--- /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.
+ */
+
+/**
+ * @file
+ * Common_API.cpp
+ * @brief
+ * Module : POSITIONING
+ * Common I/F service functionality
+ */
+#include <vehicle_service/positioning_base_library.h>
+#include <vehicle_service/POS_define.h>
+#include <vehicle_service/POS_common_API.h>
+#include "POS_common_private.h"
+#include "Vehicle_API_private.h"
+#include "POS_private.h"
+
+/**
+ * @brief
+ * Latitude and longitude informationDelivery registration
+ *
+ * Registering Latitude and Longitude Information Delivery
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] notifyName PCSTR - Destination thread name
+ * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery)
+ * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating)
+ * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_BUFFULL Buffer-full<br>
+ * POS_RET_ERROR_INNER Internal error<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment
+ *
+ */
+POS_RET_API POS_RegisterListenerLonLat(HANDLE hApp, // NOLINT(readability/nolint)
+ PCSTR notifyName, // NOLINT(readability/nolint)
+ uint8_t ucCtrlFlg, // NOLINT(readability/nolint)
+ uint8_t ucDeliveryTiming, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value of this function */
+ SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did = VEHICLE_DID_LOCATION_LONLAT; /* Data ID */
+
+ /* Internal debug log output */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if ((ucDeliveryTiming != SENSOR_DELIVERY_TIMING_CHANGE) &&
+ (ucDeliveryTiming != SENSOR_DELIVERY_TIMING_UPDATE)) {
+ /* Change delivery timing,Terminate as a parameter error except update */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) {
+ /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (notifyName == NULL) {
+ /* If the thread name is NULL, it terminates with an abnormal parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ ret = POS_RET_NORMAL;
+ if (ucGetMethod == SENSOR_GET_METHOD_GPS) {
+ did = VEHICLE_DID_LOCATION_LONLAT;
+ } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_LOCATION_LONLAT_NAVI;
+ } else {
+ /* End as a parameter error abnormality except for GPS/unspecified acquisition method */
+ ret = POS_RET_ERROR_PARAM;
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ }
+ }
+
+ /* Delivery registration */
+ if (ret == POS_RET_NORMAL) {
+ /* Delivery registry SensorAPI calls */
+ ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */
+ did, /* Data ID */
+ ucCtrlFlg, /* Delivery control */
+ ucDeliveryTiming); /* Delivery timing */
+
+ /* Decision of delivery registration result */
+ if (ret_sens == SENSOR_RET_NORMAL) {
+ ret = POS_RET_NORMAL;
+ } else if (ret_sens == SENSOR_RET_ERROR_PARAM) {
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) {
+ ret = POS_RET_ERROR_BUFFULL;
+ } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) {
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ }
+
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Altitude information delivery registration
+ *
+ * Register for the delivery of altitude information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] notifyName PCSTR - Destination thread name
+ * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery)
+ * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating)
+ * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment
+ *
+ */
+POS_RET_API POS_RegisterListenerAltitude(HANDLE hApp, // NOLINT(readability/nolint)
+ PCSTR notifyName, // NOLINT(readability/nolint)
+ uint8_t ucCtrlFlg, // NOLINT(readability/nolint)
+ uint8_t ucDeliveryTiming, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value */
+ SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did = VEHICLE_DID_LOCATION_ALTITUDE; /* Data ID */
+
+ /* Internal debug log output */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if ((ucDeliveryTiming != SENSOR_DELIVERY_TIMING_CHANGE) &&
+ (ucDeliveryTiming != SENSOR_DELIVERY_TIMING_UPDATE)) {
+ /* Change delivery timing,Terminate as a parameter error except update */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) {
+ /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (notifyName == NULL) {
+ /* If the thread name is NULL, it terminates with an abnormal parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ ret = POS_RET_NORMAL;
+ if ((ucGetMethod == SENSOR_GET_METHOD_GPS) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_LOCATION_ALTITUDE;
+ } else {
+ /* End as a parameter error abnormality except for GPS/unspecified acquisition method */
+ ret = POS_RET_ERROR_PARAM;
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ }
+ }
+
+ /* Delivery registration */
+ if (ret == POS_RET_NORMAL) {
+ /* Delivery registry SensorAPI calls */
+ ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */
+ did, /* Data ID */
+ ucCtrlFlg, /* Delivery control */
+ ucDeliveryTiming); /* Delivery timing */
+
+ /* Decision of delivery registration result */
+ if (ret_sens == SENSOR_RET_NORMAL) {
+ ret = POS_RET_NORMAL;
+ } else if (ret_sens == SENSOR_RET_ERROR_PARAM) {
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) {
+ ret = POS_RET_ERROR_BUFFULL;
+ } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) {
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Vehicle Speed Information Transmission Registration
+ *
+ * Register delivery of vehicle speed information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] notifyName PCSTR - Destination thread name
+ * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery)
+ * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating)
+ * @param[in] ucGetMethod uint8_t - Acquisition method(POS/Navigation/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_BUFFULL Buffer-full<br>
+ * POS_RET_ERROR_INNER Internal error<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment
+ *
+ */
+POS_RET_API POS_RegisterListenerSpeed(HANDLE hApp, // NOLINT(readability/nolint)
+ PCSTR notifyName, // NOLINT(readability/nolint)
+ uint8_t ucCtrlFlg, // NOLINT(readability/nolint)
+ uint8_t ucDeliveryTiming, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value of this function */
+ SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did; /* Data ID */
+
+ /* Internal debug log output */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if ((ucDeliveryTiming != SENSOR_DELIVERY_TIMING_CHANGE) &&
+ (ucDeliveryTiming != SENSOR_DELIVERY_TIMING_UPDATE)) {
+ /* Change delivery timing,Terminate as a parameter error except update */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) {
+ /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (notifyName == NULL) {
+ /* If the thread name is NULL, it terminates with an abnormal parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ ret = POS_RET_NORMAL;
+ if (ucGetMethod == SENSOR_GET_METHOD_POS) {
+ did = VEHICLE_DID_MOTION_SPEED_INTERNAL;
+ } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_MOTION_SPEED_NAVI;
+ } else {
+ ret = POS_RET_ERROR_PARAM;
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ }
+ }
+
+ /* Delivery registration */
+ if (ret == POS_RET_NORMAL) {
+ /* Delivery registry SensorAPI calls */
+ ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */
+ did, /* Data ID */
+ ucCtrlFlg, /* Delivery control */
+ ucDeliveryTiming); /* Delivery timing */
+
+ /* Decision of delivery registration result */
+ if (ret_sens == SENSOR_RET_NORMAL) {
+ ret = POS_RET_NORMAL;
+ } else if (ret_sens == SENSOR_RET_ERROR_PARAM) {
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) {
+ ret = POS_RET_ERROR_BUFFULL;
+ } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) {
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ }
+
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Compass Information Transmission Register
+ *
+ * Register the delivery of the vehicle orientation information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] notifyName PCSTR - Destination thread name
+ * @param[in] ucCtrlFlg uint8_t - Delivery control(Delivery registration/Delivery stop/Resume delivery)
+ * @param[in] ucDeliveryTiming uint8_t - Delivery timing(Changing/Updating)
+ * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment
+ *
+ */
+POS_RET_API POS_RegisterListenerHeading(HANDLE hApp, // NOLINT(readability/nolint)
+ PCSTR notifyName, // NOLINT(readability/nolint)
+ uint8_t ucCtrlFlg, // NOLINT(readability/nolint)
+ uint8_t ucDeliveryTiming, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value */
+ SENSOR_RET_API ret_sens = SENSOR_RET_NORMAL; /* API return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did = VEHICLE_DID_MOTION_HEADING; /* TODO VEHICLE_DID_LOCATION_HEADING Missing */
+ /* Data ID */
+
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if ((ucDeliveryTiming != SENSOR_DELIVERY_TIMING_CHANGE) &&
+ (ucDeliveryTiming != SENSOR_DELIVERY_TIMING_UPDATE)) {
+ /* Change delivery timing,Terminate as a parameter error except update */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ucCtrlFlg != SENSOR_DELIVERY_REGIST) {
+ /* Parameters other than delivery registration are terminated abnormally when delivery control is terminated. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (notifyName == NULL) {
+ /* If the thread name is NULL, it terminates with an abnormal parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ ret = POS_RET_NORMAL;
+ if (ucGetMethod == SENSOR_GET_METHOD_GPS) {
+ did = VEHICLE_DID_MOTION_HEADING;
+ } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_MOTION_HEADING_NAVI;
+ } else {
+ /* End as a parameter error abnormality except for GPS/unspecified acquisition method */
+ ret = POS_RET_ERROR_PARAM;
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ }
+ }
+
+ /* Delivery registration */
+ if (ret == POS_RET_NORMAL) {
+ /* Delivery registry SensorAPI calls */
+ ret_sens = PosRegisterListenerProc(notifyName, /* Destination thread name */
+ did, /* Data ID */
+ ucCtrlFlg, /* Delivery control */
+ ucDeliveryTiming); /* Delivery timing */
+
+ /* Decision of delivery registration result */
+ if (ret_sens == SENSOR_RET_NORMAL) {
+ ret = POS_RET_NORMAL;
+ } else if (ret_sens == SENSOR_RET_ERROR_PARAM) {
+ ret = POS_RET_ERROR_PARAM;
+ } else if (ret_sens == SENSOR_RET_ERROR_BUFFULL) {
+ ret = POS_RET_ERROR_BUFFULL;
+ } else if (ret_sens == SENSOR_RET_ERROR_RESOURCE) {
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ }
+
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Get Lltitude and longitude information
+ *
+ * Get Lltitude and longitude information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] dat SENSORLOCATION_LONLATINFO_DAT* - Pointer to the acquired latitude/longitude information storage destination
+ * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment<br>
+ * POS_RET_ERROR_INNER Internal error
+ *
+ */
+POS_RET_API POS_GetLonLat(HANDLE hApp, // NOLINT(readability/nolint)
+ SENSORLOCATION_LONLATINFO_DAT *dat, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did = VEHICLE_DID_LOCATION_LONLAT; /* DID */
+ int32_t ret_get_proc; /* POS_GetProc Return Values */
+
+ /* Internal debug log output */
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (dat == NULL) {
+ /* If the longitude/latitude data is NULL, it ends with an abnormal parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ if (ucGetMethod == SENSOR_GET_METHOD_GPS) {
+ did = VEHICLE_DID_LOCATION_LONLAT;
+ } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_LOCATION_LONLAT_NAVI;
+ } else {
+ /* End as a parameter error abnormality except for GPS/unspecified acquisition method */
+ ret = POS_RET_ERROR_PARAM;
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ }
+ }
+
+ /* Sensor information acquisition */
+ if (ret == POS_RET_NORMAL) {
+ /* Data acquisition process */
+ ret_get_proc = PosGetProc(did, reinterpret_cast<void *>(dat), sizeof(SENSORLOCATION_LONLATINFO_DAT));
+ if (static_cast<int32_t>(sizeof(SENSORLOCATION_LONLATINFO_DAT)) > ret_get_proc) {
+ /* Failed to acquire */
+ if (ret_get_proc == POS_RET_ERROR_RESOURCE) {
+ /* Insufficient resource */
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret);
+ }
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Altitude information acquisition
+ *
+ * Obtain altitude information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] dat SENSORLOCATION_ALTITUDEINFO_DAT* - Pointer to the acquired altitude information storage destination
+ * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment<br>
+ * POS_RET_ERROR_INNER Internal error
+ *
+ */
+POS_RET_API POS_GetAltitude(HANDLE hApp, // NOLINT(readability/nolint)
+ SENSORLOCATION_ALTITUDEINFO_DAT *dat, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did = VEHICLE_DID_LOCATION_ALTITUDE; /* DID */
+ int32_t ret_get_proc; /* POS_GetProc Return Values */
+
+ /* Internal debug log output */
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (dat == NULL) {
+ /* If the altitude data is NULL, it terminates with an abnormal parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ if ((ucGetMethod == SENSOR_GET_METHOD_GPS) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_LOCATION_ALTITUDE;
+ } else {
+ /* End as a parameter error abnormality except for GPS/unspecified acquisition method */
+ ret = POS_RET_ERROR_PARAM;
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ }
+ }
+ /* Sensor information acquisition */
+ if (ret == POS_RET_NORMAL) {
+ /* Data acquisition process */
+ ret_get_proc = PosGetProc(did, reinterpret_cast<void *>(dat), sizeof(SENSORLOCATION_ALTITUDEINFO_DAT));
+ if (static_cast<int32_t>(sizeof(SENSORLOCATION_ALTITUDEINFO_DAT)) > ret_get_proc) {
+ /* Failed to acquire */
+ if (ret_get_proc == POS_RET_ERROR_RESOURCE) {
+ /* Insufficient resource */
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret);
+ }
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Vehicle Speed Information Acquisition
+ *
+ * Obtain vehicle speed information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] dat SENSORMOTION_SPEEDINFO_DAT* - Pointer to the acquired car speed information storage destination
+ * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment<br>
+ * POS_RET_ERROR_INNER Internal error
+ *
+ */
+POS_RET_API POS_GetSpeed(HANDLE hApp, // NOLINT(readability/nolint)
+ SENSORMOTION_SPEEDINFO_DAT *dat, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did; /* Data ID */
+ int32_t ret_get_proc; /* POS_GetProc Return Values */
+
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+ if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR [hApp = %p]", hApp);
+ } else if (dat == NULL) {
+ /* When the pointer to the vehicle speed data storage destination is NULL, the pointer terminates with an error in the parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Argument ERROR [dat = %p]", dat);
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ ret = POS_RET_NORMAL;
+ if (ucGetMethod == SENSOR_GET_METHOD_POS) {
+ did = VEHICLE_DID_MOTION_SPEED_INTERNAL;
+ } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_MOTION_SPEED_NAVI;
+ } else {
+ /* End as a parameter error abnormality except for POS/unspecified acquisition method */
+ ret = POS_RET_ERROR_PARAM;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__,
+ "Argument ERROR [type = %d, ucGetMethod = %d]",
+ type, ucGetMethod);
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = POS_RET_ERROR_NOSUPPORT;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "GetEnvSupportInfo ERROR [type = %d]", type);
+ }
+ }
+
+ if (ret == POS_RET_NORMAL) {
+ /* Data acquisition process */
+ ret_get_proc = PosGetProc(did, dat, sizeof(SENSORMOTION_SPEEDINFO_DAT));
+ if (static_cast<int32_t>(sizeof(SENSORMOTION_SPEEDINFO_DAT)) > ret_get_proc) {
+ /* Failed to acquire */
+ if (ret_get_proc == POS_RET_ERROR_RESOURCE) {
+ /* Insufficient resource */
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret);
+ }
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+
+ return ret;
+}
+
+/**
+ * @brief
+ * Compass information acquisition
+ *
+ * Get Bill Direction Information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] dat SENSORMOTION_HEADINGINFO_DAT* - Pointer to the acquired altitude information storage destination
+ * @param[in] ucGetMethod uint8_t - Acquisition method(GPS/Navigation/Not specified)
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment<br>
+ * POS_RET_ERROR_INNER Internal error
+ *
+ */
+POS_RET_API POS_GetHeading(HANDLE hApp, // NOLINT(readability/nolint)
+ SENSORMOTION_HEADINGINFO_DAT *dat, // NOLINT(readability/nolint)
+ uint8_t ucGetMethod) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ DID did = VEHICLE_DID_MOTION_HEADING; /* Data ID */
+ int32_t ret_get_proc; /* POS_GetProc Return Values */
+
+ /* Internal debug log output */
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if (hApp == NULL) {
+ /* If the handler is NULL, the process terminates with an error. */
+ ret = POS_RET_ERROR_PARAM;
+ } else if (dat == NULL) {
+ /* If the longitude/latitude data is NULL, it ends with an abnormal parameter. */
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ if (ucGetMethod == SENSOR_GET_METHOD_GPS) {
+ did = VEHICLE_DID_MOTION_HEADING;
+ } else if ((ucGetMethod == SENSOR_GET_METHOD_NAVI) ||
+ (ucGetMethod == SENSOR_GET_METHOD_AUTO)) {
+ did = VEHICLE_DID_MOTION_HEADING_NAVI;
+ } else {
+ /* End as a parameter error abnormality except for GPS/unspecified acquisition method */
+ ret = POS_RET_ERROR_PARAM;
+ }
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ }
+ }
+ /* Sensor information acquisition */
+ if (ret == POS_RET_NORMAL) {
+ /* Data acquisition process */
+ ret_get_proc = PosGetProc(did, reinterpret_cast<void *>(dat), sizeof(SENSORMOTION_HEADINGINFO_DAT));
+ if (static_cast<int32_t>(sizeof(SENSORMOTION_HEADINGINFO_DAT)) > ret_get_proc) {
+ /** Failed to acquire */
+ if (ret_get_proc == POS_RET_ERROR_RESOURCE) {
+ /** Insufficient resource */
+ ret = POS_RET_ERROR_RESOURCE;
+ } else {
+ ret = POS_RET_ERROR_INNER;
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret);
+ }
+ }
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Vehicle speed information setting
+ *
+ * Setting Vehicle Speed Information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] navispped uint16_t - Vehicle speed information[Unit:1.0km/h]
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment
+ *
+ */
+POS_RET_API POS_SetSpeedInfo(HANDLE hApp, uint16_t navispeed) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+ uint16_t speed; /* Vehicle speed */
+
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if (hApp == NULL) {
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ ret = POS_RET_NORMAL;
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ }
+ }
+
+ if (ret == POS_RET_NORMAL) {
+ /* Adjustment by unit [1.0km/h]->[0.01m/sec] */
+ speed = static_cast<uint16_t>(navispeed * 10000 / 360);
+ /* Data setting(After setting,Immediate termination) */
+ ret = PosSetProc(VEHICLE_DID_MOTION_SPEED_NAVI,
+ reinterpret_cast<void *>(&speed), sizeof(uint16_t), FALSE);
+ }
+
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
+
+/**
+ * @brief
+ * Location information setting
+ *
+ * Set location information
+ *
+ * @param[in] hApp HANDLE - Application handle
+ * @param[in] posData POS_POSDATA - Pointer to location information
+ *
+ * @return POS_RET_NORMAL Normal completion(Include illegal)<br>
+ * POS_RET_ERROR_PARAM Parameter error<br>
+ * POS_RET_ERROR_INNER Internal error<br>
+ * POS_RET_ERROR_NOSUPPORT Unsupported environment
+ *
+ */
+POS_RET_API POS_SetLocationInfo(HANDLE hApp, POS_POSDATA* pstPosData) { // NOLINT(readability/nolint)
+ POS_RET_API ret = POS_RET_NORMAL; /* Return value of this function */
+ UNIT_TYPE type = UNIT_TYPE_NONE; /* Supported HW Configuration Type */
+
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+
+ /* Arguments & Support Configuration Check */
+ if ((pstPosData == NULL) || (hApp == NULL)) {
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Positioning Base API initialization */
+ _pb_Setup_CWORD64_API(hApp);
+
+ /* Supported HW Configuration Check */
+ type = GetEnvSupportInfo();
+ if (UNIT_TYPE_GRADE1 == type) {
+ /* GRADE1 */
+ ret = POS_RET_NORMAL;
+ } else if (UNIT_TYPE_GRADE2 == type) {
+ /*
+ * Note.
+ * This feature branches processing depending on the unit type.
+ */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ } else {
+ /* Environment error */
+ ret = SENSOR_RET_ERROR_NOSUPPORT;
+ }
+ }
+
+ if (ret == POS_RET_NORMAL) {
+ /* Data status check */
+ if ((0x01 > pstPosData->status) || (0x0F < pstPosData->status)) {
+ ret = POS_RET_ERROR_PARAM;
+ } else {
+ /* Parameter range check */
+ /* Latitude */
+ if ((pstPosData->status & POS_LOC_INFO_LAT) == POS_LOC_INFO_LAT) {
+ (void)POS_CHKPARAM32(pstPosData->latitude, -41472000, 41472000);
+ }
+ /* Longitude */
+ if ((pstPosData->status & POS_LOC_INFO_LON) == POS_LOC_INFO_LON) {
+ (void)POS_CHKPARAM32(pstPosData->longitude, -82944000, 82944000);
+ }
+ /* Orientation */
+ if ((pstPosData->status & POS_LOC_INFO_HEAD) == POS_LOC_INFO_HEAD) {
+ (void)POS_CHKPARAM16(pstPosData->heading, -179, 180);
+ }
+
+ /* Data setting(After setting,Immediate termination) */
+ ret = PosSetProc(VEHICLE_DID_GPS_CUSTOMDATA_NAVI, // == POSHAL_DID_GPS_CUSTOMDATA_NAVI
+ reinterpret_cast<void *>(pstPosData), sizeof(POS_POSDATA), FALSE);
+ }
+ }
+
+ FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+ return ret;
+}
Code Review / staging / basesystem.git / blobdiff