--- /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_Main.cpp
+ * System name :_CWORD107_
+ * Subsystem name :DeadReckoning Mains
+ * Program name :DeadReckoning Mains
+ * Module configuration :DeadReckoningInit() Guessed navigation initialization processing
+ * :DeadReckoningRcvMsg() DR Component MSG Receive Processing
+ ******************************************************************************/
+
+#include <positioning_hal.h>
+
+#include "DeadReckoning_main.h"
+
+#include "Sensor_Common_API.h"
+#include "DeadReckoning_DataMaster.h"
+#include "Dead_Reckoning_Local_Api.h"
+
+#include "DeadReckoning_DbgLogSim.h"
+
+#include "POS_private.h"
+
+static RET_API DeadReckoningWriteSharedMemory(VEHICLEDEBUG_MSG_LOGINFO_DAT* loginfo);
+static void DeadReckoningSetEvent(PNO pno, RET_API ret);
+static void DeadReckoningLinkSharedMemory(char *shared_memory_name, void **share_addr);
+
+#define DEAD_RECKONING_MAIN_DEBUG 0
+#define DR_DEBUG 0
+#define DR_DEBUG_ENG_MODE 0
+
+/*************************************************/
+/* Constant */
+/*************************************************/
+
+#define DEAD_RECKONING_BUF_SIZE 7
+#define DR_MASK_WORD_L 0x00FF
+#define DR_MASK_WORD_U 0xFF00
+
+/*************************************************/
+/* Global variable */
+/*************************************************/
+
+/* Data receive confirmation flag */
+BOOL g_gps_data_get_flg = FALSE;
+BOOL g_sens_data_get_flg = FALSE;
+BOOL g_fst_sens_data_get_flg = FALSE;
+
+/* Reception flag for each data */
+BOOL g_sens_data_get_sns_cnt_flg = FALSE;
+BOOL g_sens_data_get_gyro_x_flg = FALSE;
+BOOL g_sens_data_get_gyro_y_flg = FALSE;
+BOOL g_sens_data_get_gyro_z_flg = FALSE;
+BOOL g_sens_data_get_rev_flg = FALSE;
+BOOL g_sens_data_get_spdpulse_flg = FALSE;
+BOOL g_sens_data_get_spdpulse_chk_flg = FALSE;
+
+BOOL g_sens_data_get_gyro_x_fst_flg = FALSE;
+BOOL g_sens_data_get_gyro_y_fst_flg = FALSE;
+BOOL g_sens_data_get_gyro_z_fst_flg = FALSE;
+BOOL g_sens_data_get_rev_fst_flg = FALSE;
+BOOL g_sens_data_get_spdpulse_fst_flg = FALSE;
+BOOL g_sens_data_get_spdpulse_chk_fst_flg = FALSE;
+
+/* Receive data storage buffer */
+/* [0]:SNS_COUNTER [1]:REV [2]:SPEED_PULSE_FLAG [3]:SPEED_PULSE [4]:GYRO_X [5]:GYRO_Y [6]:GYRO_Z */
+DEAD_RECKONING_RCVDATA_SENSOR g_sns_buf[DEAD_RECKONING_BUF_SIZE];
+DEAD_RECKONING_SAVEDATA_SENSOR_FIRST g_fst_sns_buf;
+
+/*******************************************************************************
+ * MODULE : DeadReckoningInit
+ * ABSTRACT : Guessed navigation initialization processing
+ * FUNCTION : Initialize inferred navigation processing
+ * ARGUMENT : None
+ * NOTE :
+ * RETURN : RET_NORMAL :Success in initialization
+ * RET_ERROR :Master Clear failed
+ ******************************************************************************/
+int32 DeadReckoningInit(void) { // LCOV_EXCL_START 8: dead code.
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ return RET_NORMAL;
+}
+
+/*******************************************************************************
+ * MODULE : DeadReckoningRcvMsg
+ * ABSTRACT : DR Component MSG Receive Processing
+ * FUNCTION : Receive the DR component MSG
+ * ARGUMENT : *msg : message buffer
+ * NOTE :
+ * RETURN : None
+ ******************************************************************************/
+void DeadReckoningRcvMsg(const DEAD_RECKONING_RCVDATA *msg, DEAD_RECKONING_LONLAT_INFO *location_info) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ if ((msg == NULL) || (location_info == NULL)) {
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "msg == NULL\r\n");
+ } else {
+ const SENSOR_MSG_GPSDATA_DAT *rcv_gps_msg = NULL;
+ const VEHICLESENS_DATA_MASTER *rcv_sensor_msg = NULL;
+ const VEHICLESENS_DATA_MASTER_FST *rcv_sensor_msg_fst = NULL;
+
+ Struct_GpsData send_gps_msg;
+ Struct_SensData send_sensor_msg;
+
+ /* Initialization */
+ (void)memset(reinterpret_cast<void *>(&send_gps_msg), 0, sizeof(Struct_GpsData));
+ (void)memset(reinterpret_cast<void *>(&send_sensor_msg), 0, sizeof(Struct_SensData));
+
+ /* Flag is set to FALSE */
+ location_info->calc_called = static_cast<u_int8>(FALSE);
+ location_info->available = static_cast<u_int8>(FALSE);
+
+ if (CID_DEAD_RECKONING_GPS_DATA == msg->hdr.hdr.cid) {
+ rcv_gps_msg = (const SENSOR_MSG_GPSDATA_DAT *)(&(msg->data[0]));
+ /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */
+
+ /* Receiving GPS Data for DR */
+ switch (rcv_gps_msg->ul_did) {
+ case VEHICLE_DID_GPS_UBLOX_NAV_POSLLH :
+ case VEHICLE_DID_GPS_UBLOX_NAV_STATUS :
+ case VEHICLE_DID_GPS_UBLOX_NAV_TIMEUTC :
+ case VEHICLE_DID_GPS_UBLOX_NAV_VELNED :
+ case VEHICLE_DID_GPS_UBLOX_NAV_DOP :
+ case VEHICLE_DID_GPS_UBLOX_NAV_SVINFO :
+ case VEHICLE_DID_GPS_UBLOX_NAV_CLOCK :
+ {
+ g_gps_data_get_flg = TRUE;
+ break;
+ }
+ default:
+ break;
+ }
+ } else if (CID_DEAD_RECKONING_SENS_DATA == msg->hdr.hdr.cid) {
+ rcv_sensor_msg = (const VEHICLESENS_DATA_MASTER *)(&(msg->data[0]));
+ /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */
+
+ /* Sensor data reception for DR */
+ switch (rcv_sensor_msg->ul_did) {
+ case POSHAL_DID_SNS_COUNTER :
+ {
+ g_sns_buf[0].did = rcv_sensor_msg->ul_did;
+ g_sns_buf[0].size = static_cast<u_int8>(rcv_sensor_msg->us_size);
+ g_sns_buf[0].data[0] = rcv_sensor_msg->uc_data[0];
+ g_sens_data_get_sns_cnt_flg = TRUE;
+ break;
+ }
+ case POSHAL_DID_REV :
+ {
+ g_sns_buf[1].did = rcv_sensor_msg->ul_did;
+ g_sns_buf[1].size = static_cast<u_int8>(rcv_sensor_msg->us_size);
+ (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[1].data[0])),
+ (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size);
+ g_sens_data_get_rev_flg = TRUE;
+ break;
+ }
+ case POSHAL_DID_SPEED_PULSE_FLAG :
+ {
+ g_sns_buf[2].did = rcv_sensor_msg->ul_did;
+ g_sns_buf[2].size = static_cast<u_int8>(rcv_sensor_msg->us_size);
+ (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[2].data[0])),
+ (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size);
+ g_sens_data_get_spdpulse_chk_flg = TRUE;
+ break;
+ }
+ case POSHAL_DID_SPEED_PULSE :
+ {
+ g_sns_buf[3].did = rcv_sensor_msg->ul_did;
+ g_sns_buf[3].size = static_cast<u_int8>(rcv_sensor_msg->us_size);
+ (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[3].data[0])),
+ (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size);
+ g_sens_data_get_spdpulse_flg = TRUE;
+ break;
+ }
+ case POSHAL_DID_GYRO_X :
+ {
+ g_sns_buf[4].did = rcv_sensor_msg->ul_did;
+ g_sns_buf[4].size = static_cast<u_int8>(rcv_sensor_msg->us_size);
+ (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[4].data[0])),
+ (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size);
+ g_sens_data_get_gyro_x_flg = TRUE;
+ break;
+ }
+ case POSHAL_DID_GYRO_Y :
+ {
+ g_sns_buf[5].did = rcv_sensor_msg->ul_did;
+ g_sns_buf[5].size = static_cast<u_int8>(rcv_sensor_msg->us_size);
+ (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[5].data[0])),
+ (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size);
+ g_sens_data_get_gyro_y_flg = TRUE;
+ break;
+ }
+ case POSHAL_DID_GYRO_Z :
+ {
+ g_sns_buf[6].did = rcv_sensor_msg->ul_did;
+ g_sns_buf[6].size = static_cast<u_int8>(rcv_sensor_msg->us_size);
+ (void)memcpy(reinterpret_cast<void *>(&(g_sns_buf[6].data[0])),
+ (const void *)(&(rcv_sensor_msg->uc_data[0])), (size_t)rcv_sensor_msg->us_size);
+ g_sens_data_get_gyro_z_flg = TRUE;
+ break;
+ }
+ default:
+ break;
+ }
+ } else if (CID_DEAD_RECKONING_SENS_FST_DATA == msg->hdr.hdr.cid) {
+ u_int16 rev_data_size;
+
+ rcv_sensor_msg_fst = (const VEHICLESENS_DATA_MASTER_FST *)(&(msg->data[0]));
+ /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */
+ rev_data_size = static_cast<u_int16>(msg->hdr.hdr.msgbodysize - VEHICLESENS_DELIVERY_FSTSNS_HDR_SIZE);
+
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " DID = %08X, rev_data_size = %d ",
+ rcv_sensor_msg_fst->ul_did, rev_data_size);
+#endif
+
+ /* Sensor data reception for DR */
+ switch (rcv_sensor_msg_fst->ul_did) {
+ case POSHAL_DID_REV_FST :
+ {
+ (void)memcpy(
+ reinterpret_cast<void *>(&(g_fst_sns_buf.rev_data[g_fst_sns_buf.rev_rcv_size
+ / sizeof(g_fst_sns_buf.rev_data[0])])),
+ (const void *)(&(rcv_sensor_msg_fst->uc_data[0])),
+ (size_t)(rev_data_size));
+
+ g_fst_sns_buf.rev_rcv_size = static_cast<u_int16>(
+ g_fst_sns_buf.rev_rcv_size + rev_data_size);
+
+ if (g_fst_sns_buf.rev_rcv_size == rcv_sensor_msg_fst->us_size) {
+ g_sens_data_get_rev_fst_flg = TRUE;
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " REV receive flag = TRUE ");
+#endif
+ }
+ break;
+ }
+ case POSHAL_DID_SPEED_PULSE_FLAG_FST :
+ {
+ (void)memcpy(
+ reinterpret_cast<void *>(&(g_fst_sns_buf.spd_pulse_check_data[g_fst_sns_buf.spd_pulse_check_rcv_size
+ / sizeof(g_fst_sns_buf.spd_pulse_check_data[0])])),
+ (const void *)(&(rcv_sensor_msg_fst->uc_data[0])),
+ (size_t)(rev_data_size));
+
+ g_fst_sns_buf.spd_pulse_check_rcv_size = static_cast<u_int16>(
+ g_fst_sns_buf.spd_pulse_check_rcv_size + rev_data_size);
+
+ if (g_fst_sns_buf.spd_pulse_check_rcv_size == rcv_sensor_msg_fst->us_size) {
+ g_sens_data_get_spdpulse_chk_fst_flg = TRUE;
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " SPF receive flag = TRUE ");
+#endif
+ }
+ break;
+ }
+ case POSHAL_DID_SPEED_PULSE_FST :
+ {
+ (void)memcpy(
+ reinterpret_cast<void *>(&(g_fst_sns_buf.spd_pulse_data[g_fst_sns_buf.spd_pulse_rcv_size
+ / sizeof(g_fst_sns_buf.spd_pulse_data[0])])),
+ (const void *)(&(rcv_sensor_msg_fst->uc_data[0])),
+ (size_t)(rev_data_size));
+
+ g_fst_sns_buf.spd_pulse_rcv_size = static_cast<u_int16>(g_fst_sns_buf.spd_pulse_rcv_size + \
+ rev_data_size);
+
+ if (g_fst_sns_buf.spd_pulse_rcv_size == rcv_sensor_msg_fst->us_size) {
+ g_sens_data_get_spdpulse_fst_flg = TRUE;
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " SP receive flag = TRUE ");
+#endif
+ }
+ break;
+ }
+ case POSHAL_DID_GYRO_X_FST :
+ {
+ (void)memcpy(
+ reinterpret_cast<void *>(&(g_fst_sns_buf.gyro_x_data[g_fst_sns_buf.gyro_x_rcv_size
+ / sizeof(g_fst_sns_buf.gyro_x_data[0])])),
+ (const void *)(&(rcv_sensor_msg_fst->uc_data[0])),
+ (size_t)(rev_data_size));
+
+ g_fst_sns_buf.gyro_x_rcv_size = static_cast<u_int16>(g_fst_sns_buf.gyro_x_rcv_size + rev_data_size);
+
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__,
+ " g_fst_sns_buf.gyro_x_rcv_size = %d, rcv_sensor_msg_fst->us_size = %d ",
+ g_fst_sns_buf.gyro_x_rcv_size, rcv_sensor_msg_fst->us_size);
+#endif
+ if (g_fst_sns_buf.gyro_x_rcv_size == rcv_sensor_msg_fst->us_size) {
+ g_sens_data_get_gyro_x_fst_flg = TRUE;
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " GYRO_X receive flag = TRUE ");
+#endif
+ }
+ break;
+ }
+ case POSHAL_DID_GYRO_Y_FST :
+ {
+ (void)memcpy(
+ reinterpret_cast<void *>(&(g_fst_sns_buf.gyro_y_data[g_fst_sns_buf.gyro_y_rcv_size
+ / sizeof(g_fst_sns_buf.gyro_y_data[0])])),
+ (const void *)(&(rcv_sensor_msg_fst->uc_data[0])),
+ (size_t)(rev_data_size));
+
+ g_fst_sns_buf.gyro_y_rcv_size = static_cast<u_int16>(g_fst_sns_buf.gyro_y_rcv_size + rev_data_size);
+
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__,
+ " g_fst_sns_buf.gyro_y_rcv_size = %d, rcv_sensor_msg_fst->us_size = %d ",
+ g_fst_sns_buf.gyro_y_rcv_size, rcv_sensor_msg_fst->us_size);
+#endif
+ if (g_fst_sns_buf.gyro_y_rcv_size == rcv_sensor_msg_fst->us_size) {
+ g_sens_data_get_gyro_y_fst_flg = TRUE;
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " GYRO_Y receive flag = TRUE ");
+#endif
+ }
+ break;
+ }
+ case POSHAL_DID_GYRO_Z_FST :
+ {
+ (void)memcpy(
+ reinterpret_cast<void *>(&(g_fst_sns_buf.gyro_z_data[g_fst_sns_buf.gyro_z_rcv_size
+ / sizeof(g_fst_sns_buf.gyro_z_data[0])])),
+ (const void *)(&(rcv_sensor_msg_fst->uc_data[0])),
+ (size_t)(rev_data_size));
+
+ g_fst_sns_buf.gyro_z_rcv_size = static_cast<u_int16>(g_fst_sns_buf.gyro_z_rcv_size + rev_data_size);
+
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__,
+ " g_fst_sns_buf.gyro_z_rcv_size = %d, rcv_sensor_msg_fst->us_size = %d ",
+ g_fst_sns_buf.gyro_z_rcv_size, rcv_sensor_msg_fst->us_size);
+#endif
+ if (g_fst_sns_buf.gyro_z_rcv_size == rcv_sensor_msg_fst->us_size) {
+ g_sens_data_get_gyro_z_fst_flg = TRUE;
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, " GYRO_Z receive flag = TRUE ");
+#endif
+ }
+ break;
+ }
+ default:
+ break;
+ }
+ } else {
+ /* nop */
+ }
+
+ /* 4 data received? */
+ if ((g_sens_data_get_sns_cnt_flg == TRUE) &&
+ (g_sens_data_get_rev_flg == TRUE) &&
+ (g_sens_data_get_gyro_x_flg == TRUE) &&
+ (g_sens_data_get_gyro_y_flg == TRUE) &&
+ (g_sens_data_get_gyro_z_flg == TRUE) &&
+ (g_sens_data_get_spdpulse_flg == TRUE) &&
+ (g_sens_data_get_spdpulse_chk_flg == TRUE)) {
+ /* Sensor data acquisition flag ON */
+ g_sens_data_get_flg = TRUE;
+
+ /* Set all flags to FALSE */
+ g_sens_data_get_sns_cnt_flg = FALSE;
+ g_sens_data_get_gyro_x_flg = FALSE;
+ g_sens_data_get_gyro_y_flg = FALSE;
+ g_sens_data_get_gyro_z_flg = FALSE;
+ g_sens_data_get_rev_flg = FALSE;
+ g_sens_data_get_spdpulse_flg = FALSE;
+ g_sens_data_get_spdpulse_chk_flg = FALSE;
+ }
+
+ /* 4 data received? */
+ if ((g_sens_data_get_rev_fst_flg == TRUE) &&
+ (g_sens_data_get_gyro_x_fst_flg == TRUE) &&
+ (g_sens_data_get_gyro_y_fst_flg == TRUE) &&
+ (g_sens_data_get_gyro_z_fst_flg == TRUE) &&
+ (g_sens_data_get_spdpulse_fst_flg == TRUE) &&
+ (g_sens_data_get_spdpulse_chk_fst_flg == TRUE)) {
+ /* Initial sensor data acquisition flag ON */
+ g_fst_sens_data_get_flg = TRUE;
+
+ /* Set all flags to FALSE */
+ g_sens_data_get_gyro_x_fst_flg = FALSE;
+ g_sens_data_get_gyro_y_fst_flg = FALSE;
+ g_sens_data_get_gyro_z_fst_flg = FALSE;
+ g_sens_data_get_rev_fst_flg = FALSE;
+ g_sens_data_get_spdpulse_fst_flg = FALSE;
+ g_sens_data_get_spdpulse_chk_fst_flg = FALSE;
+ }
+
+ DeadReckoningRcvMsgFstSens(msg, location_info, rcv_gps_msg, &send_gps_msg, &send_sensor_msg);
+ }
+}
+
+void DeadReckoningRcvMsgFstSens(const DEAD_RECKONING_RCVDATA *msg, DEAD_RECKONING_LONLAT_INFO *location_info,
+ const SENSOR_MSG_GPSDATA_DAT *rcv_gps_msg, Struct_GpsData* send_gps_msg,
+ Struct_SensData* send_sensor_msg) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ /* Verifying Debug Log Simulator Mode
+ Perform packet reading here to match some timing.
+ However,,Differ between GPS and SENSOR.
+ */
+ u_int8 fst_sens_send_num = 0U;
+ /* For GPS data */
+ if (g_gps_data_get_flg == TRUE) {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__,
+ "DeadReckoningRcvMsg SEND GPS_DATA: DID[0x%08X] DSIZE[%d] MSG_SIZE[%d] SNS_CNT[%d] \r\n",
+ rcv_gps_msg.ulDid, rcv_gps_msg.ucData[4], msg->hdr.hdr.msgbodysize, rcv_gps_msg.ucSnsCnt);
+#endif
+
+ if (1) {
+ rcv_gps_msg = (const SENSOR_MSG_GPSDATA_DAT *)(&(msg->data[0]));
+ /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */
+
+ /* Set and pass the data part except header/footer */
+ send_gps_msg->sens_cnt = rcv_gps_msg->uc_sns_cnt;
+ send_gps_msg->sens_cnt_flag = rcv_gps_msg->uc_gps_cnt_flag;
+ send_gps_msg->gps_data_size = rcv_gps_msg->us_size;
+ send_gps_msg->did = rcv_gps_msg->ul_did;
+ send_gps_msg->gps_data = (const void *)(&rcv_gps_msg->uc_data[0]);
+ }
+
+ /* Providing GPS data to DR_Lib */
+
+ g_gps_data_get_flg = FALSE;
+
+ } else if (g_sens_data_get_flg == TRUE) {
+ Struct_DR_DATA rcv_dr_data;
+ DR_CALC_INFO rcv_dr_calc_info;
+ DEADRECKONING_DATA_MASTER send_data_master;
+
+ if (1) {
+ /* Each data is stored in the data format for transmission. */
+ send_sensor_msg->sens_cnt_flag = 1U;
+ send_sensor_msg->sens_cnt = g_sns_buf[0].data[0];
+ send_sensor_msg->pulse_rev_tbl.reverse_flag = g_sns_buf[1].data[0];
+ send_sensor_msg->pulse_rev_tbl.pulse_flag = g_sns_buf[2].data[0];
+ send_sensor_msg->pulse_rev_tbl.pulse_sum_cyclic = static_cast<u_int16>(
+ ((((u_int16)g_sns_buf[3].data[0] << 0) & DR_MASK_WORD_L) |
+ (((u_int16)g_sns_buf[3].data[1] << 8) & DR_MASK_WORD_U)));
+ /* ToDo */
+ (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_x_tbl.gyro_data[0])),
+ (const void *)(&(g_sns_buf[4].data[0])), sizeof(u_int16) * NUM_OF_100msData);
+ (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_y_tbl.gyro_data[0])),
+ (const void *)(&(g_sns_buf[5].data[0])), sizeof(u_int16) * NUM_OF_100msData);
+ (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_z_tbl.gyro_data[0])),
+ (const void *)(&(g_sns_buf[6].data[0])), sizeof(u_int16) * NUM_OF_100msData);
+ }
+
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg SEND SENSOR_COUNTER %d \r\n",
+ send_sensor_msg->sens_cnt);
+#endif
+
+ /* When the sensor data are ready, Call the DR-calculation process. */
+ memset(&rcv_dr_data, 0x00, sizeof(rcv_dr_data)); /* Coverity CID:18805 compliant */
+ memset(&rcv_dr_calc_info, 0x00, sizeof(rcv_dr_calc_info)); /* Coverity CID:18806 compliant */
+
+ location_info->calc_called = static_cast<u_int8>(TRUE);
+ location_info->lonlat.latitude = static_cast<int32>(rcv_dr_data.latitude);
+ location_info->lonlat.longitude = static_cast<int32>(rcv_dr_data.longitude);
+
+ if (rcv_dr_data.dr_status != static_cast<u_int8>(SENSORLOCATION_DRSTATUS_INVALID)) {
+ location_info->available = static_cast<u_int8>(TRUE);
+ } else {
+ location_info->available = static_cast<u_int8>(FALSE);
+ }
+
+ /* Changing the order of registration and delivery of the out structure to the data master for DR */
+
+ send_data_master.ul_did = VEHICLE_DID_DR_SNS_COUNTER;
+ send_data_master.us_size = VEHICLE_DSIZE_DR_SNS_COUNTER;
+ send_data_master.uc_rcv_flag = 1;
+ send_data_master.dr_status = rcv_dr_data.dr_status;
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ (const void *)(&(rcv_dr_data.positioning_time)), (size_t)VEHICLE_DSIZE_DR_SNS_COUNTER);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_LONGITUDE;
+ send_data_master.us_size = VEHICLE_DSIZE_LONGITUDE;
+ send_data_master.uc_rcv_flag = 1;
+ send_data_master.dr_status = rcv_dr_data.dr_status;
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ (const void *)(&(rcv_dr_data.longitude)), (size_t)VEHICLE_DSIZE_LONGITUDE);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_LATITUDE;
+ send_data_master.us_size = VEHICLE_DSIZE_LATITUDE;
+ send_data_master.uc_rcv_flag = 1;
+ send_data_master.dr_status = rcv_dr_data.dr_status;
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ (const void *)(&(rcv_dr_data.latitude)), (size_t)VEHICLE_DSIZE_LATITUDE);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_ALTITUDE;
+ send_data_master.us_size = VEHICLE_DSIZE_ALTITUDE;
+ send_data_master.uc_rcv_flag = 1;
+ send_data_master.dr_status = rcv_dr_data.dr_status;
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ (const void *)(&(rcv_dr_data.altitude)), (size_t)VEHICLE_DSIZE_ALTITUDE);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_SPEED;
+ send_data_master.us_size = VEHICLE_DSIZE_SPEED;
+ send_data_master.uc_rcv_flag = 1;
+ send_data_master.dr_status = rcv_dr_data.dr_status;
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ (const void *)(&(rcv_dr_data.rate)), (size_t)VEHICLE_DSIZE_SPEED);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_HEADING;
+ send_data_master.us_size = VEHICLE_DSIZE_HEADING;
+ send_data_master.uc_rcv_flag = 1;
+ send_data_master.dr_status = rcv_dr_data.dr_status;
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ (const void *)(&(rcv_dr_data.heading)), (size_t)VEHICLE_DSIZE_HEADING);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ /* Data master setting,Data delivery(GyroParameter) */
+ /* As it is registered for delivery with DID = VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL */
+ /* Process in GyroOffset-> GyroScaleFactor-> GyroScelFactorLevel order(Processing order cannot be changed.) */
+ send_data_master.ul_did = VEHICLE_DID_DR_GYRO_OFFSET;
+ send_data_master.us_size = VEHICLE_DSIZE_GYRO_OFFSET;
+ send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON;
+ send_data_master.dr_status = 0U; /* Not used */
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ reinterpret_cast<void *>(&(rcv_dr_calc_info.gyro_offset)), (size_t)send_data_master.us_size);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_GYRO_SCALE_FACTOR;
+ send_data_master.us_size = VEHICLE_DSIZE_GYRO_SCALE_FACTOR;
+ send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON;
+ send_data_master.dr_status = 0U; /* Not used */
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ reinterpret_cast<void *>(&(rcv_dr_calc_info.gyro_scale_factor)),
+ (size_t)send_data_master.us_size);
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_GYRO_SCALE_FACTOR_LEVEL;
+ send_data_master.us_size = VEHICLE_DSIZE_GYRO_SCALE_FACTOR_LEVEL;
+ send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON;
+ send_data_master.dr_status = 0U; /* Not used */
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ reinterpret_cast<void *>(&(rcv_dr_calc_info.gyro_scale_factor_level)),
+ (size_t)(send_data_master.us_size));
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ /* Data master setting,Data delivery(SpeedPulseParameter) */
+ /* As it is registered for delivery with DID = VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL */
+ /* Process in SpeedPulseScaleFactor-> SpeedPulseScaleFactorLevel order(Processing order cannot be changed.) */
+ send_data_master.ul_did = VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR;
+ send_data_master.us_size = VEHICLE_DSIZE_SPEED_PULSE_SCALE_FACTOR;
+ send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON;
+ send_data_master.dr_status = 0U; /* Not used */
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ reinterpret_cast<void *>(&(rcv_dr_calc_info.speed_pulse_scale_factor)),
+ (size_t)(send_data_master.us_size));
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ send_data_master.ul_did = VEHICLE_DID_DR_SPEED_PULSE_SCALE_FACTOR_LEVEL;
+ send_data_master.us_size = VEHICLE_DSIZE_SPEED_PULSE_SCALE_FACTOR_LEVEL;
+ send_data_master.uc_rcv_flag = DEADRECKONING_RCVFLAG_ON;
+ send_data_master.dr_status = 0U; /* Not used */
+ (void)memcpy(reinterpret_cast<void *>(&(send_data_master.uc_data[0])),
+ reinterpret_cast<void *>(&(rcv_dr_calc_info.speed_pulse_scale_factor_level)),
+ (size_t)(send_data_master.us_size));
+ DeadReckoningSetDataMaster(&send_data_master, (PFUNC_DR_DMASTER_SET_N)DeadReckoningDeliveryProc);
+
+ g_sens_data_get_flg = FALSE;
+ } else if (g_fst_sens_data_get_flg == TRUE) {
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg FstSnsData -> DeadReckoningLibrary. \r\n");
+#endif
+ for (fst_sens_send_num = 0; fst_sens_send_num < g_fst_sns_buf.data_num; fst_sens_send_num++) {
+ /* Each data is stored in the data format for transmission. */
+ send_sensor_msg->sens_cnt_flag = 0U;
+ send_sensor_msg->sens_cnt = 0U;
+ send_sensor_msg->pulse_rev_tbl.reverse_flag = g_fst_sns_buf.rev_data[fst_sens_send_num];
+ send_sensor_msg->pulse_rev_tbl.pulse_flag = g_fst_sns_buf.spd_pulse_check_data[fst_sens_send_num];
+ send_sensor_msg->pulse_rev_tbl.pulse_sum_cyclic = g_fst_sns_buf.spd_pulse_data[fst_sens_send_num];
+ (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_x_tbl.gyro_data[0])),
+ (const void *)(&(g_fst_sns_buf.gyro_x_data[fst_sens_send_num * NUM_OF_100msData])),
+ (size_t)((sizeof(g_fst_sns_buf.gyro_x_data[fst_sens_send_num])) * NUM_OF_100msData));
+ (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_y_tbl.gyro_data[0])),
+ (const void *)(&(g_fst_sns_buf.gyro_y_data[fst_sens_send_num * NUM_OF_100msData])),
+ (size_t)((sizeof(g_fst_sns_buf.gyro_y_data[fst_sens_send_num])) * NUM_OF_100msData));
+ (void)memcpy(reinterpret_cast<void *>(&(send_sensor_msg->gyro_z_tbl.gyro_data[0])),
+ (const void *)(&(g_fst_sns_buf.gyro_z_data[fst_sens_send_num * NUM_OF_100msData])),
+ (size_t)((sizeof(g_fst_sns_buf.gyro_z_data[fst_sens_send_num])) * NUM_OF_100msData));
+
+#if (DR_DEBUG == 1) /* PastModel002_DR_VEHICLE */
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg send_sensor_msg.sens_cnt_flag %d \r\n",
+ send_sensor_msg->sens_cnt_flag);
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "DeadReckoningRcvMsg SEND SENSOR_COUNTER %d \r\n",
+ send_sensor_msg->sens_cnt);
+#endif
+
+ /* Sleep to reduce CPU load */
+ MilliSecSleep(DR_FST_SENS_CALC_SLEEP_TIME);
+
+ /* When the sensor data are ready, Call the DR-calculation process. */
+ }
+
+ g_sens_data_get_flg = FALSE;
+
+ g_fst_sens_data_get_flg = FALSE;
+
+ } else {
+ /* nop */
+ }
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningGetDRData
+* ABSTRACT : Vehicle sensor information acquisition
+* FUNCTION :
+* ARGUMENT : *msg : message buffer
+* NOTE :
+* RETURN : void
+******************************************************************************/
+void DeadReckoningGetDRData(const DEADRECKONING_MSG_GET_DR_DATA *msg) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ void *share_top; /* Start address of shared memory */
+ u_int32 share_size; /* Size of shared memory area */
+ RET_API ret_api;
+ int32 ret;
+ int32 event_val = VEHICLE_RET_NORMAL;
+ EventID event_id;
+ DEADRECKONING_DATA_MASTER dr_master; /* GPS Data Master */
+
+ DEADRECKONING_MSG_GET_DR_DATA msg_buf;
+
+ /* Defines the data master for each API. */
+ SENSORLOCATION_MSG_LONLATINFO_DAT msg_lonlat_info;
+ SENSORLOCATION_MSG_ALTITUDEINFO_DAT msg_altitude_info;
+ SENSORMOTION_MSG_SPEEDINFO_DAT msg_speed_info;
+ SENSORMOTION_MSG_HEADINGINFO_DAT msg_heading_info;
+
+ (void)memset(reinterpret_cast<void *>(&msg_buf), 0, sizeof(DEADRECKONING_MSG_GET_DR_DATA));
+ memcpy(&(msg_buf), msg, sizeof(DEADRECKONING_MSG_GET_DR_DATA));
+
+ /* Check the DID */
+ ret = DeadReckoningCheckDid(msg_buf.data.did);
+
+ if (VEHICLESENS_INVALID != ret) {
+ /* DID normal */
+
+ /* Link to shared memory */
+ ret_api = _pb_LinkShareData(const_cast<char *>(VEHICLE_SHARE_NAME), &share_top, &share_size);
+ if (RET_NORMAL == ret_api) {
+ /* Acquire the specified data from the data master. */
+ (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER));
+ DeadReckoningGetDataMaster(msg_buf.data.did, &dr_master);
+
+ /* Align data from the data master for API I/F */
+ switch ((u_int32)(msg_buf.data.did)) {
+ /* Describes the process for each DID. */
+ case VEHICLE_DID_DR_LATITUDE:
+ {
+ (void)memset(reinterpret_cast<void *>(&msg_lonlat_info),
+ 0, sizeof(SENSORLOCATION_MSG_LONLATINFO_DAT));
+
+ /* Size storage(LATITUDE) */
+ msg_lonlat_info.size = static_cast<u_int16>(sizeof(SENSORLOCATION_MSG_LONLATINFO_DAT));
+
+ /* DR status setting */
+ msg_lonlat_info.dr_status = dr_master.dr_status;
+
+ /* The DR enable flag is set to DR status. */
+ msg_lonlat_info.is_exist_dr = dr_master.dr_status;
+
+ /* Set the Latitude */
+ memcpy(&(msg_lonlat_info.latitude), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Obtain the data master Longitude */
+ (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER));
+ DeadReckoningGetDataMaster(VEHICLE_DID_DR_LONGITUDE, &dr_master);
+
+ /* Set the Longitude */
+ memcpy(&(msg_lonlat_info.longitude), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Acquire data master SensorCnt */
+ (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER));
+ DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master);
+
+ /* Set the SensorCnt */
+ memcpy(&(msg_lonlat_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Write data master to shared memory */
+ PosSetShareData(share_top,
+ msg_buf.data.offset,
+ (const void *)&msg_lonlat_info,
+ sizeof(msg_lonlat_info));
+
+ /* Set Successful Completion */
+ event_val = VEHICLE_RET_NORMAL;
+
+ break;
+ }
+ case VEHICLE_DID_DR_ALTITUDE:
+ {
+ (void)memset(reinterpret_cast<void *>(&msg_altitude_info),
+ 0, sizeof(SENSORLOCATION_MSG_ALTITUDEINFO_DAT));
+
+ msg_altitude_info.size = static_cast<u_int16>(sizeof(SENSORLOCATION_MSG_ALTITUDEINFO_DAT));
+ /* The DR enable flag is set to DR status. */
+ msg_altitude_info.is_exist_dr = dr_master.dr_status;
+ msg_altitude_info.dr_status = dr_master.dr_status;
+
+ /* Set the Speed */
+ memcpy(&(msg_altitude_info.altitude), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Acquire data master SensorCnt */
+ (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER));
+ DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master);
+
+ /* Set the SensorCnt */
+ memcpy(&(msg_altitude_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Write data master to shared memory */
+ PosSetShareData(share_top,
+ msg_buf.data.offset,
+ (const void *)&msg_altitude_info,
+ sizeof(msg_altitude_info));
+
+ /* Set Successful Completion */
+ event_val = VEHICLE_RET_NORMAL;
+
+ break;
+ }
+ case VEHICLE_DID_DR_SPEED:
+ {
+ (void)memset(reinterpret_cast<void *>(&msg_speed_info),
+ 0, sizeof(SENSORMOTION_MSG_SPEEDINFO_DAT));
+
+ msg_speed_info.size = static_cast<u_int16>(sizeof(SENSORMOTION_MSG_SPEEDINFO_DAT));
+ /* The DR enable flag is set to DR status. */
+ msg_speed_info.is_exist_dr = dr_master.dr_status;
+ msg_speed_info.dr_status = dr_master.dr_status;
+
+ /* Set the Speed */
+ memcpy(&(msg_speed_info.speed), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Acquire data master SensorCnt */
+ (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER));
+ DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master);
+ /* Set the SensorCnt */
+ memcpy(&(msg_speed_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Write data master to shared memory */
+ PosSetShareData(share_top,
+ msg_buf.data.offset,
+ (const void *)&msg_speed_info,
+ sizeof(msg_speed_info));
+
+ /* Set Successful Completion */
+ event_val = VEHICLE_RET_NORMAL;
+
+ break;
+ }
+ case VEHICLE_DID_DR_HEADING:
+ {
+ (void)memset(reinterpret_cast<void *>(&msg_heading_info),
+ 0, sizeof(SENSORMOTION_MSG_HEADINGINFO_DAT));
+
+ msg_heading_info.size = static_cast<u_int16>(sizeof(SENSORMOTION_MSG_HEADINGINFO_DAT));
+ /* The DR enable flag is set to DR status. */
+ msg_heading_info.is_exist_dr = dr_master.dr_status;
+ msg_heading_info.dr_status = dr_master.dr_status;
+
+ /* Set the Heading */
+ memcpy(&(msg_heading_info.heading), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Acquire data master SensorCnt */
+ (void)memset(reinterpret_cast<void *>(&dr_master), 0, sizeof(DEADRECKONING_DATA_MASTER));
+ DeadReckoningGetDataMaster(VEHICLE_DID_DR_SNS_COUNTER, &dr_master);
+ /* Set the SensorCnt */
+ memcpy(&(msg_heading_info.sensor_cnt), &(dr_master.uc_data[0]), dr_master.us_size);
+
+ /* Write data master to shared memory */
+ PosSetShareData(share_top,
+ msg_buf.data.offset,
+ (const void *)&msg_heading_info,
+ sizeof(msg_heading_info));
+ /* Set Successful Completion */
+ event_val = VEHICLE_RET_NORMAL;
+
+ break;
+ }
+ /* Other than the above */
+ default:
+ /* Do not edit. */
+ break;
+ }
+
+ /* Check the data size */
+ if (msg_buf.data.size < dr_master.us_size) {
+ /* Shared memory error(Insufficient storage size) */
+ event_val = VEHICLE_RET_ERROR_OUTOF_MEMORY;
+ }
+ } else {
+ /* Shared memory error */
+ event_val = VEHICLE_RET_ERROR_OUTOF_MEMORY;
+ }
+ } else {
+ /* DID error */
+ event_val = VEHICLE_RET_ERROR_DID;
+ }
+
+ /* Event Generation */
+ event_id = VehicleCreateEvent(msg_buf.data.pno);
+
+ /* Publish Events */
+ ret_api = _pb_SetEvent(event_id, SAPI_EVSET_ABSOLUTE, event_val);
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningSetMapMatchingData
+* ABSTRACT : Map-Matching information setting
+* FUNCTION : Setting Map-Matching Information
+* ARGUMENT : *msg : message buffer
+* NOTE :
+* RETURN : void
+******************************************************************************/
+void DeadReckoningSetMapMatchingData(const DR_MSG_MAP_MATCHING_DATA *msg) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningClearBackupData
+* ABSTRACT : Backup data clear function CALL
+* FUNCTION : Call the backup data clear function.
+* ARGUMENT : *msg : message buffer
+* NOTE :
+* RETURN : None
+******************************************************************************/
+void DeadReckoningClearBackupData(const DR_MSG_CLEAR_BACKUP_DATA *msg) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ char event_name[32]; /* Event name character string buffer */
+ EventID event_id; /* Event ID */
+ int32 event_val; /* Event value to set*/
+ RET_API ret_api; /* System API return value */
+
+ if (msg != NULL) {
+ /* DR backup data initialization function call */
+ event_val = RET_NORMAL;
+
+ /* Initialization of event name character string buffer */
+ (void)memset(reinterpret_cast<void *>(event_name), 0, sizeof(event_name));
+
+ /* Event name creation */
+ snprintf(event_name, sizeof(event_name), "DR_API_%X", msg->hdr.hdr.sndpno);
+ /* Match DR_API.cpp side with name */
+
+ /* Event Generation */
+ event_id = _pb_CreateEvent(_CWORD64_EVENT_MANUALRESET_OFF, DR_EVENT_VAL_INIT, event_name);
+
+ if (event_id != 0) {
+ /* For successful event generation */
+ /* Set the event */
+ ret_api = _pb_SetEvent(event_id, SAPI_EVSET_ABSOLUTE, event_val);
+
+ if (ret_api == RET_NORMAL) {
+ /* Successful event set */
+ } else {
+ /* Event set failed */
+ /* Delete Event and Return Event Generation Failed */
+ ret_api = _pb_DeleteEvent(event_id);
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "_pb_SetEvent Failed\r\n");
+ }
+ }
+ }
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningSetEvent
+* ABSTRACT : Set of events
+* FUNCTION : Set event to return successful or unsuccessful log configuration retrieval
+* ARGUMENT : PNO pno : Caller Pno
+* : RET_API ret : Log setting acquisition Success/Fail
+* : RET_NORMAL: Log setting acquisition success
+* : RET_ERROR: Log setting acquisition failure
+* NOTE :
+* RETURN : None
+******************************************************************************/
+static void DeadReckoningSetEvent(PNO pno, RET_API ret) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ char event_name[32]; /* Event name character string buffer */
+ EventID event_id; /* Event ID */
+ RET_API ret_api; /* System API return value */
+
+ /* Initialization of event name character string buffer */
+ (void)memset(reinterpret_cast<void *>(event_name), 0, sizeof(event_name));
+
+ /* Event name creation */
+ snprintf(event_name, sizeof(event_name), "VehicleDebug_%X", pno);
+ /* Event name should match VehicleDebug_API.cpp */
+
+ /* Event Generation */
+ event_id = _pb_CreateEvent(_CWORD64_EVENT_MANUALRESET_OFF, VEHICLEDEBUG_EVENT_VAL_INIT, event_name);
+
+ if (event_id != 0) {
+ /* For successful event generation */
+ /* Set the event */
+ ret_api = _pb_SetEvent(event_id, SAPI_EVSET_ABSOLUTE, ret);
+
+ if (ret_api == RET_NORMAL) {
+ /* Successful event set */
+ } else {
+ /* Event set failed */
+ /* Delete Event */
+ ret_api = _pb_DeleteEvent(event_id);
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "_pb_SetEvent Failed\r\n");
+ }
+ }
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningLinkSharedMemory
+* ABSTRACT : Shared memory link
+* FUNCTION : Link to shared memory
+* ARGUMENT : char *shared_memory_name : Name of shared memory to link
+* : void **share_addr : Pointer to a variable that stores the address of the linked shared memory.
+* NOTE :
+* RETURN : None
+******************************************************************************/
+static void DeadReckoningLinkSharedMemory(char *shared_memory_name, void **share_addr) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ RET_API ret_api;
+ void *pv_share_mem; /* Store Shared Memory Address */
+ u_int32 share_mem_size; /* Size of the linked shared memory */
+
+ if ((shared_memory_name != NULL) && (share_addr != NULL)) {
+ /* Link to the handle storage area */
+ ret_api = _pb_LinkShareData(shared_memory_name, &pv_share_mem, &share_mem_size);
+
+ if (ret_api == RET_NORMAL) {
+ /* If the link is successful */
+ if (share_mem_size == VEHICLEDEBUG_MSGBUF_DSIZE) {
+ /* When the size of the linked shared memory is correct */
+ *share_addr = pv_share_mem; /* Set the address */
+ } else {
+ /* The size of the linked shared memory is incorrect. */
+ *share_addr = NULL;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Bad shared memory size\r\n");
+ }
+ } else {
+ /* If the link fails */
+ *share_addr = NULL;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Can't link shared memory\r\n");
+ }
+ }
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningWriteSharedMemory
+* ABSTRACT : Write Shared Memory
+* FUNCTION : Write Shared Memory
+* ARGUMENT : VEHICLEDEBUG_MSG_LOGINFO_DAT* loginfo : Logging information
+* RETURN : RET_API : Whether writing to shared memory was successful
+* : : RET_NORMAL Success
+* : : RET_ERROR Failed
+* NOTE :
+******************************************************************************/
+static RET_API DeadReckoningWriteSharedMemory(VEHICLEDEBUG_MSG_LOGINFO_DAT* loginfo) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ static VEHICLEDEBUG_MSG_LOGINFO_DAT *share_addr = NULL; /* Store Shared Memory Address */
+ static SemID sem_id = 0; /* ID of shared memory exclusive semaphore */
+
+ RET_API ret = RET_NORMAL; /* Return of the functions */
+ RET_API ret_api; /* Return of the functions */
+
+#if DEAD_RECKONING_MAIN_DEBUG
+ FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "Call %s\r\n", __func__);
+#endif
+
+ /* Get Semaphore ID */
+ if (sem_id == 0) {
+ sem_id = _pb_CreateSemaphore(const_cast<char *>(SENSOR_LOG_SETTING_SEMAPHO_NAME));
+ }
+
+ if (sem_id != 0) {
+ /* Semaphore ID successfully acquired */
+ ret_api = _pb_SemLock(sem_id); /* Semaphore Lock */
+
+ if (ret_api == RET_NORMAL) {
+ /* Semaphore lock successful */
+
+ /* When the shared memory is not linked */
+ if (share_addr == NULL) {
+ /* Link to shared memory */
+ DeadReckoningLinkSharedMemory(const_cast<char *>(LOG_SETTING_SHARE_MEMORY_NAME),
+ reinterpret_cast<void **>(&share_addr));
+ /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */
+ }
+
+ if (share_addr != NULL) {
+ /* The link to shared memory is successful. */
+ /* Writing Data to Shared Memory */
+ share_addr->log_sw = loginfo->log_sw;
+ (void)memcpy(reinterpret_cast<void *>(share_addr->severity),
+ (const void *)(loginfo->severity), sizeof(share_addr->severity));
+ } else {
+ /* Failed to link to shared memory */
+ ret = RET_ERROR;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "DeadReckoningLinkSharedMemory Failed");
+ }
+ /* Semaphore unlock */
+ (void)_pb_SemUnlock(sem_id);
+ } else {
+ /* Semaphore lock failed */
+ ret = RET_ERROR;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "_pb_SemLock Failed");
+ }
+ } else {
+ ret = RET_ERROR;
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "sem_id == 0");
+ }
+
+ return ret;
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningGetLocationLogStatus
+* ABSTRACT : CALL of functions for acquiring logging settings
+* FUNCTION : Call the log setting acquisition function.
+* ARGUMENT : None
+* NOTE :
+* RETURN : void
+******************************************************************************/
+void DeadReckoningGetLocationLogStatus(PNO pno) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+ RET_API ret_api; /* System API return value */
+ RET_API ret;
+ VEHICLEDEBUG_MSG_LOGINFO_DAT loginfo; /* Logging information */
+ BOOL log_sw = FALSE;
+
+ /* CALL of functions for acquiring logging settings */
+ ret_api = RET_NORMAL;
+
+ if (ret_api == RET_NORMAL) {
+ /* Log setting acquisition function succeeded */
+ loginfo.log_sw = (u_int32)(log_sw);
+
+ /* Write to shared memory */
+ ret = DeadReckoningWriteSharedMemory(&loginfo);
+
+ /* Event publishing */
+ DeadReckoningSetEvent(pno, ret);
+ } else {
+ /* Log setting acquisition function failed */
+ FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "GetLocationLogSetting Failed");
+
+ /* Event publishing */
+ DeadReckoningSetEvent(pno, RET_ERROR);
+ }
+}
+
+/*******************************************************************************
+* MODULE : DeadReckoningSetLocationLogStatus
+* ABSTRACT : CALL of log-setting-request-function
+* FUNCTION : Call the log setting request function.
+* ARGUMENT : u_int32 log_sw : Log type
+* : u_int8 severity : Output level
+* NOTE :
+* RETURN : void
+******************************************************************************/
+void DeadReckoningSetLocationLogStatus(BOOL log_sw, u_int8 severity) {
+ AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
+}
+
+// LCOV_EXCL_STOP
Code Review / staging / basesystem.git / blobdiff