--- /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 name :DeadReckoning_DataMasterMain.cpp
+ * System name :GPF
+ * Subsystem name :Vehicle sensor process
+ * Program name :Vehicle SW Data Master
+ * Module configuration :DeadReckoningInitDataMaster() Guess Navigation Data Master Initialization Function
+ * :DeadReckoningSetDataMaster() Estimated Navigational Data Master SW Data Set Processing
+ * :DeadReckoningGetDataMaster() Estimated Navigational Data Master Get Processing
+ ******************************************************************************/
+
+#include <vehicle_service/positioning_base_library.h>
+#include "DeadReckoning_DataMaster.h"
+
+/*************************************************/
+/* Global variable */
+/*************************************************/
+
+#define DR_DEBUG 0
+
+/*******************************************************************************
+* MODULE : DeadReckoningInitDataMaster
+* ABSTRACT : Initialization of Guess Navigation Data Master
+* FUNCTION : Initialize the estimated navigation data master
+* ARGUMENT : void
+* NOTE :
+* RETURN : void
+******************************************************************************/
+void DeadReckoningInitDataMaster(void) { // LCOV_EXCL_START 8: dead code.
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ /* Vehicle sensor data master initialization */
+ DeadReckoningInitLongitudeDr();
+ DeadReckoningInitLatitudeDr();
+ DeadReckoningInitAltitudeDr();
+ DeadReckoningInitSpeedDr();
+ DeadReckoningInitHeadingDr();
+ DeadReckoningInitSnsCounterDr();
+ DeadReckoningInitGyroOffsetDr();
+ DeadReckoningInitGyroScaleFactorDr();
+ DeadReckoningInitGyroScaleFactorLevelDr();
+ DeadReckoningInitSpeedPulseScaleFactorDr();
+ DeadReckoningInitSpeedPulseScaleFactorLevelDr();
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoning_SetDataMaster_Sub
+* ABSTRACT : Estimated Navigational Data Master SW Data Set Processing
+* FUNCTION : Set estimated navigation data
+* ARGUMENT : *p_data : SW vehicle signal notification data
+* : p_datamaster_set_n : Data Master Set Notification(Callback function)
+* NOTE :
+* RETURN : void
+******************************************************************************/
+void DeadReckoningSetDataMaster(const DEADRECKONING_DATA_MASTER *p_data,
+ PFUNC_DR_DMASTER_SET_N p_datamaster_set_n) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ u_int8 chg_type;
+
+ static u_int8 gyro_parameter_chg_type = 0;
+ static u_int8 speedpulse_parameter_chg_type = 0;
+
+ /*------------------------------------------------------*/
+ /* Call the data set processing associated with the DID */
+ /* Call the data master set notification process */
+ /*------------------------------------------------------*/
+ switch (p_data->ul_did) {
+ case VEHICLE_DID_DR_LONGITUDE:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetLongitudeDr(p_data);
+ /* Implementation of delivery process at LATITUDE updating timings */
+ /* Since the order of transmission (updating) at the main receiver is fixed, there is no problem. */
+ break;
+ }
+ case VEHICLE_DID_DR_LATITUDE:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetLatitudeDr(p_data);
+ (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
+ break;
+ }
+ case VEHICLE_DID_DR_ALTITUDE:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetAltitudeDr(p_data);
+ (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
+ break;
+ }
+ case VEHICLE_DID_DR_SPEED:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetSpeedDr(p_data);
+ (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
+ break;
+ }
+ case VEHICLE_DID_DR_HEADING:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetHeadingDr(p_data);
+ (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
+ break;
+ }
+ case VEHICLE_DID_DR_SNS_COUNTER:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetSnsCounterDr(p_data);
+ (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
+ break;
+ }
+ case VEHICLE_DID_DR_GYRO_OFFSET:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetGyroOffsetDr(p_data);
+ /* Distribution processing not performed in this DID */
+ /* Delivery processing is executed when VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL is updated. */
+ /* The GyroParameter order is defined by DeadReckoning_RcvMsg(). */
+ if (chg_type == DEADRECKONING_NEQ) {
+ gyro_parameter_chg_type = DEADRECKONING_NEQ;
+ }
+ break;
+ }
+ case VEHICLE_DID_DR_GYRO_SCALE_FACTOR:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetGyroScaleFactorDr(p_data);
+ /* Distribution processing not performed in this DID */
+ /* Delivery processing is executed when VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL is updated. */
+ /* The GyroParameter order is defined by DeadReckoning_RcvMsg(). */
+ if (chg_type == DEADRECKONING_NEQ) {
+ gyro_parameter_chg_type = DEADRECKONING_NEQ;
+ }
+ break;
+ }
+ case VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetGyroScaleFactorLevelDr(p_data);
+ if (gyro_parameter_chg_type == DEADRECKONING_NEQ) {
+ chg_type = DEADRECKONING_NEQ;
+ gyro_parameter_chg_type = DEADRECKONING_EQ;
+ }
+ (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
+ break;
+ }
+ case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetSpeedPulseScaleFactorDr(p_data);
+ /* Distribution processing not performed in this DID */
+ /* Delivery processing is executed when VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL is updated. */
+ /* The SpeedPulseParameter order is defined by DeadReckoning_RcvMsg(). */
+ if (chg_type == DEADRECKONING_NEQ) {
+ speedpulse_parameter_chg_type = DEADRECKONING_NEQ;
+ }
+ break;
+ }
+ case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL:
+ {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningSetDataMaster DID=[0x%08X] DSIZE=[%d] \r\n",
+ p_data->ul_did, p_data->us_size);
+#endif
+ chg_type = DeadReckoningSetSpeedPulseScaleFactorLevelDr(p_data);
+ if (speedpulse_parameter_chg_type == DEADRECKONING_NEQ) {
+ chg_type = DEADRECKONING_NEQ;
+ speedpulse_parameter_chg_type = DEADRECKONING_EQ;
+ }
+ (*p_datamaster_set_n)(p_data->ul_did, chg_type, DEADRECKONING_GETMETHOD_DR);
+ break;
+ }
+ default:
+ break;
+ }
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningGetDataMaster
+* ABSTRACT : Estimated Navigational Data Master Get Processing
+* FUNCTION : Provide an estimated navigation data master
+* ARGUMENT : ul_did : Data ID corresponding to the vehicle information
+* : *p_data : Pointer to the data master provider
+* NOTE :
+* RETURN : void
+******************************************************************************/
+void DeadReckoningGetDataMaster(DID ul_did, DEADRECKONING_DATA_MASTER *p_data) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ /*------------------------------------------------------*/
+ /* Call the data Get processing associated with the DID */
+ /*------------------------------------------------------*/
+ switch (ul_did) {
+ /*------------------------------------------------------*/
+ /* Vehicle sensor data group */
+ /*------------------------------------------------------*/
+ case VEHICLE_DID_DR_LONGITUDE:
+ {
+ DeadReckoningGetLongitudeDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_LATITUDE:
+ {
+ DeadReckoningGetLatitudeDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_ALTITUDE:
+ {
+ DeadReckoningGetAltitudeDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_SPEED:
+ {
+ DeadReckoningGetSpeedDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_HEADING:
+ {
+ DeadReckoningGetHeadingDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_SNS_COUNTER:
+ {
+ DeadReckoningGetSnsCounterDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_GYRO_OFFSET:
+ {
+ DeadReckoningGetGyroOffsetDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_GYRO_SCALE_FACTOR:
+ {
+ DeadReckoningGetGyroScaleFactorDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL:
+ {
+ DeadReckoningGetGyroScaleFactorLevelDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR:
+ {
+ DeadReckoningGetSpeedPulseScaleFactorDr(p_data);
+ break;
+ }
+ case VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL:
+ {
+ DeadReckoningGetSpeedPulseScaleFactorLevelDr(p_data);
+ break;
+ }
+ default:
+ break;
+ }
+}
+// LCOV_EXCL_STOP
Code Review / staging / basesystem.git / blobdiff