GT-2996/GT-2997: EnhPos API: Change some types from int to double and improve documentation

4 files changed, 45 insertions, 43 deletions

diff --git a/enhanced-position-service/api/genivi-positioning-enhancedposition.xml b/enhanced-position-service/api/genivi-positioning-enhancedposition.xml
index f631c3e..aa9c230 100644
--- a/enhanced-position-service/api/genivi-positioning-enhancedposition.xml
+++ b/enhanced-position-service/api/genivi-positioning-enhancedposition.xml
@@ -49,27 +49,28 @@
 
       <arg name="data" type="a{qv}" direction="out">
         <doc>
-          <line>position = dictionary[key,value]</line>
+          <line>data = dictionary[key,value]</line>
           <line>dictionary = array of tuples (key,value)</line>
           <line>Invalid data is not be returned to the client application</line>
+          <line>The vehicle axis system is defined by ISO 8855: In short, the X-axis pointing is forwards, the Y-axis is pointing left, the Z-axis is pointing upwards</line>
           <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING,... ,ALL</line>
           <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
-          <line>key = LATITUDE, value = value of type 'd', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250</line>
-          <line>key = LONGITUDE, value = value of type 'd', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500</line>  
-          <line>key = ALTITUDE, value = value of type 'i', that expresses the altitude above the sea level of the current position in meters</line>
-          <line>key = HEADING, value = value of type 'i', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west</line>
+          <line>key = LATITUDE, value = value of type 'd', that expresses the WGS84 latitude of the current position in degrees. Range [-90:+90]. Example: 48.053250</line>
+          <line>key = LONGITUDE, value = value of type 'd', that expresses the WGS84 longitude of the current position in degrees. Range [-180:+180]. Example: 8.324500</line>
+          <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>
+          <line>key = HEADING, value = value of type 'd', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west</line>
           <line>key = SPEED, value = value of type 'd', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards</line>
-          <line>key = CLIMB, value = value of type 'i', that expresses the road gradient in degrees</line>
-          <line>key = ROLL_RATE, value = value of type 'i', rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>
-          <line>key = PITCH_RATE, value = value of type 'i', rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>
-          <line>key = YAW_RATE, value = value of type 'i', rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>
+          <line>key = CLIMB, value = value of type 'd', that expresses the road gradient in degrees. Range [-180:+180]. A positive value means upwards. </line>
+          <line>key = ROLL_RATE, value = value of type 'd', rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>
+          <line>key = PITCH_RATE, value = value of type 'd', rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>
+          <line>key = YAW_RATE, value = value of type 'd', rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>
           <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>
           <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>
           <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>
-          <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m</line>
-          <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m</line>
-          <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m</line>
-          <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees</line>
+          <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard error estimate of the latitude in m</line>
+          <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard error estimate of the longitude in m</line>
+          <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard error estimate of the altitude in m</line>
+          <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard error estimate of the heading in degrees</line>
         </doc>
       </arg>
     </method>
@@ -86,12 +87,12 @@
           <line>Invalid data is not be returned to the client application</line>
           <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,...)</line>
           <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
-          <line>key = LATITUDE, value = value of type 'd', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250</line>
-          <line>key = LONGITUDE, value = value of type 'd', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500</line>  
-          <line>key = ALTITUDE, value = value of type 'i', that expresses the altitude above the sea level of the current position in meters</line>
-          <line>key = HEADING, value = value of type 'i', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west</line>
+          <line>key = LATITUDE, value = value of type 'd', that expresses the WGS84 latitude of the current position in degrees. Range [-90:+90]. Example: 48.053250</line>
+          <line>key = LONGITUDE, value = value of type 'd', that expresses the WGS84 longitude of the current position in degrees. Range [-180:+180]. Example: 8.324500</line>
+          <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>
+          <line>key = HEADING, value = value of type 'd', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west</line>
           <line>key = SPEED, value = value of type 'd', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards</line>
-          <line>key = CLIMB, value = value of type 'i', that expresses the road gradient in degrees</line>
+          <line>key = CLIMB, value = value of type 'd', that expresses the road gradient in degrees. Range [-180:+180]. A positive value means upwards. </line>
         </doc>
       </arg>
     </method>
@@ -114,14 +115,15 @@
       </doc>
       <arg name="rotationRate" type="a{qv}" direction="out">
         <doc>
-          <line>rotationRates = dictionary[key,value]</line>
+          <line>rotationRate = dictionary[key,value]</line>
           <line>dictionary = array of tuples (key,value)</line>
           <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>
+          <line>The vehicle axis system is defined by ISO 8855: In short, the X-axis pointing is forwards, the Y-axis is pointing left, the Z-axis is pointing upwards</line>
           <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line>
           <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
-          <line>key = ROLL_RATE, value = rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>
-          <line>key = PITCH_RATE, value = rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>
-          <line>key = YAW_RATE, value = rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>
+          <line>key = ROLL_RATE, value = value of type 'd', rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>
+          <line>key = PITCH_RATE, value = value of type 'd', rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>
+          <line>key = YAW_RATE, value = value of type 'd', rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>
         </doc>
       </arg>
     </method>
@@ -152,10 +154,10 @@
           <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>
           <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>
           <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>
-          <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m</line>
-          <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m</line>
-          <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m</line>
-          <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees</line>
+          <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard error estimate of the latitude in m</line>
+          <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard error estimate of the longitude in m</line>
+          <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard error estimate of the altitude in m</line>
+          <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard error estimate of the heading in degrees</line>
         </doc>
       </arg>
     </method>
@@ -252,7 +254,7 @@
           <line>key = DAY, value = value of type 'y', 2 digits number that indicates the day. Range [0:31]. Example: 07</line>
           <line>key = HOUR, value = value of type 'y', 2 digits number that indicates the hour. Range [0:23].  Example: 01</line> 
           <line>key = MINUTE, value = value of type 'y', 2 digits number that represents the minutes. Range [0:59]. Example: 01</line>
-          <line>key = SECOND, value = value of type 'y', 2 digits number that represents the seconds. Range [0:59]. Example: 01</line>
+          <line>key = SECOND, value = value of type 'y', 2 digits number that represents the seconds. Range [0:59], for leap seconds, also 60 is allowed. Example: 01</line>
           <line>key = MS, value = value of type 'q', 3 digits number that represents the milliseconds. Range [0:999]. Example: 007</line>
         </doc>
       </arg>
diff --git a/enhanced-position-service/api/genivi-positioning-positionfeedback.xml b/enhanced-position-service/api/genivi-positioning-positionfeedback.xml
index 461facc..c90910c 100644
--- a/enhanced-position-service/api/genivi-positioning-positionfeedback.xml
+++ b/enhanced-position-service/api/genivi-positioning-positionfeedback.xml
@@ -46,13 +46,13 @@
           <line>position = dictionary[key,value]</line>

           <line>dictionary = array of tuples (key,value)</line>

           <line>key = enum(INVALID,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,RELIABILTY_INDEX, ... )</line>

-          <line>key = LATITUDE, value = value of type ´d´, that expresses the latitude of the current position in format %3.6f. [-90,+90]. Example: 48.053250</line>

-          <line>key = LONGITUDE, value = value of type ´d´, that expresses the longitude of the current position in format %3.6f. [-180,+180]. Example: 8.324500</line>  

-          <line>key = ALTITUDE, value = value of type ´i´, that expresses the altitude above the sea level of the current position in meters</line>

-          <line>key = HEADING, value = value of type ´i´, that expresses the course angle in degree. [0,360]. Example: 0 => north, 90 => east, 180 => south, 270 => west</line>

-          <line>key = SPEED, value = value of type ´d´, that expresses speed measured in m/s</line>

-          <line>key = CLIMB, value = value of type ´i´, that expresses the inclination measured in degrees</line>

-          <line>key = RELIABILTY_INDEX, value = value of type ´y´, that indicates the position feedabck reliabilty. It can assume values from 0 to 100</line>

+          <line>key = LATITUDE, value = value of type 'd', that expresses the WGS84 latitude of the current position in degrees. Range [-90:+90]. Example: 48.053250</line>

+          <line>key = LONGITUDE, value = value of type 'd', that expresses the WGS84 longitude of the current position in degrees. Range [-180:+180]. Example: 8.324500</line>

+          <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>

+          <line>key = HEADING, value = value of type 'd', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west</line>

+          <line>key = SPEED, value = value of type 'd', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards</line>

+          <line>key = CLIMB, value = value of type 'd', that expresses the road gradient in degrees. Range [-180:+180]. A positive value means upwards. </line>

+          <line>key = RELIABILTY_INDEX, value = value of type 'y', that indicates the position feedback reliability. It can assume values from 0 to 100. Higher values indicate higher reliability.</line>

         </doc>

       </arg>

       <arg name="timestamp" type="t" direction="in">

diff --git a/enhanced-position-service/src/enhanced-position.cpp b/enhanced-position-service/src/enhanced-position.cpp
index 85ff4ff..ead6f50 100644
--- a/enhanced-position-service/src/enhanced-position.cpp
+++ b/enhanced-position-service/src/enhanced-position.cpp
@@ -125,7 +125,7 @@ std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetData(const std::vecto
 
       if (pos.validityBits && GNSS_POSITION_ALTITUDE_VALID)
       {
-        Data[POS_ALTITUDE] = variant_int32(pos.altitude);
+        Data[POS_ALTITUDE] = variant_double(pos.altitude);
       }
     }
   }
@@ -136,7 +136,7 @@ std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetData(const std::vecto
     {
       if (course.validityBits && GNSS_COURSE_SPEED_VALID)
       {
-        Data[POS_HEADING] = variant_int32(course.heading);
+        Data[POS_HEADING] = variant_double(course.heading);
       }
 
       if (course.validityBits && GNSS_COURSE_CLIMB_VALID)
@@ -146,7 +146,7 @@ std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetData(const std::vecto
 
       if (course.validityBits && GNSS_COURSE_HEADING_VALID)
       {
-        Data[POS_CLIMB] = variant_int32(course.climb);
+        Data[POS_CLIMB] = variant_double(course.climb);
       }
     }
   }
@@ -174,7 +174,7 @@ std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetPosition()
 
     if (pos.validityBits && GNSS_POSITION_ALTITUDE_VALID)
     {
-      Position[POS_ALTITUDE] = variant_int32(pos.altitude);
+      Position[POS_ALTITUDE] = variant_double(pos.altitude);
     }
   }
 
@@ -182,7 +182,7 @@ std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetPosition()
   {
     if (pos.validityBits && GNSS_COURSE_SPEED_VALID)
     {
-      Position[POS_HEADING] = variant_int32(course.heading);
+      Position[POS_HEADING] = variant_double(course.heading);
     }
 
     if (pos.validityBits && GNSS_COURSE_CLIMB_VALID)
@@ -192,7 +192,7 @@ std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetPosition()
 
     if (pos.validityBits && GNSS_COURSE_HEADING_VALID)
     {
-      Position[POS_CLIMB] = variant_int32(course.climb);
+      Position[POS_CLIMB] = variant_double(course.climb);
     }
   }
 
diff --git a/enhanced-position-service/test/enhanced-position-client.cpp b/enhanced-position-service/test/enhanced-position-client.cpp
index 838183a..a5fc698 100644
--- a/enhanced-position-service/test/enhanced-position-client.cpp
+++ b/enhanced-position-service/test/enhanced-position-client.cpp
@@ -55,7 +55,7 @@ void EnhancedPositionClient::PositionUpdate(const std::vector< uint16_t >& chang
 
     if (changedValues[i] == POS_ALTITUDE)
     {
-      LOG_INFO(gCtx,"ALT=%d", posData[POS_ALTITUDE].reader().get_int32());
+      LOG_INFO(gCtx,"ALT=%lf", posData[POS_ALTITUDE].reader().get_double());
     }
 
     if (changedValues[i] == POS_SPEED)
@@ -65,12 +65,12 @@ void EnhancedPositionClient::PositionUpdate(const std::vector< uint16_t >& chang
 
     if (changedValues[i] == POS_CLIMB)
     {
-      LOG_INFO(gCtx,"CLIMB=%d", posData[POS_CLIMB].reader().get_int32());
+      LOG_INFO(gCtx,"CLIMB=%lf", posData[POS_CLIMB].reader().get_double());
     }
 
     if (changedValues[i] == POS_HEADING)
     {
-      LOG_INFO(gCtx,"HEADING=%d", posData[POS_HEADING].reader().get_int32());
+      LOG_INFO(gCtx,"HEADING=%lf", posData[POS_HEADING].reader().get_double());
     }
   }