, CBCallbackA);
+ * @endcode
+ */
+#define CID_POSIF_REGISTER_LISTENER_SENSOR_DATA 0x0200
+
+#define SENSOR_MSGBUF_DSIZE 4096
+//!< \~english message body maximum size
+
+#define SENSOR_VSHEAD_DSIZE 36
+//!< \~english vehicle sensor header size(1+3+16*2)
+
+#define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE)
+//!< \~english vehicle sensor data size
+
+// Same name/value is defined, but client doesn't include HAL header.
+// It defines SENSOR_MSG_VSINFO_DSIZE if not included HAL.
+#ifndef HAL_API_POSITIONING_HAL_H_
+#define SENSOR_MSG_VSINFO_DSIZE 1904u
+//!< \~english vehicle sensor message body maximum size
+#endif
+
+#define SENSOR_PKG_DELIVERY_MAX 16
+//!< \~english number of data ID per a package
+
+/*---------------------------------------------------------------------------------*
+ * Typedef declaration *
+ *---------------------------------------------------------------------------------*/
+
+/*---------------------------------------------------------------------------------*
+ * Struct declaration *
+ *---------------------------------------------------------------------------------*/
+/**
+ * @struct SENSOR_PKG_MSG_VSINFO
+ * \~english positioning sensor notification message (to User)
+ */
+typedef struct {
+ uint8_t ucDNum; //!< \~english number of data
+ uint8_t ucDataBreak; //!< \~english data lack infomation
+ uint8_t ucDivideCnt; //!< \~english total partition
+ uint8_t ucDivideSendCnt; //!< \~english partition transmit count
+ uint16_t usOffset[SENSOR_PKG_DELIVERY_MAX]; //!< \~english offset
+ uint8_t ucData[SENSOR_VSINFO_DSIZE]; //!< \~english data body
+} SENSOR_PKG_MSG_VSINFO;
+
+/**
+ * @struct SENSOR_MSG_VSINFO
+ * \~english message delivery positioning sensor information
+ */
+typedef struct {
+ DID did; //!< \~english data ID
+ uint16_t size; //!< \~english data size
+ uint8_t rcvFlag; //!< \~english reception flag
+ uint8_t reserve; //!< \~english reserve
+ uint8_t data[SENSOR_MSG_VSINFO_DSIZE]; //!< \~english data body
+} SENSOR_MSG_VSINFO;
+
+/*---------------------------------------------------------------------------------*
+ * Prototype Declaration *
+ *---------------------------------------------------------------------------------*/
+/* SENSOR_API public API */
+#ifdef __cplusplus
+extern "C" {
+#endif
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Send the extra package when first delivery.
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] notifyName
+/// - PCSTR - Destination thread name
+/// \~english @param [in] ucPkgNum
+/// - uint8_t - data number in package(1 to 16)
+/// \~english @param [in] pulDid
+/// - DID * - buffer pointer of the data ID array in package
+/// \~english @param [in] ucCtrlFlg
+/// - uint8_t - Delivery control flag(register)
+/// \~english @param [in] ucDeliveryTiming
+/// - uint8_t - Delivery timing(change/update)
+///
+/// \~english @par
+/// - data number in package(ucPkgNum) \n
+/// The following 8 data ID can be registered. And the register data number range is 1~16.
+/// - buffer pointer of the data ID array in package(pulDid) \n
+/// The data ID set to the first in pulDid is the delivery key. \n
+/// If the data ID not one of the following be set, return SENSOR_RET_ERROR_PARAM.
+/// - POS_DID_SNS_COUNTER - sensor counter
+/// - POS_DID_GYRO_X - gyro output (X axis)
+/// - POS_DID_GYRO_Y - gyro output (Y axis)
+/// - POS_DID_GYRO_Z - gyro output (Z axis)
+/// - POS_DID_SPEED_PULSE - speed pulse
+/// - POS_DID_REV - REV signal(0:forward 1:backward)
+/// - POS_DID_GSNS_X - Gsensor output X axis
+/// - POS_DID_GSNS_Y - Gsensor output Y axis
+/// - POS_DID_GSNS_Z - Gsensor output Z axis
+/// - POS_DID_GYRO_TEMP - gyro temperature
+/// - POS_DID_PULSE_TIME - pulse time\n
+/// \~english @par
+/// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL.
+/// \~english @par
+/// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.\n
+/// \~english @par
+/// - Delivery control flag(ucCtrlFlg)
+/// - SENSOR_DELIVERY_REGIST - register
+/// - Register specified LonLat delivery
+/// - Please note that if the same data delivery has been registered for multiple times, \n
+/// the data will also be deliveried for registered multiple times.
+/// - The specified LonLat will be deliveried at register time no matter what delivery \n
+/// timing has been registered (first delivery).
+/// - Delivery timing(ucDeliveryTiming)
+/// - SENSOR_DELIVERY_TIMING_CHANGE - change Specified LonLat be deliveried only when it is changed.
+/// - SENSOR_DELIVERY_TIMING_UPDATE - update Specified Lonlat be deliveried as long as \n
+/// it is updated by vehicle sensor.
+///
+///
+/// \~english @retval SENSOR_RET_NORMAL normal end
+/// \~english @retval SENSOR_RET_ERROR_CREATE_EVENT event create failed
+/// \~english @retval SENSOR_RET_ERROR_PARAM parameter error
+/// \~english @retval SENSOR_RET_ERROR_INNER internal error
+/// \~english @retval SENSOR_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval SENSOR_RET_ERROR_RESOURCE lack of resource
+///
+/// \~english @par Precondition
+/// - The creation/initialization \n
+/// (FrameworkunifiedCreateDispatcherWithoutLoop and etc.) of the Dispatcher for App 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 hApp is NULL [SENSOR_RET_ERROR_PARAM]
+/// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [SENSOR_RET_ERROR_PARAM]
+/// - The parameter ucDeliveryTiming is neither update(SENSOR_DELIVERY_TIMING_UPDATE) \n
+/// nor change(SENSOR_DELIVERY_TIMING_CHANGE) [SENSOR_RET_ERROR_PARAM]
+/// - The parameter notifyName is NULL [SENSOR_RET_ERROR_PARAM]
+/// - The parameter ucPkgNum is 0 or it is larger than 16 [SENSOR_RET_ERROR_PARAM]
+/// - The parameter pulDid is NULL [SENSOR_RET_ERROR_PARAM]
+/// - The data ID in paramter buffer pulDid is not avaliable value [SENSOR_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [SENSOR_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [SENSOR_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to max [SENSOR_RET_ERROR_RESOURCE]
+/// - The event has been registered in event table and created in same process, \n
+/// but the count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table and created in system, but the \n
+/// count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, but memory for the thread event table \n
+/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, but the thread can not be registered in \n
+/// event table. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, but memory for thread table creation \n
+/// allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, and the event flag has already been \n
+/// registered. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, and the event flag register failed. \n
+/// [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - No empty field for registering the event HANDLE into event table. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - Memory for event HANDLE get failed. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table and not finished registering \n
+/// [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table, and memory for thread table \n
+/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table, and the event flag has already been \n
+/// registered. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table, and the event flag register failed. \n
+/// [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - ProcessNo has not been registered in message control table when message transfered \n
+/// between processes. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered in process. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer failed in process. [SENSOR_RET_ERROR_INNER]
+/// - The destination process name is NULL. [SENSOR_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message transfer \n
+/// between processes. [SENSOR_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message \n
+/// transfer between processes. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between processes. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered \n
+/// between processes. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer failed between processes. [SENSOR_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during event \n
+/// waiting. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The count of thread is reach to max in event management table during event \n
+/// waiting. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The EV_FLAG_BIT is not set in flagID during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The ID of message event queue has not been created during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The flagID has not been registered during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The interruption happened during event getting [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - Whatever error happened during event getting. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - Got event is SENSOR_RET_ERROR_INNER. [SENSOR_RET_ERROR_INNER]
+///
+/// \~english @par Detial
+/// - Call this API to register vehicle sensor data delivery. \n
+/// This API return the result of registering. \n
+/// The data from sensor data received to registering will be deliveried. \n
+/// The first delivery data is the sensor data(max 64 number of sensor counter, \n
+/// reverse signal,gyro temperature, max 640 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n
+/// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), max 2048 number of pulse time) in 6.4 second. \n
+/// If the data number is more than max number, delivery the data in newest 6.4 second. \n
+/// If the sensor data accumulated more than max number, set VEHICLE_SNS_BREAK to data missing information. \n
+/// If sensor data number is more than the data number send in one time(10 number of \n
+/// sensor counter,reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n
+/// speed pulse, Gsensor output(X axis),Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time), \n
+/// the old data is divided into partitions(every partition with 10 number of sensor counter, \n
+/// reverse signal,gyro temperature, 100 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis), \n
+/// speed pulse,Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 320 number of pulse time) to delivery. \n
+/// The last message for first delivery is the message that the partition count equal to partition No. \n
+/// After first delivery, the message data(1 number of sensor counter,reverse signal, \n
+/// gyro temperature, 10 number of gyro output(X axis), gyro output(X axis), gyro output(Z axis),speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis), 32 number of pulse time) deliveried. \n
+/// And because the data missing information, divided partition count, \n
+/// diveided partition No is not used, they will be set to 0 in message.\n
+/// (sample)The sensor data in 6.4 second divided to delivery
+/// - 1st message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
+/// partition count=7, divided partition No=1)
+/// - 2nd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
+/// partition count=7, divided partition No=2)
+/// - 3rd message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
+/// partition count=7,divided partition No=3)
+/// - 4th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
+/// partition count=7,divided partition No=4)
+/// - 5th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
+/// partition count=7,divided partition No=5)
+/// - 6th message(sensor counter, reverse signal, gyro temperature=10 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=100 number, pulse time=320 number), divided \n
+/// partition count=7,divided partition No=6)
+/// - 7th message(sensor counter, reverse signal, gyro temperature=4 number, gyro output(X axis), gyro output(Y axis), gyro output(Z axis), speed pulse, \n
+/// Gsensor output(X axis), Gsensor output(Y axis), Gsensor output(Z axis)=40 number, pulse time=128 number), divided \n
+/// partition count=7,divided partition No=7)
+///
+/// \~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 delivery the sensor data accumulated in 6.4 second(first delivery), the sensor data \n
+/// will not be accumulated any more. So the same data will be deliveried as first \n
+/// delivery when registered again.
+/// - This API is only called by Navi proxy.
+/// - After call this API, if the delivery destination thread name is changed, please call this API again.
+///
+/// \~english @par
+/// message structure
+/// - After success to register, vehicle sensor will send message as system API message with following format.
+/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_PKG_SENSOR_DATA \n
+/// Definition of structure
+/// \~english @code
+/// #define SENSOR_MSGBUF_DSIZE 4096 /* max size of message body */
+/// #define SENSOR_VSHEAD_DSIZE 36 /* vehicle sensor header size(1+3+16*2) */
+/// #define SENSOR_PKG_DELIVERY_MAX 16 /* max number of Data ID in package */
+/// #define SENSOR_VSINFO_DSIZE (SENSOR_MSGBUF_DSIZE - SENSOR_VSHEAD_DSIZE)
+/// typedef struct {
+/// uint8_t ucDNum; /* number of data */
+/// uint8_t ucDataBreak; /* data missing information */
+/// uint8_t ucDivideCnt; /* divided partition count */
+/// uint8_t ucDivideSendCnt; /* divided partition No. */
+/// uint16_t usOffset[SENSOR_PKG_DELIVERY_MAX]; /* offset */
+/// uint8_t ucData[SENSOR_VSINFO_DSIZE]; /* vehicle sensor data */
+/// } SENSOR_PKG_MSG_VSINFO;
+/// @endcode
+/// - number of data \n
+/// Data number in package
+/// - data missing information \n
+/// VEHICLE_SNS_BREAK:not continuous data \n
+/// VEHICLE_SNS_NORMAL:continuous data
+/// - divided partition count \n
+/// All divided partition count \n
+/// If it is more than 1, data divided to delivery
+/// - divided partition No. \n
+/// The No. of the divided partition. If it equal to the divided partition count, \n
+/// that meanings this message is the last divided partition of the package.
+/// - offset \n
+/// The array of the offset from the head of vehicle sensor data
+/// - vehicle sensor data
+/// - Data ID(4Byte)
+/// - Data size(2Byte)
+/// - reception flag(1Byte)
+/// - If the data get from CAN, direct line, GPS, set to 0x01
+/// - If data has not been received, set to 0x00
+/// - reserve(1Byte)\n
+/// - Data body is cycle fit with the packaged data.
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Method
+///
+/// \~english @see
+/// - POS_RegisterListenerSensData, POS_GetSensData
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+SENSOR_RET_API POS_RegisterListenerPkgSensData(HANDLE hApp, PCSTR notifyName, uint8_t ucPkgNum, DID *pulDid,
+ uint8_t ucCtrlFlg, uint8_t ucDeliveryTiming);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Register sensor data delivery.
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] notifyName
+/// - PCSTR - Destination thread name
+/// \~english @param [in] ulDid
+/// - DID - Data ID of vehicle info
+/// \~english @param [in] ucCtrlFlg
+/// - uint8_t - Delivery control flag(register)
+/// \~english @param [in] ucDeliveryTiming
+/// - uint8_t - Delivery timing(change/update)
+///
+/// \~english @par
+/// - Data ID of vehicle info(ulDid) \n
+///
+/// \~english @par
+/// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.
+/// \~english @par
+/// - Delivery control flag(ucCtrlFlg)
+/// - SENSOR_DELIVERY_REGIST - register
+/// - Register specified LonLat delivery
+/// - Please note that if the same data delivery has been registered for multiple times, \n
+/// the data will also be deliveried for registered multiple times.
+/// - The specified LonLat will be deliveried at register time no matter what delivery \n
+/// timing has been registered (first delivery).
+/// - Delivery timing(ucDeliveryTiming)
+/// - SENSOR_DELIVERY_TIMING_CHANGE - change Specified LonLat be deliveried only when it is changed.
+/// - SENSOR_DELIVERY_TIMING_UPDATE - update Specified Lonlat be deliveried \n
+/// as long as it is updated by vehicle sensor.
+///
+/// \~english @retval SENSOR_RET_NORMAL normal end
+/// \~english @retval SENSOR_RET_ERROR_CREATE_EVENT event create failed
+/// \~english @retval SENSOR_RET_ERROR_PARAM parameter error
+/// \~english @retval SENSOR_RET_ERROR_INNER internal error
+/// \~english @retval SENSOR_RET_ERROR_NOSUPPORT unsupported
+/// \~english @retval SENSOR_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 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 \n
+/// (SENSOR_DELIVERY_TIMING_UPDATE) nor change(SENSOR_DELIVERY_TIMING_CHANGE) [SENSOR_RET_ERROR_PARAM]
+/// - The parameter ucCtrlFlg is not register(SENSOR_DELIVERY_REGIST) [SENSOR_RET_ERROR_PARAM]
+/// - The parameter hApp is NULL [SENSOR_RET_ERROR_PARAM]
+/// - The parameter notifyName is NULL [SENSOR_RET_ERROR_PARAM]
+/// - The parameter ulDID is not avaliable value [SENSOR_RET_ERROR_PARAM]
+/// - The parameter ulDID is a value can not specified [SENSOR_RET_ERROR_PARAM]
+/// - The count of message in message queue is reach to max [SENSOR_RET_ERROR_RESOURCE]
+/// - The count of mutex is reach to max [SENSOR_RET_ERROR_RESOURCE]
+/// - The count of item in ProcessName-ProcessNo convert table is reach to \n
+/// max [SENSOR_RET_ERROR_RESOURCE]
+/// - The event has been registered in event table and created in same process, \n
+/// but the count of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table and created in system, but the count \n
+/// of reference is reach to max [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, but memory for the thread event table \n
+/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, but the thread can not be registered \n
+/// in event table. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, but memory for thread table creation \n
+/// allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, and the event flag has already been \n
+/// registered. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has been registered in event table, and the event flag register failed. \n
+/// [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - No empty field for registering the event HANDLE into event table. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - Memory for event HANDLE get failed. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table and not finished registering \n
+/// [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table, and memory for thread table \n
+/// creation allocate falied. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table, and the event flag has already \n
+/// been registered. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The event has not been registered in event table, and the event flag register \n
+/// failed. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - ProcessNo has not been registered in message control table when message transfered \n
+/// in process. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed when message transfered in process. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer failed in process. [SENSOR_RET_ERROR_INNER]
+/// - The destination process name is NULL. [SENSOR_RET_ERROR_INNER]
+/// - The destination process name size is larger than 20 characters when message \n
+/// transfer between process. [SENSOR_RET_ERROR_INNER]
+/// - The message queue name has not been registered in control table when message \n
+/// transfer between process. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer HANDLE create failed when message transfered between process. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer HANDLE get failed from internal table when message transfered \n
+/// between process. [SENSOR_RET_ERROR_INNER]
+/// - Message transfer failed between process. [SENSOR_RET_ERROR_INNER]
+/// - Specified event HANDLE has not been registered in event HANDLE table during waiting \n
+/// event. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The count of thread is reach to max in event management table during waiting \n
+/// event. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The EV_FLAG_BIT is not set in flagID during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The ID of message event queue has not been created during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The flagID has not been registered during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - The interruption happened during getting event [SENSOR_RET_ERROR_CREATE_EVENT]
+/// - Whatever error happened during getting event. [SENSOR_RET_ERROR_CREATE_EVENT]
+///
+/// \~english @par Detial
+/// - Call this API to register vehicle sensor data delivery. \n
+/// This API return the result of registering.
+///
+/// \~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
+/// message structure
+/// - After success to register, vehicle sensor will send message as system API message with following format.
+/// - If the register successed, certainly delivery first data. And then delivery data according to
+/// the delivery timing. \n
+/// Command ID : @ref CID_POSIF_REGISTER_LISTENER_SENSOR_DATA \n
+///
+/// \~english @code
+/// #define SENSOR_MSG_VSINFO_DSIZE 1904 /* max size of message body */
+/// typedef struct
+/// {
+/// DID did; /* data ID */
+/// uint16_t size; /* data size of vehicle sensor data */
+/// uint8_t rcvFlag; /* reception flag */
+/// uint8_t reserve; /* reserve */
+/// uint8_t data[SENSOR_MSG_VSINFO_DSIZE]; /* vehicle sensor data */
+/// } SENSOR_MSG_VSINFO;
+/// @endcode
+/// - reception flag(1Byte)
+/// - If the data get from CAN or direct line, set to 0x01
+/// - If data has not been received, set to 0x00
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Method
+///
+/// \~english @see
+/// - POS_RegisterListenerPkgSensData, POS_GetSensData
+///
+////////////////////////////////////////////////////////////////////////////////////////////
+SENSOR_RET_API POS_RegisterListenerSensData(HANDLE hApp, PCSTR notifyName, DID ulDid, uint8_t ucCtrlFlg,
+ uint8_t ucDeliveryTiming);
+
+////////////////////////////////////////////////////////////////////////////////////////////
+/// \ingroup tag_Positioning
+/// \~english @par Brief
+/// - Get vehicle sensor data.
+///
+/// \~english @param [in] hApp
+/// - HANDLE - App Handle
+/// \~english @param [in] ulDid
+/// - DID - Data ID of vehicle info
+/// \~english @param [out] pDestData
+/// - void* - pointer of buffer for storing vehicle sensor data
+/// \~english @param [in] usDestSize
+/// - uint16_t - vehicle sensor data buffer size
+///
+/// \~english @par
+/// - Data ID of vehicle info(ulDid)
+/// - POS_DID_SPEED_PULSE - speed pulse(count of pulse)
+/// - POS_DID_GYRO_X - gyro output (X axis)
+/// - POS_DID_GYRO_Y - gyro output (Y axis)
+/// - POS_DID_GYRO_Z - gyro output (Z axis)
+/// - POS_DID_GSNS_X - Gsensor output (X axis)
+/// - POS_DID_GSNS_Y - Gsensor output (Y axis)
+/// - POS_DID_GSNS_Z - Gsensor output (Z axis)
+/// - POS_DID_GPS_ANTENNA - GPS antenna connection status
+/// - POS_DID_GPS__CWORD82__NMEA - GPS NMEA(_CWORD82_)
+/// - POS_DID_GPS__CWORD82__FULLBINARY - GPS _CWORD82_ full binary(_CWORD82_)
+/// - POS_DID_GPS_NMEA - GPS NMEA
+/// - POS_DID_GYRO_TEMP - gyro temperature
+/// - POS_DID_GPS_CLOCK_DRIFT - GPS clock drift
+/// - POS_DID_GPS_CLOCK_FREQ - GPS clock frequency
+/// - The avaliable data ID of each hardware type is as following.
+/// \~english @par
+/// - Because positioning is G/W between Navi and HAL, value depends on the design of HAL.
+/// \~english @par
+/// - Note:The Gsensor output is 0 in the environment without Gsensor hardware.
+/// - vehicle sensor data buffer size(usDestSize) \n
+/// Please note it is the size of output buffer, not the size of data.
+///
+/// \~english @retval more than 0 data size
+/// \~english @retval POS_RET_ERROR_CREATE_EVENT event create failed
+/// \~english @retval POS_RET_ERROR_OUTOF_MEMORY share memory guarantee failed
+/// \~english @retval POS_RET_ERROR_PARAM parameter error
+/// \~english @retval POS_RET_ERROR_SIZE buffer size 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 service positioning 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 pDestData is NULL [POS_RET_ERROR_PARAM]
+/// - The parameter ulDid is not avaliable value in current hardware environment [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 \n
+/// [POS_RET_ERROR_CREATE_EVENT]
+/// - The event is created in system, but the count of reference is reach to max [POS_RET_ERROR_CREATE_EVENT]
+/// - Memory allocate falied during the event table creation for \n
+/// event registering. [POS_RET_ERROR_CREATE_EVENT]
+/// - The thread can not register in the event table. [POS_RET_ERROR_CREATE_EVENT]
+/// - Memory allocate failed in event table during the thread table creation. [POS_RET_ERROR_CREATE_EVENT]
+/// - After register the thread table in event table, the event flag has already \n
+/// been registered. [POS_RET_ERROR_CREATE_EVENT]
+/// - After register the thread table in event table, the event flag register \n
+/// failed. [POS_RET_ERROR_CREATE_EVENT]
+/// - The event table is full during event creation. [POS_RET_ERROR_CREATE_EVENT]
+/// - The memory for event HANDLE allocate failed during event table creation. [POS_RET_ERROR_CREATE_EVENT]
+/// - The thread can not be registered in event table. [POS_RET_ERROR_CREATE_EVENT]
+/// - In event table, to allocate the memory of the thread table creation, \n
+/// but failed. [POS_RET_ERROR_CREATE_EVENT]
+/// - After register the thread in event table, the event flag has already been \n
+/// registered. [POS_RET_ERROR_CREATE_EVENT]
+/// - After register the thread in event table, the event flag register failed. [POS_RET_ERROR_CREATE_EVENT]
+/// - Specified event ID has not been registered in table. [POS_RET_ERROR_CREATE_EVENT]
+/// - Initialize event object failed. [POS_RET_ERROR_CREATE_EVENT]
+/// - There is no empty field in semaphore table for semaphore creation [POS_RET_ERROR_OUTOF_MEMORY]
+/// - The memory for storing semaphore control data allocate failed. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Specified semaphore ID has not been registered when semaphore lock. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Internal mutex HANDLE is NULL when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Internal mutex HANDLE has not been registered in mutex table when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - The owner of specified mutex is not itself when mutex lock. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Mutex has been multiple locked [POS_RET_ERROR_OUTOF_MEMORY]
+/// - The HANDLE is NULL when getting usable share memory address. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Can not get usable share memory address. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Memory allocate failed for share memory map. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Memory allocate failed for share memory management. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Can not open share memory. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Failed to mapping share memory. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - No empty field in share memory. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - ProcessNo has not been registered in message control table when message \n
+/// transfered between processes. [POS_RET_ERROR_CREATE_EVENT]
+/// - Message transfer HANDLE get failed when message transfered between processes. [POS_RET_ERROR_CREATE_EVENT]
+/// - Message transfer failed between processes. [POS_RET_ERROR_CREATE_EVENT]
+/// - The destination process name size is larger than 20 characters when message \n
+/// transfer between processes. [POS_RET_ERROR_CREATE_EVENT]
+/// - The message queue name has not been registered in control table when message \n
+/// transfer between processes. [POS_RET_ERROR_CREATE_EVENT]
+/// - Message transfer HANDLE create failed when message transfered between processes. \n
+/// [POS_RET_ERROR_CREATE_EVENT]
+/// - Message transfer HANDLE get failed from internal table when message transfered \n
+/// between processes. [POS_RET_ERROR_CREATE_EVENT]
+/// - Message transfer failed between processes. [POS_RET_ERROR_CREATE_EVENT]
+/// - 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 waiting. [POS_RET_ERROR_INNER]
+/// - The ID of message event queue has not been created during event waiting. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during event waiting. [POS_RET_ERROR_INNER]
+/// - The interruption happened during event waiting [POS_RET_ERROR_INNER]
+/// - Whatever error happened 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 getting event. [POS_RET_ERROR_INNER]
+/// - The flagID has not been registered during getting event. [POS_RET_ERROR_INNER]
+/// - The interruption happened during getting event [POS_RET_ERROR_INNER]
+/// - Whatever error happened during getting event. [POS_RET_ERROR_INNER]
+/// - The HANDLE is NULL when getting usable share memory address for accessing \n
+/// received data. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Can not get usable share memory address for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Memory for share memory map allocate failed for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Memory for share memory management allocate failed for accessing received \n
+/// data. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Can not open share memory for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Failed to mapping share memory for accessing received data. [POS_RET_ERROR_OUTOF_MEMORY]
+/// - Can not get share memory normally [POS_RET_ERROR_OUTOF_MEMORY]
+/// - The size of data stored in share memory is larger than the size of received data. [POS_RET_ERROR_SIZE]
+///
+/// \~english @par Detial
+/// - Call this API to get vehicle sensor data. \n
+/// This vehicle sensor data stored in the output buffer of the parameter, this API return.
+///
+/// \~english @par Classification
+/// - Public
+///
+/// \~english @par Type
+/// - Sync
+///
+/// \~english @see
+/// - POS_RegisterListenerPkgSensData, POS_RegisterListenerSensData
+///
+
+POS_RET_API POS_GetSensData(HANDLE hApp, DID ulDid, void *pDestData, uint16_t usDestSize);
+
+#ifdef __cplusplus
+}
+#endif
+/** @}*/ // end of positioning
+/** @}*/ // end of vehicle_service
+/** @}*/ // end of BaseSystem
+#endif // POSITIONING_CLIENT_INCLUDE_VEHICLE_SERVICE_POS_SENSOR_API_H_
Code Review / staging / basesystem.git / blobdiff