GT-3012 update franca fidl files so that they match the new d-bus interface

4 files changed, 103 insertions, 241 deletions

diff --git a/enhanced-position-service/api/franca/Configuration.fidl b/enhanced-position-service/api/franca/Configuration.fidl
index 022d0c8..be48ad9 100755
--- a/enhanced-position-service/api/franca/Configuration.fidl
+++ b/enhanced-position-service/api/franca/Configuration.fidl
@@ -22,9 +22,9 @@ interface Configuration {
 	}

 	

     <**

-	    @description : SatelliteSystem = satellite system (GPS, Glonass, ...)

+	    @description : SatSystem = satellite system (GPS, GLONASS, ...)

     **>

-	attribute UInt16 SatelliteSystem 

+	attribute SatelliteSystem SatSystem 

 	

     <**

 	    @description : UpdateInterval = update interval

diff --git a/enhanced-position-service/api/franca/EnhancedPosition.fidl b/enhanced-position-service/api/franca/EnhancedPosition.fidl
index 5f47b07..549b71d 100755
--- a/enhanced-position-service/api/franca/EnhancedPosition.fidl
+++ b/enhanced-position-service/api/franca/EnhancedPosition.fidl
@@ -31,65 +31,32 @@ interface EnhancedPosition {
 	}

 

 	<**

-		@description : GetData = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )

+		@description : GetPositionInfo = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )

 		Note: If a requested value is invalid, it's not returned to the client application

 	**>

-	method GetData {

+	method GetPositionInfo {

 		in {

-			PositionDataKey[] valuesToReturn

+			<** @description : valuesToReturn = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to the values to be returned **>

+			Bitmask valuesToReturn

 		}

 		out {

-			PositionData data

+			<** @description : timestamp = Timestamp of the acquisition of the position data [ms] **>

+			Timestamp timestamp 

+			<** @description : data = Position data **>

+			PositionInfo[] data

 		}

 	}

-

-	<**

-		@description : GetPosition = This method returns the current position

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetPosition {

-		out {

-			PositionInfo position

-		}

-	}

-

-	<**

-		@description : GetRotationRate = This method returns the rotation rate

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetRotationRate {

-		out {

-			RotationRate rotationRate

-		}

-	}

-

-	<**

-		@description : GetAccuracy = This method returns the accuracy

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetAccuracy {

-		out {

-			AccuracyInfo accuracy

-		}

-	}

-

+	

 	<**

 		@description : GetSatelliteInfo = This method returns information about the current satellite constellation

 		Note: If a requested value is invalid, it's not returned to the client application

 	**>

 	method GetSatelliteInfo {

 		out {

-			SatelliteInfo satelliteInfo

-		}

-	}

-

-	<**

-		@description : GetStatus = This method returns the status of this service

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetStatus {

-		out {

-			StatusInfo status

+			<** @description : timestamp = Timestamp of the acquisition of the satellite detail data [ms] **>

+			Timestamp timestamp

+			<** @description : satelliteInfo = satellite information **>

+			SatelliteInfo[] satelliteInfo

 		}

 	}

 

@@ -99,6 +66,9 @@ interface EnhancedPosition {
 	**>

 	method GetTime {

 		out {

+			<** @description : timestamp = Timestamp of the acquisition of the UTC date/time [ms] **>

+			Timestamp timestamp

+			<** @description : time = UTC date/time **>

 			TimeInfo time

 		}

 	}

@@ -108,43 +78,8 @@ interface EnhancedPosition {
 	**>

 	broadcast PositionUpdate {

 		out {

-			PositionDataKey[] changedValues

-		}

-	}

-

-	<**

-		@description : RotationRateUpdated = This signal is emitted when the rotation rate changes

-	**>

-	broadcast RotationRateUpdate {

-		out {

-			RotationRateKey[] changedValues

-		}

-	}

-

-	<**

-		@description : AccuracyUpdated = This signal is emitted when the accuracy changes

-	**>

-	broadcast AccuracyUpdate {

-		out {

-			AccuracyInfoKey[] changedValues

-		}

-	}

-

-	<**

-		@description : SatelliteInfoUpdate = This signal is emitted when information about the current satellite information is updated

-	**>

-	broadcast SatelliteInfoUpdate {

-		out {

-			SatelliteInfoKey[] changedValues

-		}

-	}

-

-	<**

-		@description : StatusUpdate = This signal is emitted when the status of this service changes

-	**>

-	broadcast StatusUpdate {

-		out {

-			StatusInfoKey[] changedValues

+			<** @description : valuesToReturn = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to the values that changed **>

+			Bitmask changedValues

 		}

 	}

 

diff --git a/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl b/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl
index a16cb07..fb20163 100755
--- a/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl
+++ b/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl
@@ -14,6 +14,11 @@ typeCollection EnhancedPositionServiceTypes {
 	

 	typedef Handle is UInt32

 	

+	typedef Timestamp is UInt64

+	

+	<** @description: bitmask obtained as a result of an OR operation on enum values of type PositionInfoKey **>

+	typedef Bitmask is UInt64 

+	

 	<** @description: version.**>			

 	struct Version {

 		<** @description : when the major changes, then backward compatibility with previous releases is not granted.**>

@@ -26,17 +31,13 @@ typeCollection EnhancedPositionServiceTypes {
 		String date

 	}

 	

-	<** @description : genereic value (mapped to a dbus variant ('v') data type.**>

+	<** @description : Value = generic value (mapped to a dbus variant ('v') data type.**>

 	union Value {

 		UInt32 uInt32Value

 		String stringValue

 	}

-    

-	enumeration BasicEnum {

-		INVALID = 0x0000

-	}

 

-    <** @description: 2D geocoordinate.**>	

+    <** @description: Coordinate2D = 2D geocoordinate.**>	

 	struct Coordinate2D {

         <**	@description : latitude of a vertex of the polygon in format %3.6f. Range [-90:+90]. Example: 48.053250.**>

 		Double latitude

@@ -44,37 +45,42 @@ typeCollection EnhancedPositionServiceTypes {
 		Double longitude

 	}

 

-    <** @description: 3D geocoordinate.**>	

+    <** @description: Coordinate3D = 3D geocoordinate.**>	

 	struct Coordinate3D extends Coordinate2D {

         <**	@description : altitude above the sea level of the current position in meters.**>

 		Int32 altitude

 	}

 	

-	enumeration PositionDataKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		LATITUDE        = 0x0020

-		LONGITUDE       = 0x0021

-		ALTITUDE        = 0x0022

-		HEADING         = 0x0030

-		SPEED           = 0x0031

-		CLIMB           = 0x0032

-		ROLL_RATE       = 0x0060

-		PITCH_RATE      = 0x0061

-		YAW_RATE        = 0x0062

-		PDOP            = 0x0080

-		HDOP            = 0x0081

-		VDOP            = 0x0082

-		SIGMA_LATITUDE  = 0x0083

-		SIGMA_LONGITUDE = 0x0084

-		SIGMA_ALTITUDE  = 0x0085

-		SIGMA_HEADING   = 0x0086

-		ALL             = 0xffff

+	enumeration PositionInfoKey {

+		LATITUDE           = "0x00000001"

+		LONGITUDE          = "0x00000002"

+		ALTITUDE           = "0x00000004"

+		HEADING            = "0x00000008"

+		SPEED              = "0x00000010"

+		CLIMB              = "0x00000020"

+		ROLL_RATE          = "0x00000040"

+		PITCH_RATE         = "0x00000080"

+		YAW_RATE           = "0x00000100"

+		PDOP               = "0x00000200"

+		HDOP               = "0x00000400"

+		VDOP               = "0x00000800"

+		USED_SATELLITES    = "0x00001000"

+        TRACKED_SATELLITES = "0x00002000"

+        VISIBLE_SATELLITES = "0x00004000"

+		SIGMA_HPOSITION    = "0x00008000"

+		SIGMA_ALTITUDE     = "0x00010000"

+		SIGMA_HEADING      = "0x00020000"

+		SIGMA_SPEED        = "0x00040000"

+        SIGMA_CLIMB        = "0x00080000"

+        GNSS_FIX_STATUS    = "0x00100000"

+        DR_STATUS          = "0x00200000"

+        RELIABILTY_INDEX   = "0x00400000"

+		ALL                = "0xffffffff"

 	} 

 	

 	<**	  

-       @description : PositioningData = array of tuples (key,value)

-	      key = enumeration PositionDataKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

+       @description : PositioningInfo = array of tuples (key,value)

+	      key = enumeration PositionInfoKey

           key = LATITUDE, value = value of type 'Double', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250

           key = LONGITUDE, value = value of type 'Double', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500

           key = ALTITUDE, value = value of type 'Int32', that expresses the altitude above the sea level of the current position in meters

@@ -87,150 +93,49 @@ typeCollection EnhancedPositionServiceTypes {
           key = PDOP, value = value of type 'Double', that represents the positional (3D) dilution of precision

           key = HDOP, value = value of type 'Double', that represents the horizontal (2D) dilution of precision

           key = VDOP, value = value of type 'Double', that represents vertical (altitude) dilution of precision

-          key = SIGMA_LATITUDE, value = value of type 'Double', that represents the standard deviation for latitude in m

-          key = SIGMA_LONGITUDE, value = value of type 'Double', that represents the standard deviation for longitude in m

+          key = SIGMA_HPOSITION, value = value of type 'Double', that represents the standard deviation for the horizontal position in m

           key = SIGMA_ALTITUDE, value = value of type 'Double', that represents the standard deviation for altitude in m

           key = SIGMA_HEADING, value = value of type 'Double', that represents the standard deviation for altitude in degrees

+          key = USED_SATELLITES, value = value of type 'UInt8', that represents the number of used satellites

+          key = TRACKED_SATELLITES, value = value of type 'UInt8', that represents the number of tracked satellites 

+          key = VISIBLE_SATELLITES, value = value of type 'UInt8', that represents the number of visible satellites

+          key = GNSS_FIX_STATUS, value = value of type 'q', that represents an enum(NO_FIX(0x01),TIME_FIX(0x01),2D_FIX(0x02),3D_FIX(0x03), ... )

+          key = DR_STATUS, value = value of type 'b', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position

     **>

-	map PositionData {

-		PositionDataKey to Value

-	}

-	

-	enumeration PositionInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		LATITUDE        = 0x0020

-		LONGITUDE       = 0x0021

-		ALTITUDE        = 0x0022

-		HEADING         = 0x0030

-		SPEED           = 0x0031

-		CLIMB           = 0x0032

-	} 

-	

-	<**	  

-       @description : PositionInfo = array of tuples (key,value)

-          key = enumeration PositionInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = LATITUDE, value = value of type 'Double', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250

-          key = LONGITUDE, value = value of type 'Double', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500 

-          key = ALTITUDE, value = value of type 'Int32', that expresses the altitude above the sea level of the current position in meters

-          key = HEADING, value = value of type 'Int32', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west

-          key = SPEED, value = value of type 'Double', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards

-          key = CLIMB, value = value of type 'Int32', that expresses the road gradient in degrees

-    **>   

 	map PositionInfo {

 		PositionInfoKey to Value

 	}

 	

-	enumeration RotationRateKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		ROLL_RATE       = 0x0060

-		PITCH_RATE      = 0x0061

-		YAW_RATE        = 0x0062

-	}

-	

 	<**	  

-       @description : RotationRate = array of tuples (key,value)

-          key = enumeration RotationRateKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = ROLL_RATE, value = rotation rate around the X-axis in degrees/s. Range [-100:+100]

-          key = PITCH_RATE, value = rotation rate around the Y-axis in degrees/s. Range [-100:+100]

-          key = YAW_RATE, value = rotation rate around the Z-axis in degrees/s. Range [-100:+100]

+       @description : SatelliteInfo = array(struct(system,satelliteId,azimuth,elevation,snr,inUse))

+          system = enum(GPS, GLONASS, GALILEO, COMPASS, ... )

+          satelliteId = satellite ID. This ID is unique within one satellite system

+          azimuth = satellite azimuth in degrees. Value range 0..359

+          elevation = satellite elevation in degrees. Value range 0..90

+          snr = SNR (C/No) in dBHz. Range 0 to 99, null when not tracking

+          inUse = flag indicating if the satellite is used for the fix (inUse=true)

     **>

-	map RotationRate {

-		RotationRateKey to Value

-	}

-	

-	enumeration AccuracyInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		PDOP            = 0x0080

-		HDOP            = 0x0081

-		VDOP            = 0x0082

-		SIGMA_LATITUDE  = 0x0083

-		SIGMA_LONGITUDE = 0x0084

-		SIGMA_ALTITUDE  = 0x0085

-		SIGMA_HEADING   = 0x0086

-	}	

-		

-    <**	  

-       @description : AccuracyInfo = array of tuples (key,value)

-          key = enumeration AccuracyInfoKey

-          key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms

-          key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision

-          key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision

-          key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision

-          key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m

-          key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m

-          key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m

-          key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees

-    **>    

-	map AccuracyInfo {

-		AccuracyInfoKey to Value

-	}

-	

-	enumeration SatelliteInfoKey extends BasicEnum {

-	    TIMESTAMP           = 0x0001

-	    USED_SATELLITES     = 0x00c0

-	    TRACKED_SATELLITES  = 0x00c1

-	    VISIBLE_SATELLITES  = 0x00c2

-	    SATELLITE_DETAILS   = 0x00c3

-	}

-	

-	struct SatelliteDetails {

-		UInt32 satId

+	struct SatelliteInfo {

+		UInt32 satellitId

 		Boolean inUse

 		UInt32 elevation

 		UInt32 azimuth

 		UInt32 snr

 	}

 	

-	<**	

-	   @description : SatelliteInfo = array of tuples (key,value)

-          key = enumeration SatelliteInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = USED_SATELLITES, value = value of type 'UInt8', that represents the number of used satellites

-          key = TRACKED_SATELLITES, value = value of type 'UInt8', that represents the number of tracked satellites 

-          key = VISIBLE_SATELLITES, value = value of type 'UInt8', that represents the number of visible satellites

-          key = SATELLITE_DETAILS, value = value of type SatelliteDetails[], that represents an array(struct(satId,inUse,elevation,azimuth,snr))

-                The satID numbering scheme shall be as defined by NMEA-0183 (v3.01 or later) for the GSV sentence:

-                1..32: GPS satellites (by PRN), 33..64: SBAS/WAAS satellites, 65..96: Glonass satellites

-                Note: Later NMEA-0183 versions probably already have Galileo support 

-    **>

-	map SatelliteInfo {

-		SatelliteInfoKey to Value

-	}

-	

-	enumeration StatusInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		GNSS_FIX_STATUS = 0x0070

-		DR_STATUS       = 0x0071

-	}

-	

-    <**	  

-       @description : StatusInfo = array of tuples (key,value)

-          key = enumeration StatusInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = GNSS_FIX_STATUS, value = value of type 'UInt16', that represents an enum(INVALID(0x00),NO_FIX(0x01),TIME_FIX(0x02),2D_FIX(0x03),3D_FIX(0x04), ... )

-          key = DR_STATUS, value = value of type 'Boolean', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position

-    **>    

-	map StatusInfo {

-		StatusInfoKey to Value

-	}

-	

-	enumeration TimeInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-	    YEAR            = 0x00a0

-	    MONTH           = 0x00a1

-	    DAY             = 0x00a2

-	    HOUR            = 0x00a3

-	    MINUTE          = 0x00a4

-	    SECOND          = 0x00a5

-	    MS              = 0x00a6

+	enumeration TimeInfoKey  {

+	    YEAR            = "0x01000000"

+	    MONTH           = "0x02000000"

+	    DAY             = "0x04000000"

+	    HOUR            = "0x08000000"

+	    MINUTE          = "0x10000000"

+	    SECOND          = "0x20000000"

+	    MS              = "0x40000000"

 	}

 

     <**	  

        @description : TimeInfo = array of tuples (key,value)

           key = enumeration TimeInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

           key = YEAR, value = value of type 'UInt16', 4 digits number that indicates the year. Example: 2012

           key = MONTH, value = value of type 'UInt8', 2 digits number that indicates the month. Example: 03 means March

           key = DAY, value = value of type 'UInt8', 2 digits number that indicates the day. Range [0:31]. Example: 07

@@ -243,6 +148,28 @@ typeCollection EnhancedPositionServiceTypes {
 		TimeInfoKey to Value

 	}

 	

+	enumeration PositionFeedbackKey {

+		LATITUDE         = "0x00000001"

+	    LONGITUDE        = "0x00000002"

+	    ALTITUDE         = "0x00000004"

+	    HEADING          = "0x00000008"

+	    SPEED            = "0x00000010"

+	    CLIMB            = "0x00000020"

+	    RELIABILTY_INDEX = "0x00400000"

+	}

+	

+	enumeration PositionFeedbackType {

+		MAP_MATCHED_FEEDBACK = "0x00000001"

+	    TEST_FEEDBACK        = "0x00000002"

+	}

+	

+	enumeration SatelliteSystem {

+	    GPS                  = "0x00000001"

+        GLONASS              = "0x00000002"

+        GALILEO              = "0x00000003" 

+        COMPASS              = "0x00000004" 

+    }

+	

 }

 

 

diff --git a/enhanced-position-service/api/franca/PositionFeedback.fidl b/enhanced-position-service/api/franca/PositionFeedback.fidl
index a4a4131..4700453 100755
--- a/enhanced-position-service/api/franca/PositionFeedback.fidl
+++ b/enhanced-position-service/api/franca/PositionFeedback.fidl
@@ -46,13 +46,13 @@ interface PositionFeedback {
 			<**

 				@description : feedbackType = enum(INVALID,MAP_MATCHED_FEEDBACK,TEST_FEEDBACK, ... )

 			**>

-			UInt16 feedbackType

+			PositionFeedbackType feedbackType

 		}

 	}

 	

     <**

 		@description : PositionFeedback = array of tuples (key,value)</line>

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

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

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

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

@@ -62,7 +62,7 @@ interface PositionFeedback {
           key = RELIABILTY_INDEX, value = value of type ´y´, that indicates the position feedabck reliabilty. It can assume values from 0 to 100

 	**>

 	map PositionFeedback {

-		UInt16 to Value

+		PositionFeedbackKey to Value

 	}

 

 }