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185 files changed, 182663 insertions, 0 deletions
@@ -0,0 +1,380 @@ +The source code of the positioning proofs of concept is mainly licensed under the Mozilla Public License Version 2.0. + +Some files contained in the current repositry are subject to the terms of other licenses: +* The documentation is published under the terms of the Creative Commons Attribution Share-Alike 3.0 License +* The enhanced-position-service contains some files that were generated using the Nokia Qt tool 'qdbusxml2cpp'. + These files report the note 'Copyright (C) 2011 Nokia Corporation' + +Mozilla Public License Version 2.0 +================================== + +1. Definitions +-------------- + +1.1. "Contributor" + means each individual or legal entity that creates, contributes to + the creation of, or owns Covered Software. + +1.2. "Contributor Version" + means the combination of the Contributions of others (if any) used + by a Contributor and that particular Contributor's Contribution. + +1.3. "Contribution" + means Covered Software of a particular Contributor. + +1.4. "Covered Software" + means Source Code Form to which the initial Contributor has attached + the notice in Exhibit A, the Executable Form of such Source Code + Form, and Modifications of such Source Code Form, in each case + including portions thereof. + +1.5. "Incompatible With Secondary Licenses" + means + + (a) that the initial Contributor has attached the notice described + in Exhibit B to the Covered Software; or + + (b) that the Covered Software was made available under the terms of + version 1.1 or earlier of the License, but not also under the + terms of a Secondary License. + +1.6. "Executable Form" + means any form of the work other than Source Code Form. + +1.7. "Larger Work" + means a work that combines Covered Software with other material, in + a separate file or files, that is not Covered Software. + +1.8. "License" + means this document. + +1.9. "Licensable" + means having the right to grant, to the maximum extent possible, + whether at the time of the initial grant or subsequently, any and + all of the rights conveyed by this License. + +1.10. "Modifications" + means any of the following: + + (a) any file in Source Code Form that results from an addition to, + deletion from, or modification of the contents of Covered + Software; or + + (b) any new file in Source Code Form that contains any Covered + Software. + +1.11. "Patent Claims" of a Contributor + means any patent claim(s), including without limitation, method, + process, and apparatus claims, in any patent Licensable by such + Contributor that would be infringed, but for the grant of the + License, by the making, using, selling, offering for sale, having + made, import, or transfer of either its Contributions or its + Contributor Version. + +1.12. "Secondary License" + means either the GNU General Public License, Version 2.0, the GNU + Lesser General Public License, Version 2.1, the GNU Affero General + Public License, Version 3.0, or any later versions of those + licenses. + +1.13. "Source Code Form" + means the form of the work preferred for making modifications. + +1.14. "You" (or "Your") + means an individual or a legal entity exercising rights under this + License. For legal entities, "You" includes any entity that + controls, is controlled by, or is under common control with You. For + purposes of this definition, "control" means (a) the power, direct + or indirect, to cause the direction or management of such entity, + whether by contract or otherwise, or (b) ownership of more than + fifty percent (50%) of the outstanding shares or beneficial + ownership of such entity. + +2. License Grants and Conditions +-------------------------------- + +2.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, +non-exclusive license: + +(a) under intellectual property rights (other than patent or trademark) + Licensable by such Contributor to use, reproduce, make available, + modify, display, perform, distribute, and otherwise exploit its + Contributions, either on an unmodified basis, with Modifications, or + as part of a Larger Work; and + +(b) under Patent Claims of such Contributor to make, use, sell, offer + for sale, have made, import, and otherwise transfer either its + Contributions or its Contributor Version. + +2.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution +become effective for each Contribution on the date the Contributor first +distributes such Contribution. + +2.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under +this License. No additional rights or licenses will be implied from the +distribution or licensing of Covered Software under this License. +Notwithstanding Section 2.1(b) above, no patent license is granted by a +Contributor: + +(a) for any code that a Contributor has removed from Covered Software; + or + +(b) for infringements caused by: (i) Your and any other third party's + modifications of Covered Software, or (ii) the combination of its + Contributions with other software (except as part of its Contributor + Version); or + +(c) under Patent Claims infringed by Covered Software in the absence of + its Contributions. + +This License does not grant any rights in the trademarks, service marks, +or logos of any Contributor (except as may be necessary to comply with +the notice requirements in Section 3.4). + +2.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to +distribute the Covered Software under a subsequent version of this +License (see Section 10.2) or under the terms of a Secondary License (if +permitted under the terms of Section 3.3). + +2.5. Representation + +Each Contributor represents that the Contributor believes its +Contributions are its original creation(s) or it has sufficient rights +to grant the rights to its Contributions conveyed by this License. + +2.6. Fair Use + +This License is not intended to limit any rights You have under +applicable copyright doctrines of fair use, fair dealing, or other +equivalents. + +2.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted +in Section 2.1. + +3. Responsibilities +------------------- + +3.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any +Modifications that You create or to which You contribute, must be under +the terms of this License. You must inform recipients that the Source +Code Form of the Covered Software is governed by the terms of this +License, and how they can obtain a copy of this License. You may not +attempt to alter or restrict the recipients' rights in the Source Code +Form. + +3.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + +(a) such Covered Software must also be made available in Source Code + Form, as described in Section 3.1, and You must inform recipients of + the Executable Form how they can obtain a copy of such Source Code + Form by reasonable means in a timely manner, at a charge no more + than the cost of distribution to the recipient; and + +(b) You may distribute such Executable Form under the terms of this + License, or sublicense it under different terms, provided that the + license for the Executable Form does not attempt to limit or alter + the recipients' rights in the Source Code Form under this License. + +3.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, +provided that You also comply with the requirements of this License for +the Covered Software. If the Larger Work is a combination of Covered +Software with a work governed by one or more Secondary Licenses, and the +Covered Software is not Incompatible With Secondary Licenses, this +License permits You to additionally distribute such Covered Software +under the terms of such Secondary License(s), so that the recipient of +the Larger Work may, at their option, further distribute the Covered +Software under the terms of either this License or such Secondary +License(s). + +3.4. Notices + +You may not remove or alter the substance of any license notices +(including copyright notices, patent notices, disclaimers of warranty, +or limitations of liability) contained within the Source Code Form of +the Covered Software, except that You may alter any license notices to +the extent required to remedy known factual inaccuracies. + +3.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, +indemnity or liability obligations to one or more recipients of Covered +Software. However, You may do so only on Your own behalf, and not on +behalf of any Contributor. You must make it absolutely clear that any +such warranty, support, indemnity, or liability obligation is offered by +You alone, and You hereby agree to indemnify every Contributor for any +liability incurred by such Contributor as a result of warranty, support, +indemnity or liability terms You offer. You may include additional +disclaimers of warranty and limitations of liability specific to any +jurisdiction. + +4. Inability to Comply Due to Statute or Regulation +--------------------------------------------------- + +If it is impossible for You to comply with any of the terms of this +License with respect to some or all of the Covered Software due to +statute, judicial order, or regulation then You must: (a) comply with +the terms of this License to the maximum extent possible; and (b) +describe the limitations and the code they affect. Such description must +be placed in a text file included with all distributions of the Covered +Software under this License. Except to the extent prohibited by statute +or regulation, such description must be sufficiently detailed for a +recipient of ordinary skill to be able to understand it. + +5. Termination +-------------- + +5.1. The rights granted under this License will terminate automatically +if You fail to comply with any of its terms. However, if You become +compliant, then the rights granted under this License from a particular +Contributor are reinstated (a) provisionally, unless and until such +Contributor explicitly and finally terminates Your grants, and (b) on an +ongoing basis, if such Contributor fails to notify You of the +non-compliance by some reasonable means prior to 60 days after You have +come back into compliance. Moreover, Your grants from a particular +Contributor are reinstated on an ongoing basis if such Contributor +notifies You of the non-compliance by some reasonable means, this is the +first time You have received notice of non-compliance with this License +from such Contributor, and You become compliant prior to 30 days after +Your receipt of the notice. + +5.2. If You initiate litigation against any entity by asserting a patent +infringement claim (excluding declaratory judgment actions, +counter-claims, and cross-claims) alleging that a Contributor Version +directly or indirectly infringes any patent, then the rights granted to +You by any and all Contributors for the Covered Software under Section +2.1 of this License shall terminate. + +5.3. In the event of termination under Sections 5.1 or 5.2 above, all +end user license agreements (excluding distributors and resellers) which +have been validly granted by You or Your distributors under this License +prior to termination shall survive termination. + +************************************************************************ +* * +* 6. Disclaimer of Warranty * +* ------------------------- * +* * +* Covered Software is provided under this License on an "as is" * +* basis, without warranty of any kind, either expressed, implied, or * +* statutory, including, without limitation, warranties that the * +* Covered Software is free of defects, merchantable, fit for a * +* particular purpose or non-infringing. The entire risk as to the * +* quality and performance of the Covered Software is with You. * +* Should any Covered Software prove defective in any respect, You * +* (not any Contributor) assume the cost of any necessary servicing, * +* repair, or correction. This disclaimer of warranty constitutes an * +* essential part of this License. No use of any Covered Software is * +* authorized under this License except under this disclaimer. * +* * +************************************************************************ + +************************************************************************ +* * +* 7. Limitation of Liability * +* -------------------------- * +* * +* Under no circumstances and under no legal theory, whether tort * +* (including negligence), contract, or otherwise, shall any * +* Contributor, or anyone who distributes Covered Software as * +* permitted above, be liable to You for any direct, indirect, * +* special, incidental, or consequential damages of any character * +* including, without limitation, damages for lost profits, loss of * +* goodwill, work stoppage, computer failure or malfunction, or any * +* and all other commercial damages or losses, even if such party * +* shall have been informed of the possibility of such damages. This * +* limitation of liability shall not apply to liability for death or * +* personal injury resulting from such party's negligence to the * +* extent applicable law prohibits such limitation. Some * +* jurisdictions do not allow the exclusion or limitation of * +* incidental or consequential damages, so this exclusion and * +* limitation may not apply to You. * +* * +************************************************************************ + +8. Litigation +------------- + +Any litigation relating to this License may be brought only in the +courts of a jurisdiction where the defendant maintains its principal +place of business and such litigation shall be governed by laws of that +jurisdiction, without reference to its conflict-of-law provisions. +Nothing in this Section shall prevent a party's ability to bring +cross-claims or counter-claims. + +9. Miscellaneous +---------------- + +This License represents the complete agreement concerning the subject +matter hereof. If any provision of this License is held to be +unenforceable, such provision shall be reformed only to the extent +necessary to make it enforceable. Any law or regulation which provides +that the language of a contract shall be construed against the drafter +shall not be used to construe this License against a Contributor. + +10. Versions of the License +--------------------------- + +10.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section +10.3, no one other than the license steward has the right to modify or +publish new versions of this License. Each version will be given a +distinguishing version number. + +10.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version +of the License under which You originally received the Covered Software, +or under the terms of any subsequent version published by the license +steward. + +10.3. Modified Versions + +If you create software not governed by this License, and you want to +create a new license for such software, you may create and use a +modified version of this License if you rename the license and remove +any references to the name of the license steward (except to note that +such modified license differs from this License). + +10.4. Distributing Source Code Form that is Incompatible With Secondary +Licenses + +If You choose to distribute Source Code Form that is Incompatible With +Secondary Licenses under the terms of this version of the License, the +notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice +------------------------------------------- + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular +file, then You may include the notice in a location (such as a LICENSE +file in a relevant directory) where a recipient would be likely to look +for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - "Incompatible With Secondary Licenses" Notice +--------------------------------------------------------- + + This Source Code Form is "Incompatible With Secondary Licenses", as + defined by the Mozilla Public License, v. 2.0. @@ -0,0 +1,11 @@ +The source code of the enhanced-position-service was developed by BMW Car IT GmbH. + +The source code of gnss-service and sensors-service was rewritten by XS Embedded. +Some code fragments of the gnss-service and sensors-service +were taken over from a previous version of the positioning proof of concept +developed by BMW Car IT GmbH. + +The original implementation by BMW Car IT GmbH is available for GENIVI members only. +It is contained in the internal positioning git repository and labelled with the tag 2.0.0 + + @@ -0,0 +1,104 @@ +============================ +Positioning PoC +============================ +The Positioning PoC is a collection of 4 proofs of concept: +* GNSSService +* SensorsService +* EnhancedPositionService +* LogReplayer + + +=============================== +Directory Structure +=============================== +enhanced-position-service //enhanced-position-service PoC +gnss-service //gnss-service PoC +log-replayer //log-replayer-PoC +sensors-service //sensors-service PoC +architecture.png //architecture overview +build-all.sh //script to build the PoCs (usage: build-all.sh help) +run-test.sh //script to run a quick test for each PoC (usage: run-test.sh help) + + +=============================== +How To Build +=============================== + +To build the positioning proofs of concept please follow the following steps: + +./build-all.sh + +or + +./build-all.sh [command] [service] + +command: + make Build + install Install + clean Clean + help Print Help + +service: + gnss Test GNSSService + sns Test SensorsService + enhpos Test EnhancedPositionService + repl Test Replayer + + +=============================== +How To Test +=============================== + +./run-test.sh [service] + +service: + gnss Test GNSSService + sns Test SensorsService + enhpos Test EnhancedPositionService + repl Test Replayer + help Print Help + + +=============================== +Compiler Options +=============================== + +If you wish to change the default cmake-options, please open +the file build-all.sh, edit the compiler flags, delete the build directory +and recompile the code from scratch. + +--------- +Example +--------- + +If you wish to activate DLT logging for the GNSSService, just change the +value of GNSS_SERVICE_FLAGS in the file build-all.sh as follows: +GNSS_SERVICE_FLAGS='-DWITH_DLT=ON' + +--------- +Notes +--------- + +DWITH_GPSD=ON requires that the package 'gpsd' is installed. +To install 'gpsd', please execute the following commands: +sudo apt-get install gpsd +sudo apt-get install libgps-dev + +To test the enhanced-positon-service the package Qt4 must be installed. +To install Qt4, please execute the following command: +sudo apt-get install qtcreator + +DWITH_TESTS=ON enables the compilation of the test application(s). + +DWITH_DLT=ON requires that the DLT-daemon is installed. +To download the DLT-daemon, just execute the following command: +git clone git://git.projects.genivi.org/dlt-daemon.git +To install the DLT-daemon, etxract the tarball and follow the +instructions in the file install.txt. + +DWITH_IPHONE=ON requires that the iPhone app SensorLogger is +installed on a iPhone and that the option to broadcast the +sensor data is activated (port=5555). + + + diff --git a/architecture.png b/architecture.png Binary files differnew file mode 100755 index 0000000..164a44b --- /dev/null +++ b/architecture.png diff --git a/build-all.sh b/build-all.sh new file mode 100755 index 0000000..951e7e9 --- /dev/null +++ b/build-all.sh @@ -0,0 +1,148 @@ +#!/bin/bash + +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: Positioning PoC +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +#-------------------------------------------------------------------------- +# Compiler Flags +#-------------------------------------------------------------------------- +# modify the following flags as needed: +GNSS_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_GPSD=OFF -DWITH_REPLAYER=ON -DWITH_TESTS=ON' +SENSORS_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_REPLAYER=ON -DWITH_IPHONE=OFF -DWITH_TESTS=ON' +ENHANCED_POSITION_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_GPSD=OFF -DWITH_REPLAYER=ON -DWITH_TESTS=ON' +LOG_REPLAYER_FLAGS='-DWITH_DLT=OFF -DWITH_TESTS=ON' +#-------------------------------------------------------------------------- + +TOP_SRC_DIR=$PWD +TOP_BIN_DIR=$PWD/build + +GNSS_SERVICE_SRC_DIR=$TOP_SRC_DIR/gnss-service +SENSORS_SERVICE_SRC_DIR=$TOP_SRC_DIR/sensors-service +ENHANCED_POSITION_SERVICE_SRC_DIR=$TOP_SRC_DIR/enhanced-position-service +LOG_REPLAYER_SRC_DIR=$TOP_SRC_DIR/log-replayer + +GNSS_SERVICE_BIN_DIR=$TOP_BIN_DIR/gnss-service +SENSORS_SERVICE_BIN_DIR=$TOP_BIN_DIR/sensors-service +ENHANCED_POSITION_SERVICE_BIN_DIR=$TOP_BIN_DIR/enhanced-position-service +LOG_REPLAYER_BIN_DIR=$TOP_BIN_DIR/log-replayer + +usage() { + echo "Usage: ./build-all.sh Build all services" + echo " or: ./build-all.sh [command] [service]" + echo + echo "command:" + echo " make Build" + echo " install Install" + echo " clean Clean" + echo " help Print Help" + echo + echo "service:" + echo " gnss Test GNSSService" + echo " sns Test SensorsService" + echo " enhpos Test EnhancedPositionService" + echo " repl Test LogReplayer" + echo +} + +buildGnssService() { + echo '' + echo 'Building GNSSService ->' $GNSS_SERVICE_SRC_DIR + mkdir -p $GNSS_SERVICE_BIN_DIR + cd $GNSS_SERVICE_BIN_DIR + cmake $GNSS_SERVICE_FLAGS $GNSS_SERVICE_SRC_DIR && make +} + +buildSensorsService() { + echo '' + echo 'Building SensorsService ->' $SENSORS_SERVICE_SRC_DIR + mkdir -p $SENSORS_SERVICE_BIN_DIR + cd $SENSORS_SERVICE_BIN_DIR + cmake $SENSORS_SERVICE_FLAGS $SENSORS_SERVICE_SRC_DIR && make +} + +buildEnhancedPositionService() { + echo '' + echo 'Building EnhancedPositionService ->' $SENSORS_SERVICE_SRC_DIR + mkdir -p $ENHANCED_POSITION_SERVICE_BIN_DIR + cd $ENHANCED_POSITION_SERVICE_BIN_DIR + cmake $ENHANCED_POSITION_SERVICE_FLAGS $ENHANCED_POSITION_SERVICE_SRC_DIR && make +} + +buildLogReplayer() { + echo '' + echo 'Building LogReplayer ->' $LOG_REPLAYER_SRC_DIR + mkdir -p $LOG_REPLAYER_BIN_DIR + cd $LOG_REPLAYER_BIN_DIR + cmake $LOG_REPLAYER_FLAGS $LOG_REPLAYER_SRC_DIR && make +} + +buildAll() { + buildGnssService + buildSensorsService + buildEnhancedPositionService + buildLogReplayer +} + +cleanAll() { + rm -rf $TOP_BIN_DIR +} + +if [ $# -ge 1 ]; then + if [ $1 = help ]; then + usage + elif [ $1 = make ]; then + if [ $# -eq 2 ]; then + if [ "$2" = "gnss" ]; then + buildGnssService + elif [ "$2" = "sns" ]; then + buildSensorsService + elif [ "$2" = "enhpos" ]; then + buildEnhancedPositionService + elif [ "$2" = "repl" ]; then + buildLogReplayer + fi + else + buildAll + fi + elif [ $1 = clean ]; then + if [ $# -eq 2 ]; then + if [ "$2" = "gnss" ]; then + rm -rf $GNSS_SERVICE_BIN_DIR + elif [ "$2" = "sns" ]; then + rm -rf $SENSORS_SERVICE_BIN_DIR + elif [ "$2" = "enhpos" ]; then + rm -rf $ENHANCED_POSITION_SERVICE_BIN_DIR + elif [ "$2" = "repl" ]; then + rm -rf $LOG_REPLAYER_BIN_DIR + fi + else + rm -rf $TOP_BIN_DIR + fi + elif [ $1 = install ]; then + echo "todo: installation" + else + usage + fi +elif [ $# -eq 0 ]; then + #cleanAll + buildAll + #todo: installAll +else + usage +fi + + diff --git a/enhanced-position-service/CMakeLists.txt b/enhanced-position-service/CMakeLists.txt new file mode 100644 index 0000000..7052ad3 --- /dev/null +++ b/enhanced-position-service/CMakeLists.txt @@ -0,0 +1,59 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: EnhancedPositionService +# +# Author: Thomas Bader +# +# Copyright (C) 2012, BMW Car IT GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +project(enhanced-position-service) +cmake_minimum_required(VERSION 2.6.0) + +message(STATUS) +message(STATUS "---------------------------------------------------------") + +set(gnss-service_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/../gnss-service/api") +set(gnss-service_LIBRARY_DIRS "${PROJECT_BINARY_DIR}/../gnss-service/src") + +if(WITH_REPLAYER) + set(gnss-service_LIBRARIES "gnss-service-use-replayer") +elseif(WITH_GPSD) + set(gnss-service_LIBRARIES "gnss-service-use-gpsd") +endif() + +set(sensors-service_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/../sensors-service/api") +set(sensors-service_LIBRARY_DIRS "${PROJECT_BINARY_DIR}/../sensors-service/src") + +if(WITH_REPLAYER) + set(sensors-service_LIBRARIES "sensors-service-use-replayer") +endif() + +set(QT_USE_QTDBUS TRUE) +find_package(Qt4 COMPONENTS QtDBus REQUIRED ) + +include_directories(api src test ${QT_INCLUDE_DIR} ${gnss-service_INCLUDE_DIRS} ${sensors-service_INCLUDE_DIRS}) + +add_definitions(${QT_DEFINITIONS}) + +add_subdirectory(src) +message(STATUS "---------------------------------------------------------") + +if(WITH_TESTS) +add_subdirectory(test) +message(STATUS "---------------------------------------------------------") + +add_subdirectory(test/compliance-test) +message(STATUS "---------------------------------------------------------") +endif() + +message(STATUS) diff --git a/enhanced-position-service/FindDLT.cmake b/enhanced-position-service/FindDLT.cmake new file mode 100644 index 0000000..032eeff --- /dev/null +++ b/enhanced-position-service/FindDLT.cmake @@ -0,0 +1,12 @@ +set(DLT_INCLUDE_DIRS /usr/include/dlt) +set(DLT_LIBRARIES dlt) +set(DLT_LIBRARY_DIRS /usr/lib) + +find_package(PkgConfig) +pkg_check_modules(DLT REQUIRED automotive-dlt) + +if(${DLT_FOUND}) + #message(STATUS "found and use automotive-dlt: version ${DLT_VERSION}") +else() + message("missing DLT - check with 'pkg-config automotive-dlt --cflags-only-I'") +endif() diff --git a/enhanced-position-service/README b/enhanced-position-service/README new file mode 100644 index 0000000..3bfcfdf --- /dev/null +++ b/enhanced-position-service/README @@ -0,0 +1,50 @@ + +[Build] + +* Dependencies: + # ubuntu + $ aptitude install qt4-dev-tools qt4-qmake libqt4-core libqt4-dbus libqt4-xml + +* Build instructions + $ mkdir build && cd build + $ cmake .. + $ make + +* Call test helper (starts client and server) + $ cd build + $ ../run-test.py + +* Generate adapter/proxy + # only needed if changes on Introspections XMLs happend + # source introspection file + # ../position-api/EnhancedPosition/genivi.EnhancedPosition.xml + + $ ./gen-dbus.sh + +[Documentation on the Web] + +* CMake Qt Tutorial: + http://developer.qt.nokia.com/quarterly/view/using_cmake_to_build_qt_projects + +* QtDBus Tutorial: + http://www.developer.nokia.com/Community/Wiki/QtDbus_quick_tutorial + +* Found afterwards some good example :( + https://github.com/rohityadav/cmakeqt/tree/master/src + +* Official example code: Qt, DBus + http://doc.qt.nokia.com/4.7-snapshot/dbus-dbus-chat.html + +* Blogs: Complex types mapped to custom types + http://laurii.info/2007/03/dbus-and-qt-programming/ + +* Techtutorial from KDE (Custom Types in D-Bus) + http://techbase.kde.org/Development/Tutorials/D-Bus/CustomTypes + +[qdbusxml2cpp] + +* proxy (client): + $ qdbusxml2cpp -v -c DemoIf -p demoif.h:demoif.cpp com.nokia.Demo.xml + +* stub (server): + $ qdbusxml2cpp -c DemoIfAdaptor -a demoifadaptor.h:demoifadaptor.cpp com.nokia.Demo.xml diff --git a/enhanced-position-service/api/constants.xsl b/enhanced-position-service/api/constants.xsl new file mode 100644 index 0000000..b9db1c7 --- /dev/null +++ b/enhanced-position-service/api/constants.xsl @@ -0,0 +1,75 @@ +<?xml version="1.0" encoding="ISO-8859-15"?> +<xsl:stylesheet version="1.0" xmlns:xsl="http://www.w3.org/1999/XSL/Transform" xmlns="http://www.w3.org/1999/xhtml"> + +<!-- SPDX-License-Identifier: MPL-2.0 + Component Name: EnhancedPositionService + Compliance Level: Abstract Component + Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + License: + This Source Code Form is subject to the terms of the + Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + this file, You can obtain one at http://mozilla.org/MPL/2.0/. +--> + +<xsl:output method="xml" version="1.0" encoding="iso-8859-15" doctype-public="-//W3C//DTD XHTML 1.0 Strict//EN" doctype-system="http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd" indent="yes"/> + +<xsl:template match="/"> + <html> + + <!-- head --> + <head> + <title>DBUS Introspection Data</title> + <style type="text/css"> + body { color: black; background-color: white } + h1 { font-family: sans-serif } + ul { list-style-type: none; margin-bottom: 10px } + li { font-family: sans-serif } + .keyword { font-style: italic } + .title { font-style: italic; color: blue } + .line { font-style: italic; font-size:8pt; color: green} + .version { font-family: monospace } + </style> + </head> + + <!-- body --> + <body> + <!-- definitions --> + <xsl:apply-templates select="constants"/> + </body> + </html> +</xsl:template> + +<xsl:template match="constants"> + <div class="constants"> + <h1> + <span class="keyword">constants</span><xsl:text> </xsl:text> + <span class="title"><xsl:value-of select="@name"/></span> + <xsl:text> </xsl:text> + <span class="version">version</span> + <xsl:text> </xsl:text> + <span class="version"><xsl:value-of select="version"/></span> + </h1> + + <xsl:apply-templates select="doc"/> + + <xsl:for-each select="id"> + <hr/> + <li> + <xsl:apply-templates select="doc"/> + <xsl:value-of select="@name"/> = <xsl:value-of select="@value"/> + </li> + </xsl:for-each> + </div> +</xsl:template> + +<xsl:template match="doc"> + <li> + <span class="line"> + <xsl:for-each select="line"> + <xsl:value-of select="."/><xsl:element name="br"/> + </xsl:for-each> + </span> + </li> +</xsl:template> + +</xsl:stylesheet> diff --git a/enhanced-position-service/api/franca/CommonTypes.fidl b/enhanced-position-service/api/franca/CommonTypes.fidl new file mode 100644 index 0000000..288515a --- /dev/null +++ b/enhanced-position-service/api/franca/CommonTypes.fidl @@ -0,0 +1,47 @@ +/* SPDX-License-Identifier: MPL-2.0
+ Component Name: EnhancedPositionService
+ Compliance Level: Abstract Component
+ Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+ License:
+ This Source Code Form is subject to the terms of the
+ Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+ this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi
+
+typeCollection CommonTypes {
+ version {
+ major 0
+ minor 1
+ }
+
+ <** @description : A template to generate a dbus 'v'.**>
+ union Variant {
+ UInt32 element1
+ Float element2
+ }
+
+ <** @description: version.**>
+ struct Version {
+ <** @description : when the major changes, then backward compatibility with previous releases is not granted.**>
+ UInt16 ^major
+ <** @description : when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added).**>
+ UInt16 ^minor
+ <** @description : when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications).**>
+ UInt16 ^micro
+ <** @description : release date (e.g. 21-06-2011).**>
+ String date
+ }
+ <** @description: 3D geocoordinate.**>
+ struct Coordinate3D
+ {
+ <** @description : latitude of a vertex of the polygon in format %3.6f. Range [-90:+90]. Example: 48.053250.**>
+ Double latitude
+ <** @description : longitude of a vertex of the polygon in format %3.6f. Range [-180:+180]. Example: 48.053250.**>
+ Double longitude
+ <** @description : altitude above the sea level of the current position in meters.**>
+ Int32 altitude
+ }
+
+ }
diff --git a/enhanced-position-service/api/franca/Configuration.fidl b/enhanced-position-service/api/franca/Configuration.fidl new file mode 100755 index 0000000..d87b0d5 --- /dev/null +++ b/enhanced-position-service/api/franca/Configuration.fidl @@ -0,0 +1,43 @@ +/* SPDX-License-Identifier: MPL-2.0
+ Component Name: EnhancedPositionService
+ Compliance Level: Abstract Component
+ Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+ License:
+ This Source Code Form is subject to the terms of the
+ Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+ this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi.EnhancedPositionService
+
+import org.genivi.CommonTypes.* from "CommonTypes.fidl"
+
+<**
+ @description : Configuration = This interface allows a client application to set and retrieve configuration options
+**>
+interface Configuration {
+ version {
+ major 0
+ minor 0
+ }
+
+ <**
+ @description : SatelliteSystem = satellite system (GPS, Glonass, ...)
+ **>
+ attribute UInt16 SatelliteSystem
+
+ <**
+ @description : UpdateInterval = update interval
+ **>
+ attribute Int32 UpdateInterval
+
+ <**
+ @description : GetVersion = This method returns the API version implemented by the server application.
+ **>
+ method GetVersion {
+ out {
+ Version ^version
+ }
+ }
+
+}
diff --git a/enhanced-position-service/api/franca/EnhancedPosition.fidl b/enhanced-position-service/api/franca/EnhancedPosition.fidl new file mode 100755 index 0000000..8b430c6 --- /dev/null +++ b/enhanced-position-service/api/franca/EnhancedPosition.fidl @@ -0,0 +1,152 @@ +/* SPDX-License-Identifier: MPL-2.0
+ Component Name: EnhancedPositionService
+ Compliance Level: Abstract Component
+ Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+ License:
+ This Source Code Form is subject to the terms of the
+ Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+ this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi.EnhancedPositionService
+
+import org.genivi.CommonTypes.* from "CommonTypes.fidl"
+import org.genivi.EnhancedPositionService.EnhancedPositionServiceTypes.* from "EnhancedPositionServiceTypes.fidl"
+
+<**
+ @description : EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle
+**>
+interface EnhancedPosition {
+ version {
+ major 0
+ minor 0
+ }
+
+ <**
+ @description : GetVersion = This method returns the API version implemented by the server application
+ **>
+ method GetVersion {
+ out {
+ Version ^version
+ }
+ }
+
+ <**
+ @description : GetData = 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 {
+ in {
+ PositioningDataKey[] valuesToReturn
+ }
+ out {
+ PositioningData 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 : GetTime = This method returns UTC time and date
+ Note: If a requested value is invalid, it's not returned to the client application
+ **>
+ method GetTime {
+ out {
+ TimeInfo time
+ }
+ }
+
+ <**
+ @description : PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz
+ **>
+ broadcast PositionUpdate {
+ out {
+ PositionInfoKey[] 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 {
+ StatusKey[] changedValues
+ }
+ }
+
+}
diff --git a/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl b/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl new file mode 100644 index 0000000..9aca0cc --- /dev/null +++ b/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl @@ -0,0 +1,221 @@ +/* SPDX-License-Identifier: MPL-2.0 + Component Name: EnhancedPositionService + Compliance Level: Abstract Component + Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + License: + This Source Code Form is subject to the terms of the + Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + this file, You can obtain one at http://mozilla.org/MPL/2.0/. +*/ + +package org.genivi.EnhancedPositionService + +import org.genivi.CommonTypes.* from "CommonTypes.fidl" + +typeCollection EnhancedPositionServiceTypes { + version { + major 0 + minor 1 + } + + enumeration PositioningDataKey { + 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 + } + + <** + @description : PositioningData = array of tuples (key,value) + key = enumeration PositioningDataKey + 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 + key = ROLL_RATE, value = value of type 'Int32', rotation rate around the X-axis in degrees/s. Range [-100:+100] + key = PITCH_RATE, value = value of type 'Int32', rotation rate around the Y-axis in degrees/s. Range [-100:+100] + key = YAW_RATE, value = value of type 'Int32', rotation rate around the Z-axis in degrees/s. Range [-100:+100] + 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_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 + **> + map PositioningData { + PositioningDataKey to Variant + } + + enumeration PositionInfoKey { + INVALID + TIMESTAMP + LATITUDE + LONGITUDE + ALTITUDE + HEADING + SPEED + CLIMB + } + + <** + @description : PositionInfo = array of tuples (key,value) + key = enumeration PositioningInfoKey + 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 Variant + } + + enumeration RotationRateKey { + INVALID + TIMESTAMP + ROLL_RATE + PITCH_RATE + YAW_RATE + } + + <** + @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] + **> + map RotationRate { + RotationRateKey to Variant + } + + enumeration AccuracyInfoKey { + INVALID + TIMESTAMP + PDOP + HDOP + VDOP + SIGMA_LATITUDE + SIGMA_LONGITUDE + SIGMA_ALTITUDE + SIGMA_HEADING + } + + <** + @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 Variant + } + + enumeration SatelliteInfoKey { + INVALID + TIMESTAMP + USED_SATELLITES + TRACKED_SATELLITES + VISIBLE_SATELLITES + SATELLITE_DETAILS + } + + struct SatelliteDetails { + UInt32 satId + 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 Variant + } + + enumeration StatusKey { + INVALID + TIMESTAMP + GNSS_FIX_STATUS + DR_STATUS + } + + <** + @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 { + StatusKey to Variant + } + + enumeration TimeKey { + INVALID + TIMESTAMP + YEAR + MONTH + DAY + HOUR + MINUTE + SECOND + MS + } + + <** + @description : TimeInfo = array of tuples (key,value) + key = enumeration TimeKey + 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 + key = HOUR, value = value of type 'UInt8', 2 digits number that indicates the hour. Range [0:23]. Example: 01 + key = MINUTE, value = value of type 'UInt8', 2 digits number that represents the minutes. Range [0:59]. Example: 01 + key = SECOND, value = value of type 'UInt8', 2 digits number that represents the seconds. Range [0:59]. Example: 01 + key = MS, value = value of type 'UInt16', 3 digits number that represents the milliseconds. Range [0:999]. Example: 007 + **> + map TimeInfo { + TimeKey to Variant + } + +} diff --git a/enhanced-position-service/api/franca/PositionFeedback.fidl b/enhanced-position-service/api/franca/PositionFeedback.fidl new file mode 100755 index 0000000..c0cdc06 --- /dev/null +++ b/enhanced-position-service/api/franca/PositionFeedback.fidl @@ -0,0 +1,69 @@ +/* SPDX-License-Identifier: MPL-2.0
+ Component Name: EnhancedPositionService
+ Compliance Level: Abstract Component
+ Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+ License:
+ This Source Code Form is subject to the terms of the
+ Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+ this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+package org.genivi.EnhancedPositionService
+
+import org.genivi.CommonTypes.* from "CommonTypes.fidl"
+import org.genivi.EnhancedPositionService.EnhancedPositionServiceTypes.* from "EnhancedPositionServiceTypes.fidl"
+
+<**
+ @description : PositionFeedback = This interface allows the application implementing the map-matching algorithm to provide a position feedback to the EnahncedPositionService
+**>
+
+interface org.genivi.positioning.PositionFeedback {
+ version {
+ major 0
+ minor 0
+ }
+
+ <**
+ @description : GetVersion = This method returns the API version implemented by the server application
+ **>
+ method GetVersion {
+ out {
+ Version ^version
+ }
+ }
+
+ <**
+ @description : SetPositionFeedback = This method allows a client application to provide the EnhancedPositionService with a position feedback
+ **>
+ method SetPositionFeedback {
+ in {
+ PositionFeedback[] feedback
+
+ <**
+ @description : timestamp = timestamp in ms
+ **>
+ UInt64 timestamp
+
+ <**
+ @description : feedbackType = enum(INVALID,MAP_MATCHED_FEEDBACK,TEST_FEEDBACK, ... )
+ **>
+ UInt16 feedbackType
+ }
+ }
+
+ <**
+ @description : PositionFeedback = array of tuples (key,value)</line>
+ key = enum(INVALID,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
+ 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
+ key = SPEED, value = value of type ´d´, that expresses speed measured in m/s
+ key = CLIMB, value = value of type ´i´, that expresses the inclination measured in degrees
+ 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 Variant
+ }
+
+}
diff --git a/enhanced-position-service/api/franca/README b/enhanced-position-service/api/franca/README new file mode 100644 index 0000000..8ed41bb --- /dev/null +++ b/enhanced-position-service/api/franca/README @@ -0,0 +1,9 @@ +--------------------------------------------------------------------------------------------------------------------------------- +IMPORTANT NOTE +--------------------------------------------------------------------------------------------------------------------------------- + +Please note that the Franca intarfaces described in this folder (*.fidl) are still a draft. + +The conversion of the D-Bus interfaces into Franca interfaces have not been completed yet. + +The official GENIVI interfaces of the EnhancedPositionService are those defined in the D-Bus XML files contained in the folder 'api'! diff --git a/enhanced-position-service/api/genivi-positioning-configuration.xml b/enhanced-position-service/api/genivi-positioning-configuration.xml new file mode 100644 index 0000000..a3f9265 --- /dev/null +++ b/enhanced-position-service/api/genivi-positioning-configuration.xml @@ -0,0 +1,109 @@ +<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE node PUBLIC "-//freedesktop//DTD D-BUS Object Introspection 1.0//EN" "http://www.freedesktop.org/standards/dbus/1.0/introspect.dtd">
+<?xml-stylesheet type="text/xsl" href="introspect.xsl"?>
+
+<!-- SPDX-License-Identifier: MPL-2.0
+ Component Name: EnhancedPositionService
+ Compliance Level: Abstract Component
+ Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+ License:
+ This Source Code Form is subject to the terms of the
+ Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+ this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+-->
+
+<node name="/org/genivi/enhancedpositionservice" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd">
+
+ <interface name="org.genivi.positioning.Configuration">
+ <version>2.0.0 (04-06-2013)</version>
+ <doc>
+ <line>Configuration = This interface allows a client application to set and retrieve configuration options</line>
+ </doc>
+
+ <method name="GetVersion">
+ <doc>
+ <line>GetVersion = This method returns the API version implemented by the server application.</line>
+ </doc>
+ <arg name="version" type="(qqqs)" direction="out">
+ <doc>
+ <line>version = struct(major,minor,micro,date)</line>
+ <line>major = when the major changes, then backward compatibility with previous releases is not granted</line>
+ <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line>
+ <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line>
+ <line>date = release date (e.g. 21-06-2011)</line>
+ </doc>
+ </arg>
+ </method>
+
+ <method name="GetProperties">
+ <doc>
+ <line>GetProperties = This method returns all global system properties.</line>
+ </doc>
+ <arg name="properties" type="a{sv}" direction="out" />
+ </method>
+
+ <method name="SetProperty">
+ <doc>
+ <line>SetProperty = This method changes the value of the specified property</line>
+ <line>Only properties that are listed as read-write are changeable</line>
+ <line>On success a PropertyChanged signal will be emitted</line>
+ </doc>
+ <arg name="name" type="s" direction="in">
+ <doc>
+ <line>name = property name</line>
+ </doc>
+ </arg>
+ <arg name="value" type="v" direction="in">
+ <doc>
+ <line>value = property value</line>
+ </doc>
+ </arg>
+ <error name="org.genivi.positioning.Configuration.Error.InvalidProperty" />
+ </method>
+
+ <signal name="PropertyChanged">
+ <doc>
+ <line>PropertyChanged = This signal is emitted when a property changes</line>
+ </doc>
+ <arg name="name" type="s">
+ <doc>
+ <line>name = property name</line>
+ </doc>
+ </arg>
+ <arg name="value" type="v">
+ <doc>
+ <line>value = property value</line>
+ </doc>
+ </arg>
+ </signal>
+
+ <property name="SatelliteSystem" type="q" access="readwrite">
+ <doc>
+ <line>SatelliteSystem = enum(INVALID,GPS,GLONASS,GALILEO,COMPASS, ... )</line>
+ </doc>
+ </property>
+
+ <property name="UpdateInterval" type="i" access="readwrite">
+ <doc>
+ <line>UpdateInterval = update interval in ms</line>
+ </doc>
+ </property>
+
+ <method name="GetSupportedProperties">
+ <doc>
+ <line>GetSupportedProperties = This method returns all suppported global system properties</line>
+ </doc>
+ <arg name="properties" type="a{sv}" direction="out">
+ <doc>
+ <line>properties = array[property]</line>
+ <line>property = dictionary[key,value]</line>
+ <line>key = enum(SatelliteSystem,UpdateInterval, ... )</line>
+ <line>key = SatelliteSystem, value = value of type 'aq'; 'q' is an enum(INVALID,GPS,GLONASS,GALILEO,COMPASS, ...)</line>
+ <line>key = UpdateInterval, value = value of type 'ai'; 'i' is the update interval in ms</line>
+ </doc>
+ </arg>
+ </method>
+
+ </interface>
+
+</node>
diff --git a/enhanced-position-service/api/genivi-positioning-constants.xml b/enhanced-position-service/api/genivi-positioning-constants.xml new file mode 100644 index 0000000..b0bdb8c --- /dev/null +++ b/enhanced-position-service/api/genivi-positioning-constants.xml @@ -0,0 +1,95 @@ +<?xml version="1.0" encoding="UTF-8"?> +<?xml-stylesheet type="text/xsl" href="constants.xsl"?> + +<!-- SPDX-License-Identifier: MPL-2.0 + Component Name: EnhancedPositionService + Compliance Level: Abstract Component + Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + License: + This Source Code Form is subject to the terms of the + Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + this file, You can obtain one at http://mozilla.org/MPL/2.0/. +--> + +<constants name="EnhancedPositionService"> + <version>2.0.0 (04-06-2013)</version> + <doc> + <line>This document defines the constants that are used in the EnhancedPositionService APIs</line> + </doc> + + <!-- special values --> + <id name="INVALID" value="0x0000" /> + <id name="TIMESTAMP" value="0x0001" /> + <id name="ALL" value="0xffff" /> + + <!-- Position --> + <id name="LATITUDE" value="0x0020" /> + <id name="LONGITUDE" value="0x0021" /> + <id name="ALTITUDE" value="0x0022" /> + + <!-- Course --> + <id name="HEADING" value="0x0030" /> + <id name="SPEED" value="0x0031" /> + <id name="CLIMB" value="0x0032" /> + + <!-- Address --> + <id name="COUNTRY" value="0x0040" /> + <id name="CITY" value="0x0041" /> + <id name="STREET" value="0x0042" /> + <id name="NUMBER" value="0x0043" /> + <id name="CROSSING" value="0x0044" /> + <id name="DISTRICT" value="0x0045" /> + <id name="TIMEZONE_OFFSET" value="0x0046" /> + <id name="DAYLIGHT_OFFSET" value="0x0047" /> + <id name="MATCH_TYPE" value="0x0048" /> + + <!-- RotationRate --> + <id name="ROLL_RATE" value="0x0060" /> + <id name="PITCH_RATE" value="0x0061" /> + <id name="YAW_RATE" value="0x0062" /> + + <!-- EnhancedPositionStatus --> + <id name="GNSS_FIX_STATUS" value="0x0070" /> + <id name="DR_STATUS" value="0x0071" /> + + <!-- MapMatchedPositionStatus --> + <id name="MM_STATUS" value="0x0072" /> + + <!-- PositionFeedback --> + <id name="RELIABILTY_INDEX" value="0x0073" /> + <id name="MAP_MATCHED_FEEDBACK" value="0x0074" /> + <id name="TEST_FEEDBACK" value="0x0075" /> + + <!-- Accuracy --> + <id name="PDOP" value="0x0080" /> + <id name="HDOP" value="0x0081" /> + <id name="VDOP" value="0x0082" /> + <id name="SIGMA_LATITUDE" value="0x0083" /> + <id name="SIGMA_LONGITUDE" value="0x0084" /> + <id name="SIGMA_ALTITUDE" value="0x0085" /> + <id name="SIGMA_HEADING" value="0x0086" /> + + <!-- Time --> + <id name="YEAR" value="0x00a0" /> + <id name="MONTH" value="0x00a1" /> + <id name="DAY" value="0x00a2" /> + <id name="HOUR" value="0x00a3" /> + <id name="MINUTE" value="0x00a4" /> + <id name="SECOND" value="0x00a5" /> + <id name="MS" value="0x00a6" /> + + <!-- SatelliteSystem --> + <id name="GPS" value="0x00b0" /> + <id name="GLONASS" value="0x00b1" /> + <id name="GALILEO" value="0x00b2" /> + <id name="COMPASS" value="0x00b3" /> + + <!-- SatelliteStatus --> + + <id name="USED_SATELLITES" value="0x00c0" /> + <id name="TRACKED_SATELLITES" value="0x00c1" /> + <id name="VISIBLE_SATELLITES" value="0x00c2" /> + <id name="SATELLITE_DETAILS" value="0x00c3" /> + + <!-- ... --> +</constants> diff --git a/enhanced-position-service/api/genivi-positioning-enhancedposition.xml b/enhanced-position-service/api/genivi-positioning-enhancedposition.xml new file mode 100644 index 0000000..f631c3e --- /dev/null +++ b/enhanced-position-service/api/genivi-positioning-enhancedposition.xml @@ -0,0 +1,263 @@ +<?xml version="1.0" encoding="UTF-8"?> +<!DOCTYPE node PUBLIC "-//freedesktop//DTD D-BUS Object Introspection 1.0//EN" "http://www.freedesktop.org/standards/dbus/1.0/introspect.dtd"> +<?xml-stylesheet type="text/xsl" href="introspect.xsl"?> + +<!-- SPDX-License-Identifier: MPL-2.0 + Component Name: EnhancedPositionService + Compliance Level: Abstract Component + Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + License: + This Source Code Form is subject to the terms of the + Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + this file, You can obtain one at http://mozilla.org/MPL/2.0/. +--> + +<node name="/org/genivi/enhancedpositionservice" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd"> + + <interface name="org.genivi.positioning.EnhancedPosition"> + <version>2.0.0 (04-06-2013)</version> + <doc> + <line>EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle</line> + </doc> + + <method name="GetVersion"> + <doc> + <line>GetVersion = This method returns the API version implemented by the server application</line> + </doc> + <arg name="version" type="(qqqs)" direction="out"> + <doc> + <line>version = struct(major,minor,micro,date)</line> + <line>major = when the major changes, then backward compatibility with previous releases is not granted</line> + <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line> + <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line> + <line>date = release date (e.g. 21-06-2011)</line> + </doc> + </arg> + </method> + + <method name="GetData"> + <doc> + <line>GetData = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )</line> + </doc> + + <arg name="valuesToReturn" type="aq" direction="in"> + <doc> + <line>valuesToReturn= array[fieldType]</line> + <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,...,ALL)</line> + </doc> + </arg> + + <arg name="data" type="a{qv}" direction="out"> + <doc> + <line>position = 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>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 = 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 = 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> + </doc> + </arg> + </method> + + <method name="GetPosition"> + <doc> + <line>GetPosition = This method returns the current position</line> + </doc> + + <arg name="position" type="a{qv}" direction="out"> + <doc> + <line>position = 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>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 = 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> + </doc> + </arg> + </method> + + <signal name="PositionUpdate"> + <doc> + <line>PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz</line> + </doc> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[value]</line> + <line>value = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,... )</line> + </doc> + </arg> + </signal> + + <method name="GetRotationRate"> + <doc> + <line>GetRotationRate = This method returns the rotation rate</line> + </doc> + <arg name="rotationRate" type="a{qv}" direction="out"> + <doc> + <line>rotationRates = 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>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> + </doc> + </arg> + </method> + + <signal name="RotationRateUpdate"> + <doc> + <line>RotationRateUpdated = This signal is emitted when the rotation rate changes</line> + </doc> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[key]</line> + <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line> + </doc> + </arg> + </signal> + + <method name="GetAccuracy"> + <doc> + <line>GetAccuracy = This method returns the accuracy</line> + </doc> + <arg name="accuracy" type="a{qv}" direction="out"> + <doc> + <line>accuracy = 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>key = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING,... )</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</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> + </doc> + </arg> + </method> + + <signal name="AccuracyUpdate"> + <doc> + <line>AccuracyUpdated = This signal is emitted when the accuracy changes</line> + </doc> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[value]</line> + <line>value = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING, ... )</line> + </doc> + </arg> + </signal> + + <method name="GetSatelliteInfo"> + <doc> + <line>GetSatelliteInfo = This method returns information about the current satellite constellation</line> + </doc> + <arg name="satelliteInfo" type="a{qv}" direction="out"> + <doc> + <line>satelliteInfo = 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>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line> + <line>key = USED_SATELLITES, value = value of type 'y', that represents the number of used satellites</line> + <line>key = TRACKED_SATELLITES, value = value of type 'y', that represents the number of tracked satellites</line> + <line>key = VISIBLE_SATELLITES, value = value of type 'y', that represents the number of visible satellites</line> + <line>key = SATELLITE_DETAILS, value = value of type 'a(ubuuu)', 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 + </line> + </doc> + </arg> + </method> + + <signal name="SatelliteInfoUpdate"> + <doc> + <line>SatelliteInfoUpdate = This signal is emitted when information about the current satellite information is updated</line> + </doc> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[value]</line> + <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line> + </doc> + </arg> + </signal> + + <method name="GetStatus"> + <doc> + <line>GetStatus = This method returns the status of this service</line> + </doc> + <arg name="status" type="a{qv}" direction="out"> + <doc> + <line>status = 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>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line> + <line>key = GNSS_FIX_STATUS, value = value of type 'q', that represents an enum(INVALID(0x00),NO_FIX(0x01),TIME_FIX(0x02),2D_FIX(0x03),3D_FIX(0x04), ... )</line> + <line>key = DR_STATUS, value = value of type 'b', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position</line> + </doc> + </arg> + </method> + + <signal name="StatusUpdate"> + <doc> + <line>StatusUpdate = This signal is emitted when the status of this service changes</line> + </doc> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[value]</line> + <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line> + </doc> + </arg> + </signal> + + <method name="GetTime"> + <doc> + <line>GetTime = This method returns UTC time and date</line> + </doc> + <arg name="time" type="a{qv}" direction="out"> + <doc> + <line>time = 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>key = enum(INVALID,TIMESTAMP,YEAR,MONTH,DAY,HOUR,MINUTE,SECOND,MS, ... )</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line> + <line>key = YEAR, value = value of type 'q', 4 digits number that indicates the year. Example: 2012</line> + <line>key = MONTH, value = value of type 'y', 2 digits number that indicates the month. Example: 03 means March</line> + <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 = MS, value = value of type 'q', 3 digits number that represents the milliseconds. Range [0:999]. Example: 007</line> + </doc> + </arg> + </method> + + </interface> + +</node> diff --git a/enhanced-position-service/api/genivi-positioning-positionfeedback.xml b/enhanced-position-service/api/genivi-positioning-positionfeedback.xml new file mode 100644 index 0000000..461facc --- /dev/null +++ b/enhanced-position-service/api/genivi-positioning-positionfeedback.xml @@ -0,0 +1,73 @@ +<?xml version="1.0" encoding="UTF-8"?>
+<?xml-stylesheet type="text/xsl" href="introspect.xsl"?>
+
+<!-- SPDX-License-Identifier: MPL-2.0
+ Component Name: EnhancedPositionService
+ Compliance Level: Abstract Component
+ Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH
+ License:
+ This Source Code Form is subject to the terms of the
+ Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+ this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+-->
+
+<node name="/org/genivi/enhancedpositionservice" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd">
+
+ <interface name="org.genivi.positioning.PositionFeedback">
+ <version>2.0.0 (04-06-2013)</version>
+ <doc>
+ <line>PositionFeedback = This interface allows the application implementing the map-matching algorithm to provide a position feedback to the EnahncedPositionService</line>
+ </doc>
+
+ <method name="GetVersion">
+ <doc>
+ <line>GetVersion = This method returns the API version implemented by the server application</line>
+ </doc>
+ <arg name="version" type="(qqqs)" direction="out">
+ <doc>
+ <line>version = struct(major,minor,micro,date)</line>
+ <line>major = when the major changes, then backward compatibility with previous releases is not granted</line>
+ <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line>
+ <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line>
+ <line>date = release date (e.g. 21-06-2011)</line>
+ </doc>
+ </arg>
+ </method>
+
+ <method name="SetPositionFeedback">
+ <doc>
+ <line>SetPositionFeedback = This method allows a client application to provide the EnhancedPositionService with a position feedback</line>
+ <line>Note: This interface is typically used by the application that implements the map-matching algorithm</line>
+ <line>Such application can hand over to the EnhancedPositionService an array of map-matched positions with different values of reliability</line>
+ </doc>
+ <arg name="feedback" type="aa{qv}" direction="in">
+ <doc>
+ <line>feedback = array[position]</line>
+ <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>
+ </doc>
+ </arg>
+ <arg name="timestamp" type="t" direction="in">
+ <doc>
+ <line>timestamp = timestamp in ms</line>
+ </doc>
+ </arg>
+ <arg name="feedbackType" type="q" direction="in">
+ <doc>
+ <line>feedbackType = enum(INVALID,MAP_MATCHED_FEEDBACK,TEST_FEEDBACK, ... )</line>
+ </doc>
+ </arg>
+
+ </method>
+
+ </interface>
+
+</node>
diff --git a/enhanced-position-service/api/introspect.xsd b/enhanced-position-service/api/introspect.xsd new file mode 100644 index 0000000..76ed7ef --- /dev/null +++ b/enhanced-position-service/api/introspect.xsd @@ -0,0 +1,147 @@ +<?xml version="1.0" encoding="UTF-8"?> +<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:wmh="http://www.wmhelp.com/2003/eGenerator" elementFormDefault="qualified"> + <!-- xmlns="introspect.dtd" + targetNamespace="introspect.dtd"> --> + <xs:element name="node"> + <xs:annotation> + <xs:documentation> DTD for D-Bus Introspection data + </xs:documentation> + <xs:documentation> (C) 2005-02-02 David A. Wheeler; released under + the D-Bus licenses, + GNU GPL version 2 (or greater) and AFL 1.1 (or + greater) + </xs:documentation> + <xs:documentation> see D-Bus specification for documentation + </xs:documentation> + <xs:documentation> Method arguments SHOULD include "direction", + while + signal and error arguments SHOULD not (since there's no point). + The + DTD format can't express that subtlety. + </xs:documentation> + <xs:documentation> Generic metadata </xs:documentation> + </xs:annotation> + <xs:complexType> + <xs:choice minOccurs="0" maxOccurs="unbounded"> + <xs:element ref="node"/> + <xs:element name="interface" type="interfaceType"/> + </xs:choice> + <xs:attribute name="name" type="xs:string"/> + </xs:complexType> + </xs:element> + <xs:complexType name="interfaceType"> + <xs:sequence> + <xs:element name="version" type="xs:string"/> + <xs:element name="doc" type="docType"/> + <xs:choice minOccurs="0" maxOccurs="unbounded"> + <xs:element name="method" type="methodType"/> + <xs:element name="signal" type="signalType"/> + <xs:element name="property" type="propertyType"/> + <xs:element name="annotation" type="annotationType"/> + </xs:choice> + </xs:sequence> + <xs:attribute name="name" type="xs:string" use="required"/> + </xs:complexType> + <xs:complexType name="methodType"> + <xs:sequence> + <xs:element name="status" type="statusType" minOccurs="0"/> + <xs:element name="poc" type="pocType" minOccurs="0"/> + <xs:element name="obligation" type="obligationType" minOccurs="0"/> + <xs:element name="doc" type="docType"/> + <xs:choice minOccurs="0" maxOccurs="unbounded"> + <xs:element name="arg" type="argType"/> + <xs:element name="annotation" type="annotationType"/> + <xs:element name="error" type="errorType"/> + </xs:choice> + </xs:sequence> + <xs:attribute name="name" type="xs:string" use="required"/> + </xs:complexType> + <xs:complexType name="signalType"> + <xs:sequence> + <xs:element name="status" type="statusType" minOccurs="0"/> + <xs:element name="poc" type="pocType" minOccurs="0"/> + <xs:element name="obligation" type="obligationType" minOccurs="0"/> + <xs:element name="doc" type="docType"/> + <xs:choice minOccurs="0" maxOccurs="unbounded"> + <xs:element name="arg" type="argType"/> + <xs:element name="annotation" type="annotationType"/> + <xs:element name="error" type="errorType"/> + </xs:choice> + </xs:sequence> + <xs:attribute name="name" type="xs:string" use="required"/> + </xs:complexType> + <xs:complexType name="argType"> + <xs:sequence> + <xs:element name="doc" type="docType"/> + </xs:sequence> + <xs:attribute name="name" type="xs:string"/> + <xs:attribute name="type" type="xs:string" use="required"/> + <xs:attribute name="direction" default="in"> + <xs:simpleType> + <xs:restriction base="xs:NMTOKEN"> + <xs:enumeration value="in"/> + <xs:enumeration value="out"/> + </xs:restriction> + </xs:simpleType> + </xs:attribute> + </xs:complexType> + <xs:complexType name="propertyType"> + <xs:annotation> + <xs:documentation> AKA "attribute" </xs:documentation> + </xs:annotation> + <xs:sequence minOccurs="0" maxOccurs="unbounded"> + <xs:element name="status" type="statusType" minOccurs="0"/> + <xs:element name="poc" type="pocType" minOccurs="0"/> + <xs:element name="obligation" type="obligationType" minOccurs="0"/> + <xs:element name="annotation" type="annotationType"/> + </xs:sequence> + <xs:attribute name="name" type="xs:string" use="required"/> + <xs:attribute name="type" type="xs:string" use="required"/> + <xs:attribute name="access" use="required"> + <xs:simpleType> + <xs:restriction base="xs:NMTOKEN"> + <xs:enumeration value="read"/> + <xs:enumeration value="write"/> + <xs:enumeration value="readwrite"/> + </xs:restriction> + </xs:simpleType> + </xs:attribute> + </xs:complexType> + <xs:complexType name="annotationType"> + <xs:attribute name="name" type="xs:string" use="required"/> + <xs:attribute name="value" type="xs:string" use="required"/> + </xs:complexType> + <!-- proprietary extensions from LBS-EG --> + <!-- <xs:complexType name="versionType" /> --> + <xs:complexType name="docType"> + <xs:sequence> + <!-- <xs:element maxOccurs="unbounded" name="line" type="lineType"/> --> + <xs:element maxOccurs="unbounded" name="line" type="xs:string"/> + </xs:sequence> + </xs:complexType> + <xs:simpleType name="statusType"> + <xs:restriction base="xs:NMTOKEN"> + <xs:enumeration value="Approved"/> + <xs:enumeration value="Pending"/> + </xs:restriction> + </xs:simpleType> + <xs:simpleType name="pocType"> + <xs:restriction base="xs:NMTOKEN"> + <xs:enumeration value="Yes"/> + <xs:enumeration value="No"/> + </xs:restriction> + </xs:simpleType> + <xs:simpleType name="obligationType"> + <xs:restriction base="xs:NMTOKEN"> + <xs:enumeration value="Mandatory"/> + <xs:enumeration value="Optional"/> + </xs:restriction> + </xs:simpleType> + <xs:complexType name="errorType"> + <xs:sequence> + <xs:element name="doc" type="docType"/> + </xs:sequence> + <xs:attribute name="name" type="xs:string" use="required"/> + </xs:complexType> + <!-- <xs:complexType name="lineType" /> --> +</xs:schema> diff --git a/enhanced-position-service/api/introspect.xsl b/enhanced-position-service/api/introspect.xsl new file mode 100644 index 0000000..786e211 --- /dev/null +++ b/enhanced-position-service/api/introspect.xsl @@ -0,0 +1,183 @@ +<?xml version="1.0" encoding="UTF-8"?> +<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform" xmlns="http://www.w3.org/1999/xhtml" version="1.0"> + <!-- + Copyright (C) 2005 Lennart Poettering. + + Licensed under the Academic Free License version 2.1 + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +--> + + <!-- v0.1 26-06-2011 Marco Residori (XS Embedded GmbH): Added support for inline documentation (tags doc,line and version) --> + <!-- v0.2 12-01-2012 Marco Residori (XS Embedded GmbH): Added support for inline documentation (tags status,type) --> + <!-- v0.3 18-01-2012 Marco Residori (XS Embedded GmbH): Added support for inline documentation (tag error) --> + <!-- v0.4 14-03-2012 Marco Residori (XS Embedded GmbH): Added support for property-type and property-access. Replaced tag 'type' with 'obligation' --> + + <!-- $Id$ --> + <xsl:output method="xml" version="1.0" encoding="iso-8859-15" doctype-public="-//W3C//DTD XHTML 1.0 Strict//EN" doctype-system="http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd" indent="yes"/> + <xsl:template match="/"> + <html> + <!-- head --> + <head> + <title>DBUS Introspection Data</title> + <style type="text/css"> + body { color: black; background-color: white } + h1 { font-family: sans-serif } + ul { list-style-type: none; margin-bottom: 10px } + li { font-family: sans-serif } + .keyword { font-style: italic } + .type { font-weight: bold; font-size: 10pt } + .symbol { font-family: monospace } + .title { font-style: italic; color: blue } + .interface { padding: 10px; margin: 10px } + + .line { font-style: italic; font-size:8pt; color: green} + .version { font-family: monospace } + .status { font-weight: bold; font-size:6pt } + .obligation { font-weight: bold; font-size:6pt } + .error { font-style: italic; font-size:8pt; color: black} + </style> + </head> + <!-- body --> + <body> + <!-- interfaces --> + <xsl:for-each select="node/interface"> + <div class="interface"> + <h1> + <span class="keyword">interface</span> + <xsl:text> </xsl:text> + <span class="title"> + <xsl:value-of select="@name"/> + </span> + <xsl:text> </xsl:text> + <span class="version">version</span> + <xsl:text> </xsl:text> + <span class="version"> + <xsl:value-of select="version"/> + </span> + </h1> + <ul> + <xsl:apply-templates select="doc"/> + </ul> + <ul> + <xsl:apply-templates select="annotation"/> + <!-- methods, signals and properties --> + <xsl:for-each select="method|signal|property"> + <hr/> + <li> + <xsl:if test="status !=''"> + <span class="status">[<xsl:value-of select="status"/>] </span> + </xsl:if> + <xsl:if test="obligation !=''"> + <span class="obligation">[<xsl:value-of select="obligation"/>] </span> + </xsl:if> + <xsl:apply-templates select="doc"/> + <span class="keyword"> + <xsl:value-of select="name()"/> + </span> + <xsl:text> </xsl:text> + <span class="symbol"> + <xsl:value-of select="@name"/> + </span> + <xsl:text> </xsl:text> + <span class="keyword"> + <xsl:value-of select="@access"/> + </span> + <xsl:text> </xsl:text> + <span class="type"> + <xsl:value-of select="@type"/> + </span> + <xsl:text> </xsl:text> + <ul> + <xsl:apply-templates select="annotation"/> + <!-- arguments --> + <xsl:for-each select="arg"> + <br/> + <xsl:apply-templates select="doc"/> + <li> + <span class="keyword"> + <xsl:choose> + <xsl:when test="@direction !=''"> + <xsl:value-of select="@direction"/> + </xsl:when> + <xsl:when test="name(..) ='signal'"> + out + </xsl:when> + <xsl:otherwise> + in + </xsl:otherwise> + </xsl:choose> + </span> + <xsl:text> </xsl:text> + <span class="type"> + <xsl:value-of select="@type"/> + </span> + <xsl:text> </xsl:text> + <span class="symbol"> + <xsl:value-of select="@name"/> + </span> + <xsl:text> </xsl:text> + </li> + </xsl:for-each> + <br/> + <!-- errors --> + <xsl:apply-templates select="error"/> + <br/> + </ul> + </li> + </xsl:for-each> + </ul> + </div> + </xsl:for-each> + </body> + </html> + </xsl:template> + <xsl:template match="annotation"> + <li> + <span class="keyword">annotation</span> + <code> + <xsl:value-of select="@name"/> + </code> + <xsl:text> = </xsl:text> + <code> + <xsl:value-of select="@value"/> + </code> + </li> + </xsl:template> + <xsl:template match="doc"> + <li> + <span class="line"> + <xsl:for-each select="line"> + <xsl:value-of select="."/> + <xsl:element name="br"/> + </xsl:for-each> + </span> + </li> + </xsl:template> + <xsl:template match="error"> + <li> + <xsl:apply-templates select="doc"/> + <span class="keyword">error</span> + <xsl:text> </xsl:text> + <span class="error"> + <code> + <xsl:value-of select="@name"/> + </code> + </span> + <xsl:element name="br"/> + <br/> + </li> + </xsl:template> +</xsl:stylesheet> diff --git a/enhanced-position-service/doc/01_context.dox b/enhanced-position-service/doc/01_context.dox new file mode 100644 index 0000000..ef05f0a --- /dev/null +++ b/enhanced-position-service/doc/01_context.dox @@ -0,0 +1,7 @@ +/*! + +\page Introduction Introduction + +This document describes the architecture and the interface of the GENIVI EnhancedPositionService. + +*/ diff --git a/enhanced-position-service/doc/01b_architecture.dox b/enhanced-position-service/doc/01b_architecture.dox new file mode 100644 index 0000000..f0c995e --- /dev/null +++ b/enhanced-position-service/doc/01b_architecture.dox @@ -0,0 +1,78 @@ +/*! + +\page Architecture + +The following component diagram shows how the EnhancedPositionService interacts with other GENIVI components: + + \li GNSSService (Library) + \li SensorService (Library) + \li EnhancedPositionService (Daemon with D-Bus interface) + \li NavigationCore + \li MapViewer + +\image html enh-context-enhpos.png +\image latex enh-context-enhpos.png "EnhancedPositionService" width=\textwidth + +\section enhanced-position EnhancedPositionService + +The EnhancedPositionService is a software component that offers positioning information to client applications. +To calculate the current vehicle position, data from a GNSS receiver (e.g. GPS data) and available vehicle sensors (e.g. gyroscope and wheel ticks) are taken into account (dead-reckoning). In this way the EnhancedPositionService can calculate the current position even on roads, where the GNSS signal is too weak (e.g. in a tunnel, or in a parking garage). + +The result of the map matching can be provided as feedback to this module by the NavigationCore component. + +This component is the main client of the GNSSService and of the SensorsService. + +The EnhancedPositionService will be typically implemented as a multi-client daemon with a D-Bus interface. + +\subsection enhanced-position-interfaces EnhancedPositionService Interfaces + +\image html enh-component-interfaces.png +\image latex enh-component-interfaces.png "EnhancedPositionService Interfaces" width=\textwidth + +- EnhancedPosition : This interface provides a 'filtered' position that takes into account the value coming from the vehicle sensors (dead-reckoning). +- PositionFeedback : This interface offers methods that allows the NavigationCore to provide a position feedback to the EnhancedPositionService. +The component that implements the PositionFeedback interface requires the data provided by a `map matcher` (typically the +NavigationCore component). The PositionFeedback is an added improvement which does not negatively affect systems that don´t support maps or have a map-matching feature. +- Configuration: This interface allows a client application to manage configuration parameters, like the GNSS type. + + +\section gnss-service GNSSService + +The GNSSService is a component that retrieves positioning data from a GNSS receiver +(e.g. NMEA sentences from a GPS receiver) and presents them to its client applications. + +The GNSSService will be typically implemented as a single-client library. + + +\section sensor-service SensorsService + +The SensorsService is a component that retrieves sensor data from several vehicle sensors +(e.g. gyroscope, wheel ticks) and presents them to its client applications. + +The SensorsService will be typically implemented as a single-client library. + + +\section NavigationCore NavigationCore + +The NavigationCore is a component that is responsible for: +- providing all data for selection of locations +- calculating routes +- providing guiding information +- providing a map matched position + +The NavigationCore uses the interface EnhancedPositionService to retrieve information about the current position. + +The NavigationCore can match the current position to the local position and provide a feedback to the EnhancedPositionService via the interface MapFeedback. + + +\section MapViewer MapViewer + +This MapViewer is responsible for: +- rendering maps and other information related to the navigation on a display +- setting the graphic features that must be visualized +- setting user preferences + +The Map Viewer is a separate component, logically seperated from the NavigationCore. +It uses the results of the map matching as input for drawing the car on the map. + +*/ diff --git a/enhanced-position-service/doc/01c_requirements.dox b/enhanced-position-service/doc/01c_requirements.dox new file mode 100644 index 0000000..41e7493 --- /dev/null +++ b/enhanced-position-service/doc/01c_requirements.dox @@ -0,0 +1,8 @@ +/*! + +\page requ Requirements + +\image html enh-requirements-tarces.png +\image latex enh-requirements-tarces.png "Enhanced Position Service - traces against requirements (generated from EA)" width=\textwidth + +*/
\ No newline at end of file diff --git a/enhanced-position-service/doc/02a_api_enhpos.dox b/enhanced-position-service/doc/02a_api_enhpos.dox new file mode 100644 index 0000000..7a10c8f --- /dev/null +++ b/enhanced-position-service/doc/02a_api_enhpos.dox @@ -0,0 +1,23 @@ +/*! + +\page API + +\section repos Repositories and Links + +The official API which is release is located in the 'positioning' git repository. +All header files of the EnhancedPositionService can be found at: + +\subsection git-webview GIT Webview + +<a href="https://git.genivi.org/git/gitweb.cgi?p=positioning;a=tree;f=EnhancedPositionService/api;hb=refs/tags/gemini-final">https://git.genivi.org/git/gitweb.cgi?p=positioning;a=tree;</a><a href="https://git.genivi.org/git/gitweb.cgi?p=positioning;a=tree;f=EnhancedPositionService/api;hb=refs/tags/gemini-final">f=EnhancedPositionService</a> + +\subsection git-clone GIT Repository + +\include git-clone.txt + +\section EnhancedPosition org.genivi.positioning.EnhancedPosition + +This interface offers functionalities to retrieve the (enhanced) position of the vehicle. + +*/ + diff --git a/enhanced-position-service/doc/03_sequences.dox b/enhanced-position-service/doc/03_sequences.dox new file mode 100644 index 0000000..5335761 --- /dev/null +++ b/enhanced-position-service/doc/03_sequences.dox @@ -0,0 +1,23 @@ +/*! + +\page "Sequence Diagrams" + +The following sequence diagrams are generated out of the GENIVI Enterprise Architect model. + +\section sequ1 GetData (Simple) + +\image html enh-sequence-get.png +\image latex enh-sequence-get.png "EnhancedPositionService - Sequence Diagram" width=\textwidth + +\section sequ2 GetSatelliteInfo + +\image html enh-sequence-satelliteinfo.png +\image latex enh-sequence-satelliteinfo.png "EnhancedPositionService - Sequence Diagram" width=\textwidth + + +\section sequ3 GetData (Complex) + +\image html enh-sequence-getdata.png +\image latex enh-sequence-getdata.png "Enhanced Position Service - Sequence Diagram" width=\textwidth + +*/ diff --git a/enhanced-position-service/doc/Doxyfile b/enhanced-position-service/doc/Doxyfile new file mode 100644 index 0000000..cdee43e --- /dev/null +++ b/enhanced-position-service/doc/Doxyfile @@ -0,0 +1,1631 @@ +# Doxyfile 1.7.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. 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If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command <command> <input-file>, where <command> is the value of +# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = ../inc . + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 + +FILE_PATTERNS = *.h *.dox + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = *.c + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = ./examples + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = ./images + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command <filter> <input-file>, where <filter> +# is the value of the INPUT_FILTER tag, and <input-file> is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the stylesheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters"> +# Qt Help Project / Custom Filters</a>. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes"> +# Qt Help Project / Filter Attributes</a>. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvances is that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = YES + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. 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The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are png, jpg, or gif +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = YES + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES diff --git a/enhanced-position-service/doc/EnhancedPositionServiceAPI.pdf b/enhanced-position-service/doc/EnhancedPositionServiceAPI.pdf Binary files differnew file mode 100644 index 0000000..1e7b251 --- /dev/null +++ b/enhanced-position-service/doc/EnhancedPositionServiceAPI.pdf diff --git a/enhanced-position-service/doc/apidoc/concatpdf.sh b/enhanced-position-service/doc/apidoc/concatpdf.sh new file mode 100755 index 0000000..4e5139a --- /dev/null +++ b/enhanced-position-service/doc/apidoc/concatpdf.sh @@ -0,0 +1,3 @@ +#! /bin/bash +pdftk EnhancedPositionServiceAPI-part1.pdf EnhancedPositionServiceAPI-part2.pdf cat output ../EnhancedPositionServiceAPI.pdf + diff --git a/enhanced-position-service/doc/apidoc/generatedoc.sh b/enhanced-position-service/doc/apidoc/generatedoc.sh new file mode 100755 index 0000000..d5153e5 --- /dev/null +++ b/enhanced-position-service/doc/apidoc/generatedoc.sh @@ -0,0 +1,4 @@ +#! /bin/bash + +./html2pdf.sh +./concatpdf.sh diff --git a/enhanced-position-service/doc/apidoc/genivi-positioning-constants.xml b/enhanced-position-service/doc/apidoc/genivi-positioning-constants.xml new file mode 100644 index 0000000..88e09af --- /dev/null +++ b/enhanced-position-service/doc/apidoc/genivi-positioning-constants.xml @@ -0,0 +1,124 @@ +<?xml version="1.0" encoding="iso-8859-15"?> +<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> +<html xmlns="http://www.w3.org/1999/xhtml"> + <head> + <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-15" /> + <title>DBUS Introspection Data</title> + <style type="text/css"> + body { color: black; background-color: white } + h1 { font-family: sans-serif } + ul { list-style-type: none; margin-bottom: 10px } + li { font-family: sans-serif } + .keyword { font-style: italic } + .title { font-style: italic; color: blue } + .line { font-style: italic; font-size:8pt; color: green} + .version { font-family: monospace } + </style> + </head> + <body> + <div class="constants"> + <h1><span class="keyword">constants</span> <span class="title">EnhancedPositionService</span> <span class="version">version</span> <span class="version">2.0.0 (04-06-2013)</span></h1> + <li> + <span class="line">This document defines the constants that are used in the EnhancedPositionService APIs<br /></span> + </li> + <hr /> + <li>INVALID = 0x0000</li> + <hr /> + <li>TIMESTAMP = 0x0001</li> + <hr /> + <li>ALL = 0xffff</li> + <hr /> + <li>LATITUDE = 0x0020</li> + <hr /> + <li>LONGITUDE = 0x0021</li> + <hr /> + <li>ALTITUDE = 0x0022</li> + <hr /> + <li>HEADING = 0x0030</li> + <hr /> + <li>SPEED = 0x0031</li> + <hr /> + <li>CLIMB = 0x0032</li> + <hr /> + <li>COUNTRY = 0x0040</li> + <hr /> + <li>CITY = 0x0041</li> + <hr /> + <li>STREET = 0x0042</li> + <hr /> + <li>NUMBER = 0x0043</li> + <hr /> + <li>CROSSING = 0x0044</li> + <hr /> + <li>DISTRICT = 0x0045</li> + <hr /> + <li>TIMEZONE_OFFSET = 0x0046</li> + <hr /> + <li>DAYLIGHT_OFFSET = 0x0047</li> + <hr /> + <li>MATCH_TYPE = 0x0048</li> + <hr /> + <li>ROLL_RATE = 0x0060</li> + <hr /> + <li>PITCH_RATE = 0x0061</li> + <hr /> + <li>YAW_RATE = 0x0062</li> + <hr /> + <li>GNSS_FIX_STATUS = 0x0070</li> + <hr /> + <li>DR_STATUS = 0x0071</li> + <hr /> + <li>MM_STATUS = 0x0072</li> + <hr /> + <li>RELIABILTY_INDEX = 0x0073</li> + <hr /> + <li>MAP_MATCHED_FEEDBACK = 0x0074</li> + <hr /> + <li>TEST_FEEDBACK = 0x0075</li> + <hr /> + <li>PDOP = 0x0080</li> + <hr /> + <li>HDOP = 0x0081</li> + <hr /> + <li>VDOP = 0x0082</li> + <hr /> + <li>SIGMA_LATITUDE = 0x0083</li> + <hr /> + <li>SIGMA_LONGITUDE = 0x0084</li> + <hr /> + <li>SIGMA_ALTITUDE = 0x0085</li> + <hr /> + <li>SIGMA_HEADING = 0x0086</li> + <hr /> + <li>YEAR = 0x00a0</li> + <hr /> + <li>MONTH = 0x00a1</li> + <hr /> + <li>DAY = 0x00a2</li> + <hr /> + <li>HOUR = 0x00a3</li> + <hr /> + <li>MINUTE = 0x00a4</li> + <hr /> + <li>SECOND = 0x00a5</li> + <hr /> + <li>MS = 0x00a6</li> + <hr /> + <li>GPS = 0x00b0</li> + <hr /> + <li>GLONASS = 0x00b1</li> + <hr /> + <li>GALILEO = 0x00b2</li> + <hr /> + <li>COMPASS = 0x00b3</li> + <hr /> + <li>USED_SATELLITES = 0x00c0</li> + <hr /> + <li>TRACKED_SATELLITES = 0x00c1</li> + <hr /> + <li>VISIBLE_SATELLITES = 0x00c2</li> + <hr /> + <li>SATELLITE_DETAILS = 0x00c3</li> + </div> + </body> +</html> diff --git a/enhanced-position-service/doc/apidoc/html2pdf.sh b/enhanced-position-service/doc/apidoc/html2pdf.sh new file mode 100755 index 0000000..ea3647e --- /dev/null +++ b/enhanced-position-service/doc/apidoc/html2pdf.sh @@ -0,0 +1,9 @@ +#! /bin/bash +./xml2html.sh genivi-positioning-enhancedposition +./xml2html.sh genivi-positioning-configuration +./xml2html.sh genivi-positioning-positionfeedback +xsltproc -o genivi-positioning-constants.xml ../../api/constants.xsl ../../api/genivi-positioning-constants.xml + +wkhtmltopdf ./genivi-positioning-enhancedposition.html ./genivi-positioning-configuration.html ./genivi-positioning-positionfeedback.html genivi-positioning-constants.xml EnhancedPositionServiceAPI-part2.pdf + +rm *.html diff --git a/enhanced-position-service/doc/apidoc/xml2html.sh b/enhanced-position-service/doc/apidoc/xml2html.sh new file mode 100755 index 0000000..d78a44f --- /dev/null +++ b/enhanced-position-service/doc/apidoc/xml2html.sh @@ -0,0 +1,2 @@ +#! /bin/bash +xsltproc -o $1.html ../../api/introspect.xsl ../../api/$1.xml diff --git a/enhanced-position-service/doc/build-and-view.sh b/enhanced-position-service/doc/build-and-view.sh new file mode 100755 index 0000000..49e1d18 --- /dev/null +++ b/enhanced-position-service/doc/build-and-view.sh @@ -0,0 +1,17 @@ +#!/bin/bash + +doxygen Doxyfile generated/latex + +pushd generated/latex +make +popd + +if [ -f generated/latex/refman.pdf ]; + then + cp generated/latex/refman.pdf ./apidoc/EnhancedPositionServiceAPI-part1.pdf + cd apidoc + ./generatedoc.sh + evince ../EnhancedPositionServiceAPI.pdf & + else + echo "Error generating pdf file" +fi diff --git a/enhanced-position-service/doc/examples/git-clone.txt b/enhanced-position-service/doc/examples/git-clone.txt new file mode 100644 index 0000000..ac41d32 --- /dev/null +++ b/enhanced-position-service/doc/examples/git-clone.txt @@ -0,0 +1,9 @@ + +# clone git repository +$ git clone https://git.genivi.org/srv/git/positioning + +# checkout taged version 'gemini-final' +$ git checkout <release tag> + +# navigate to the GNSSService directory containing the D-Bus APIs +$ cd 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b/enhanced-position-service/doc/images/genivi-logo.png diff --git a/enhanced-position-service/doc/testplan.txt b/enhanced-position-service/doc/testplan.txt new file mode 100644 index 0000000..17f4f55 --- /dev/null +++ b/enhanced-position-service/doc/testplan.txt @@ -0,0 +1,30 @@ +/************************************************************************** + * Component Name: EnhancedPositionService + * Compliance Level: Abstract Component + * File: testplan.txt + * This document describes how to test the Abstract Component EnhancedPositionService. + * It is an artifact required by the GENIVI release process + * and is a prerequisite for the standardization of GENIVI interfaces + **************************************************************************/ + +In order to test the EnhancedPositionService you need to run the following test applications: +1) replayer +2) test-client +3) position-daemon + +The source code of the test applications can be found in the following directories: +positioning/EnhancedPositionService/test + +In order to run the test application follow these steps: + +1) Install and compile the Positioning PoC (Proof of Concept) + as described in the file: positioning/README.txt + +2) Navigate to the directory 'positioning' and run the test application + +cd positioning +./build/replayer/src/replayer ./build/replayer/logs/testlog.gvsl & +./build/enhanced-position-service/src/position-daemon & +./build/enhanced-position-service/test/test-client + + diff --git a/enhanced-position-service/doc/tex/doxygen.sty b/enhanced-position-service/doc/tex/doxygen.sty new file mode 100644 index 0000000..f67e1e2 --- /dev/null +++ b/enhanced-position-service/doc/tex/doxygen.sty @@ -0,0 +1,482 @@ +\NeedsTeXFormat{LaTeX2e} +\ProvidesPackage{doxygen} + +% Packages used by this style file +\RequirePackage{alltt} +\RequirePackage{array} +\RequirePackage{calc} +\RequirePackage{color} +\RequirePackage{fancyhdr} +\RequirePackage{longtable} +\RequirePackage{verbatim} 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100644 index 0000000..292f940 --- /dev/null +++ b/enhanced-position-service/doc/tex/header.tex @@ -0,0 +1,111 @@ +\documentclass[a4paper]{article} +\usepackage{a4wide} +\usepackage{makeidx} +\usepackage{graphicx} +\usepackage{multicol} +\usepackage{float} +\usepackage{listings} +\usepackage{color} +\usepackage{textcomp} +\usepackage{alltt} +\usepackage{times} +\usepackage{ifpdf} +\ifpdf +\usepackage[pdftex, + pagebackref=true, + colorlinks=true, + linkcolor=blue, + unicode + ]{hyperref} +\else +\usepackage[ps2pdf, + pagebackref=true, + colorlinks=true, + linkcolor=blue, + unicode + ]{hyperref} +\usepackage{pspicture} +\fi +\usepackage[utf8]{inputenc} +\usepackage{doxygen} +\lstset{language=C++,inputencoding=utf8,basicstyle=\footnotesize,breaklines=true,breakatwhitespace=true,tabsize=8,numbers=left } +\makeindex +\setcounter{tocdepth}{2} +\renewcommand{\footrulewidth}{0.4pt} +\begin{document} +\hypersetup{pageanchor=false} +\begin{titlepage} +\begin{center} +\vspace{2cm} +\includegraphics{../../../doc/images/genivi-logo.png}\\ +\vspace{1.5cm} +{\Large $projectname } \\ +\vspace{0.3cm} +{\large Version 2.0.0}\\ +\vspace{0.3cm} +{\small $date}\\ +\end{center} + +\vfill + +{\large Accepted for release by:}\\ +Approved by the EG-LBS and the SAT for the GENIVI Gemini Release. +\vspace{1cm} + +{\large Abstract:}\\ +This document describes the architecture and the interface of the GENIVI EnhancedPositionService. +\vspace{1cm} + +{\large Keywords:}\\ +GENIVI, Position, GPS, GNSS, Positioning, Dead-Reckoning +\vspace{1cm} + +SPDX-License-Identifier: CC-BY-SA-3.0 + +Copyright (C) 2014, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH, TomTom International B.V., Alpine Electronics R\&D Europe GmbH, AISIN AW CO., LTD. + +This work is licensed under the Creative Commons Attribution-ShareAlike 3.0 Unported License. + +To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/3.0/ or send a letter to Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA. + +\newpage + +\section*{Participants} +This document has been created by members of the Location Based Services expert group. + +\section*{Change History} +The following table shows the change history of the current document: + +\begin{tabular}{ | l | l | p{9.5cm} | } +\hline +Date & Document Version & Changes \\ +\hline +thomas.bader & 2012-03-16 & Created initial version \\ +\hline +thomas.bader & 2012-03-19 & added API, Architecture, Discovery-Links \\ +\hline +thomas.bader & 2012-03-21 & fixed typos, added sequence diagrams \\ +\hline +thomas.bader & 2012-03-26 & created version 1.0, added images \\ +\hline +marco.residori (XS Embedded) & 2013-06-03 & Updated context description, architecture description, UML diagrams \\ +\hline +marco.residori (XS Embedded) & 2013-06-04 & API version in the XML files set to 2.0.0 \\ +\hline +marco.residori (XS Embedded) & 2013-08-23 & API documentation generated automatically from XML files \\ +\hline +marco.residori (XS Embedded) & 2014-03-27 & Added copyright notes \\ +\hline +\end{tabular} + + +\end{titlepage} +\clearemptydoublepage +\pagenumbering{roman} +\tableofcontents +\clearemptydoublepage +\pagenumbering{arabic} +\hypersetup{pageanchor=true} + + + diff --git a/enhanced-position-service/scripts/StartHelperGeneric.py b/enhanced-position-service/scripts/StartHelperGeneric.py new file mode 100644 index 0000000..6d10f66 --- /dev/null +++ b/enhanced-position-service/scripts/StartHelperGeneric.py @@ -0,0 +1,142 @@ +# vim: set noexpandtab sw=4 ts=4: +# author: thomas.bader@bmw.de + +import os +import subprocess +import time +import sys +import signal + +# some issues with terminations. +# time_cmd = ["/usr/bin/time", "-f", "cpu %P | user %U | system %S | %C"] + + +''' +Exmaple: + + # create server by helper + file = open('/tmp/server.out', 'w') + server = StartHelperGeneric(["server"], "server", file) + client = StartHelperGeneric(["client"], "client-1") + + # start + server.start() + client.start() + + time.sleep(1) + + # stop them + client.stop() + server.stop() + file.close() +''' + +#-------------------------- +# generic +#-------------------------- +class StartHelperGeneric: + def __init__(self, cmd, name="unkown", out=sys.stdout): + self.cmd = cmd + self.name = name + self.out = out + self.env = os.environ + print "%s: created" % self.name + + def setEnv(self, name, value): + self.env[name] = value + print self.env[name] + + def start(self): + print "%s: starting ..." % self.name + self.p = subprocess.Popen(self.cmd, stdin=subprocess.PIPE, stdout=self.out, stderr=sys.stderr, shell=True, env=self.env) + + def isTerminated(self): + if self.p.poll() != None: + return True + + def stop(self): + # already terminated + if self.isTerminated(): + print "%s: own termination triggered successfully!" % self.name + return self.p.returncode + + # signal: SIGTERM + self.p.send_signal(signal.SIGTERM) + time.sleep(0.3) + if self.isTerminated(): + print "%s: SIGTERM triggered successfully!" % self.name + return self.p.returncode + + # signal: SIGINT (Ctr-C) + self.p.send_signal(signal.SIGINT) + time.sleep(0.3) + if self.isTerminated(): + print "%s: Ctrl-C triggered successfully!" % self.name + return self.p.returncode + + # terminate + self.p.terminate() + time.sleep(0.3) + if self.isTerminated(): + print "%s: 'terminate' triggered successfully!" % self.name + return self.p.returncode + + # kill + self.p.kill() + time.sleep(0.3) + if self.isTerminated(): + print "%s: killed force successfully" % self.name + return self.p.returncode + + print "%s: failed to terminate" % self.name + return 1 + + def stop_sigint(self): + # signal: SIGINT (Ctr-C) + self.p.send_signal(signal.SIGINT) + time.sleep(0.3) + if self.isTerminated(): + print "%s: Ctrl-C triggered successfully!" % self.name + return self.p.returncode + + +''' +# demo how to customize your start/stop methods + +#----------------------------------------------------------------------------- +# server +#----------------------------------------------------------------------------- +class StartHelperServer(StartHelperGeneric): + def start(self): + print "start 'server': %s" % self.name + StartHelperGeneric.start(self) + + def stop(self): + print "stop 'server': %s" % self.name + # try by own methods + if self.p.poll() == None: + self.p.stdin.write("1") + self.p.stdin.write("2") + time.sleep(0.3) # 300 ms + # use termination + StartHelperGeneric.stop(self) + +#----------------------------------------------------------------------------- +# client +#----------------------------------------------------------------------------- +class StartHelperClient(StartHelperGeneric): + def start(self): + print "start 'client': %s" % self.name + StartHelperGeneric.start(self) + + def stop(self): + print "stop 'client': %s" % self.name + # try by own methods + if self.p.poll() == None: + self.p.stdin.write("1") + time.sleep(2.0) # 2000 ms + # use termination + StartHelperGeneric.stop(self) +*/ +''' + diff --git a/enhanced-position-service/scripts/client/confif.cpp b/enhanced-position-service/scripts/client/confif.cpp new file mode 100644 index 0000000..7ff4d93 --- /dev/null +++ b/enhanced-position-service/scripts/client/confif.cpp @@ -0,0 +1,26 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIf -p confif.h:confif.cpp -i genivi-dbus-types.h ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#include "confif.h" + +/* + * Implementation of interface class ConfigurationIf + */ + +ConfigurationIf::ConfigurationIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent) + : QDBusAbstractInterface(service, path, staticInterfaceName(), connection, parent) +{ +} + +ConfigurationIf::~ConfigurationIf() +{ +} + diff --git a/enhanced-position-service/scripts/client/confif.h b/enhanced-position-service/scripts/client/confif.h new file mode 100644 index 0000000..b7c2c0d --- /dev/null +++ b/enhanced-position-service/scripts/client/confif.h @@ -0,0 +1,88 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIf -p confif.h:confif.cpp -i genivi-dbus-types.h ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#ifndef CONFIF_H_1381241789 +#define CONFIF_H_1381241789 + +#include <QtCore/QObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" + +/* + * Proxy class for interface org.genivi.positioning.Configuration + */ +class ConfigurationIf: public QDBusAbstractInterface +{ + Q_OBJECT +public: + static inline const char *staticInterfaceName() + { return "org.genivi.positioning.Configuration"; } + +public: + ConfigurationIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent = 0); + + ~ConfigurationIf(); + + Q_PROPERTY(ushort SatelliteSystem READ satelliteSystem WRITE setSatelliteSystem) + inline ushort satelliteSystem() const + { return qvariant_cast< ushort >(property("SatelliteSystem")); } + inline void setSatelliteSystem(ushort value) + { setProperty("SatelliteSystem", QVariant::fromValue(value)); } + + Q_PROPERTY(int UpdateInterval READ updateInterval WRITE setUpdateInterval) + inline int updateInterval() const + { return qvariant_cast< int >(property("UpdateInterval")); } + inline void setUpdateInterval(int value) + { setProperty("UpdateInterval", QVariant::fromValue(value)); } + +public Q_SLOTS: // METHODS + inline QDBusPendingReply<QVariantMap> GetProperties() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetProperties"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetSupportedProperties() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetSupportedProperties"), argumentList); + } + + inline QDBusPendingReply<GeniviVersion> GetVersion() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetVersion"), argumentList); + } + + inline QDBusPendingReply<> SetProperty(const QString &name, const QDBusVariant &value) + { + QList<QVariant> argumentList; + argumentList << QVariant::fromValue(name) << QVariant::fromValue(value); + return asyncCallWithArgumentList(QLatin1String("SetProperty"), argumentList); + } + +Q_SIGNALS: // SIGNALS + void PropertyChanged(const QString &name, const QDBusVariant &value); +}; + +namespace org { + namespace genivi { + namespace positioning { + typedef ::ConfigurationIf Configuration; + } + } +} +#endif diff --git a/enhanced-position-service/scripts/client/demoif.cpp b/enhanced-position-service/scripts/client/demoif.cpp new file mode 100644 index 0000000..5cbe680 --- /dev/null +++ b/enhanced-position-service/scripts/client/demoif.cpp @@ -0,0 +1,26 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIf -p demoif.h:demoif.cpp -i genivi-dbus-types.h ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#include "demoif.h" + +/* + * Implementation of interface class DemoIf + */ + +DemoIf::DemoIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent) + : QDBusAbstractInterface(service, path, staticInterfaceName(), connection, parent) +{ +} + +DemoIf::~DemoIf() +{ +} + diff --git a/enhanced-position-service/scripts/client/demoif.h b/enhanced-position-service/scripts/client/demoif.h new file mode 100644 index 0000000..c5d4396 --- /dev/null +++ b/enhanced-position-service/scripts/client/demoif.h @@ -0,0 +1,104 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIf -p demoif.h:demoif.cpp -i genivi-dbus-types.h ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#ifndef DEMOIF_H_1381241613 +#define DEMOIF_H_1381241613 + +#include <QtCore/QObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" + +/* + * Proxy class for interface org.genivi.positioning.EnhancedPosition + */ +class DemoIf: public QDBusAbstractInterface +{ + Q_OBJECT +public: + static inline const char *staticInterfaceName() + { return "org.genivi.positioning.EnhancedPosition"; } + +public: + DemoIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent = 0); + + ~DemoIf(); + +public Q_SLOTS: // METHODS + inline QDBusPendingReply<MapUShortVariant> GetAccuracy() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetAccuracy"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetData(const QList<ushort> &valuesToReturn) + { + QList<QVariant> argumentList; + argumentList << QVariant::fromValue(valuesToReturn); + return asyncCallWithArgumentList(QLatin1String("GetData"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetPosition() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetPosition"), argumentList); + } + + inline QDBusPendingReply<<type> > GetRotationRate() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetRotationRate"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetSatelliteInfo() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetSatelliteInfo"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetStatus() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetStatus"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetTime() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetTime"), argumentList); + } + + inline QDBusPendingReply<GeniviVersion> GetVersion() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetVersion"), argumentList); + } + +Q_SIGNALS: // SIGNALS + void AccuracyUpdate(const QList<ushort> &changedValues); + void PositionUpdate(const QList<ushort> &changedValues); + void RotationRateUpdate(const QList<ushort> &changedValues); + void SatelliteInfoUpdate(const QList<ushort> &changedValues); + void StatusUpdate(const QList<ushort> &changedValues); +}; + +namespace org { + namespace genivi { + namespace positioning { + typedef ::DemoIf EnhancedPosition; + } + } +} +#endif diff --git a/enhanced-position-service/scripts/gen-dbus-conf.sh b/enhanced-position-service/scripts/gen-dbus-conf.sh new file mode 100755 index 0000000..80c5b7c --- /dev/null +++ b/enhanced-position-service/scripts/gen-dbus-conf.sh @@ -0,0 +1,50 @@ +#!/bin/bash +# +# execute from position-daemon direcotry +# + +#introspection="../position-api/EnhancedPosition/EnhancedPosition.xml" + +# minimal set (hand edited) +introspection="genivi-positioning-configuration-qt.xml" +interface="org.genivi.positioning.Configuration" + +##### +echo +echo "precheck with xmllint" +xmllint $introspection + +if [ $? != 0 ]; then + echo "xmllint failed ... check your xml" + exit 1 +fi + +mkdir -p server +mkdir -p client + +##### +echo +echo "generate client" +cd client +pwd +qdbusxml2cpp -v -c ConfigurationIf -p confif.h:confif.cpp \ + -i genivi-dbus-types.h \ + ../$introspection $interface + +cd .. + +##### +echo +echo "generate server" +cd server +pwd +qdbusxml2cpp -v -c ConfigurationIfAdaptor -a confifadaptor.h:confifadaptor.cpp \ + -i genivi-dbus-types.h \ + -i ConfigurationImpl.h -l ConfigurationImpl \ + ../$introspection $interface + +cd .. +##### + +echo +echo "done" diff --git a/enhanced-position-service/scripts/gen-dbus.sh b/enhanced-position-service/scripts/gen-dbus.sh new file mode 100755 index 0000000..594e015 --- /dev/null +++ b/enhanced-position-service/scripts/gen-dbus.sh @@ -0,0 +1,49 @@ +#!/bin/bash +# +# execute from position-daemon direcotry +# + +#introspection="../position-api/EnhancedPosition/EnhancedPosition.xml" + +# minimal set (hand edited) +introspection="genivi-positioning-enhancedposition-qt.xml" +interface="org.genivi.positioning.EnhancedPosition" + +##### +echo +echo "precheck with xmllint" +xmllint $introspection + +if [ $? != 0 ]; then + echo "xmllint failed ... check your xml" + exit 1 +fi + +mkdir -p client +mkdir -p server +##### +echo +echo "generate client" +cd client +pwd +qdbusxml2cpp -v -c DemoIf -p demoif.h:demoif.cpp \ + -i genivi-dbus-types.h \ + ../$introspection $interface + +cd .. + +##### +echo +echo "generate server" +cd server +pwd +qdbusxml2cpp -v -c DemoIfAdaptor -a demoifadaptor.h:demoifadaptor.cpp \ + -i genivi-dbus-types.h \ + -i serverimpl.h -l ServerImpl \ + ../$introspection $interface + +cd .. +##### + +echo +echo "done" diff --git a/enhanced-position-service/scripts/genivi-positioning-configuration-qt.xml b/enhanced-position-service/scripts/genivi-positioning-configuration-qt.xml new file mode 100644 index 0000000..9e41e49 --- /dev/null +++ b/enhanced-position-service/scripts/genivi-positioning-configuration-qt.xml @@ -0,0 +1,111 @@ +<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE node PUBLIC "-//freedesktop//DTD D-BUS Object Introspection 1.0//EN" "http://www.freedesktop.org/standards/dbus/1.0/introspect.dtd">
+<?xml-stylesheet type="text/xsl" href="introspect.xsl"?>
+
+<!-- Component Name: EnhancedPositionService
+ Compliance Level: Abstract Component
+ Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PSA Peugeot Citroën, XS Embedded GmbH
+ License:
+ This Source Code Form is subject to the terms of the
+ Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+ this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+-->
+
+<node name="/org/genivi/enhancedpositionservice" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd">
+
+ <interface name="org.genivi.positioning.Configuration">
+ <version>2.0.0 (04-06-2013)</version>
+ <doc>
+ <line>Configuration = This interface allows a client application to set and retrieve configuration options</line>
+ </doc>
+
+ <method name="GetVersion">
+ <doc>
+ <line>GetVersion = This method returns the API version implemented by the server application.</line>
+ </doc>
+ <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="GeniviVersion"/>
+ <arg name="version" type="(qqqs)" direction="out">
+ <doc>
+ <line>version = struct(major,minor,micro,date)</line>
+ <line>major = when the major changes, then backward compatibility with previous releases is not granted</line>
+ <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line>
+ <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line>
+ <line>date = release date (e.g. 21-06-2011)</line>
+ </doc>
+ </arg>
+ </method>
+
+ <method name="GetProperties">
+ <doc>
+ <line>GetProperties = This method returns all global system properties.</line>
+ </doc>
+ <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="QVariantMap"/>
+ <arg name="properties" type="a{sv}" direction="out" />
+ </method>
+
+ <method name="SetProperty">
+ <doc>
+ <line>SetProperty = This method changes the value of the specified property</line>
+ <line>Only properties that are listed as read-write are changeable</line>
+ <line>On success a PropertyChanged signal will be emitted</line>
+ </doc>
+ <arg name="name" type="s" direction="in">
+ <doc>
+ <line>name = property name</line>
+ </doc>
+ </arg>
+ <arg name="value" type="v" direction="in">
+ <doc>
+ <line>value = property value</line>
+ </doc>
+ </arg>
+ <error name="org.genivi.positioning.Configuration.Error.InvalidProperty" />
+ </method>
+
+ <signal name="PropertyChanged">
+ <doc>
+ <line>PropertyChanged = This signal is emitted when a property changes</line>
+ </doc>
+ <arg name="name" type="s">
+ <doc>
+ <line>name = property name</line>
+ </doc>
+ </arg>
+ <arg name="value" type="v">
+ <doc>
+ <line>value = property value</line>
+ </doc>
+ </arg>
+ </signal>
+
+ <property name="SatelliteSystem" type="q" access="readwrite">
+ <doc>
+ <line>SatelliteSystem = enum(INVALID,GPS,GLONASS,GALILEO,COMPASS, ... )</line>
+ </doc>
+ </property>
+
+ <property name="UpdateInterval" type="i" access="readwrite">
+ <doc>
+ <line>UpdateInterval = update interval in ms</line>
+ </doc>
+ </property>
+
+ <method name="GetSupportedProperties">
+ <doc>
+ <line>GetSupportedProperties = This method returns all suppported global system properties</line>
+ </doc>
+ <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="MapUShortVariant"/>
+ <arg name="properties" type="a{sv}" direction="out">
+ <doc>
+ <line>properties = array[property]</line>
+ <line>property = dictionary[key,value]</line>
+ <line>key = enum(SatelliteSystem,UpdateInterval, ... )</line>
+ <line>key = SatelliteSystem, value = value of type 'aq'; 'q' is an enum(INVALID,GPS,GLONASS,GALILEO,COMPASS, ...)</line>
+ <line>key = UpdateInterval, value = value of type 'ai'; 'i' is the update interval in ms</line>
+ </doc>
+ </arg>
+ </method>
+
+ </interface>
+
+</node>
diff --git a/enhanced-position-service/scripts/genivi-positioning-enhancedposition-qt.xml b/enhanced-position-service/scripts/genivi-positioning-enhancedposition-qt.xml new file mode 100644 index 0000000..aed4170 --- /dev/null +++ b/enhanced-position-service/scripts/genivi-positioning-enhancedposition-qt.xml @@ -0,0 +1,276 @@ +<?xml version="1.0" encoding="UTF-8"?> +<!DOCTYPE node PUBLIC "-//freedesktop//DTD D-BUS Object Introspection 1.0//EN" "http://www.freedesktop.org/standards/dbus/1.0/introspect.dtd"> +<?xml-stylesheet type="text/xsl" href="introspect.xsl"?> + +<!-- Component Name: EnhancedPositionService + Compliance Level: Abstract Component + Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + License: + This Source Code Form is subject to the terms of the + Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + this file, You can obtain one at http://mozilla.org/MPL/2.0/. +--> + +<node name="/org/genivi/enhancedpositionservice" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd"> + + <interface name="org.genivi.positioning.EnhancedPosition"> + <version>2.0.0 (04-06-2013)</version> + <doc> + <line>EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle</line> + </doc> + + <method name="GetVersion"> + <doc> + <line>GetVersion = This method returns the API version implemented by the server application</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="GeniviVersion"/> + <arg name="version" type="(qqqs)" direction="out"> + <doc> + <line>version = struct(major,minor,micro,date)</line> + <line>major = when the major changes, then backward compatibility with previous releases is not granted</line> + <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line> + <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line> + <line>date = release date (e.g. 21-06-2011)</line> + </doc> + </arg> + </method> + + <method name="GetData"> + <doc> + <line>GetData = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )</line> + </doc> + + <annotation name="com.trolltech.QtDBus.QtTypeName.In0" value="QList<ushort>"/> + <arg name="valuesToReturn" type="aq" direction="in"> + <doc> + <line>valuesToReturn= array[fieldType]</line> + <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,...,ALL)</line> + </doc> + </arg> + + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="MapUShortVariant"/> + <arg name="data" type="a{qv}" direction="out"> + <doc> + <line>position = 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>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 = 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 = 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> + </doc> + </arg> + </method> + + <method name="GetPosition"> + <doc> + <line>GetPosition = This method returns the current position</line> + </doc> + + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="MapUShortVariant"/> + <arg name="position" type="a{qv}" direction="out"> + <doc> + <line>position = 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>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 = 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> + </doc> + </arg> + </method> + + <signal name="PositionUpdate"> + <doc> + <line>PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.In0" value="QList<ushort>"/> + <arg name="changedValues" type="aq" > + <doc> + <line>changedValues = array[value]</line> + <line>value = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,... )</line> + </doc> + </arg> + </signal> + + <method name="GetRotationRate"> + <doc> + <line>GetRotationRate = This method returns the rotation rate</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="<type>"/> + <arg name="rotationRate" type="a{qv}" direction="out"> + <doc> + <line>rotationRates = 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>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> + </doc> + </arg> + </method> + + <signal name="RotationRateUpdate"> + <doc> + <line>RotationRateUpdated = This signal is emitted when the rotation rate changes</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.In0" value="QList<ushort>"/> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[key]</line> + <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line> + </doc> + </arg> + </signal> + + <method name="GetAccuracy"> + <doc> + <line>GetAccuracy = This method returns the accuracy</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="MapUShortVariant"/> + <arg name="accuracy" type="a{qv}" direction="out"> + <doc> + <line>accuracy = 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>key = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING,... )</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</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> + </doc> + </arg> + </method> + + <signal name="AccuracyUpdate"> + <doc> + <line>AccuracyUpdated = This signal is emitted when the accuracy changes</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.In0" value="QList<ushort>"/> + <arg name="changedValues" type="aq" direction="out"> + <doc> + <line>changedValues = array[value]</line> + <line>value = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING, ... )</line> + </doc> + </arg> + </signal> + + <method name="GetSatelliteInfo"> + <doc> + <line>GetSatelliteInfo = This method returns information about the current satellite constellation</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="MapUShortVariant"/> + <arg name="satelliteInfo" type="a{qv}" direction="out"> + <doc> + <line>satelliteInfo = 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>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line> + <line>key = USED_SATELLITES, value = value of type 'y', that represents the number of used satellites</line> + <line>key = TRACKED_SATELLITES, value = value of type 'y', that represents the number of tracked satellites</line> + <line>key = VISIBLE_SATELLITES, value = value of type 'y', that represents the number of visible satellites</line> + <line>key = SATELLITE_DETAILS, value = value of type 'a(ubuuu)', 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 + </line> + </doc> + </arg> + </method> + + <signal name="SatelliteInfoUpdate"> + <doc> + <line>SatelliteInfoUpdate = This signal is emitted when information about the current satellite information is updated</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.In0" value="QList<ushort>"/> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[value]</line> + <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line> + </doc> + </arg> + </signal> + + <method name="GetStatus"> + <doc> + <line>GetStatus = This method returns the status of this service</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="MapUShortVariant"/> + <arg name="status" type="a{qv}" direction="out"> + <doc> + <line>status = 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>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line> + <line>key = GNSS_FIX_STATUS, value = value of type 'q', that represents an enum(INVALID(0x00),NO_FIX(0x01),TIME_FIX(0x02),2D_FIX(0x03),3D_FIX(0x04), ... )</line> + <line>key = DR_STATUS, value = value of type 'b', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position</line> + </doc> + </arg> + </method> + + <signal name="StatusUpdate"> + <doc> + <line>StatusUpdate = This signal is emitted when the status of this service changes</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.In0" value="QList<ushort>"/> + <arg name="changedValues" type="aq"> + <doc> + <line>changedValues = array[value]</line> + <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line> + </doc> + </arg> + </signal> + + <method name="GetTime"> + <doc> + <line>GetTime = This method returns UTC time and date</line> + </doc> + <annotation name="com.trolltech.QtDBus.QtTypeName.Out0" value="MapUShortVariant"/> + <arg name="time" type="a{qv}" direction="out"> + <doc> + <line>time = 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>key = enum(INVALID,TIMESTAMP,YEAR,MONTH,DAY,HOUR,MINUTE,SECOND,MS, ... )</line> + <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line> + <line>key = YEAR, value = value of type 'q', 4 digits number that indicates the year. Example: 2012</line> + <line>key = MONTH, value = value of type 'y', 2 digits number that indicates the month. Example: 03 means March</line> + <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 = MS, value = value of type 'q', 3 digits number that represents the milliseconds. Range [0:999]. Example: 007</line> + </doc> + </arg> + </method> + + </interface> + +</node> diff --git a/enhanced-position-service/scripts/run-test.py b/enhanced-position-service/scripts/run-test.py new file mode 100755 index 0000000..9226ca0 --- /dev/null +++ b/enhanced-position-service/scripts/run-test.py @@ -0,0 +1,55 @@ +#!/usr/bin/python +# +# call from your build directory (e.g. build, Debug, ...) +# +# vim: set noexpandtab sw=4 ts=4: +# +#----------------------------------------------------------------------- +# If you have no active dbus session you have to call with dbus-launch +# +# $ dbus-launch --exit-with-session ../run-test.py +# +#----------------------------------------------------------------------- + + +import time +import sys +from StartHelperGeneric import StartHelperGeneric + +#----------------------------------------------------------------------------- +# main +#----------------------------------------------------------------------------- +def main(): + duration = 3.0 + print "starting test script: test %i seconds...\n" % duration + + # starten server by helper + server = StartHelperGeneric(["enhanced-position-service/src/position-daemon"], "server") + server.setEnv("REPLAYER_LOG_FILE", + "../replayer/logs/testlog.gvsl") + client = StartHelperGeneric(["enhanced-position-service/test/test-enhpos"], "test-client") + + server.start() + + time.sleep(2) + client.start() + + time.sleep(duration) + + # expect them to be terminated by SIGINT --> -2 + status = 0 + rc = 0 + rc = client.stop() + if rc != -2: + status += 1 + + rc = server.stop() + if rc != -2: + status += 1 + + print "exit code: %d" % status + sys.exit(status) + +if __name__ == "__main__": + main() + diff --git a/enhanced-position-service/scripts/server/confifadaptor.cpp b/enhanced-position-service/scripts/server/confifadaptor.cpp new file mode 100644 index 0000000..e2ced5c --- /dev/null +++ b/enhanced-position-service/scripts/server/confifadaptor.cpp @@ -0,0 +1,83 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIfAdaptor -a confifadaptor.h:confifadaptor.cpp -i genivi-dbus-types.h -i ConfigurationImpl.h -l ConfigurationImpl ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#include "confifadaptor.h" +#include <QtCore/QMetaObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> + +/* + * Implementation of adaptor class ConfigurationIfAdaptor + */ + +ConfigurationIfAdaptor::ConfigurationIfAdaptor(ConfigurationImpl *parent) + : QDBusAbstractAdaptor(parent) +{ + // constructor + setAutoRelaySignals(true); +} + +ConfigurationIfAdaptor::~ConfigurationIfAdaptor() +{ + // destructor +} + +ushort ConfigurationIfAdaptor::satelliteSystem() const +{ + // get the value of property SatelliteSystem + return qvariant_cast< ushort >(parent()->property("SatelliteSystem")); +} + +void ConfigurationIfAdaptor::setSatelliteSystem(ushort value) +{ + // set the value of property SatelliteSystem + parent()->setProperty("SatelliteSystem", QVariant::fromValue(value)); +} + +int ConfigurationIfAdaptor::updateInterval() const +{ + // get the value of property UpdateInterval + return qvariant_cast< int >(parent()->property("UpdateInterval")); +} + +void ConfigurationIfAdaptor::setUpdateInterval(int value) +{ + // set the value of property UpdateInterval + parent()->setProperty("UpdateInterval", QVariant::fromValue(value)); +} + +QVariantMap ConfigurationIfAdaptor::GetProperties() +{ + // handle method call org.genivi.positioning.Configuration.GetProperties + return parent()->GetProperties(); +} + +MapUShortVariant ConfigurationIfAdaptor::GetSupportedProperties() +{ + // handle method call org.genivi.positioning.Configuration.GetSupportedProperties + return parent()->GetSupportedProperties(); +} + +GeniviVersion ConfigurationIfAdaptor::GetVersion() +{ + // handle method call org.genivi.positioning.Configuration.GetVersion + return parent()->GetVersion(); +} + +void ConfigurationIfAdaptor::SetProperty(const QString &name, const QDBusVariant &value) +{ + // handle method call org.genivi.positioning.Configuration.SetProperty + parent()->SetProperty(name, value); +} + diff --git a/enhanced-position-service/scripts/server/confifadaptor.h b/enhanced-position-service/scripts/server/confifadaptor.h new file mode 100644 index 0000000..1d56780 --- /dev/null +++ b/enhanced-position-service/scripts/server/confifadaptor.h @@ -0,0 +1,146 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIfAdaptor -a confifadaptor.h:confifadaptor.cpp -i genivi-dbus-types.h -i ConfigurationImpl.h -l ConfigurationImpl ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#ifndef CONFIFADAPTOR_H_1381241789 +#define CONFIFADAPTOR_H_1381241789 + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" +#include "ConfigurationImpl.h" +class QByteArray; +template<class T> class QList; +template<class Key, class Value> class QMap; +class QString; +class QStringList; +class QVariant; + +/* + * Adaptor class for interface org.genivi.positioning.Configuration + */ +class ConfigurationIfAdaptor: public QDBusAbstractAdaptor +{ + Q_OBJECT + Q_CLASSINFO("D-Bus Interface", "org.genivi.positioning.Configuration") + Q_CLASSINFO("D-Bus Introspection", "" +" <interface name=\"org.genivi.positioning.Configuration\">\n" +" <version>2.0.0 (04-06-2013)</version>\n" +" <doc>\n" +" <line>Configuration = This interface allows a client application to set and retrieve configuration options</line>\n" +" </doc>\n" +" <method name=\"GetVersion\">\n" +" <doc>\n" +" <line>GetVersion = This method returns the API version implemented by the server application.</line>\n" +" </doc>\n" +" <annotation value=\"GeniviVersion\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"(qqqs)\" name=\"version\">\n" +" <doc>\n" +" <line>version = struct(major,minor,micro,date)</line>\n" +" <line>major = when the major changes, then backward compatibility with previous releases is not granted</line>\n" +" <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line>\n" +" <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line>\n" +" <line>date = release date (e.g. 21-06-2011)</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <method name=\"GetProperties\">\n" +" <doc>\n" +" <line>GetProperties = This method returns all global system properties.</line>\n" +" </doc>\n" +" <annotation value=\"QVariantMap\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{sv}\" name=\"properties\"/>\n" +" </method>\n" +" <method name=\"SetProperty\">\n" +" <doc>\n" +" <line>SetProperty = This method changes the value of the specified property</line>\n" +" <line>Only properties that are listed as read-write are changeable</line>\n" +" <line>On success a PropertyChanged signal will be emitted</line>\n" +" </doc>\n" +" <arg direction=\"in\" type=\"s\" name=\"name\">\n" +" <doc>\n" +" <line>name = property name</line>\n" +" </doc>\n" +" </arg>\n" +" <arg direction=\"in\" type=\"v\" name=\"value\">\n" +" <doc>\n" +" <line>value = property value</line>\n" +" </doc>\n" +" </arg>\n" +" <error name=\"org.genivi.positioning.Configuration.Error.InvalidProperty\"/>\n" +" </method>\n" +" <signal name=\"PropertyChanged\">\n" +" <doc>\n" +" <line>PropertyChanged = This signal is emitted when a property changes</line>\n" +" </doc>\n" +" <arg type=\"s\" name=\"name\">\n" +" <doc>\n" +" <line>name = property name</line>\n" +" </doc>\n" +" </arg>\n" +" <arg type=\"v\" name=\"value\">\n" +" <doc>\n" +" <line>value = property value</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <property access=\"readwrite\" type=\"q\" name=\"SatelliteSystem\">\n" +" <doc>\n" +" <line>SatelliteSystem = enum(INVALID,GPS,GLONASS,GALILEO,COMPASS, ... )</line>\n" +" </doc>\n" +" </property>\n" +" <property access=\"readwrite\" type=\"i\" name=\"UpdateInterval\">\n" +" <doc>\n" +" <line>UpdateInterval = update interval in ms</line>\n" +" </doc>\n" +" </property>\n" +" <method name=\"GetSupportedProperties\">\n" +" <doc>\n" +" <line>GetSupportedProperties = This method returns all suppported global system properties</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{sv}\" name=\"properties\">\n" +" <doc>\n" +" <line>properties = array[property]</line>\n" +" <line>property = dictionary[key,value]</line>\n" +" <line>key = enum(SatelliteSystem,UpdateInterval, ... )</line>\n" +" <line>key = SatelliteSystem, value = value of type 'aq'; 'q' is an enum(INVALID,GPS,GLONASS,GALILEO,COMPASS, ...)</line>\n" +" <line>key = UpdateInterval, value = value of type 'ai'; 'i' is the update interval in ms</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" </interface>\n" + "") +public: + ConfigurationIfAdaptor(ConfigurationImpl *parent); + virtual ~ConfigurationIfAdaptor(); + + inline ConfigurationImpl *parent() const + { return static_cast<ConfigurationImpl *>(QObject::parent()); } + +public: // PROPERTIES + Q_PROPERTY(ushort SatelliteSystem READ satelliteSystem WRITE setSatelliteSystem) + ushort satelliteSystem() const; + void setSatelliteSystem(ushort value); + + Q_PROPERTY(int UpdateInterval READ updateInterval WRITE setUpdateInterval) + int updateInterval() const; + void setUpdateInterval(int value); + +public Q_SLOTS: // METHODS + QVariantMap GetProperties(); + MapUShortVariant GetSupportedProperties(); + GeniviVersion GetVersion(); + void SetProperty(const QString &name, const QDBusVariant &value); +Q_SIGNALS: // SIGNALS + void PropertyChanged(const QString &name, const QDBusVariant &value); +}; + +#endif diff --git a/enhanced-position-service/scripts/server/demoifadaptor.cpp b/enhanced-position-service/scripts/server/demoifadaptor.cpp new file mode 100644 index 0000000..4e87093 --- /dev/null +++ b/enhanced-position-service/scripts/server/demoifadaptor.cpp @@ -0,0 +1,83 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIfAdaptor -a demoifadaptor.h:demoifadaptor.cpp -i genivi-dbus-types.h -i serverimpl.h -l ServerImpl ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#include "demoifadaptor.h" +#include <QtCore/QMetaObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> + +/* + * Implementation of adaptor class DemoIfAdaptor + */ + +DemoIfAdaptor::DemoIfAdaptor(ServerImpl *parent) + : QDBusAbstractAdaptor(parent) +{ + // constructor + setAutoRelaySignals(true); +} + +DemoIfAdaptor::~DemoIfAdaptor() +{ + // destructor +} + +MapUShortVariant DemoIfAdaptor::GetAccuracy() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetAccuracy + return parent()->GetAccuracy(); +} + +MapUShortVariant DemoIfAdaptor::GetData(const QList<ushort> &valuesToReturn) +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetData + return parent()->GetData(valuesToReturn); +} + +MapUShortVariant DemoIfAdaptor::GetPosition() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetPosition + return parent()->GetPosition(); +} + +<type> DemoIfAdaptor::GetRotationRate() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetRotationRate + return parent()->GetRotationRate(); +} + +MapUShortVariant DemoIfAdaptor::GetSatelliteInfo() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetSatelliteInfo + return parent()->GetSatelliteInfo(); +} + +MapUShortVariant DemoIfAdaptor::GetStatus() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetStatus + return parent()->GetStatus(); +} + +MapUShortVariant DemoIfAdaptor::GetTime() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetTime + return parent()->GetTime(); +} + +GeniviVersion DemoIfAdaptor::GetVersion() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetVersion + return parent()->GetVersion(); +} + diff --git a/enhanced-position-service/scripts/server/demoifadaptor.h b/enhanced-position-service/scripts/server/demoifadaptor.h new file mode 100644 index 0000000..2f3ac12 --- /dev/null +++ b/enhanced-position-service/scripts/server/demoifadaptor.h @@ -0,0 +1,302 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIfAdaptor -a demoifadaptor.h:demoifadaptor.cpp -i genivi-dbus-types.h -i serverimpl.h -l ServerImpl ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#ifndef DEMOIFADAPTOR_H_1381241613 +#define DEMOIFADAPTOR_H_1381241613 + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" +#include "serverimpl.h" +class QByteArray; +template<class T> class QList; +template<class Key, class Value> class QMap; +class QString; +class QStringList; +class QVariant; + +/* + * Adaptor class for interface org.genivi.positioning.EnhancedPosition + */ +class DemoIfAdaptor: public QDBusAbstractAdaptor +{ + Q_OBJECT + Q_CLASSINFO("D-Bus Interface", "org.genivi.positioning.EnhancedPosition") + Q_CLASSINFO("D-Bus Introspection", "" +" <interface name=\"org.genivi.positioning.EnhancedPosition\">\n" +" <version>2.0.0 (04-06-2013)</version>\n" +" <doc>\n" +" <line>EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle</line>\n" +" </doc>\n" +" <method name=\"GetVersion\">\n" +" <doc>\n" +" <line>GetVersion = This method returns the API version implemented by the server application</line>\n" +" </doc>\n" +" <annotation value=\"GeniviVersion\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"(qqqs)\" name=\"version\">\n" +" <doc>\n" +" <line>version = struct(major,minor,micro,date)</line>\n" +" <line>major = when the major changes, then backward compatibility with previous releases is not granted</line>\n" +" <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line>\n" +" <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line>\n" +" <line>date = release date (e.g. 21-06-2011)</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <method name=\"GetData\">\n" +" <doc>\n" +" <line>GetData = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"in\" type=\"aq\" name=\"valuesToReturn\">\n" +" <doc>\n" +" <line>valuesToReturn= array[fieldType]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,...,ALL)</line>\n" +" </doc>\n" +" </arg>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"data\">\n" +" <doc>\n" +" <line>position = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>Invalid data is not be returned to the client application</line>\n" +" <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>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = LATITUDE, value = value of type 'd', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250</line>\n" +" <line>key = LONGITUDE, value = value of type 'd', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500</line>\n" +" <line>key = ALTITUDE, value = value of type 'i', that expresses the altitude above the sea level of the current position in meters</line>\n" +" <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>\n" +" <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>\n" +" <line>key = CLIMB, value = value of type 'i', that expresses the road gradient in degrees</line>\n" +" <line>key = ROLL_RATE, value = value of type 'i', rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = PITCH_RATE, value = value of type 'i', rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = YAW_RATE, value = value of type 'i', rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>\n" +" <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>\n" +" <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>\n" +" <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m</line>\n" +" <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m</line>\n" +" <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m</line>\n" +" <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <method name=\"GetPosition\">\n" +" <doc>\n" +" <line>GetPosition = This method returns the current position</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"position\">\n" +" <doc>\n" +" <line>position = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>Invalid data is not be returned to the client application</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,...)</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = LATITUDE, value = value of type 'd', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250</line>\n" +" <line>key = LONGITUDE, value = value of type 'd', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500</line>\n" +" <line>key = ALTITUDE, value = value of type 'i', that expresses the altitude above the sea level of the current position in meters</line>\n" +" <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>\n" +" <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>\n" +" <line>key = CLIMB, value = value of type 'i', that expresses the road gradient in degrees</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"PositionUpdate\">\n" +" <doc>\n" +" <line>PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>value = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetRotationRate\">\n" +" <doc>\n" +" <line>GetRotationRate = This method returns the rotation rate</line>\n" +" </doc>\n" +" <annotation value=\"<type>\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"rotationRate\">\n" +" <doc>\n" +" <line>rotationRates = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = ROLL_RATE, value = rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = PITCH_RATE, value = rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = YAW_RATE, value = rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"RotationRateUpdate\">\n" +" <doc>\n" +" <line>RotationRateUpdated = This signal is emitted when the rotation rate changes</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[key]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetAccuracy\">\n" +" <doc>\n" +" <line>GetAccuracy = This method returns the accuracy</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"accuracy\">\n" +" <doc>\n" +" <line>accuracy = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING,... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>\n" +" <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>\n" +" <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>\n" +" <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m</line>\n" +" <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m</line>\n" +" <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m</line>\n" +" <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"AccuracyUpdate\">\n" +" <doc>\n" +" <line>AccuracyUpdated = This signal is emitted when the accuracy changes</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"out\" type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>value = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING, ... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetSatelliteInfo\">\n" +" <doc>\n" +" <line>GetSatelliteInfo = This method returns information about the current satellite constellation</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"satelliteInfo\">\n" +" <doc>\n" +" <line>satelliteInfo = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = USED_SATELLITES, value = value of type 'y', that represents the number of used satellites</line>\n" +" <line>key = TRACKED_SATELLITES, value = value of type 'y', that represents the number of tracked satellites</line>\n" +" <line>key = VISIBLE_SATELLITES, value = value of type 'y', that represents the number of visible satellites</line>\n" +" <line>key = SATELLITE_DETAILS, value = value of type 'a(ubuuu)', that represents an array(struct(satId,inUse,elevation,azimuth,snr).\n" +" The satID numbering scheme shall be as defined by NMEA-0183 (v3.01 or later) for the GSV sentence:\n" +" 1..32: GPS satellites (by PRN), 33..64: SBAS/WAAS satellites, 65..96: Glonass satellites\n" +" Note: Later NMEA-0183 versions probably already have Galileo support\n" +" </line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"SatelliteInfoUpdate\">\n" +" <doc>\n" +" <line>SatelliteInfoUpdate = This signal is emitted when information about the current satellite information is updated</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetStatus\">\n" +" <doc>\n" +" <line>GetStatus = This method returns the status of this service</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"status\">\n" +" <doc>\n" +" <line>status = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = GNSS_FIX_STATUS, value = value of type 'q', that represents an enum(INVALID(0x00),NO_FIX(0x01),TIME_FIX(0x02),2D_FIX(0x03),3D_FIX(0x04), ... )</line>\n" +" <line>key = DR_STATUS, value = value of type 'b', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"StatusUpdate\">\n" +" <doc>\n" +" <line>StatusUpdate = This signal is emitted when the status of this service changes</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetTime\">\n" +" <doc>\n" +" <line>GetTime = This method returns UTC time and date</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"time\">\n" +" <doc>\n" +" <line>time = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,YEAR,MONTH,DAY,HOUR,MINUTE,SECOND,MS, ... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = YEAR, value = value of type 'q', 4 digits number that indicates the year. Example: 2012</line>\n" +" <line>key = MONTH, value = value of type 'y', 2 digits number that indicates the month. Example: 03 means March</line>\n" +" <line>key = DAY, value = value of type 'y', 2 digits number that indicates the day. Range [0:31]. Example: 07</line>\n" +" <line>key = HOUR, value = value of type 'y', 2 digits number that indicates the hour. Range [0:23]. Example: 01</line>\n" +" <line>key = MINUTE, value = value of type 'y', 2 digits number that represents the minutes. Range [0:59]. Example: 01</line>\n" +" <line>key = SECOND, value = value of type 'y', 2 digits number that represents the seconds. Range [0:59]. Example: 01</line>\n" +" <line>key = MS, value = value of type 'q', 3 digits number that represents the milliseconds. Range [0:999]. Example: 007</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" </interface>\n" + "") +public: + DemoIfAdaptor(ServerImpl *parent); + virtual ~DemoIfAdaptor(); + + inline ServerImpl *parent() const + { return static_cast<ServerImpl *>(QObject::parent()); } + +public: // PROPERTIES +public Q_SLOTS: // METHODS + MapUShortVariant GetAccuracy(); + MapUShortVariant GetData(const QList<ushort> &valuesToReturn); + MapUShortVariant GetPosition(); + <type> GetRotationRate(); + MapUShortVariant GetSatelliteInfo(); + MapUShortVariant GetStatus(); + MapUShortVariant GetTime(); + GeniviVersion GetVersion(); +Q_SIGNALS: // SIGNALS + void AccuracyUpdate(const QList<ushort> &changedValues); + void PositionUpdate(const QList<ushort> &changedValues); + void RotationRateUpdate(const QList<ushort> &changedValues); + void SatelliteInfoUpdate(const QList<ushort> &changedValues); + void StatusUpdate(const QList<ushort> &changedValues); +}; + +#endif diff --git a/enhanced-position-service/scripts/strip-annotations.sh b/enhanced-position-service/scripts/strip-annotations.sh new file mode 100755 index 0000000..bc702be --- /dev/null +++ b/enhanced-position-service/scripts/strip-annotations.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +in_file=genivi-positioning-enhancedposition-qt.xml +out_file=../api/genivi-positioning-enhancedposition.xml + +# use all lines but the <annotation .../> tags. +grep -v "annotation" $in_file > $out_file + diff --git a/enhanced-position-service/src/.gitignore b/enhanced-position-service/src/.gitignore new file mode 100644 index 0000000..a15fd39 --- /dev/null +++ b/enhanced-position-service/src/.gitignore @@ -0,0 +1,2 @@ +Debug +*.cxx diff --git a/enhanced-position-service/src/CMakeLists.txt b/enhanced-position-service/src/CMakeLists.txt new file mode 100644 index 0000000..4ddf4d9 --- /dev/null +++ b/enhanced-position-service/src/CMakeLists.txt @@ -0,0 +1,80 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: EnhancedPositionService +# +# Author: Thomas Bader, Marco Residori +# +# Copyright (C) 2012, BMW Car IT GmbH, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +project(position-daemon) +cmake_minimum_required(VERSION 2.6.0) + +message(STATUS "ENHANCED-POSITION-SERVICE") +message(STATUS "WITH_DLT = ${WITH_DLT}") +message(STATUS "WITH_GPSD = ${WITH_GPSD}") +message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}") +message(STATUS "WITH_TESTS = ${WITH_TESTS}") + +include_directories("${PROJECT_SOURCE_DIR}/../../common") + +find_package(PkgConfig) + +link_directories( + ${QT_LIBRARY_DIR} + ${gnss-service_LIBRARY_DIRS} + ${sensors-service_LIBRARY_DIRS}) + +set(server_HEADERS + demoifadaptor.h + serverimpl.h + confifadaptor.h + ConfigurationImpl.h +) +qt4_wrap_cpp(server_HEADERS_MOC ${server_HEADERS}) + +add_executable(position-daemon + main.cpp + demoifadaptor.cpp + serverimpl.cpp + PositionFilter.cpp + confifadaptor.cpp + ConfigurationImpl.cpp + genivi-version.cpp + ${server_HEADERS_MOC} +) + +set(LIBRARIES + ${QT_QTDBUS_LIBRARY} + #${QT_LIBRARIES} + QtCore QtDBus QtXml # should not be required, failed automatic library detaction + ${gnss-service_LIBRARIES} + ${sensors-service_LIBRARIES} +) + +if(WITH_DLT) + add_definitions("-DDLT_ENABLED=1") + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/..") + find_package(DLT REQUIRED) + include_directories( ${DLT_INCLUDE_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +target_link_libraries(position-daemon ${LIBRARIES}) + +message(STATUS "QT_LIBRARIES: " ${QT_LIBRARIES}) +message(STATUS "QT_LIBRARY_DIR: " ${QT_LIBRARY_DIR}) +message(STATUS "QT_DBUS_LIBRARY: " ${QT_QTDBUS_LIBRARY}) +message(STATUS "GNSS_SERVICE_LIBRARIES: " ${gnss-service_LIBRARIES}) +message(STATUS "SENSORS_SERVICE_LIBRARIES: " ${sensors-service_LIBRARIES}) + + diff --git a/enhanced-position-service/src/ConfigurationImpl.cpp b/enhanced-position-service/src/ConfigurationImpl.cpp new file mode 100644 index 0000000..638d4b5 --- /dev/null +++ b/enhanced-position-service/src/ConfigurationImpl.cpp @@ -0,0 +1,51 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "ConfigurationImpl.h" + +ConfigurationImpl::ConfigurationImpl(QObject *parent) +{ + +} + +ConfigurationImpl::~ConfigurationImpl() +{ + +} + +GeniviVersion ConfigurationImpl::GetVersion() +{ + GeniviVersion v; + v.setVersion(1,0,0); + return v; +} + +QVariantMap ConfigurationImpl::GetProperties() +{ + QVariantMap props; + + props.insert("UpdateInterval", quint32(1000)); + props.insert("SatelliteSystem", quint16(0x02)); // 0x01 = INVALID, 0x02 = GPS + + return props; +} + +void ConfigurationImpl::SetProperty(const QString &name, const QDBusVariant &value) +{ + qDebug("SetProperty: %s", name.toUtf8().constData()); + return; +} diff --git a/enhanced-position-service/src/ConfigurationImpl.h b/enhanced-position-service/src/ConfigurationImpl.h new file mode 100644 index 0000000..e184017 --- /dev/null +++ b/enhanced-position-service/src/ConfigurationImpl.h @@ -0,0 +1,44 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + + +#ifndef CONFIGURATIONIMPL_H +#define CONFIGURATIONIMPL_H + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> +#include <QtDBus/QDBusContext> + +#include "genivi-dbus-types.h" + +class ConfigurationImpl : public QObject, public QDBusContext +{ +Q_OBJECT +public: + explicit ConfigurationImpl(QObject *parent = 0); + ~ConfigurationImpl(); + +public Q_SLOTS: // METHODS + QVariantMap GetProperties(); + GeniviVersion GetVersion(); + void SetProperty(const QString &name, const QDBusVariant &value); + +Q_SIGNALS: // SIGNALS + void PropertyChanged(const QString &name, const QDBusVariant &value); +}; + +#endif /* CONFIGURATIONIMPL_H */ diff --git a/enhanced-position-service/src/PositionFilter.cpp b/enhanced-position-service/src/PositionFilter.cpp new file mode 100644 index 0000000..a9e47d3 --- /dev/null +++ b/enhanced-position-service/src/PositionFilter.cpp @@ -0,0 +1,220 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* \author thomas.bader@bmw.de +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "PositionFilter.h" +#include <iostream> +#include <cassert> +#include "genivi-navigationcore-enum.h" +#include "QtCore/qdebug.h" + +PositionFilter* PositionFilter::filterInstanct = 0; + +PositionFilter::PositionFilter() +{ + +} + +PositionFilter::~PositionFilter() +{ + if (0 != filterInstanct) + delete filterInstanct; +} + +bool PositionFilter::diffPositions(QList<ushort>& list, const TGNSSPosition& pos1, const TGNSSPosition& pos2) +{ + if ( ((pos1.validityBits & GNSS_POSITION_LATITUDE_VALID) != (pos2.validityBits & GNSS_POSITION_LATITUDE_VALID)) || + (pos1.latitude != pos2.latitude) ) + list.push_back(EnhancedPosition::LATITUDE); + + if ( ((pos1.validityBits & GNSS_POSITION_LONGITUDE_VALID) != (pos2.validityBits & GNSS_POSITION_LONGITUDE_VALID)) || + (pos1.longitude != pos2.longitude)) + list.push_back(EnhancedPosition::LONGITUDE); + + if ( ((pos1.validityBits & GNSS_POSITION_ALTITUDE_VALID) != (pos2.validityBits & GNSS_POSITION_ALTITUDE_VALID)) || + (pos1.altitude != pos2.altitude) ) + list.push_back(EnhancedPosition::ALTITUDE); + + if (pos1.timestamp != pos2.timestamp) + list.push_back(EnhancedPosition::TIMESTAMP); + + return false; +} + +bool PositionFilter::diffCourses(QList<ushort>& list, const TGNSSCourse& course1, const TGNSSCourse& course2) { + + if ( ((course1.validityBits & GNSS_COURSE_SPEED_VALID) != (course2.validityBits & GNSS_COURSE_SPEED_VALID)) || + (course1.speed != course2.speed) ) + list.push_back(EnhancedPosition::SPEED); + + return false; +} + +void PositionFilter::runFiltering(QList<ushort>& changedElements) +{ + // *** Position *** + diffPositions(changedElements, mPos, mRawPos); + mPos = mRawPos; + + // *** Course *** + uint64_t tsDiff = abs(mRawCourse.timestamp - mPos.timestamp); + + if (mPos.timestamp > 0 && tsDiff > 500) // 500 [ms] + qDebug() << "warning: between course and position is diff in timestamps > 500 ms"; + + diffCourses(changedElements, mCourse, mRawCourse); + mCourse = mRawCourse; +} + +bool PositionFilter::appendPositionTo(MapUShortVariant& map) +{ + map.remove(EnhancedPosition::INVALID); + int count = map.size(); + + if ((GNSS_POSITION_LATITUDE_VALID == (mPos.validityBits & GNSS_POSITION_LATITUDE_VALID)) + && (GNSS_POSITION_LONGITUDE_VALID == (mPos.validityBits & GNSS_POSITION_LONGITUDE_VALID)) + && (GNSS_POSITION_ALTITUDE_VALID == (mCourse.validityBits & GNSS_POSITION_ALTITUDE_VALID)) + ) { + map.insert(EnhancedPosition::LATITUDE, qreal(mPos.latitude)); + map.insert(EnhancedPosition::LONGITUDE, qreal(mPos.longitude)); + map.insert(EnhancedPosition::ALTITUDE, qreal(mPos.altitude)); + } + + if (map.empty()) { + map.insert(EnhancedPosition::INVALID, "invalid"); + return false; + } + + return (count < map.size()); +} + +bool PositionFilter::appendTimestampTo(MapUShortVariant& map) +{ + map.remove(EnhancedPosition::INVALID); + int count = map.size(); + + if (mPos.timestamp > 0) { + map.insert(EnhancedPosition::TIMESTAMP, + QVariant((qlonglong)mPos.timestamp)); + } + + if (map.empty()) { + map.insert(EnhancedPosition::INVALID, QVariant("invalid")); + return false; + } + + return (count < map.size()); +} + +bool PositionFilter::appendCourseTo(MapUShortVariant& map) +{ + map.remove(EnhancedPosition::INVALID); + int count = map.size(); + + if (GNSS_COURSE_HEADING_VALID == (mCourse.validityBits & GNSS_COURSE_HEADING_VALID)) + map.insert(EnhancedPosition::HEADING, qreal(mCourse.heading)); + if (GNSS_COURSE_SPEED_VALID == (mCourse.validityBits & GNSS_COURSE_SPEED_VALID)) + map.insert(EnhancedPosition::SPEED, qreal(mCourse.speed)); + if (GNSS_COURSE_CLIMB_VALID == (mCourse.validityBits & GNSS_COURSE_CLIMB_VALID)) + map.insert(EnhancedPosition::CLIMB, qreal(mCourse.climb)); + + if (map.empty()) { + map.insert(EnhancedPosition::INVALID, QVariant("invalid")); + return false; + } + + return (count < map.size()); +} + +bool PositionFilter::appendElementTo(MapUShortVariant& map, ushort key) +{ + int count = map.size(); + + switch(key) { + case EnhancedPositionData::INVALID: + std::cout << "append INVALID to map" << std::endl; + break; + + case EnhancedPositionData::ALL: + appendPositionTo(map); + appendCourseTo(map); + appendTimestampTo(map); + break; + + case EnhancedPositionData::LATITUDE: + map.insert(EnhancedPositionData::LATITUDE, qreal(mPos.latitude)); + break; + + case EnhancedPositionData::LONGITUDE: + map.insert(EnhancedPositionData::LONGITUDE, qreal(mPos.longitude)); + break; + + case EnhancedPositionData::ALTITUDE: + map.insert(EnhancedPositionData::ALTITUDE, qreal(mPos.altitude)); + break; + + case EnhancedPositionData::SPEED: + map.insert(EnhancedPositionData::SPEED, qreal(mCourse.speed)); + break; + + case EnhancedPositionData::TIMESTAMP: + map.insert(EnhancedPositionData::TIMESTAMP, qreal(mPos.timestamp)); + break; + + default: + std::cout << __FUNCTION__ + << ": no valid KEY or not implemented ("<< key << ")" << std::endl; + } + + if (map.size() > count) { // success + std::cout << __FUNCTION__ << ": added " << map.size() - count << std::endl; + map.remove(EnhancedPosition::INVALID); + return true; + } + + return false; +} + +// static +PositionFilter* PositionFilter::getInstance() +{ + if (0 == filterInstanct) { + filterInstanct = new PositionFilter(); + } + assert(filterInstanct); + return filterInstanct; +} + +// static +void PositionFilter::onPositionUpdate(const TGNSSPosition pos[], uint16_t numElements) +{ + if (numElements > 0) { + filterInstanct->mRawPos = pos[0]; + } + //std::cout << "latitude : " << std::fixed << pos.latitude << std::endl; + //std::cout << "longitude: " << std::fixed << pos.longitude << std::endl; + return; +} + +// static +void PositionFilter::onCourseUpdate(const TGNSSCourse course[], uint16_t numElements) +{ + if (numElements > 0) { + filterInstanct->mRawCourse = course[0]; + } + return; +} diff --git a/enhanced-position-service/src/PositionFilter.h b/enhanced-position-service/src/PositionFilter.h new file mode 100644 index 0000000..dc1a9c3 --- /dev/null +++ b/enhanced-position-service/src/PositionFilter.h @@ -0,0 +1,59 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* \author thomas.bader@bmw.de +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef POSITIONFILTER_H +#define POSITIONFILTER_H + +#include "gnss-simple.h" + +#include "QtCore/qmap.h" +#include "QtCore/qvariant.h" +typedef QMap<ushort,QVariant> MapUShortVariant; + +/** + * gets the updates and manages results. + */ +class PositionFilter +{ +public: + PositionFilter(); + virtual ~PositionFilter(); + + void runFiltering(QList<ushort>& changedElements); + bool appendPositionTo(MapUShortVariant& map); + bool appendTimestampTo(MapUShortVariant& map); + bool appendCourseTo(MapUShortVariant& map); + bool appendElementTo(MapUShortVariant& map, ushort key); + + static PositionFilter* getInstance(); + static void onPositionUpdate(const TGNSSPosition pos[], uint16_t num_elements); + static void onCourseUpdate(const TGNSSCourse course[], uint16_t num_elements); + +private: + bool diffPositions(QList<ushort>& list, const TGNSSPosition& pos1, const TGNSSPosition& pos2); + bool diffCourses(QList<ushort>& list, const TGNSSCourse& course1, const TGNSSCourse& course2); + +private: + static PositionFilter* filterInstanct; + TGNSSPosition mPos; + TGNSSPosition mRawPos; + TGNSSCourse mCourse; + TGNSSCourse mRawCourse; +}; + +#endif /* POSITIONFILTER_H */ diff --git a/enhanced-position-service/src/clienthandler.h b/enhanced-position-service/src/clienthandler.h new file mode 100644 index 0000000..50e5208 --- /dev/null +++ b/enhanced-position-service/src/clienthandler.h @@ -0,0 +1,227 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef CLIENTHANDLER_H_ +#define CLIENTHANDLER_H_ + +const QString params[] = { + "Name", + "MaxUpdateRate", + "MinUpdateRate", + "RequiresDeadReckoning", + "" +}; + +class PositionAgent { +private: + QString m_agentPath; + QString m_agentUniqueName; + QString m_paramName; + +public: + PositionAgent(const QString& path, const QString& uniqueName) : + m_agentPath(""), m_agentUniqueName(""), m_paramName(uniqueName) { + m_agentPath = path; + m_agentUniqueName = uniqueName; + qDebug("k-tor: %s, %s", m_agentPath.toUtf8().data(), + m_agentUniqueName.toUtf8().data()); + } + + QString toString() const { + QString temp; + QTextStream ts(&temp); + ts << "Agent{" << m_paramName << ", " + << m_agentUniqueName << ", " + << m_agentPath << "}"; + return temp; + } + + QString getPath() const { + return m_agentPath; + } + + QString getUniqueName() const { + return m_agentUniqueName; + } + + // some helper for printing a list of Strings + QString listToString(const QStringList& list) const { + QString res; + QTextStream ts(&res); + + ts << "["; + + QStringListIterator i(list); + while (i.hasNext()) { + const QString& s = i.next(); + ts << s.toUtf8().constData(); + if (i.hasNext()) + ts << ", "; + } + ts << "]"; + + return res; + } + + bool handleConfigParameter(const QString& key, const QString& value) { + if (key.size() == 0 || value.size() == 0) + return false; + + // + // some fix values + if (key.compare("Name") == 0) { + qDebug(" ++ agent with name '%s'", value.toUtf8().constData()); + m_paramName = value; + return true; + } + + // TODO: more flexible ... + int i; + QStringList candidates; + for (i = 0; params[i].size() != 0; ++i) { + if (params[i].compare(key) == 0) { + return true; + } + + // check for similarities - miss typed? + if (checkForSimilarParameter(params[i], key)) { + candidates.append(params[i]); + } + } + + if (candidates.size() > 0) { + qDebug("* found candidate for invalid parameter:\n* do you mean %s instead of %s", + listToString(candidates).toUtf8().constData(), + key.toUtf8().constData()); + } + + return false; + } + + static bool checkForSimilarParameter(const QString& shouldStr, + const QString& wrongStr) { + if (shouldStr.isEmpty() || wrongStr.isEmpty()) + return false; + + //qDebug(" compare '%s' with '%s'", + // sollString.toUtf8().constData(), + // falschString.toUtf8().constData()); + + // split 'AbcDef' into 'Abc', 'Def' + QRegExp rx("([A-Z]+[a-z]*)"); + QStringList parts; + int pos = 0; + while ((pos = rx.indexIn(wrongStr, pos)) != -1) { + parts << rx.cap(1); + pos += rx.matchedLength(); + } + + // find strings in shouldStr pattern + QStringList::const_iterator i; + QString word; + for (i = parts.begin(); i != parts.end(); ++i) { + word = *i; + if (shouldStr.contains(word)) { + return true; + } + } + + return false; + } + + bool parseAgentParameters(QList<QString> params) { + bool configError = false; + + // handle configuration parameters. only printed, no other usage. + if (params.isEmpty()) { + qDebug(" - no configuration parameters given"); + return false; + } + + QStringList::const_iterator i; + for (i = params.begin(); i != params.end(); ++i) { + const QString& param = *i; + QStringList values = param.split('='); + + if (values.size() > 1 && handleConfigParameter(values.at(0), + values.at(1))) { + qDebug(" - '%s' = '%s'", values[0].toUtf8().constData(), + values[1].toUtf8().constData()); + } else { + qDebug(" - '%s' (error)", param.toUtf8().constData()); + configError = true; + } + } + return (configError == false); + } +}; + +class ClientHandler { +public: + ClientHandler() { + } + + bool addNewAgent(QString uniqueName, QString path) { + + if (uniqueName.isEmpty() || path.isEmpty()) { + qWarning("addNewAgent failed"); + return false; + } + + PositionAgent agent(path, uniqueName); + if (agent.getPath().isEmpty() || agent.getUniqueName().isEmpty()) { + qWarning("failed to crate PositonAgent object"); + return false; + } + + m_agents.insert(uniqueName, agent); + printAllAgents(); + return true; + } + + void printAllAgents() { + qDebug("******* %d ***********", m_agents.size()); + // Improtant! own copy of list required for iteration!! + QList<PositionAgent> list = m_agents.values(); + QList<PositionAgent>::const_iterator i; + + for (i = list.begin(); i != list.end(); ++i) { + PositionAgent s = *i; + qDebug("* + %s", s.toString().toUtf8().data()); + } + } + + bool removeAgent(QString uniqueName, const QString path="") { + return (m_agents.remove(uniqueName) > 0); + } + + QList<PositionAgent> values() { + return m_agents.values(); + } + + QList<QString> keys() { + return m_agents.keys(); + } + + PositionAgent& getAgent(const QString &key) { + return *m_agents.find(key); + } +private: + QMap<QString, PositionAgent> m_agents; +}; + +#endif /* CLIENTHANDLER_H_ */ diff --git a/enhanced-position-service/src/confifadaptor.cpp b/enhanced-position-service/src/confifadaptor.cpp new file mode 100644 index 0000000..6a5af60 --- /dev/null +++ b/enhanced-position-service/src/confifadaptor.cpp @@ -0,0 +1,77 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIfAdaptor -a confifadaptor.h:confifadaptor.cpp -i genivi-dbus-types.h -i ConfigurationImpl.h -l ConfigurationImpl ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#include "confifadaptor.h" +#include <QtCore/QMetaObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> + +/* + * Implementation of adaptor class ConfigurationIfAdaptor + */ + +ConfigurationIfAdaptor::ConfigurationIfAdaptor(ConfigurationImpl *parent) + : QDBusAbstractAdaptor(parent) +{ + // constructor + setAutoRelaySignals(true); +} + +ConfigurationIfAdaptor::~ConfigurationIfAdaptor() +{ + // destructor +} + +int ConfigurationIfAdaptor::satelliteSystem() const +{ + // get the value of property SatelliteSystem + return qvariant_cast< int >(parent()->property("SatelliteSystem")); +} + +void ConfigurationIfAdaptor::setSatelliteSystem(int value) +{ + // set the value of property SatelliteSystem + parent()->setProperty("SatelliteSystem", QVariant::fromValue(value)); +} + +ushort ConfigurationIfAdaptor::updateInterval() const +{ + // get the value of property UpdateInterval + return qvariant_cast< ushort >(parent()->property("UpdateInterval")); +} + +void ConfigurationIfAdaptor::setUpdateInterval(ushort value) +{ + // set the value of property UpdateInterval + parent()->setProperty("UpdateInterval", QVariant::fromValue(value)); +} + +QVariantMap ConfigurationIfAdaptor::GetProperties() +{ + // handle method call org.genivi.positioning.Configuration.GetProperties + return parent()->GetProperties(); +} + +GeniviVersion ConfigurationIfAdaptor::GetVersion() +{ + // handle method call org.genivi.positioning.Configuration.GetVersion + return parent()->GetVersion(); +} + +void ConfigurationIfAdaptor::SetProperty(const QString &name, const QDBusVariant &value) +{ + // handle method call org.genivi.positioning.Configuration.SetProperty + parent()->SetProperty(name, value); +} + diff --git a/enhanced-position-service/src/confifadaptor.h b/enhanced-position-service/src/confifadaptor.h new file mode 100644 index 0000000..e54518e --- /dev/null +++ b/enhanced-position-service/src/confifadaptor.h @@ -0,0 +1,114 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIfAdaptor -a confifadaptor.h:confifadaptor.cpp -i genivi-dbus-types.h -i ConfigurationImpl.h -l ConfigurationImpl ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#ifndef CONFIFADAPTOR_H_1331549840 +#define CONFIFADAPTOR_H_1331549840 + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" +#include "ConfigurationImpl.h" +class QByteArray; +template<class T> class QList; +template<class Key, class Value> class QMap; +class QString; +class QStringList; +class QVariant; + +/* + * Adaptor class for interface org.genivi.positioning.Configuration + */ +class ConfigurationIfAdaptor: public QDBusAbstractAdaptor +{ + Q_OBJECT + Q_CLASSINFO("D-Bus Interface", "org.genivi.positioning.Configuration") + Q_CLASSINFO("D-Bus Introspection", "" +" <interface name=\"org.genivi.positioning.Configuration\">\n" +" <version>0.0.3 (13-03-2012)</version>\n" +" <doc>\n" +" <line>Configuration = This interface allow a client application to set and read configuration options</line>\n" +" </doc>\n" +" <method name=\"GetVersion\">\n" +" <doc>\n" +" <line>GetVersion = This method returns the API version implemented by the server application</line>\n" +" </doc>\n" +" <annotation value=\"GeniviVersion\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"(qqqs)\" name=\"version\">\n" +" <doc>\n" +" <line>version = struct(major,minor,micro,date)</line>\n" +" <line>major = when the major changes, then backward compatibility with previous releases is not granted</line>\n" +" <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line>\n" +" <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line>\n" +" <line>date = release date (e.g. 21-06-2011)</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <method name=\"GetProperties\">\n" +" <doc>\n" +" <line>Returns all global system properties. See the properties section for available properties.</line>\n" +" </doc>\n" +" <annotation value=\"QVariantMap\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{sv}\" name=\"properties\"/>\n" +" </method>\n" +" <method name=\"SetProperty\">\n" +" <doc>\n" +" <line>Changes the value of the specified property.</line>\n" +" <line>Only properties that are listed as read-write are changeable.</line>\n" +" <line>On success a PropertyChanged signal will be emitted.</line>\n" +" </doc>\n" +" <arg direction=\"in\" type=\"s\" name=\"name\"/>\n" +" <arg direction=\"in\" type=\"v\" name=\"value\"/>\n" +" <error name=\"org.genivi.positioning.Configuration.Error.InvalidProperty\"/>\n" +" </method>\n" +" <signal name=\"PropertyChanged\">\n" +" <doc>\n" +" <line>This signal indicates a changed value of the given property.</line>\n" +" </doc>\n" +" <arg direction=\"out\" type=\"s\" name=\"name\"/>\n" +" <arg direction=\"out\" type=\"v\" name=\"value\"/>\n" +" </signal>\n" +" <property access=\"readwrite\" type=\"i\" name=\"SatelliteSystem\">\n" +" <doc>\n" +" <line>SatelliteSystem = enum(INVALID,GPS,GLONASS,GALILEO,COMPASS, ...)</line>\n" +" </doc>\n" +" </property>\n" +" <property access=\"readwrite\" type=\"q\" name=\"UpdateInterval\">\n" +" <doc>\n" +" <line>UpdateInterval = update interval in ms</line>\n" +" </doc>\n" +" </property>\n" +" </interface>\n" + "") +public: + ConfigurationIfAdaptor(ConfigurationImpl *parent); + virtual ~ConfigurationIfAdaptor(); + + inline ConfigurationImpl *parent() const + { return static_cast<ConfigurationImpl *>(QObject::parent()); } + +public: // PROPERTIES + Q_PROPERTY(int SatelliteSystem READ satelliteSystem WRITE setSatelliteSystem) + int satelliteSystem() const; + void setSatelliteSystem(int value); + + Q_PROPERTY(ushort UpdateInterval READ updateInterval WRITE setUpdateInterval) + ushort updateInterval() const; + void setUpdateInterval(ushort value); + +public Q_SLOTS: // METHODS + QVariantMap GetProperties(); + GeniviVersion GetVersion(); + void SetProperty(const QString &name, const QDBusVariant &value); +Q_SIGNALS: // SIGNALS + void PropertyChanged(const QString &name, const QDBusVariant &value); +}; + +#endif diff --git a/enhanced-position-service/src/demoifadaptor.cpp b/enhanced-position-service/src/demoifadaptor.cpp new file mode 100644 index 0000000..41262fe --- /dev/null +++ b/enhanced-position-service/src/demoifadaptor.cpp @@ -0,0 +1,83 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIfAdaptor -a demoifadaptor.h:demoifadaptor.cpp -i genivi-dbus-types.h -i serverimpl.h -l ServerImpl ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#include "demoifadaptor.h" +#include <QtCore/QMetaObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> + +/* + * Implementation of adaptor class DemoIfAdaptor + */ + +DemoIfAdaptor::DemoIfAdaptor(ServerImpl *parent) + : QDBusAbstractAdaptor(parent) +{ + // constructor + setAutoRelaySignals(true); +} + +DemoIfAdaptor::~DemoIfAdaptor() +{ + // destructor +} + +MapUShortVariant DemoIfAdaptor::GetAccuracy() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetAccuracy + return parent()->GetAccuracy(); +} + +MapUShortVariant DemoIfAdaptor::GetData(const QList<ushort> &valuesToReturn) +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetData + return parent()->GetData(valuesToReturn); +} + +MapUShortVariant DemoIfAdaptor::GetPosition() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetPosition + return parent()->GetPosition(); +} + +MapUShortVariant DemoIfAdaptor::GetRotationRate() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetRotationRate + return parent()->GetRotationRate(); +} + +MapUShortVariant DemoIfAdaptor::GetSatelliteInfo() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetSatelliteInfo + return parent()->GetSatelliteInfo(); +} + +MapUShortVariant DemoIfAdaptor::GetStatus() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetStatus + return parent()->GetStatus(); +} + +MapUShortVariant DemoIfAdaptor::GetTime() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetTime + return parent()->GetTime(); +} + +GeniviVersion DemoIfAdaptor::GetVersion() +{ + // handle method call org.genivi.positioning.EnhancedPosition.GetVersion + return parent()->GetVersion(); +} + diff --git a/enhanced-position-service/src/demoifadaptor.h b/enhanced-position-service/src/demoifadaptor.h new file mode 100644 index 0000000..bb5e435 --- /dev/null +++ b/enhanced-position-service/src/demoifadaptor.h @@ -0,0 +1,298 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIfAdaptor -a demoifadaptor.h:demoifadaptor.cpp -i genivi-dbus-types.h -i serverimpl.h -l ServerImpl ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#ifndef DEMOIFADAPTOR_H_1333107453 +#define DEMOIFADAPTOR_H_1333107453 + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" +#include "serverimpl.h" +class QByteArray; +template<class T> class QList; +template<class Key, class Value> class QMap; +class QString; +class QStringList; +class QVariant; + +/* + * Adaptor class for interface org.genivi.positioning.EnhancedPosition + */ +class DemoIfAdaptor: public QDBusAbstractAdaptor +{ + Q_OBJECT + Q_CLASSINFO("D-Bus Interface", "org.genivi.positioning.EnhancedPosition") + Q_CLASSINFO("D-Bus Introspection", "" +" <interface name=\"org.genivi.positioning.EnhancedPosition\">\n" +" <version>1.0.0 (22-03-2012)</version>\n" +" <doc>\n" +" <line>EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle</line>\n" +" </doc>\n" +" <method name=\"GetVersion\">\n" +" <doc>\n" +" <line>GetVersion = This method returns the API version implemented by the server application</line>\n" +" </doc>\n" +" <annotation value=\"GeniviVersion\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"(qqqs)\" name=\"version\">\n" +" <doc>\n" +" <line>version = struct(major,minor,micro,date)</line>\n" +" <line>major = when the major changes, then backward compatibility with previous releases is not granted</line>\n" +" <line>minor = when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added)</line>\n" +" <line>micro = when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications)</line>\n" +" <line>date = release date (e.g. 21-06-2011)</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <method name=\"GetData\">\n" +" <doc>\n" +" <line>GetData = This method returns the current data for Position, Course, Accuracy, Status,...</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"in\" type=\"aq\" name=\"valuesToReturn\">\n" +" <doc>\n" +" <line>valuesToReturn= array[fieldType]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,...,ALL)</line>\n" +" </doc>\n" +" </arg>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"data\">\n" +" <doc>\n" +" <line>position = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <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>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = LATITUDE, value = value of type 'd', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250</line>\n" +" <line>key = LONGITUDE, value = value of type 'd', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500</line>\n" +" <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>\n" +" <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>\n" +" <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>\n" +" <line>key = CLIMB, value = value of type 'd', that expresses the road gradient in degrees</line>\n" +" <line>key = ROLL_RATE, value = value of type 'd', rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = PITCH_RATE, value = value of type 'd', rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = YAW_RATE, value = value of type 'd', rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>\n" +" <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>\n" +" <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>\n" +" <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m</line>\n" +" <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m</line>\n" +" <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m</line>\n" +" <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <method name=\"GetPosition\">\n" +" <doc>\n" +" <line>GetPosition = This method returns the current position</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"position\">\n" +" <doc>\n" +" <line>position = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,...)</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = LATITUDE, value = value of type 'd', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250</line>\n" +" <line>key = LONGITUDE, value = value of type 'd', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500</line>\n" +" <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>\n" +" <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>\n" +" <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>\n" +" <line>key = CLIMB, value = value of type 'd', that expresses the road gradient in degrees</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"PositionUpdate\">\n" +" <doc>\n" +" <line>PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"out\" type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>value = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetRotationRate\">\n" +" <doc>\n" +" <line>GetRotationRate = This method returns the rotation rate</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"rotationRate\">\n" +" <doc>\n" +" <line>rotationRates = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = ROLL_RATE, value = rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = PITCH_RATE, value = rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>\n" +" <line>key = YAW_RATE, value = rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"RotationRateUpdate\">\n" +" <doc>\n" +" <line>RotationRateUpdated = This signal is emitted when the rotation rate changes</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"out\" type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[key]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetAccuracy\">\n" +" <doc>\n" +" <line>GetAccuracy = This method returns the accuracy</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"accuracy\">\n" +" <doc>\n" +" <line>accuracy = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING,... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>\n" +" <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>\n" +" <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>\n" +" <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m</line>\n" +" <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m</line>\n" +" <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m</line>\n" +" <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"AccuracyUpdate\">\n" +" <doc>\n" +" <line>AccuracyUpdated = This signal is emitted when the accuracy changes</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"out\" type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>value = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING, ... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetSatelliteInfo\">\n" +" <doc>\n" +" <line>GetSatelliteInfo = This method returns information about the current satellite constellation</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"satelliteInfo\">\n" +" <doc>\n" +" <line>satelliteInfo = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = USED_SATELLITES, value = value of type 'y', that represents the number of used satellites</line>\n" +" <line>key = TRACKED_SATELLITES, value = value of type 'y', that represents the number of tracked satellites</line>\n" +" <line>key = VISIBLE_SATELLITES, value = value of type 'y', that represents the number of visible satellites</line>\n" +" <line>key = SATELLITE_DETAILS, value = value of type 'a(ubuuu)', that represents an array(struct(satId,inUse,elevation,azimuth,snr)</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"SatelliteInfoUpdate\">\n" +" <doc>\n" +" <line>SatelliteInfoUpdate = This signal is emitted when information about the current satellite information is updated</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"out\" type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetStatus\">\n" +" <doc>\n" +" <line>GetStatus = This method returns the status of this service</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"status\">\n" +" <doc>\n" +" <line>status = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = GNSS_FIX_STATUS, value = value of type 'q', that represents an enum(INVALID(0x00),NO_FIX(0x01),TIME_FIX(0x02),2D_FIX(0x03),3D_FIX(0x04), ... )</line>\n" +" <line>key = DR_STATUS, value = value of type 'b', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <signal name=\"StatusUpdate\">\n" +" <doc>\n" +" <line>StatusUpdate = This signal is emitted when the status of this service changes</line>\n" +" </doc>\n" +" <annotation value=\"QList<ushort>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <arg direction=\"out\" type=\"aq\" name=\"changedValues\">\n" +" <doc>\n" +" <line>changedValues = array[value]</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line>\n" +" </doc>\n" +" </arg>\n" +" </signal>\n" +" <method name=\"GetTime\">\n" +" <doc>\n" +" <line>GetTime = This method returns UTC time and date</line>\n" +" </doc>\n" +" <annotation value=\"MapUShortVariant\" name=\"com.trolltech.QtDBus.QtTypeName.Out0\"/>\n" +" <arg direction=\"out\" type=\"a{qv}\" name=\"time\">\n" +" <doc>\n" +" <line>time = dictionary[key,value]</line>\n" +" <line>dictionary = array of tuples (key,value)</line>\n" +" <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>\n" +" <line>key = enum(INVALID,TIMESTAMP,YEAR,MONTH,DAY,HOUR,MINUTE,SECOND,MS, ... )</line>\n" +" <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>\n" +" <line>key = YEAR, value = value of type 'q', 4 digits number that indicates the year. Example: 2012</line>\n" +" <line>key = MONTH, value = value of type 'y', 2 digits number that indicates the month. Example: 03 means March</line>\n" +" <line>key = DAY, value = value of type 'y', 2 digits number that indicates the day. Range [0:31]. Example: 07</line>\n" +" <line>key = HOUR, value = value of type 'y', 2 digits number that indicates the hour. Range [0:23]. Example: 01</line>\n" +" <line>key = MINUTE, value = value of type 'y', 2 digits number that represents the minutes. Range [0:59]. Example: 01</line>\n" +" <line>key = SECOND, value = value of type 'y', 2 digits number that represents the seconds. Range [0:59]. Example: 01</line>\n" +" <line>key = MS, value = value of type 'q', 3 digits number that represents the milliseconds. Range [0:999]. Example: 007</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" </interface>\n" + "") +public: + DemoIfAdaptor(ServerImpl *parent); + virtual ~DemoIfAdaptor(); + + inline ServerImpl *parent() const + { return static_cast<ServerImpl *>(QObject::parent()); } + +public: // PROPERTIES +public Q_SLOTS: // METHODS + MapUShortVariant GetAccuracy(); + MapUShortVariant GetData(const QList<ushort> &valuesToReturn); + MapUShortVariant GetPosition(); + MapUShortVariant GetRotationRate(); + MapUShortVariant GetSatelliteInfo(); + MapUShortVariant GetStatus(); + MapUShortVariant GetTime(); + GeniviVersion GetVersion(); +Q_SIGNALS: // SIGNALS + void AccuracyUpdate(const QList<ushort> &changedValues); + void PositionUpdate(const QList<ushort> &changedValues); + void RotationRateUpdate(const QList<ushort> &changedValues); + void SatelliteInfoUpdate(const QList<ushort> &changedValues); + void StatusUpdate(const QList<ushort> &changedValues); +}; + +#endif diff --git a/enhanced-position-service/src/genivi-dbus-types.h b/enhanced-position-service/src/genivi-dbus-types.h new file mode 100644 index 0000000..76d121a --- /dev/null +++ b/enhanced-position-service/src/genivi-dbus-types.h @@ -0,0 +1,23 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef GENIVI_DBUS_TYPES_H_ +#define GENIVI_DBUS_TYPES_H_ + +#include "genivi-version.h" + +#endif /* GENIVI_DBUS_TYPES_H_ */ diff --git a/enhanced-position-service/src/genivi-navigationcore-enum.h b/enhanced-position-service/src/genivi-navigationcore-enum.h new file mode 100644 index 0000000..897c51a --- /dev/null +++ b/enhanced-position-service/src/genivi-navigationcore-enum.h @@ -0,0 +1,143 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + + +#ifndef GENIVI_NAVIGATIONCORE_ENUM +#define GENIVI_NAVIGATIONCORE_ENUM + +class Base { +public: + enum { + INVALID = 0x0000, + TIMESTAMP = 0x0001, + ALL = 0xffff + }; +}; + +class Position { +public: + enum { + LATITUDE = 0x0020, + LONGITUDE = 0x0021, + ALTITUDE = 0x0022 + }; +}; + +class Course { +public: + enum { + HEADING = 0x0030, + SPEED = 0x0031, + CLIMB = 0x0032 + }; +}; + +class Address : public Base { +public: + enum { + COUNTRY = 0x0040, + CITY = 0x0041, + STREET = 0x0042, + NUMBER = 0x0043, + CROSSING = 0x0044, + DISTRICT = 0x0045, + TIMEZONE_OFFSET = 0x0046, + DAYLIGHT_OFFSET = 0x0047, + MATCH_TYPE = 0x0048 + }; +}; + +class RotationRate : public Base { +public: + enum { + ROLL_RATE = 0x0060, + PITCH_RATE = 0x0061, + YAW_RATE = 0x0062 + }; +}; + +class EnhancedPositionStatus : public Base { +public: + enum { + GNSS_FIX_STATUS = 0x0070, + DR_STATUS = 0x0071 + }; +}; + +class MapMatchedPositionStatus : public EnhancedPositionStatus { +public: + enum { + MM_STATUS = 0x0072 + }; +}; + +class Accuracy : public EnhancedPositionStatus { +public: + enum { + PDOP = 0x0080, + HDOP = 0x0081, + VDOP = 0x0082, + SIGMA_LATITUDE = 0x0083, + SIGMA_LONGITUDE = 0x0084, + SIGMA_ALTITUDE = 0x0085, + SIGMA_HEADING = 0x0086, + FILTER_STATUS = 0x0087 + }; +}; + +class SatelliteInfo : public Base { +public: + enum { + USED_SATELLITES = 0x0090, + TRACKED_SATELLITES = 0x0091, + VISIBLE_SATELLITES = 0x0092, + SATELLITE_DETAILS = 0x0093 + }; +}; + +class EnhancedPosition : public Base, public Position, public Course { +public: + enum { + // emtpy + }; +}; + +class EnhancedPositionData : + public EnhancedPosition, + public Accuracy +{ +public: + enum { + // empty + }; +}; + +class Time : public Base { +public: + enum { + YEAR = 0x00a0, + MONTH = 0x00a1, + DAY = 0x00a2, + HOUR = 0x00a3, + MINUTE = 0x00a4, + SECOND = 0x00a5, + MS = 0x00a6 + }; +}; + + +#endif diff --git a/enhanced-position-service/src/genivi-version.cpp b/enhanced-position-service/src/genivi-version.cpp new file mode 100644 index 0000000..9938ee7 --- /dev/null +++ b/enhanced-position-service/src/genivi-version.cpp @@ -0,0 +1,158 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + + +#include "genivi-version.h" + +#define DUMMY_VERSION_MAJOR (0) +#define DUMMY_VERSION_MINOR (0) +#define DUMMY_VERSION_MICRO (0) +#define DUMMY_VERSION_DATE "2011-07-25" + +GeniviVersion::GeniviVersion() + : _major(DUMMY_VERSION_MAJOR), + _minor(DUMMY_VERSION_MINOR), + _micro(DUMMY_VERSION_MICRO) +{ + // qDebug() << "ktor: " << _major << _minor << _micro; +} + +GeniviVersion::GeniviVersion(uint major, uint minor, uint micro) +: _major(major), + _minor(minor), + _micro(micro) +{ + // qDebug() << "ktor: ..." << _major << _minor << _micro; +} + +GeniviVersion::~GeniviVersion() +{ + // TODO +} + +void GeniviVersion::setVersion(uint major, uint minor, uint micro) +{ + _major = major; + _minor = minor; + _micro = micro; +} + +uint GeniviVersion::getMajorVersion() const +{ + return _major; +} + +uint GeniviVersion::getMinorVersion() const +{ + return _minor; +} + +uint GeniviVersion::getMicroVersion() const +{ + return _micro; +} + +// Marshall the MyStructure data into a D-BUS argument +QDBusArgument &operator<<(QDBusArgument &argument, const GeniviVersion &mystruct) +{ + argument.beginStructure(); + argument << mystruct.getMajorVersion() + << mystruct.getMinorVersion() + << mystruct.getMicroVersion(); + //<< "unknown"; + argument.endStructure(); + return argument; +} + +// Retrieve the MyStructure data from the D-BUS argument +const QDBusArgument &operator>>(const QDBusArgument &argument, GeniviVersion &mystruct) +{ + uint major; + uint minor; + uint micro; + //QString date; + + argument.beginStructure(); + argument >> major >> minor >> micro; /* date */ + argument.endStructure(); + + mystruct.setVersion(major, minor, micro); + + return argument; +} + +QDBusArgument &operator<<(QDBusArgument &argument, const MapIntVariant &myMap) +{ + QMap<int, QVariant>::const_iterator i; + argument.beginMap( QVariant::Int, qMetaTypeId<QDBusVariant>() ); + for (i = myMap.constBegin(); i != myMap.constEnd(); ++i) { + argument.beginMapEntry(); + argument << i.key() << QDBusVariant(i.value()); + argument.endMapEntry(); + } + argument.endMap(); + return argument; +} + +const QDBusArgument &operator>>(const QDBusArgument &argument, MapIntVariant &myMap) +{ + argument.beginMap(); + myMap.clear(); + while ( !argument.atEnd() ) { + // argument + int key; + QVariant value; + argument.beginMapEntry(); + argument >> key >> value; + argument.endMapEntry(); + myMap.insert(key, value); + } + argument.endMap(); + return argument; +} + +QDBusArgument &operator<<(QDBusArgument &argument, const MapUShortVariant &myMap) +{ + QMap<ushort, QVariant>::const_iterator i; + argument.beginMap(qMetaTypeId<ushort>(), qMetaTypeId<QDBusVariant>()); + + for (i = myMap.constBegin(); i != myMap.constEnd(); ++i) { + argument.beginMapEntry(); + argument << i.key() << QDBusVariant(i.value()); + argument.endMapEntry(); + } + argument.endMap(); + return argument; +} + +const QDBusArgument &operator>>(const QDBusArgument &argument, + MapUShortVariant &myMap) +{ + argument.beginMap(); + myMap.clear(); + while ( !argument.atEnd() ) { + // argument + ushort key; + QVariant value; + argument.beginMapEntry(); + argument >> key >> value; + argument.endMapEntry(); + myMap.insert(key, value); + } + argument.endMap(); + return argument; +} diff --git a/enhanced-position-service/src/genivi-version.h b/enhanced-position-service/src/genivi-version.h new file mode 100644 index 0000000..5f0d8ac --- /dev/null +++ b/enhanced-position-service/src/genivi-version.h @@ -0,0 +1,69 @@ +/************************************************************************** + * Part of GENIVI Proof of Concept for Positioning + * Copyright (C) BMW Car IT GmbH 2011, 2012 + **************************************************************************/ + + +#ifndef GENIVI_VERSION_H_ +#define GENIVI_VERSION_H_ + +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QMetaType> +#include <QtDBus/QtDBus> + +class GeniviVersion { +public: + GeniviVersion(); + GeniviVersion(uint major, uint minor, uint micro=0); + virtual ~GeniviVersion(); + + void setVersion(uint major, uint minor, uint micro); + + uint getMajorVersion() const; + uint getMinorVersion() const; + uint getMicroVersion() const; + +private: + uint _major; + uint _minor; + uint _micro; + //QString date; // TODO fix issue with defect dereference +}; + +typedef QMap<int,QVariant> MapIntVariant; +typedef QMap<ushort,QVariant> MapUShortVariant; + +Q_DECLARE_METATYPE(GeniviVersion); +Q_DECLARE_METATYPE(QList<bool>); +Q_DECLARE_METATYPE(QList<int>); +Q_DECLARE_METATYPE(QList<ushort>); +Q_DECLARE_METATYPE(QList<QString>); +Q_DECLARE_METATYPE(MapUShortVariant); +Q_DECLARE_METATYPE(MapIntVariant); + +inline void registerCommTypes() { + qDebug("registerCommTypes: GeniviVersion"); + qDBusRegisterMetaType<GeniviVersion >(); + qDBusRegisterMetaType<QList<bool> >(); + qDBusRegisterMetaType<QList<int> >(); + qDBusRegisterMetaType<QList<ushort> >(); + qDBusRegisterMetaType<QList<QString> >(); + qDBusRegisterMetaType<MapIntVariant >(); + qDBusRegisterMetaType<MapUShortVariant >(); +} + + +QDBusArgument &operator<<(QDBusArgument &argument, const GeniviVersion &mystruct); +const QDBusArgument &operator>>(const QDBusArgument &argument, + GeniviVersion &mystruct); + +QDBusArgument &operator<<(QDBusArgument &argument, const MapIntVariant &myMap); +const QDBusArgument &operator>>(const QDBusArgument &argument, + MapIntVariant &myMap); + +QDBusArgument &operator<<(QDBusArgument &argument, const MapUShortVariant &myMap); +const QDBusArgument &operator>>(const QDBusArgument &argument, + MapUShortVariant &myMap); + +#endif /* GENIVI_VERSION_H_ */ diff --git a/enhanced-position-service/src/main.cpp b/enhanced-position-service/src/main.cpp new file mode 100644 index 0000000..3fca398 --- /dev/null +++ b/enhanced-position-service/src/main.cpp @@ -0,0 +1,56 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "serverimpl.h" +#include "demoifadaptor.h" + +#include "ConfigurationImpl.h" +#include "confifadaptor.h" + +// e.g. testing with dbus-launch +#define USE_DBUS_SESSION_BUS 1 + +int main(int argc, char *argv[]) +{ + QCoreApplication a(argc, argv); + + ServerImpl *server = new ServerImpl(); + new DemoIfAdaptor(server); + + ConfigurationImpl *confServer = new ConfigurationImpl(); + new ConfigurationIfAdaptor(confServer); + +#if USE_DBUS_SESSION_BUS + QDBusConnection connection = QDBusConnection::sessionBus(); +#else + QDBusConnection connection = QDBusConnection::systemBus(); +#endif + + server->setConnection(connection); + + bool ret = false; + ret |= connection.registerService("org.genivi.positioning.EnhancedPosition"); + ret |= connection.registerObject("/position", server); + ret |= connection.registerObject("/config", confServer); + + if (!ret) { + return EXIT_FAILURE; + } + + qDebug() << "loop ..."; + return a.exec(); +} diff --git a/enhanced-position-service/src/serverimpl.cpp b/enhanced-position-service/src/serverimpl.cpp new file mode 100644 index 0000000..a2f3af5 --- /dev/null +++ b/enhanced-position-service/src/serverimpl.cpp @@ -0,0 +1,283 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "serverimpl.h" +#include "genivi-navigationcore-enum.h" + +#include <iostream> + +#include "gnss.h" +#include "gnss-simple.h" + +#include <QtCore/QDateTime> + +static ServerImpl* instance; + +ServerImpl::ServerImpl(QObject *parent) + : m_pConnection(NULL) + , m_posFilter(*PositionFilter::getInstance()) + , m_watcher(NULL) +{ + qDebug("ServerImpl instantiated."); + registerCommTypes(); + + // use GENIVI PosGnss interface. + gnssInit(); + gnssSimpleInit(); + gnssSimpleRegisterCourseCallback(&PositionFilter::onCourseUpdate); + gnssSimpleRegisterPositionCallback(&PositionFilter::onPositionUpdate); + + // FIXME: how to deal with this? create c++ wrapper for callback API? + instance = this; + + QTimer *timer = new QTimer(this); + connect(timer, SIGNAL(timeout()), this, SLOT(sendUpdate())); + timer->start(500); // [ms] +} + +ServerImpl::~ServerImpl() +{ + gnssSimpleDeregisterPositionCallback(&PositionFilter::onPositionUpdate); + gnssSimpleDeregisterCourseCallback(&PositionFilter::onCourseUpdate); + gnssSimpleDestroy(); +} + + +void ServerImpl::setConnection(QDBusConnection& conn) +{ + if (!conn.isConnected()) + qWarning("SetConnection: conn is not connected."); + + m_pConnection = &conn; + + // setup watcher - detects disappearing clients. + m_watcher.setConnection(conn); +} + + +MapUShortVariant ServerImpl::GetAccuracy() +{ + MapUShortVariant temp; // FIXME: use real values. + temp.insert(Accuracy::INVALID, "not implemented"); + + qDebug("%s was called.", __FUNCTION__); + return temp; +} + +MapUShortVariant ServerImpl::GetData(const QList<ushort> &valuesToReturn) +{ + MapUShortVariant temp; + + QList<ushort> changeList; + QList<ushort>::const_iterator i; + for (i = valuesToReturn.begin(); i != valuesToReturn.end(); ++i) { + qDebug() << "append now" << (ushort)*i; + m_posFilter.appendElementTo(temp, *i); + } + + if (temp.count() <= 0) { + temp.insert(EnhancedPosition::INVALID, "no valid position available."); + qDebug("%s: no valid position available.", __FUNCTION__); + } + + qDebug("%s was called. (%d)", __FUNCTION__, temp.count()); + return temp; +} + +MapUShortVariant ServerImpl::GetPosition() +{ + MapUShortVariant temp; + + qDebug("GetPosition: .."); + + QList<ushort> changeList; + m_posFilter.appendPositionTo(temp); + m_posFilter.appendCourseTo(temp); + m_posFilter.appendTimestampTo(temp); + + if (temp.count() <= 0) + temp.insert(EnhancedPosition::INVALID, "no valid position available."); + + qDebug("%s was called.", __FUNCTION__); + return temp; +} + +MapUShortVariant ServerImpl::GetRotationRate() +{ + MapUShortVariant temp; + + if (temp.count() <= 0) + temp.insert(RotationRate::INVALID, "no valid rotation rate available."); + + qDebug("%s was called.", __FUNCTION__); + return temp; +} + +MapUShortVariant ServerImpl::GetSatelliteInfo() +{ + MapUShortVariant temp; + qDebug("%s was called.", __FUNCTION__); + + if (message().service().isEmpty()) + return temp; + + // + // NOT IMPLEMENTED, but demonstrates error message + // + + m_pConnection->call( + message().createErrorReply( + "org.genivi.positioning.EnhancedPosition.NotImplemented", + "method 'GetSatelliteInfo' is not implemented."), + QDBus::NoBlock); + + return temp; +} + +MapUShortVariant ServerImpl::GetStatus() +{ + MapUShortVariant temp; + + qDebug("%s was called.", __FUNCTION__); + temp.insert(EnhancedPositionStatus::DR_STATUS, false); + + return temp; +} + +MapUShortVariant ServerImpl::GetTime() +{ + MapUShortVariant temp; + + QDateTime now = QDateTime::currentDateTimeUtc(); + QDate date = now.date(); + QTime time = now.time(); + + temp.insert(Time::YEAR, date.year()); + temp.insert(Time::MONTH, date.month()); + temp.insert(Time::DAY, date.day()); + + temp.insert(Time::HOUR, time.hour()); + temp.insert(Time::MINUTE, time.minute()); + temp.insert(Time::SECOND, time.second()); + temp.insert(Time::MS, time.msec()); + + qDebug("%s was called.", __FUNCTION__); + return temp; +} + +GeniviVersion ServerImpl::GetVersion() +{ + GeniviVersion apiVersion(1, 0, 0); + qDebug("%s was called.", __FUNCTION__); + return apiVersion; +} + +QDBusConnection* ServerImpl::getConnection() +{ + return m_pConnection; +} + +// TODO: decide if still part of demo, not call at the moment. +bool ServerImpl::activateWatcherFor(const QString& uniqueId) { + // only interested in EnhancedPosition-service + m_watcher.addWatchedService(uniqueId); + + // call me only if agent is unregistered + connect(&m_watcher, SIGNAL(serviceUnregistered(QString)), + this, SLOT(onAgentUnregistered(QString)) ); + + return true; +} + +void ServerImpl::onAgentUnregistered(const QString &serviceName) +{ + qDebug("+++++ agent disappeared: %s ++++++", + serviceName.toUtf8().data()); + + m_watcher.removeWatchedService(serviceName); +} + +/** + * This method is called by a QTimer to update (later) the Status. + */ +void ServerImpl::changeStatus() +{ + //checkAndPrintDBusContext(); +} + +void ServerImpl::sendUpdate() +{ + // extract and fill data for signal! + QList<ushort> updates; + PositionFilter::getInstance()->runFiltering(updates); + + if (0 == updates.count()) { + // updates.append(EnhancedPosition::INVALID); + //qDebug("*** sendUpdate: no changes or invalild content! --> no PositionUpdate signal"); + return; + } + + qDebug("*** sendUpdate done *** "); + PositionUpdate(updates); +} + +/** + * Visualizes the important infos from the current DBus context. + * The information is provided via message() and connection() call. + */ +bool ServerImpl::checkAndPrintDBusContext() +{ + bool rv = false; +#if 0 + if (m_agentPath != NULL) { + qDebug("m_agentPath: %s", m_agentPath.toUtf8().data()); + rv = true; + } + + if (m_agentUniqueName != NULL) { + qDebug("m_agentUniqueName: %s", m_agentUniqueName.toUtf8().data()); + rv = true; + } + + if (!QDBusContext::calledFromDBus()) + return false; + + if (message().service() != NULL) { + // show infos we use to identify the agent. + qDebug("message():\n" + " * path : '%s'\n" + " * interface : '%s'\n" + " * service : '%s'\n", message().path().toUtf8().data(), + message().interface().toUtf8().data(), + message().service().toUtf8().data()); + rv = true; + } + + if (connection().sender().baseService() != NULL) { + qDebug("connection():\n" + " * sender : '%s'\n", + connection().sender().baseService().toUtf8().data()); + rv |= true; + } + + if (!rv) { + qWarning("chack and print of DBus context failed.\n"); + } +#endif + + return rv; +} diff --git a/enhanced-position-service/src/serverimpl.h b/enhanced-position-service/src/serverimpl.h new file mode 100644 index 0000000..e085806 --- /dev/null +++ b/enhanced-position-service/src/serverimpl.h @@ -0,0 +1,90 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef SERVERIMPL_H +#define SERVERIMPL_H + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> +#include <QtDBus/QDBusContext> + +#include "genivi-dbus-types.h" +#include "ConfigurationImpl.h" + +#include "gnss-simple.h" +#include "PositionFilter.h" + +// FIXME: decide, if still needed. +enum _EnhancedPositionStatus { + ENH_STATUS_INVALID = 0, + ENH_STATUS_UNKNOWN = 1, + ENH_STATUS_DISCONNECTED = 2, + ENH_STATUS_STARTUP = 3, + ENH_STATUS_READY = 4, + ENH_STATUS_CONNECTED = 5 +}; + +/* + * Signatures needs to match demoifadaptor.h + */ +class ServerImpl : public QObject, public QDBusContext +{ +Q_OBJECT +public: + explicit ServerImpl(QObject *parent = 0); + ~ServerImpl(); + void setConnection(QDBusConnection& conn); + + QDBusConnection* getConnection(); + + +public: // PROPERTIES +public Q_SLOTS: // METHODS + MapUShortVariant GetAccuracy(); + MapUShortVariant GetData(const QList<ushort> &valuesToReturn); + MapUShortVariant GetPosition(); + MapUShortVariant GetRotationRate(); + MapUShortVariant GetSatelliteInfo(); + MapUShortVariant GetStatus(); + MapUShortVariant GetTime(); + GeniviVersion GetVersion(); + +Q_SIGNALS: // SIGNALS + void AccuracyUpdate(const QList<ushort> &changedValues); + void PositionUpdate(const QList<ushort> &changedValues); + void RotationRateUpdate(const QList<ushort> &changedValues); + void SatelliteInfoUpdate(const QList<ushort> &changedValues); + void StatusUpdate(const QList<ushort> &changedValues); + +private Q_SLOTS: + void changeStatus(); + void sendUpdate(); + void onAgentUnregistered(const QString &serviceName); + +private: + bool checkAndPrintDBusContext(); + bool activateWatcherFor(const QString& uniqueId); + + QDBusConnection* m_pConnection; + QDBusServiceWatcher m_watcher; + + _EnhancedPositionStatus m_status; + + PositionFilter& m_posFilter; +}; + +#endif diff --git a/enhanced-position-service/src/test/CMakeLists.txt b/enhanced-position-service/src/test/CMakeLists.txt new file mode 100644 index 0000000..2343340 --- /dev/null +++ b/enhanced-position-service/src/test/CMakeLists.txt @@ -0,0 +1,58 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: EnhancedPositionService +# +# Author: Thomas Bader +# +# Copyright (C) 2012, BMW Car IT GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +project(enhpos-test) +cmake_minimum_required(VERSION 2.6.0) + +message(STATUS) +message(STATUS "---------------------------------------------------------") + +# gtest +add_subdirectory(externals) +include_directories(${gtest_SOURCE_DIR}/include) +link_directories(${gtest_BINARY_DIR}) + +# tests for D-Bus Enhanced Position Service POC: +# This client uses the code of the test-client to speak with the +# position-daemon. +add_executable(test-enhpos + ${gtest_SOURCE_DIR}/src/gtest_main.cc + EnhPosTest.cpp + ConfigurationTest.cpp +) +target_link_libraries(test-enhpos + ClientEnhpos QtCore QtDBus QtXml + gtest +) + +# unit tests for position-daemon internals +add_executable(test-daemon-internals +# tests + ${gtest_SOURCE_DIR}/src/gtest_main.cc + PositionFilterTest.cpp +# files under test + ../server/PositionFilter.cpp +) +target_link_libraries(test-daemon-internals + # ClientEnhpos QtDBus QtXml + gtest + QtCore +) + +message(STATUS "---------------------------------------------------------") +message(STATUS) diff --git a/enhanced-position-service/src/test/ConfigurationTest.cpp b/enhanced-position-service/src/test/ConfigurationTest.cpp new file mode 100644 index 0000000..32861d9 --- /dev/null +++ b/enhanced-position-service/src/test/ConfigurationTest.cpp @@ -0,0 +1,80 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <gtest/gtest.h> +#include <stdio.h> + +#include "ConfigurationClient.h" +#include "genivi-version.h" + +#include "genivi-navigationcore-enum.h" + +class ConfigurationTest : public testing::Test { +protected: // You should make the members protected s.t. they can be + // accessed from sub-classes. + + ConfigurationTest() : confClient(NULL) { + QCoreApplication a(); + registerCommTypes(); + confClient = new ConfigurationClient(); + } + + // virtual void SetUp() { } + // virtual void TearDown() { } + + ConfigurationClient* confClient; +}; + + +TEST_F(ConfigurationTest, getVersionShouldPass) { + + ConfigurationIf* pClient = confClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + // request api version + QDBusReply<GeniviVersion> replyResult; + replyResult = pClient->GetVersion(); + + ASSERT_TRUE(replyResult.isValid()); + + GeniviVersion version = replyResult.value(); + qDebug("API version: %d.%d.%d", version.getMajorVersion(), + version.getMinorVersion(), version.getMicroVersion()); + // versionDate.toUtf8().data()); + + EXPECT_EQ(version.getMajorVersion(), 1); + EXPECT_EQ(version.getMinorVersion(), 0); + EXPECT_EQ(version.getMicroVersion(), 0); +} + +TEST_F(ConfigurationTest, getConfigurationShouldPass) { + + ConfigurationIf* pClient = confClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + // request api version + QDBusReply<QVariantMap> replyResult; + replyResult = pClient->GetProperties(); + + ASSERT_TRUE(replyResult.isValid()); + + QVariantMap map = replyResult.value(); + EXPECT_TRUE(map.value("UpdateInterval").isValid()); + EXPECT_TRUE(map.value("SatelliteSystem").isValid()); +} diff --git a/enhanced-position-service/src/test/EnhPosTest.cpp b/enhanced-position-service/src/test/EnhPosTest.cpp new file mode 100644 index 0000000..499d3c9 --- /dev/null +++ b/enhanced-position-service/src/test/EnhPosTest.cpp @@ -0,0 +1,237 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <gtest/gtest.h> +#include <stdio.h> + +#include "testclient.h" +#include "genivi-version.h" + +#include "genivi-navigationcore-enum.h" + +class EnhPosTest : public testing::Test { +protected: // You should make the members protected s.t. they can be + // accessed from sub-classes. + + EnhPosTest() : testClient(NULL) { + QCoreApplication a(); + registerCommTypes(); + testClient = new TestClient(); + } + + // virtual void SetUp() { } + // virtual void TearDown() { } + + TestClient* testClient; +}; + + +TEST_F(EnhPosTest, getVersionShouldPass) { + + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + // request api version + QDBusReply<GeniviVersion> replyResult; + replyResult = pClient->GetVersion(); + + ASSERT_TRUE(replyResult.isValid()); + + GeniviVersion version = replyResult.value(); + qDebug("API version: %d.%d.%d", version.getMajorVersion(), + version.getMinorVersion(), version.getMicroVersion()); + // versionDate.toUtf8().data()); + + EXPECT_EQ(version.getMajorVersion(), 1); + EXPECT_EQ(version.getMinorVersion(), 0); + EXPECT_EQ(version.getMicroVersion(), 0); +} + +TEST_F(EnhPosTest, getDataWithAllShouldPass) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + // request api version + QList<ushort> requestVales; + requestVales.push_back(EnhancedPositionData::ALL); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetData(requestVales); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); +} + +TEST_F(EnhPosTest, getDataShouldReturnValues) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + QList<ushort> requestVales; + requestVales.push_back(EnhancedPositionData::ALL); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetData(requestVales); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); + qDebug() << "list: " << list; + EXPECT_FALSE(list.value(EnhancedPositionData::INVALID).isValid()); +} + +TEST_F(EnhPosTest, getPositionShouldPass) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + QList<ushort> requestVales; + requestVales.push_back(EnhancedPositionData::ALL); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetPosition(); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); + qDebug() << "list: " << list; + EXPECT_FALSE(list.value(EnhancedPositionData::INVALID).isValid()); + + EXPECT_TRUE(list.value(EnhancedPositionData::LATITUDE).isValid()); + EXPECT_TRUE(list.value(EnhancedPositionData::LONGITUDE).isValid()); + EXPECT_TRUE(list.value(EnhancedPositionData::SPEED).isValid()); + EXPECT_TRUE(list.value(EnhancedPositionData::HEADING).isValid()); + + EXPECT_FALSE(list.value(Accuracy::FILTER_STATUS).isValid()); +} + +TEST_F(EnhPosTest, getRotationRateShouldPass) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetRotationRate(); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); + qDebug() << "GetRotationRate: " << list; + + EXPECT_GT(list.size(), 0); + EXPECT_FALSE(list.value(RotationRate::INVALID).isValid()); +} + +TEST_F(EnhPosTest, getSatInfoShouldPass) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetSatelliteInfo(); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); + qDebug() << "GetSatelliteInfo: " << list; + + EXPECT_GT(list.size(), 0); + EXPECT_FALSE(list.value(RotationRate::INVALID).isValid()); +} + +TEST_F(EnhPosTest, getAccuracyShouldPass) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetAccuracy(); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); + qDebug() << "GetAccuracy: " << list; + + EXPECT_GT(list.size(), 0); + EXPECT_FALSE(list.value(Accuracy::INVALID).isValid()); +} + +TEST_F(EnhPosTest, getStatusShouldReturnSth) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetStatus(); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); + qDebug() << "GetStatus: " << list; + + EXPECT_GT(list.size(), 0); + EXPECT_FALSE(list.value(Base::ALL).isValid()); // FIXME - constant define missing +} + +TEST_F(EnhPosTest, getTimeShouldReturnValidTime) { + DemoIf* pClient = testClient->getClient(); + ASSERT_FALSE(pClient == NULL); + ASSERT_TRUE(pClient->isValid()); + + QDBusReply<MapUShortVariant> replyResult; + replyResult = pClient->GetTime(); + + ASSERT_TRUE(replyResult.isValid()); + + MapUShortVariant list = replyResult.value(); + qDebug() << "GetStatus: " << list; + + EXPECT_GT(list.size(), 0); + EXPECT_FALSE(list.value(Time::INVALID).isValid()); + + // date + EXPECT_TRUE(list.value(Time::YEAR).isValid()); + EXPECT_GT(list.value(Time::YEAR).toUInt(), 1970); + + EXPECT_TRUE(list.value(Time::MONTH).isValid()); + EXPECT_GE(list.value(Time::MONTH).toUInt(), 1); + EXPECT_LE(list.value(Time::MONTH).toUInt(), 12); + + EXPECT_TRUE(list.value(Time::DAY).isValid()); + EXPECT_GE(list.value(Time::DAY).toUInt(), 1); + EXPECT_LE(list.value(Time::DAY).toUInt(), 31); + + // time + EXPECT_TRUE(list.value(Time::HOUR).isValid()); + EXPECT_GE(list.value(Time::HOUR).toUInt(), 0); + EXPECT_LE(list.value(Time::HOUR).toUInt(), 23); + + EXPECT_TRUE(list.value(Time::MINUTE).isValid()); + EXPECT_GE(list.value(Time::MINUTE).toUInt(), 0); + EXPECT_LE(list.value(Time::MINUTE).toUInt(), 59); + + EXPECT_TRUE(list.value(Time::SECOND).isValid()); + EXPECT_GE(list.value(Time::SECOND).toUInt(), 0); + EXPECT_LE(list.value(Time::SECOND).toUInt(), 60); // correction second included. + + EXPECT_TRUE(list.value(Time::MS).isValid()); + EXPECT_GE(list.value(Time::MS).toUInt(), 0); + EXPECT_LE(list.value(Time::MS).toUInt(), 999); // correction second included. +} diff --git a/enhanced-position-service/src/test/PositionFilterTest.cpp b/enhanced-position-service/src/test/PositionFilterTest.cpp new file mode 100644 index 0000000..bf9d1d5 --- /dev/null +++ b/enhanced-position-service/src/test/PositionFilterTest.cpp @@ -0,0 +1,502 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <gtest/gtest.h> +#include <stdio.h> + +#include "PositionFilter.h" +#include "genivi-navigationcore-enum.h" +#include "gnss/gnss-util.h" +#include "QtCore/qdebug.h" + +TEST(PositionFilterTest, newPositionFilter) { + ASSERT_FALSE(PositionFilter::getInstance() == NULL); +} + +TEST(PositionFilterTest, singeltonCheck) { + PositionFilter* inst1 = PositionFilter::getInstance(); + PositionFilter* inst2 = PositionFilter::getInstance(); + ASSERT_EQ(inst1, inst2); +} + +TEST(PositionFilterTest, runFiltering_plain) { + QList<ushort> changeList; + PositionFilter::getInstance()->runFiltering(changeList); + EXPECT_TRUE(true); +} + +TEST(PositionFilterTest, injectPosition) { + GNSSPosition pos; + pos.latitude = 11.0f; + pos.longitude = 48.0f; + pos.altitude = 512.0f; + pos.timestamp = 12345; + pos.validField = {true, true, true}; // lat, lon, alt + + PositionFilter::getInstance()->onPositionUpdate(pos); + EXPECT_TRUE(true); +} + +TEST(PositionFilterTest, injectAndAppendPosition) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + pos.latitude = 11.0f; + pos.longitude = 48.0f; + pos.altitude = 512.0f; + pos.timestamp = 12345; + pos.validField = {true, true, true}; // lat, lon, alt + + inst->onPositionUpdate(pos); + QList<ushort> changeList; + inst->runFiltering(changeList); + + MapUShortVariant map; + EXPECT_TRUE(inst->appendPositionTo(map)); + EXPECT_GT(map.size(), 0); +} + +TEST(PositionFilterTest, appendSomeValidLatLon) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + pos.latitude = 11.0f; + pos.longitude = 48.0f; + pos.altitude = 512.0f; + pos.timestamp = 12345; + pos.validField = {true, true, true}; // lat, lon, alt + + inst->onPositionUpdate(pos); + QList<ushort> changeList; + inst->runFiltering(changeList); + + MapUShortVariant map; + EXPECT_TRUE(inst->appendPositionTo(map)); + EXPECT_GT(map.size(), 0); + + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); + EXPECT_TRUE(map.value(EnhancedPosition::LATITUDE).isValid()); + EXPECT_TRUE(map.value(EnhancedPosition::LONGITUDE).isValid()); +} + +TEST(PositionFilterTest, appendTheGivenLatLon) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + pos.latitude = 48.367472f; + pos.longitude = 11.846595f; + pos.altitude = 512.0f; + pos.timestamp = 12345; + pos.validField = {true, true, true}; // lat, lon, alt + + // inject position in PositionFilter + inst->onPositionUpdate(pos); + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + + // general checks + MapUShortVariant map; + EXPECT_TRUE(inst->appendPositionTo(map)); + EXPECT_GT(map.size(), 0); + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); + + // content checks + EXPECT_TRUE(map.value(EnhancedPosition::LATITUDE).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::LATITUDE).toFloat(), + pos.latitude, 0.01f); + + EXPECT_TRUE(map.value(EnhancedPosition::LONGITUDE).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::LONGITUDE).toFloat(), + pos.longitude, 0.01f); +} + +TEST(PositionFilterTest, notAppendTheGivenLatLon) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + pos.timestamp = 12345; + pos.validField = {false, false, false}; // lat, lon, alt + + // inject position in PositionFilter + inst->onPositionUpdate(pos); + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + + // general checks + MapUShortVariant map; + map.clear(); + + EXPECT_FALSE(inst->appendPositionTo(map)); + EXPECT_EQ(map.size(), 1); + EXPECT_TRUE(map.value(EnhancedPosition::INVALID).isValid()); + + EXPECT_FALSE(map.value(EnhancedPosition::LATITUDE).isValid()); + EXPECT_FALSE(map.value(EnhancedPosition::LONGITUDE).isValid()); +} + +TEST(PositionFilterTest, appendTheGivenTimestamp) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + pos.latitude = 48.367472f; + pos.longitude = 11.846595f; + pos.altitude = 512.0f; + pos.timestamp = 45677; + pos.validField = {true, true, true}; // lat, lon, alt + + // inject position in PositionFilter + inst->onPositionUpdate(pos); + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + + // general checks + MapUShortVariant map; + map.clear(); + EXPECT_TRUE(inst->appendTimestampTo(map)); + EXPECT_GT(map.size(), 0); + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); + + // content checks + EXPECT_TRUE(map.value(EnhancedPosition::TIMESTAMP).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::TIMESTAMP).toULongLong(), + pos.timestamp, 100); // can differ by 100 ms +} + +TEST(PositionFilterTest, appendTheGivenCourse) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSCourse course; + course.timestamp = 45677; + course.speed = 10.0f; + course.climb = 0.0f; + course.heading = 180.0f; + course.validField = {true, true, true}; // speed, climb, heading + + // inject course in PositionFilter + inst->onCourseUpdate(course); + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + + // general checks + MapUShortVariant map; + map.clear(); + EXPECT_TRUE(inst->appendCourseTo(map)); + EXPECT_GT(map.size(), 0); + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); + + // content checks + EXPECT_TRUE(map.value(EnhancedPosition::HEADING).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::HEADING).toFloat(), + course.heading, 18.0f); // can differ by 18 [degree] = 1/20 of circle + + EXPECT_TRUE(map.value(EnhancedPosition::CLIMB).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::CLIMB).toFloat(), + course.climb, 5.0f); + + EXPECT_TRUE(map.value(EnhancedPosition::SPEED).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::SPEED).toFloat(), + course.speed, 1.0f); +} + +TEST(PositionFilterTest, appendPositionCourseAndTime) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + // inject course in PositionFilter + GNSSCourse course; + course.timestamp = 45677; + course.speed = 10.0f; + course.climb = 0.0f; + course.heading = 180.0f; + course.validField = {true, true, true}; // speed, climb, heading + inst->onCourseUpdate(course); + + // inject position in PositionFilter + GNSSPosition pos; + pos.timestamp = 45690; // small diff in timestamp! + pos.latitude = 48.367472f; + pos.longitude = 11.846595f; + pos.altitude = 512.0f; + pos.validField = {true, true, true}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + + // general checks + MapUShortVariant map; + map.clear(); + + EXPECT_TRUE(inst->appendPositionTo(map)); + EXPECT_TRUE(inst->appendCourseTo(map)); + EXPECT_TRUE(inst->appendTimestampTo(map)); + + EXPECT_GT(map.size(), 0); + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); + + // content checks + EXPECT_TRUE(map.value(EnhancedPosition::HEADING).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::HEADING).toFloat(), + course.heading, 18.0f); // can differ by 18 [degree] = 1/20 of circle + + EXPECT_TRUE(map.value(EnhancedPosition::CLIMB).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::CLIMB).toFloat(), + course.climb, 5.0f); + + EXPECT_TRUE(map.value(EnhancedPosition::SPEED).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::SPEED).toFloat(), + course.speed, 1.0f); + + // content checks + EXPECT_TRUE(map.value(EnhancedPosition::LATITUDE).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::LATITUDE).toFloat(), + pos.latitude, 0.01f); + + EXPECT_TRUE(map.value(EnhancedPosition::LONGITUDE).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::LONGITUDE).toFloat(), + pos.longitude, 0.01f); + + // content checks + EXPECT_TRUE(map.value(EnhancedPosition::TIMESTAMP).isValid()); + EXPECT_NEAR(map.value(EnhancedPosition::TIMESTAMP).toULongLong(), + pos.timestamp, 100); // can differ by 100 ms + EXPECT_NEAR(map.value(EnhancedPosition::TIMESTAMP).toULongLong(), + course.timestamp, 100); // can differ by 100 ms +} + +TEST(PositionFilterTest, removeAppendWhenAddingValidCourse) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + // inject course in PositionFilter + GNSSCourse course; + course.timestamp = 45677; + course.speed = 10.0f; + course.climb = 0.0f; + course.heading = 180.0f; + course.validField = {true, true, true}; // speed, climb, heading + inst->onCourseUpdate(course); + + // inject position in PositionFilter + GNSSPosition pos; + pos.timestamp = 45690; // small diff in timestamp! + pos.validField = {false, false, false}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + + // general checks + MapUShortVariant map; + map.clear(); + + // appending position should not work. --> only one key: INVALID + EXPECT_FALSE(inst->appendPositionTo(map)); + EXPECT_EQ(map.size(), 1); + EXPECT_TRUE(map.value(EnhancedPosition::INVALID).isValid()); + + // now append something with valid content --> remove INVALID value! + EXPECT_TRUE(inst->appendCourseTo(map)); + + EXPECT_GT(map.size(), 0); + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); + // qDebug() << map; +} + +TEST(PositionFilterTest, removeAppendWhenAddingValidPosition) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + // inject course in PositionFilter + GNSSCourse course; + course.timestamp = 45677; + course.validField = {false, false, false}; // speed, climb, heading + inst->onCourseUpdate(course); + + // inject position in PositionFilter + GNSSPosition pos; + pos.timestamp = 45690; // small diff in timestamp! + pos.latitude = 48.367472f; + pos.longitude = 11.846595f; + pos.altitude = 512.0f; + pos.validField = {true, true, true}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + + // general checks + MapUShortVariant map; + map.clear(); + + // appending course should not work. + // --> only one map entry with INVALID + EXPECT_FALSE(inst->appendCourseTo(map)); + EXPECT_EQ(map.size(), 1); + EXPECT_TRUE(map.value(EnhancedPosition::INVALID).isValid()); + + // now append something with valid content (course) + // --> remove INVALID value! + EXPECT_TRUE(inst->appendPositionTo(map)); + + EXPECT_GT(map.size(), 0); + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); +} + +TEST(PositionFilterTest, appendElement) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + // inject position in PositionFilter + GNSSPosition pos; + pos.timestamp = 45690; // small diff in timestamp! + pos.latitude = 48.367472f; + pos.longitude = 11.846595f; + pos.altitude = 512.0f; + pos.validField = {true, true, true}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // give chance to do sth. + QList<ushort> changeList; + inst->runFiltering(changeList); + // general checks + MapUShortVariant map; + map.clear(); + + EXPECT_TRUE(inst->appendElementTo(map, EnhancedPosition::LATITUDE)); + EXPECT_TRUE(map.value(EnhancedPosition::LATITUDE).isValid()); + EXPECT_TRUE(inst->appendElementTo(map, EnhancedPosition::LONGITUDE)); + EXPECT_TRUE(map.value(EnhancedPosition::LONGITUDE).isValid()); + EXPECT_TRUE(inst->appendElementTo(map, EnhancedPosition::ALTITUDE)); + EXPECT_TRUE(map.value(EnhancedPosition::ALTITUDE).isValid()); + EXPECT_TRUE(inst->appendElementTo(map, EnhancedPosition::TIMESTAMP)); + EXPECT_TRUE(map.value(EnhancedPosition::TIMESTAMP).isValid()); + + // TODO + //EXPECT_TRUE(inst->appendElementTo(map, EnhancedPosition::HEADING)); + //EXPECT_TRUE(map.value(EnhancedPosition::HEADING).isValid()); + + EXPECT_FALSE(map.value(EnhancedPosition::INVALID).isValid()); +} + +TEST(PositionFilterTest, runFilteringCheckList) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + QList<ushort> list; + + // inject 1st position in PositionFilter + pos.timestamp = 12340; + pos.latitude = 48.3670f; + pos.validField = {true, false, false}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // TICK + list.clear(); + inst->runFiltering(list); + + // inject a 2nd position in PositionFilter + pos.timestamp = 12345; // small diff in timestamp! + pos.latitude = 48.3675f; + pos.validField = {true, false, false}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // TACK + list.clear(); + inst->runFiltering(list); + + EXPECT_TRUE(list.contains(EnhancedPosition::TIMESTAMP)); + EXPECT_TRUE(list.contains(EnhancedPosition::LATITUDE)); + EXPECT_FALSE(list.contains(EnhancedPosition::LONGITUDE)); +} + + +TEST(PositionFilterTest, runFilteringCheckList_invalid2valid) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + QList<ushort> list; + + // inject INVALID data for position + pos.timestamp = 0; + pos.validField = {false, false, false}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // TICK + list.clear(); + inst->runFiltering(list); + + // inject VALID data position + pos.timestamp = 12345; // small diff in timestamp! + pos.latitude = 48.3675f; + pos.validField = {true, false, false}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // TACK + list.clear(); + inst->runFiltering(list); + + EXPECT_TRUE(list.contains(EnhancedPosition::TIMESTAMP)); + EXPECT_TRUE(list.contains(EnhancedPosition::LATITUDE)); + EXPECT_FALSE(list.contains(EnhancedPosition::LONGITUDE)); +} + +TEST(PositionFilterTest, runFilteringCheckList_valid2invalid) { + PositionFilter* inst = PositionFilter::getInstance(); + ASSERT_FALSE(inst == NULL); + + GNSSPosition pos; + QList<ushort> list; + + // inject a VALID position in PositionFilter + pos.timestamp = 12340; + pos.latitude = 48.3670f; + pos.validField = {true, false, false}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // TICK + list.clear(); + inst->runFiltering(list); + + // inject a INVALID position in PositionFilter + pos.timestamp = 0; // small diff in timestamp! + pos.validField = {false, false, false}; // lat, lon, alt + inst->onPositionUpdate(pos); + + // TACK + list.clear(); + inst->runFiltering(list); + + EXPECT_TRUE(list.contains(EnhancedPosition::TIMESTAMP)); + EXPECT_TRUE(list.contains(EnhancedPosition::LATITUDE)); + EXPECT_FALSE(list.contains(EnhancedPosition::LONGITUDE)); +} diff --git a/enhanced-position-service/src/test/externals/CMakeLists.txt b/enhanced-position-service/src/test/externals/CMakeLists.txt new file mode 100644 index 0000000..e5926f0 --- /dev/null +++ b/enhanced-position-service/src/test/externals/CMakeLists.txt @@ -0,0 +1,24 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: EnhancedPositionService +# +# Author: Thomas Bader +# +# Copyright (C) 2012, BMW Car IT GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +if (WITH_TESTS) + +add_subdirectory(gtest-1.6.0) +#include_directories(${gtest_SOURCE_DIR}/include) + +endif(WITH_TESTS) diff --git a/enhanced-position-service/test/CMakeLists.txt b/enhanced-position-service/test/CMakeLists.txt new file mode 100644 index 0000000..8bfbf23 --- /dev/null +++ b/enhanced-position-service/test/CMakeLists.txt @@ -0,0 +1,59 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: EnhancedPositionService +# +# Author: Thomas Bader +# +# Copyright (C) 2012, BMW Car IT GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +project(position-daemon) +cmake_minimum_required(VERSION 2.6.0) + +link_directories(${QT_LIBRARY_DIR}) + +message(STATUS "ENHANCED-POSITION-SERVICE TEST-APPLICATION") +message(STATUS "WITH_DLT = ${WITH_DLT}") +message(STATUS "WITH_GPSD = ${WITH_GPSD}") +message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}") + +set(client_HEADERS + demoif.h + testclient.h + confif.h + ConfigurationClient.h + signalhelper.h + ../src/genivi-version.h +) + +qt4_wrap_cpp(client_HEADERS_MOC ${client_HEADERS}) + +add_library(ClientEnhpos STATIC + demoif.cpp + testclient.cpp + confif.cpp + ConfigurationClient.cpp + ../src/genivi-version.cpp + signalhelper.cpp + ${client_HEADERS_MOC} +) + +add_executable(test-client + main-client.cpp +) + +target_link_libraries(test-client + ${QT_QTDBUS_LIBRARY} # TODO fix this + #${QT_LIBRARIES} + QtCore QtDBus QtXml # TODO remove this if fixed + ClientEnhpos +) diff --git a/enhanced-position-service/test/ConfigurationClient.cpp b/enhanced-position-service/test/ConfigurationClient.cpp new file mode 100644 index 0000000..704d79c --- /dev/null +++ b/enhanced-position-service/test/ConfigurationClient.cpp @@ -0,0 +1,70 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "ConfigurationClient.h" + +ConfigurationClient::ConfigurationClient(QObject *parent) + : m_connection(QDBusConnection::sessionBus()), + m_client(NULL) +{ + qDebug("ConfigurationClient started\n"); + + if (!connectToProxy()) { + qWarning() << "failed to connect to server"; + } +} + +ConfigurationClient::~ConfigurationClient() +{ + qDebug("ConfigurationClient: d-tor\n"); +} + +void ConfigurationClient::PropertyChanged(const QString &name, const QDBusVariant &value) +{ + qDebug("PropertyChanged: %s", name.toUtf8().constData()); +} + +bool ConfigurationClient::connectToProxy() +{ + if (m_client != NULL) { + qWarning("m_client already created. do not continue here."); + return false; + } + + m_client = new ConfigurationIf(getServiceName(), "/config", getConnection(), 0); + + if (!m_client->isValid()) { + qWarning("failed to connect to service '%s'.", + getServiceName().toUtf8().constData()); + delete(m_client); + m_client = NULL; + return false; + } + +#if 0 + QObject::connect(m_client, SIGNAL(StatusUpdate(QList<int>)), + this, SLOT(StatusUpdate(QList<int>))); + QObject::connect(m_client, SIGNAL(PositionUpdate(QList<int>)), + this, SLOT(PositionUpdate(QList<int>))); + QObject::connect(m_client, SIGNAL(SatelliteInfoUpdate(QList<int>)), + this, SLOT(SatelliteInfoUpdate(QList<int>))); + QObject::connect(m_client, SIGNAL(AccuracyUpdate(QList<int>)), + this, SLOT(AccuracyUpdate(QList<int>))); +#endif + + return true; +} diff --git a/enhanced-position-service/test/ConfigurationClient.h b/enhanced-position-service/test/ConfigurationClient.h new file mode 100644 index 0000000..a24204b --- /dev/null +++ b/enhanced-position-service/test/ConfigurationClient.h @@ -0,0 +1,46 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef CONFIGURATIONCLIENT_H +#define CONFIGURATIONCLIENT_H + +#include "confif.h" + +class ConfigurationClient : public QObject +{ +Q_OBJECT +public: + explicit ConfigurationClient(QObject *parent = 0); + ~ConfigurationClient(); + + QDBusConnection& getConnection() { return m_connection; } + ConfigurationIf* getClient() { return m_client; } + +public Q_SLOTS: + void PropertyChanged(const QString &name, const QDBusVariant &value); + +private: + bool connectToProxy(); + static const QString getServiceName() { + return QString("org.genivi.positioning.EnhancedPosition"); + } + + QDBusConnection m_connection; + ConfigurationIf* m_client; +}; + +#endif diff --git a/enhanced-position-service/test/agentadaptor.cpp b/enhanced-position-service/test/agentadaptor.cpp new file mode 100644 index 0000000..83637d3 --- /dev/null +++ b/enhanced-position-service/test/agentadaptor.cpp @@ -0,0 +1,47 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c AgentAdaptor -a agentadaptor.h:agentadaptor.cpp -i genivi-dbus-types.h -i agentimpl.h -l AgentImpl ../EnhancedPositionAgent.xml org.genivi.position.EnhancedPositionAgent + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#include "agentadaptor.h" +#include <QtCore/QMetaObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> + +/* + * Implementation of adaptor class AgentAdaptor + */ + +AgentAdaptor::AgentAdaptor(AgentImpl *parent) + : QDBusAbstractAdaptor(parent) +{ + // constructor + setAutoRelaySignals(true); +} + +AgentAdaptor::~AgentAdaptor() +{ + // destructor +} + +void AgentAdaptor::PositionUpdate(const QList<bool> &validFields, double latitude, double longitude, double altitude, uint timestamp) +{ + // handle method call org.genivi.position.EnhancedPositionAgent.PositionUpdate + parent()->PositionUpdate(validFields, latitude, longitude, altitude, timestamp); +} + +void AgentAdaptor::StatusUpdate(uint status) +{ + // handle method call org.genivi.position.EnhancedPositionAgent.StatusUpdate + parent()->StatusUpdate(status); +} + diff --git a/enhanced-position-service/test/agentadaptor.h b/enhanced-position-service/test/agentadaptor.h new file mode 100644 index 0000000..aea0b81 --- /dev/null +++ b/enhanced-position-service/test/agentadaptor.h @@ -0,0 +1,119 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c AgentAdaptor -a agentadaptor.h:agentadaptor.cpp -i genivi-dbus-types.h -i agentimpl.h -l AgentImpl ../EnhancedPositionAgent.xml org.genivi.position.EnhancedPositionAgent + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#ifndef AGENTADAPTOR_H_1320934380 +#define AGENTADAPTOR_H_1320934380 + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" +#include "agentimpl.h" +class QByteArray; +template<class T> class QList; +template<class Key, class Value> class QMap; +class QString; +class QStringList; +class QVariant; + +/* + * Adaptor class for interface org.genivi.position.EnhancedPositionAgent + */ +class AgentAdaptor: public QDBusAbstractAdaptor +{ + Q_OBJECT + Q_CLASSINFO("D-Bus Interface", "org.genivi.position.EnhancedPositionAgent") + Q_CLASSINFO("D-Bus Introspection", "" +" <interface name=\"org.genivi.position.EnhancedPositionAgent\">\n" +" <version>0.0.5</version>\n" +" <doc/>\n" +" <!-- \n" +" <method name=\"CourseUpdate\">\n" +" <doc>\n" +" <line>is called when the course changed</line>\n" +" </doc>\n" +" <arg name=\"validFields\" type=\"b\" direction=\"in\" >\n" +" <doc>\n" +" <line>validFields = bit mask indicating which fields contain valid information</line>\n" +" </doc>\n" +" </arg>\n" +" <arg name=\"heading\" type=\"d\" direction=\"in\" >\n" +" <doc>\n" +" <line>todo</line>\n" +" </doc>\n" +" </arg>\n" +" <arg name=\"speed\" type=\"d\" direction=\"in\" >\n" +" <doc>\n" +" <line>todo</line>\n" +" </doc>\n" +" </arg>\n" +" <arg name=\"climb\" type=\"d\" direction=\"in\" >\n" +" <doc>\n" +" <line>todo</line>\n" +" </doc>\n" +" </arg>\n" +" <arg name=\"yawRate\" type=\"d\" direction=\"in\" >\n" +" <doc>\n" +" <line>todo</line>\n" +" </doc>\n" +" </arg>\n" +" <arg name=\"timestamp\" type=\"u\" direction=\"in\" >\n" +" <doc>\n" +" <line>timestamp in [ms]</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +"-->\n" +" <method name=\"StatusUpdate\">\n" +" <doc>\n" +" <line>This method is called if the status changed.</line>\n" +" </doc>\n" +" <arg direction=\"in\" type=\"u\" name=\"status\">\n" +" <doc>\n" +" <line>status = enum(INVALID(0x00),UNKNOWN(0x01),DISCONNECTED(0x02),STARTUP(0x03),READY(0x04),CONNECTED(0x05) ... )</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" <method name=\"PositionUpdate\">\n" +" <doc>\n" +" <line>This method is called if the position changed.</line>\n" +" </doc>\n" +" <arg direction=\"in\" type=\"a(b)\" name=\"validFields\">\n" +" <annotation value=\"QList<bool>\" name=\"com.trolltech.QtDBus.QtTypeName.In0\"/>\n" +" <doc>\n" +" <line>bit mask indicating which fields contain valid information</line>\n" +" </doc>\n" +" </arg>\n" +" <arg direction=\"in\" type=\"d\" name=\"latitude\"/>\n" +" <arg direction=\"in\" type=\"d\" name=\"longitude\"/>\n" +" <arg direction=\"in\" type=\"d\" name=\"altitude\"/>\n" +" <arg direction=\"in\" type=\"u\" name=\"timestamp\">\n" +" <doc>\n" +" <line>timestamp in [ms]</line>\n" +" </doc>\n" +" </arg>\n" +" </method>\n" +" </interface>\n" + "") +public: + AgentAdaptor(AgentImpl *parent); + virtual ~AgentAdaptor(); + + inline AgentImpl *parent() const + { return static_cast<AgentImpl *>(QObject::parent()); } + +public: // PROPERTIES +public Q_SLOTS: // METHODS + void PositionUpdate(const QList<bool> &validFields, double latitude, double longitude, double altitude, uint timestamp); + void StatusUpdate(uint status); +Q_SIGNALS: // SIGNALS +}; + +#endif diff --git a/enhanced-position-service/test/agentimpl.cpp b/enhanced-position-service/test/agentimpl.cpp new file mode 100644 index 0000000..cc20f99 --- /dev/null +++ b/enhanced-position-service/test/agentimpl.cpp @@ -0,0 +1,40 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "agentimpl.h" +#include "agentadaptor.h" + + +AgentImpl::AgentImpl(QObject *parent) : m_adaptor(NULL) +{ + m_adaptor = new AgentAdaptor(this); +} + +AgentImpl::~AgentImpl() +{ + +} + +void AgentImpl::StatusUpdate(uint status) +{ + qDebug("Agent: received 'StatusUpdate' %d.", status); +} + +void AgentImpl::PositionUpdate(const QList<bool> &validFields, double latitude, double longitude, double altitude, uint timestamp) +{ + qDebug("Agent: received 'PositionUpdate' ... position %f, %f", latitude, longitude); +} diff --git a/enhanced-position-service/test/agentimpl.h b/enhanced-position-service/test/agentimpl.h new file mode 100644 index 0000000..a4ba998 --- /dev/null +++ b/enhanced-position-service/test/agentimpl.h @@ -0,0 +1,43 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef AGENTIMPL_H_ +#define AGENTIMPL_H_ + +#include <QtCore/QObject> +#include <QtDBus/QtDBus> + +class AgentAdaptor; + +class AgentImpl : public QObject +{ +Q_OBJECT +public: + explicit AgentImpl(QObject *parent = 0); + ~AgentImpl(); + +public Q_SLOTS: // METHODS + void StatusUpdate(uint status); + void PositionUpdate(const QList<bool> &validFields, double latitude, double longitude, double altitude, uint timestamp); +Q_SIGNALS: // SIGNALS + +private: + AgentAdaptor* m_adaptor; + +}; + +#endif /* AGENTIMPL_H_ */ diff --git a/enhanced-position-service/test/compliance-test/CMakeLists.txt b/enhanced-position-service/test/compliance-test/CMakeLists.txt new file mode 100644 index 0000000..8409e5a --- /dev/null +++ b/enhanced-position-service/test/compliance-test/CMakeLists.txt @@ -0,0 +1,39 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: GNSSService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "ENHANCED-POSITION-SERVICE-COMPLIANCE-TEST") + +INCLUDE(UsePkgConfig) + +include_directories("${PROJECT_SOURCE_DIR}/api") +include_directories("${PROJECT_SOURCE_DIR}/../common") + +find_package(PkgConfig) +pkg_check_modules(DBUS REQUIRED dbus-1) + +link_directories ( ${DBUS_LIBDIR} ${DBUS_LIBRARY_DIRS} ) +include_directories ( ${DBUS_INCLUDEDIR} ${DBUS_INCLUDE_DIRS} ) + +set(SRCS ${CMAKE_SOURCE_DIR}/test/compliance-test/enhanced-position-service-compliance-test.c) + +add_executable(enhanced-position-service-compliance-test ${SRCS}) + +set(LIBRARIES ${DBUS_LIBRARIES} ) + +target_link_libraries(enhanced-position-service-compliance-test ${LIBRARIES}) + diff --git a/enhanced-position-service/test/compliance-test/NOTE b/enhanced-position-service/test/compliance-test/NOTE new file mode 100644 index 0000000..27ef794 --- /dev/null +++ b/enhanced-position-service/test/compliance-test/NOTE @@ -0,0 +1,7 @@ +The test application 'enhanced-position-service-compliance-test' was written using the code +examples provided at http://www.matthew.ath.cx/misc/dbus as a reference. + +The code example doesn report any license. + +I put the code under MPLv2 license, since it is the license used for the Positioning PoC. + diff --git a/enhanced-position-service/test/compliance-test/README b/enhanced-position-service/test/compliance-test/README new file mode 100644 index 0000000..1f817d7 --- /dev/null +++ b/enhanced-position-service/test/compliance-test/README @@ -0,0 +1,25 @@ +============================ +EnhancedPositionService - Compliance Test +============================ + +--------------------- +Usage +--------------------- +* Compile the provided test application. +* Make sure that a GPS receiver is connected +* Start the 'enhanced-position-service-compliance-test' +* Wait 10 seconds for the test to complete + +--------------------- +Important Note +--------------------- +The test application 'enhanced-position-service-compliance-test' +is just a prototype of a test application that may be used +in future to prove that the current implementation of the +EnhancedPositionService is GENIVI compliant. + +At the time of writing no testing framework +has officially been defined within the GENIVI Alliance. + +This tets application is simply provided as a test tool. + diff --git a/enhanced-position-service/test/compliance-test/enhanced-position-service-compliance-test.c b/enhanced-position-service/test/compliance-test/enhanced-position-service-compliance-test.c new file mode 100644 index 0000000..caac5b0 --- /dev/null +++ b/enhanced-position-service/test/compliance-test/enhanced-position-service-compliance-test.c @@ -0,0 +1,296 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* Component Name: EnhancedPositionService +* Author: Marco Residori <marco.residori@xse.de> +* +* Copyright (C) 2013, XS Embedded GmbH +* +* License: +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* Note: +* This test application was written using the code examples +* provided at http://www.matthew.ath.cx/misc/dbus as a reference. +* +* @licence end@ +**************************************************************************/ + +#include <dbus/dbus.h> +#include <stdbool.h> +#include <unistd.h> +#include <stdio.h> +#include <stdlib.h> + +#define LAT 32 //value taken from GENIVI API +#define LON 33 //value taken from GENIVI API +#define ALT 34 //value taken from GENIVI API + +const char * DBUS_INTERFACE = "org.genivi.positioning.EnhancedPosition"; +const char * DBUS_PATH = "/position"; +const char * DBUS_SOURCE = "org.genivi.positioning.Client"; +const char * DBUS_DESTINATION = "org.genivi.positioning.EnhancedPosition"; +const char * DBUS_METHOD_GET_DATA = "GetData"; + +/** + * This method emulates the API method GetData + */ +bool getPositioningData() +{ + DBusMessage* msg; + DBusMessageIter args_iter; + DBusMessageIter data_iter; + DBusMessageIter msg_iter; + DBusMessageIter value_iter; + DBusMessageIter array_iter; + DBusConnection* conn; + DBusError err; + DBusPendingCall* pending; + double latitude; + double longitude; + double altitude; //should be of type int (the PoC will have to be corrected) + int ret; + + //initialise the errors + dbus_error_init(&err); + + //connect to the session bus and check for errors + conn = dbus_bus_get(DBUS_BUS_SESSION, &err); + if(dbus_error_is_set(&err)) + { + fprintf(stderr, "connection error (%s)\n", err.message); + dbus_error_free(&err); + } + + if(conn == NULL) + { + return false; + } + + //request name on the bus (optional) + ret = dbus_bus_request_name(conn, DBUS_SOURCE, DBUS_NAME_FLAG_REPLACE_EXISTING , &err); + if(dbus_error_is_set(&err)) + { + fprintf(stderr, "dbus name error (%s)\n", err.message); + dbus_error_free(&err); + } + + if(DBUS_REQUEST_NAME_REPLY_PRIMARY_OWNER != ret) + { + return false; + } + + //create a new method call and check for errors + msg = dbus_message_new_method_call(DBUS_DESTINATION, //destination + DBUS_PATH, //object + DBUS_INTERFACE, //interface + DBUS_METHOD_GET_DATA); //method name + if(NULL == msg) + { + fprintf(stderr, "message null\n"); + return false; + } + + dbus_uint16_t array[2]; + int size = 3; + array[0]=LAT; + array[1]=LON; + array[2]=ALT; + const dbus_uint16_t *v_ARRAY = array; + + //append arguments + dbus_message_iter_init_append(msg, &args_iter); + + if(!dbus_message_iter_open_container(&args_iter, DBUS_TYPE_ARRAY,"q" , &data_iter)) + { + fprintf(stderr, "out of memory!\n"); + return false; + } + + if(!dbus_message_iter_append_fixed_array(&data_iter, DBUS_TYPE_UINT16, &v_ARRAY, size)) + { + fprintf(stderr, "out Of Memory!\n"); + return false; + } + + if(!dbus_message_iter_close_container(&args_iter, &data_iter)) + { + fprintf(stderr, "out of memory!\n"); + return false; + } + + //send message and get a handle for a reply + if (!dbus_connection_send_with_reply (conn, msg, &pending, -1)) // -1 is the default timeout + { + fprintf(stderr, "out of memory!\n"); + return false; + } + + if(pending == NULL) + { + fprintf(stderr, "pending call is null\n"); + return false; + } + dbus_connection_flush(conn); + + dbus_message_unref(msg); + + //block until we recieve a reply + dbus_pending_call_block(pending); + + //get the reply message + msg = dbus_pending_call_steal_reply(pending); + if(msg == NULL) + { + fprintf(stderr, "reply null\n"); + return false; + } + + //free the pending message handle + dbus_pending_call_unref(pending); + + if(!dbus_message_iter_init(msg, &msg_iter)) + { + fprintf(stderr, "format error\n"); + return false; + } + + //get the dictionary a{qv} + if (dbus_message_iter_get_arg_type (&msg_iter) != DBUS_TYPE_ARRAY || + dbus_message_iter_get_element_type (&msg_iter) != + DBUS_TYPE_DICT_ENTRY) + { + fprintf(stderr, "format error\n"); + return false; + } + + for (dbus_message_iter_recurse(&msg_iter, &array_iter); + dbus_message_iter_get_arg_type (&array_iter) != DBUS_TYPE_INVALID; + dbus_message_iter_next (&array_iter)) + { + DBusMessageIter dict_iter; + dbus_uint16_t key; + + //check that the array entry is a dict entry + if (dbus_message_iter_get_arg_type (&array_iter) != DBUS_TYPE_DICT_ENTRY) + { + return false; + } + + //recurse in dict entry + dbus_message_iter_recurse (&array_iter, &dict_iter); + + if(dbus_message_iter_get_arg_type(&dict_iter) != DBUS_TYPE_UINT16) + { + fprintf(stderr, "format error: wrong data type %c\n", (char)dbus_message_iter_get_arg_type(&dict_iter)); + return false; + } + + dbus_message_iter_get_basic(&dict_iter, &key); + dbus_message_iter_next(&dict_iter); + + switch(key) + { + case LAT: + //read variant value + if (dbus_message_iter_get_arg_type (&dict_iter) == DBUS_TYPE_VARIANT) + { + dbus_message_iter_recurse(&dict_iter, &value_iter); + + if(dbus_message_iter_get_arg_type(&value_iter) != DBUS_TYPE_DOUBLE) + { + fprintf(stderr, "format error: wrong data type %c\n", (char)dbus_message_iter_get_arg_type(&value_iter)); + return false; + } + + dbus_message_iter_get_basic(&value_iter, (void *)&latitude); + printf("latitude=%f\n",latitude); + + if(latitude > 90 || latitude < -90) + { + fprintf(stderr, "latitude value out of range\n"); + return false; + } + } + break; + + case LON: + //read variant value + if (dbus_message_iter_get_arg_type (&dict_iter) == DBUS_TYPE_VARIANT) + { + dbus_message_iter_recurse(&dict_iter, &value_iter); + + if(dbus_message_iter_get_arg_type(&value_iter) != DBUS_TYPE_DOUBLE) + { + fprintf(stderr, "format error: wrong data type %c\n", (char)dbus_message_iter_get_arg_type(&value_iter)); + return false; + } + + dbus_message_iter_get_basic(&value_iter, (void *)&longitude); + printf("longitude=%f\n",longitude); + + if(longitude > 180 || longitude < -180) + { + fprintf(stderr, "longitude value out of range\n"); + return false; + } + } + break; + + case ALT: + //read following variant value + if(dbus_message_iter_get_arg_type (&dict_iter) == DBUS_TYPE_VARIANT) + { + dbus_message_iter_recurse(&dict_iter, &value_iter); + + if (dbus_message_iter_get_arg_type(&value_iter) != DBUS_TYPE_DOUBLE) //should be DBUS_TYPE_INT32 + { + fprintf(stderr, "format error: wrong data type %c\n", (char)dbus_message_iter_get_arg_type(&value_iter)); + return false; + } + + dbus_message_iter_get_basic(&value_iter, (void *)&altitude); + printf("altitude=%f\n",altitude); //should be 'd' instead (the PoC will have to be corrected) + + if(altitude > 9000 || longitude < -1000) + { + fprintf(stderr, "altitude value out of range\n"); + return false; + } + } + break; + + default: + //do nothing + break; + } + } + + //free reply and close connection + dbus_message_unref(msg); + + //dbus_connection_close(conn); + + return true; +} + +int main(int argc, char** argv) +{ + printf("Starting gnss-service-compliance-test...\n"); + + if(getPositioningData() == false) + { + printf("TEST_FAILED\n"); + return EXIT_FAILURE; + } + + printf("TEST_PASSED\n"); + return EXIT_SUCCESS; +} + + + diff --git a/enhanced-position-service/test/confif.cpp b/enhanced-position-service/test/confif.cpp new file mode 100644 index 0000000..b958b14 --- /dev/null +++ b/enhanced-position-service/test/confif.cpp @@ -0,0 +1,26 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIf -p confif.h:confif.cpp -i genivi-dbus-types.h ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#include "confif.h" + +/* + * Implementation of interface class ConfigurationIf + */ + +ConfigurationIf::ConfigurationIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent) + : QDBusAbstractInterface(service, path, staticInterfaceName(), connection, parent) +{ +} + +ConfigurationIf::~ConfigurationIf() +{ +} + diff --git a/enhanced-position-service/test/confif.h b/enhanced-position-service/test/confif.h new file mode 100644 index 0000000..158a112 --- /dev/null +++ b/enhanced-position-service/test/confif.h @@ -0,0 +1,82 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c ConfigurationIf -p confif.h:confif.cpp -i genivi-dbus-types.h ../genivi-positioning-configuration-qt.xml org.genivi.positioning.Configuration + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#ifndef CONFIF_H_1331560215 +#define CONFIF_H_1331560215 + +#include <QtCore/QObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" + +/* + * Proxy class for interface org.genivi.positioning.Configuration + */ +class ConfigurationIf: public QDBusAbstractInterface +{ + Q_OBJECT +public: + static inline const char *staticInterfaceName() + { return "org.genivi.positioning.Configuration"; } + +public: + ConfigurationIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent = 0); + + ~ConfigurationIf(); + + Q_PROPERTY(int SatelliteSystem READ satelliteSystem WRITE setSatelliteSystem) + inline int satelliteSystem() const + { return qvariant_cast< int >(property("SatelliteSystem")); } + inline void setSatelliteSystem(int value) + { setProperty("SatelliteSystem", QVariant::fromValue(value)); } + + Q_PROPERTY(ushort UpdateInterval READ updateInterval WRITE setUpdateInterval) + inline ushort updateInterval() const + { return qvariant_cast< ushort >(property("UpdateInterval")); } + inline void setUpdateInterval(ushort value) + { setProperty("UpdateInterval", QVariant::fromValue(value)); } + +public Q_SLOTS: // METHODS + inline QDBusPendingReply<QVariantMap> GetProperties() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetProperties"), argumentList); + } + + inline QDBusPendingReply<GeniviVersion> GetVersion() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetVersion"), argumentList); + } + + inline QDBusPendingReply<> SetProperty(const QString &name, const QDBusVariant &value) + { + QList<QVariant> argumentList; + argumentList << QVariant::fromValue(name) << QVariant::fromValue(value); + return asyncCallWithArgumentList(QLatin1String("SetProperty"), argumentList); + } + +Q_SIGNALS: // SIGNALS + void PropertyChanged(const QString &name, const QDBusVariant &value); +}; + +namespace org { + namespace genivi { + namespace positioning { + typedef ::ConfigurationIf Configuration; + } + } +} +#endif diff --git a/enhanced-position-service/test/demoif.cpp b/enhanced-position-service/test/demoif.cpp new file mode 100644 index 0000000..6656b9b --- /dev/null +++ b/enhanced-position-service/test/demoif.cpp @@ -0,0 +1,26 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIf -p demoif.h:demoif.cpp -i genivi-dbus-types.h ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * This file may have been hand-edited. Look for HAND-EDIT comments + * before re-generating it. + */ + +#include "demoif.h" + +/* + * Implementation of interface class DemoIf + */ + +DemoIf::DemoIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent) + : QDBusAbstractInterface(service, path, staticInterfaceName(), connection, parent) +{ +} + +DemoIf::~DemoIf() +{ +} + diff --git a/enhanced-position-service/test/demoif.h b/enhanced-position-service/test/demoif.h new file mode 100644 index 0000000..7f3498b --- /dev/null +++ b/enhanced-position-service/test/demoif.h @@ -0,0 +1,104 @@ +/* + * This file was generated by qdbusxml2cpp version 0.7 + * Command line was: qdbusxml2cpp -v -c DemoIf -p demoif.h:demoif.cpp -i genivi-dbus-types.h ../genivi-positioning-enhancedposition-qt.xml org.genivi.positioning.EnhancedPosition + * + * qdbusxml2cpp is Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). + * + * This is an auto-generated file. + * Do not edit! All changes made to it will be lost. + */ + +#ifndef DEMOIF_H_1333107453 +#define DEMOIF_H_1333107453 + +#include <QtCore/QObject> +#include <QtCore/QByteArray> +#include <QtCore/QList> +#include <QtCore/QMap> +#include <QtCore/QString> +#include <QtCore/QStringList> +#include <QtCore/QVariant> +#include <QtDBus/QtDBus> +#include "genivi-dbus-types.h" + +/* + * Proxy class for interface org.genivi.positioning.EnhancedPosition + */ +class DemoIf: public QDBusAbstractInterface +{ + Q_OBJECT +public: + static inline const char *staticInterfaceName() + { return "org.genivi.positioning.EnhancedPosition"; } + +public: + DemoIf(const QString &service, const QString &path, const QDBusConnection &connection, QObject *parent = 0); + + ~DemoIf(); + +public Q_SLOTS: // METHODS + inline QDBusPendingReply<MapUShortVariant> GetAccuracy() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetAccuracy"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetData(const QList<ushort> &valuesToReturn) + { + QList<QVariant> argumentList; + argumentList << QVariant::fromValue(valuesToReturn); + return asyncCallWithArgumentList(QLatin1String("GetData"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetPosition() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetPosition"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetRotationRate() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetRotationRate"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetSatelliteInfo() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetSatelliteInfo"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetStatus() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetStatus"), argumentList); + } + + inline QDBusPendingReply<MapUShortVariant> GetTime() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetTime"), argumentList); + } + + inline QDBusPendingReply<GeniviVersion> GetVersion() + { + QList<QVariant> argumentList; + return asyncCallWithArgumentList(QLatin1String("GetVersion"), argumentList); + } + +Q_SIGNALS: // SIGNALS + void AccuracyUpdate(const QList<ushort> &changedValues); + void PositionUpdate(const QList<ushort> &changedValues); + void RotationRateUpdate(const QList<ushort> &changedValues); + void SatelliteInfoUpdate(const QList<ushort> &changedValues); + void StatusUpdate(const QList<ushort> &changedValues); +}; + +namespace org { + namespace genivi { + namespace positioning { + typedef ::DemoIf EnhancedPosition; + } + } +} +#endif diff --git a/enhanced-position-service/test/main-client.cpp b/enhanced-position-service/test/main-client.cpp new file mode 100644 index 0000000..abb6fe5 --- /dev/null +++ b/enhanced-position-service/test/main-client.cpp @@ -0,0 +1,95 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "testclient.h" +#include "ConfigurationClient.h" +#include "genivi-version.h" + +#include "signalhelper.h" + + +int checkVersion(const QDBusConnection& conn, DemoIf* client) +{ + if (client == NULL) { + qWarning("client == NULL: can not speak with server, proxy not initialized."); + return -1; + } + + if (!client->isValid()) { + qWarning("client is not valid: can not check for version."); + return -1; + } + + // request api version + QDBusReply<GeniviVersion> replyResult; + replyResult = client->GetVersion(); + + if (replyResult.isValid()) { + GeniviVersion version = replyResult.value(); + + qDebug("API version: %d.%d.%d", version.getMajorVersion(), + version.getMinorVersion(), version.getMicroVersion()); + // versionDate.toUtf8().data()); + } + else { + qDebug("reply is not valid?:"); + qDebug() << replyResult.error(); + } + + return 0; +} + +void getConfiguration(ConfigurationIf* client) +{ + if (client == NULL) { + qWarning("getConfiguration: client is null."); + return; + } + + QDBusPendingReply<QVariantMap> reply = client->GetProperties(); + + if (reply.isError()) { + qWarning() << reply.error().name() << "; " << reply.error().message(); + return; + } + + QVariantMap props = reply.value(); + qDebug() << "Configuration properties: " << props; +} + +int main(int argc, char **argv) +{ + QCoreApplication a(argc, argv); + + registerCommTypes(); + + // TestClient implements the 'DBus signal' callbacks + TestClient testClient; + ConfigurationClient confClient; + + // terminates main loop if SIGTERM appears + SignalHelper sigTermHelper; + + // do a first call to check connection to service. + checkVersion(testClient.getConnection(), testClient.getClient()); + getConfiguration(confClient.getClient()); + + // loop + int rv = a.exec(); + + return rv; +} diff --git a/enhanced-position-service/test/signalhelper.cpp b/enhanced-position-service/test/signalhelper.cpp new file mode 100644 index 0000000..95a91e5 --- /dev/null +++ b/enhanced-position-service/test/signalhelper.cpp @@ -0,0 +1,103 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "signalhelper.h" +#include <QtCore/qcoreapplication.h> + +static int setup_unix_signal_handlers() +{ + struct sigaction hup, term; + + hup.sa_handler = SignalHelper::hupSignalHandler; + sigemptyset(&hup.sa_mask); + hup.sa_flags = 0; + hup.sa_flags |= SA_RESTART; + + if (sigaction(SIGHUP, &hup, 0) > 0) + return 1; + + term.sa_handler = SignalHelper::termSignalHandler; + sigemptyset(&term.sa_mask); + term.sa_flags |= SA_RESTART; + + if (sigaction(SIGTERM, &term, 0) > 0) + return 2; + + return 0; +} + +SignalHelper::SignalHelper(QObject *parent, const char *name) + : QObject(parent) +{ + setup_unix_signal_handlers(); + + if (socketpair(AF_UNIX, SOCK_STREAM, 0, sighupFd)) + qFatal("Couldn't create HUP socketpair"); + + if (socketpair(AF_UNIX, SOCK_STREAM, 0, sigtermFd)) + qFatal("Couldn't create TERM socketpair"); + + snHup = new QSocketNotifier(sighupFd[1], QSocketNotifier::Read, this); + connect(snHup, SIGNAL(activated(int)), this, SLOT(handleSigHup())); + snTerm = new QSocketNotifier(sigtermFd[1], QSocketNotifier::Read, this); + connect(snTerm, SIGNAL(activated(int)), this, SLOT(handleSigTerm())); +} + +SignalHelper::~SignalHelper() +{ + +} + +void SignalHelper::hupSignalHandler(int) +{ + char a = 1; + ::write(sighupFd[0], &a, sizeof(a)); +} + +void SignalHelper::termSignalHandler(int) +{ + char a = 1; + ::write(sigtermFd[0], &a, sizeof(a)); +} + +void SignalHelper::handleSigTerm() +{ + snTerm->setEnabled(false); + char tmp; + ::read(sigtermFd[1], &tmp, sizeof(tmp)); + + // do Qt stuff + qDebug("terminate ..."); + QCoreApplication::exit(0); + + snTerm->setEnabled(true); +} + +void SignalHelper::handleSigHup() +{ + snHup->setEnabled(false); + char tmp; + ::read(sighupFd[1], &tmp, sizeof(tmp)); + + // do Qt stuff + qDebug("handleSigHup"); + + snHup->setEnabled(true); +} + + + diff --git a/enhanced-position-service/test/signalhelper.h b/enhanced-position-service/test/signalhelper.h new file mode 100644 index 0000000..3435d9d --- /dev/null +++ b/enhanced-position-service/test/signalhelper.h @@ -0,0 +1,58 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +/* + * See documentation at: + * http://doc.qt.nokia.com/4.8/unix-signals.html + */ + +#ifndef MYCLIENT_H_ +#define MYCLIENT_H_ + +#include <QtCore/QObject> +#include <QtCore/QSocketNotifier> + +#include <signal.h> +#include <unistd.h> +#include <sys/types.h> +#include <sys/socket.h> + +static int sighupFd[2]; +static int sigtermFd[2]; + +class SignalHelper : public QObject { +Q_OBJECT + +public: + SignalHelper(QObject *parent = 0, const char *name = 0); + ~SignalHelper(); + + // Unix signal handlers. + static void hupSignalHandler(int unused); + static void termSignalHandler(int unused); + +public slots: + // Qt signal handlers. + void handleSigHup(); + void handleSigTerm(); + +private: + QSocketNotifier *snHup; + QSocketNotifier *snTerm; +}; + +#endif /* MYCLIENT_H_ */ diff --git a/enhanced-position-service/test/simple-client.py b/enhanced-position-service/test/simple-client.py new file mode 100755 index 0000000..e032088 --- /dev/null +++ b/enhanced-position-service/test/simple-client.py @@ -0,0 +1,67 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +# author: thomas.bader@bmw.de +# This client communicates with postion-daemon (genivi) +# DBUS Client using PySide integration + +import sys, signal, time +from traceback import print_exc + +# import python dbus module +import dbus +# import python dbus GLib mainloop support +import dbus.mainloop.glib +# import QtCore +from PySide.QtCore import * + +# handler: state changed +def state_changed(eventText): + print "state changed ["+ eventText + "]" + sys.stdout.flush() + +# +# MAIN +# +if __name__ == '__main__': + + # use glib main loop + dbus.mainloop.glib.DBusGMainLoop(set_as_default=True) + # communicate on session bus + bus = dbus.SessionBus() + + try: + # get server object + server_object = bus.get_object("org.genivi.position.EnhancedPosition", + "/") + # connect to interface + iface = dbus.Interface(server_object, "org.genivi.position.EnhancedPosition") + except dbus.DBusException: + print_exc() + sys.exit(1) + + # Start the application + app = QCoreApplication([]) + # qtside specific termination handler! redirect to _DFL + signal.signal(signal.SIGINT, signal.SIG_DFL) + + # version ok? + version = [] + result = 0 + version, date = iface.GetVersion() + print "GetVersion: %d.%d.%d (%s)" % (version[0], version[1], version[2] , date) + + # connect state signal + iface.connect_to_signal("StateChanged", state_changed) + + # method call: CreateSession + iface.CreateSession('simple-client.py') + print 'created session' + + # mehtod call: CloseSession + iface.CloseSession() + print 'closed session' + + # enter main loop + print 'enter application loop ... termninate with ctrl-c' + app.exec_() diff --git a/enhanced-position-service/test/testclient.cpp b/enhanced-position-service/test/testclient.cpp new file mode 100644 index 0000000..b63bf7c --- /dev/null +++ b/enhanced-position-service/test/testclient.cpp @@ -0,0 +1,253 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "testclient.h" + +#include "agentimpl.h" +#include "genivi-navigationcore-enum.h" + +TestClient::TestClient(QObject *parent) + : m_watcher(this), + m_client(NULL), + m_connection(QDBusConnection::sessionBus()) +{ + qDebug("TestClient started\n"); + + if (!connectToProxy()) { + qWarning() << "failed to connect to server"; + } + + // listen on bus: signal when EnhancedPositon server is started. + activateWatcher(); +} + +TestClient::~TestClient() +{ + m_watcher.removeWatchedService(DemoIf::staticInterfaceName()); + + if (m_client != NULL) + delete(m_client); +} + +// signal callback +void TestClient::AccuracyUpdate(const QList<ushort> &changedValues) +{ + qDebug("'%s' is called", __FUNCTION__); + emit requestAccuracy(); +} + +// signal callback +void TestClient::PositionUpdate(const QList<ushort> &changedValues) +{ + qDebug("'%s' is called (%d elements)", __FUNCTION__, changedValues.count()); + emit requestData(); +} + +// signal callback +void TestClient::SatelliteInfoUpdate(const QList<ushort> &changedValues) +{ + qDebug("'%s' is called", __FUNCTION__); + emit requestSatelliteInfo(); +} + +// signal callback +void TestClient::StatusUpdate(const QList<ushort> &changedValues) +{ + qDebug("'%s' is called", __FUNCTION__); + emit requestStatus(); +} + +// TODO use this to enable a robust client logic which registers to a new +// appearing position daemon. +void TestClient::serviceRegistered(const QString &serviceName) +{ + qDebug("+++ DBus activities + registered %s +++", + serviceName.toUtf8().constData()); + + connectToProxy(); + // activateAgent(); +} + +void TestClient::serviceUnregistered(const QString &serviceName) +{ + qDebug("+++ DBus activities + unegistered %s +++", + serviceName.toUtf8().constData()); + + if (m_client != NULL) { + delete(m_client); + m_client = NULL; + } +} + + +void TestClient::requestData() +{ + QList<ushort> request; + request.append(EnhancedPositionData::ALL); + + QDBusPendingReply<MapUShortVariant> reply = getClient()->GetData(request); + + if (reply.isError()) { + qWarning() << "GetData failed: " + << reply.error().name() << "; " + << reply.error().message(); + return; + } + + MapUShortVariant data = reply.value(); + if (data.value(EnhancedPositionData::INVALID).isValid()) { + qWarning() << "GetData: returned INVALID key"; + return; + } + + // qDebug() << "GetData: " << data; + qDebug() << "GetData: " << "\n" << + "lat = " << data.value(EnhancedPositionData::LATITUDE) << "\n" + "long = " << data.value(EnhancedPositionData::LONGITUDE); +} + +void TestClient::requestPosition() +{ + QDBusPendingReply<MapUShortVariant> reply = getClient()->GetPosition(); + + if (reply.isError()) { + qWarning() << "GetPosition failed: " + << reply.error().name() << "; " + << reply.error().message(); + return; + } + + MapUShortVariant data = reply.value(); + if (data.value(EnhancedPosition::INVALID).isValid()) { + qWarning() << "GetPosition: returned INVALID key"; + return; + } + + qDebug() << "GetPosition: " << data; +} + +void TestClient::requestStatus() +{ + QDBusPendingReply<MapUShortVariant> reply = getClient()->GetStatus(); + + if (reply.isError()) { + qWarning() << "GetStatus failed: " + << reply.error().name() << "; " + << reply.error().message(); + return; + } + + MapUShortVariant data = reply.value(); + if (data.value(EnhancedPositionStatus::INVALID).isValid()) { + qWarning() << "GetStatus: returned INVALID key"; + return; + } + + qDebug() << "GetStatus: " << data; +} + +void TestClient::requestAccuracy() +{ + QDBusPendingReply<MapUShortVariant> reply = getClient()->GetAccuracy(); + + if (reply.isError()) { + qWarning() << "GetAccuracy failed: " + << reply.error().name() << "; " + << reply.error().message(); + return; + } + + MapUShortVariant data = reply.value(); + if (data.value(Accuracy::INVALID).isValid()) { + qWarning() << "GetAccuracy: returned INVALID key"; + return; + } + + qDebug() << "GetAccuracy: " << data; +} + +void TestClient::requestSatelliteInfo() +{ + QDBusPendingReply<MapUShortVariant> reply = getClient()->GetSatelliteInfo(); + + if (reply.isError()) { + qWarning() << "GetSatelliteInfo failed: " + << reply.error().name() << "; " + << reply.error().message(); + return; + } + + MapUShortVariant data = reply.value(); + if (data.value(SatelliteInfo::INVALID).isValid()) { + qWarning() << "GetSatelliteInfo: returned INVALID key"; + return; + } + + qDebug() << "GetSatelliteInfo: " << data; +} + +// private +bool TestClient::activateWatcher() +{ + // only interesseted in EnhancedPosition-service + m_watcher.addWatchedService(DemoIf::staticInterfaceName()); + + // call me if: registered or unregistered + connect(&m_watcher, SIGNAL(serviceRegistered(QString)), + this, SLOT(serviceRegistered(QString)) ); + connect(&m_watcher, SIGNAL(serviceUnregistered(QString)), + this, SLOT(serviceUnregistered(QString)) ); + + m_watcher.setConnection(getConnection()); +} + +/* + * connect signals to get info about position update! + */ +bool TestClient::connectToProxy() +{ + if (m_client != NULL) { + qWarning("m_client already created. do not continue here."); + return false; + } + + m_client = new DemoIf(DemoIf::staticInterfaceName(), "/position", getConnection(), 0); + + if (!m_client->isValid()) { + qWarning("failed to connect to service '%s'.", + DemoIf::staticInterfaceName()); + delete(m_client); + m_client = NULL; + return false; + } + + QObject::connect(m_client, SIGNAL(StatusUpdate(QList<ushort>)), + this, SLOT(StatusUpdate(QList<ushort>))); + QObject::connect(m_client, SIGNAL(PositionUpdate(QList<ushort>)), + this, SLOT(PositionUpdate(QList<ushort>))); + QObject::connect(m_client, SIGNAL(SatelliteInfoUpdate(QList<ushort>)), + this, SLOT(SatelliteInfoUpdate(QList<ushort>))); + QObject::connect(m_client, SIGNAL(AccuracyUpdate(QList<ushort>)), + this, SLOT(AccuracyUpdate(QList<ushort>))); + + return true; +} + +QDBusConnection& TestClient::getConnection() +{ + return m_connection; +} diff --git a/enhanced-position-service/test/testclient.h b/enhanced-position-service/test/testclient.h new file mode 100644 index 0000000..4f5a3d3 --- /dev/null +++ b/enhanced-position-service/test/testclient.h @@ -0,0 +1,65 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup EnhancedPositionService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011, 2012 +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef TESTCLIENT_H +#define TESTCLIENT_H + +#include "demoif.h" + +#include <QtDBus/QDBusServiceWatcher> + +/* + * signaturs needs to match demoifadaptor.h + */ +class TestClient : public QObject +{ +Q_OBJECT +public: + explicit TestClient(QObject *parent = 0); + ~TestClient(); + QDBusConnection& getConnection(); + DemoIf* getClient() { return m_client; } + +private Q_SLOTS: + // calls when the relevant service appears/disappears. + void serviceRegistered(const QString &serviceName); + void serviceUnregistered(const QString &servicName); + +public Q_SLOTS: + void AccuracyUpdate(const QList<ushort> &changedValues); + void PositionUpdate(const QList<ushort> &changedValues); + void SatelliteInfoUpdate(const QList<ushort> &changedValues); + void StatusUpdate(const QList<ushort> &changedValues); + +private Q_SLOTS: + void requestData(); + void requestPosition(); + void requestStatus(); + void requestAccuracy(); + void requestSatelliteInfo(); + +private: + bool activateWatcher(); + bool connectToProxy(); + +// member: + DemoIf* m_client; + QDBusConnection m_connection; + QDBusServiceWatcher m_watcher; +}; + +#endif /* TESTCLIENT_H */ diff --git a/gnss-service/CMakeLists.txt b/gnss-service/CMakeLists.txt new file mode 100644 index 0000000..1288fca --- /dev/null +++ b/gnss-service/CMakeLists.txt @@ -0,0 +1,51 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: GNSSService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +project(gnss-service) +cmake_minimum_required(VERSION 2.6.0) + +option(WITH_DLT + "Enable DLT logging" OFF) + +option(WITH_GPSD + "Use GPSD as source of GPS data" OFF) + +option(WITH_REPLAYER + "Use REPLAYER as source of GPS data" ON) + +option(WITH_TESTS + "Compile test applications" OFF) + +SET(CMAKE_INSTALL_RPATH "") +#SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE) + +message(STATUS) +message(STATUS "---------------------------------------------------------") + +add_subdirectory(src) +message(STATUS "---------------------------------------------------------") + +if(WITH_TESTS) +add_subdirectory(test) +message(STATUS "---------------------------------------------------------") + +add_subdirectory(test/compliance-test) +message(STATUS "---------------------------------------------------------") +endif() + +message(STATUS) diff --git a/gnss-service/FindDLT.cmake b/gnss-service/FindDLT.cmake new file mode 100644 index 0000000..032eeff --- /dev/null +++ b/gnss-service/FindDLT.cmake @@ -0,0 +1,12 @@ +set(DLT_INCLUDE_DIRS /usr/include/dlt) +set(DLT_LIBRARIES dlt) +set(DLT_LIBRARY_DIRS /usr/lib) + +find_package(PkgConfig) +pkg_check_modules(DLT REQUIRED automotive-dlt) + +if(${DLT_FOUND}) + #message(STATUS "found and use automotive-dlt: version ${DLT_VERSION}") +else() + message("missing DLT - check with 'pkg-config automotive-dlt --cflags-only-I'") +endif() diff --git a/gnss-service/LICENSE b/gnss-service/LICENSE new file mode 100644 index 0000000..14e2f77 --- /dev/null +++ b/gnss-service/LICENSE @@ -0,0 +1,373 @@ +Mozilla Public License Version 2.0 +================================== + +1. Definitions +-------------- + +1.1. "Contributor" + means each individual or legal entity that creates, contributes to + the creation of, or owns Covered Software. + +1.2. "Contributor Version" + means the combination of the Contributions of others (if any) used + by a Contributor and that particular Contributor's Contribution. + +1.3. "Contribution" + means Covered Software of a particular Contributor. + +1.4. "Covered Software" + means Source Code Form to which the initial Contributor has attached + the notice in Exhibit A, the Executable Form of such Source Code + Form, and Modifications of such Source Code Form, in each case + including portions thereof. + +1.5. "Incompatible With Secondary Licenses" + means + + (a) that the initial Contributor has attached the notice described + in Exhibit B to the Covered Software; or + + (b) that the Covered Software was made available under the terms of + version 1.1 or earlier of the License, but not also under the + terms of a Secondary License. + +1.6. "Executable Form" + means any form of the work other than Source Code Form. + +1.7. "Larger Work" + means a work that combines Covered Software with other material, in + a separate file or files, that is not Covered Software. + +1.8. "License" + means this document. + +1.9. "Licensable" + means having the right to grant, to the maximum extent possible, + whether at the time of the initial grant or subsequently, any and + all of the rights conveyed by this License. + +1.10. "Modifications" + means any of the following: + + (a) any file in Source Code Form that results from an addition to, + deletion from, or modification of the contents of Covered + Software; or + + (b) any new file in Source Code Form that contains any Covered + Software. + +1.11. "Patent Claims" of a Contributor + means any patent claim(s), including without limitation, method, + process, and apparatus claims, in any patent Licensable by such + Contributor that would be infringed, but for the grant of the + License, by the making, using, selling, offering for sale, having + made, import, or transfer of either its Contributions or its + Contributor Version. + +1.12. "Secondary License" + means either the GNU General Public License, Version 2.0, the GNU + Lesser General Public License, Version 2.1, the GNU Affero General + Public License, Version 3.0, or any later versions of those + licenses. + +1.13. "Source Code Form" + means the form of the work preferred for making modifications. + +1.14. "You" (or "Your") + means an individual or a legal entity exercising rights under this + License. For legal entities, "You" includes any entity that + controls, is controlled by, or is under common control with You. For + purposes of this definition, "control" means (a) the power, direct + or indirect, to cause the direction or management of such entity, + whether by contract or otherwise, or (b) ownership of more than + fifty percent (50%) of the outstanding shares or beneficial + ownership of such entity. + +2. License Grants and Conditions +-------------------------------- + +2.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, +non-exclusive license: + +(a) under intellectual property rights (other than patent or trademark) + Licensable by such Contributor to use, reproduce, make available, + modify, display, perform, distribute, and otherwise exploit its + Contributions, either on an unmodified basis, with Modifications, or + as part of a Larger Work; and + +(b) under Patent Claims of such Contributor to make, use, sell, offer + for sale, have made, import, and otherwise transfer either its + Contributions or its Contributor Version. + +2.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution +become effective for each Contribution on the date the Contributor first +distributes such Contribution. + +2.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under +this License. No additional rights or licenses will be implied from the +distribution or licensing of Covered Software under this License. +Notwithstanding Section 2.1(b) above, no patent license is granted by a +Contributor: + +(a) for any code that a Contributor has removed from Covered Software; + or + +(b) for infringements caused by: (i) Your and any other third party's + modifications of Covered Software, or (ii) the combination of its + Contributions with other software (except as part of its Contributor + Version); or + +(c) under Patent Claims infringed by Covered Software in the absence of + its Contributions. + +This License does not grant any rights in the trademarks, service marks, +or logos of any Contributor (except as may be necessary to comply with +the notice requirements in Section 3.4). + +2.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to +distribute the Covered Software under a subsequent version of this +License (see Section 10.2) or under the terms of a Secondary License (if +permitted under the terms of Section 3.3). + +2.5. Representation + +Each Contributor represents that the Contributor believes its +Contributions are its original creation(s) or it has sufficient rights +to grant the rights to its Contributions conveyed by this License. + +2.6. Fair Use + +This License is not intended to limit any rights You have under +applicable copyright doctrines of fair use, fair dealing, or other +equivalents. + +2.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted +in Section 2.1. + +3. Responsibilities +------------------- + +3.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any +Modifications that You create or to which You contribute, must be under +the terms of this License. You must inform recipients that the Source +Code Form of the Covered Software is governed by the terms of this +License, and how they can obtain a copy of this License. You may not +attempt to alter or restrict the recipients' rights in the Source Code +Form. + +3.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + +(a) such Covered Software must also be made available in Source Code + Form, as described in Section 3.1, and You must inform recipients of + the Executable Form how they can obtain a copy of such Source Code + Form by reasonable means in a timely manner, at a charge no more + than the cost of distribution to the recipient; and + +(b) You may distribute such Executable Form under the terms of this + License, or sublicense it under different terms, provided that the + license for the Executable Form does not attempt to limit or alter + the recipients' rights in the Source Code Form under this License. + +3.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, +provided that You also comply with the requirements of this License for +the Covered Software. If the Larger Work is a combination of Covered +Software with a work governed by one or more Secondary Licenses, and the +Covered Software is not Incompatible With Secondary Licenses, this +License permits You to additionally distribute such Covered Software +under the terms of such Secondary License(s), so that the recipient of +the Larger Work may, at their option, further distribute the Covered +Software under the terms of either this License or such Secondary +License(s). + +3.4. Notices + +You may not remove or alter the substance of any license notices +(including copyright notices, patent notices, disclaimers of warranty, +or limitations of liability) contained within the Source Code Form of +the Covered Software, except that You may alter any license notices to +the extent required to remedy known factual inaccuracies. + +3.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, +indemnity or liability obligations to one or more recipients of Covered +Software. However, You may do so only on Your own behalf, and not on +behalf of any Contributor. You must make it absolutely clear that any +such warranty, support, indemnity, or liability obligation is offered by +You alone, and You hereby agree to indemnify every Contributor for any +liability incurred by such Contributor as a result of warranty, support, +indemnity or liability terms You offer. You may include additional +disclaimers of warranty and limitations of liability specific to any +jurisdiction. + +4. Inability to Comply Due to Statute or Regulation +--------------------------------------------------- + +If it is impossible for You to comply with any of the terms of this +License with respect to some or all of the Covered Software due to +statute, judicial order, or regulation then You must: (a) comply with +the terms of this License to the maximum extent possible; and (b) +describe the limitations and the code they affect. Such description must +be placed in a text file included with all distributions of the Covered +Software under this License. Except to the extent prohibited by statute +or regulation, such description must be sufficiently detailed for a +recipient of ordinary skill to be able to understand it. + +5. Termination +-------------- + +5.1. The rights granted under this License will terminate automatically +if You fail to comply with any of its terms. However, if You become +compliant, then the rights granted under this License from a particular +Contributor are reinstated (a) provisionally, unless and until such +Contributor explicitly and finally terminates Your grants, and (b) on an +ongoing basis, if such Contributor fails to notify You of the +non-compliance by some reasonable means prior to 60 days after You have +come back into compliance. Moreover, Your grants from a particular +Contributor are reinstated on an ongoing basis if such Contributor +notifies You of the non-compliance by some reasonable means, this is the +first time You have received notice of non-compliance with this License +from such Contributor, and You become compliant prior to 30 days after +Your receipt of the notice. + +5.2. If You initiate litigation against any entity by asserting a patent +infringement claim (excluding declaratory judgment actions, +counter-claims, and cross-claims) alleging that a Contributor Version +directly or indirectly infringes any patent, then the rights granted to +You by any and all Contributors for the Covered Software under Section +2.1 of this License shall terminate. + +5.3. In the event of termination under Sections 5.1 or 5.2 above, all +end user license agreements (excluding distributors and resellers) which +have been validly granted by You or Your distributors under this License +prior to termination shall survive termination. + +************************************************************************ +* * +* 6. Disclaimer of Warranty * +* ------------------------- * +* * +* Covered Software is provided under this License on an "as is" * +* basis, without warranty of any kind, either expressed, implied, or * +* statutory, including, without limitation, warranties that the * +* Covered Software is free of defects, merchantable, fit for a * +* particular purpose or non-infringing. The entire risk as to the * +* quality and performance of the Covered Software is with You. * +* Should any Covered Software prove defective in any respect, You * +* (not any Contributor) assume the cost of any necessary servicing, * +* repair, or correction. This disclaimer of warranty constitutes an * +* essential part of this License. No use of any Covered Software is * +* authorized under this License except under this disclaimer. * +* * +************************************************************************ + +************************************************************************ +* * +* 7. Limitation of Liability * +* -------------------------- * +* * +* Under no circumstances and under no legal theory, whether tort * +* (including negligence), contract, or otherwise, shall any * +* Contributor, or anyone who distributes Covered Software as * +* permitted above, be liable to You for any direct, indirect, * +* special, incidental, or consequential damages of any character * +* including, without limitation, damages for lost profits, loss of * +* goodwill, work stoppage, computer failure or malfunction, or any * +* and all other commercial damages or losses, even if such party * +* shall have been informed of the possibility of such damages. This * +* limitation of liability shall not apply to liability for death or * +* personal injury resulting from such party's negligence to the * +* extent applicable law prohibits such limitation. Some * +* jurisdictions do not allow the exclusion or limitation of * +* incidental or consequential damages, so this exclusion and * +* limitation may not apply to You. * +* * +************************************************************************ + +8. Litigation +------------- + +Any litigation relating to this License may be brought only in the +courts of a jurisdiction where the defendant maintains its principal +place of business and such litigation shall be governed by laws of that +jurisdiction, without reference to its conflict-of-law provisions. +Nothing in this Section shall prevent a party's ability to bring +cross-claims or counter-claims. + +9. Miscellaneous +---------------- + +This License represents the complete agreement concerning the subject +matter hereof. If any provision of this License is held to be +unenforceable, such provision shall be reformed only to the extent +necessary to make it enforceable. Any law or regulation which provides +that the language of a contract shall be construed against the drafter +shall not be used to construe this License against a Contributor. + +10. Versions of the License +--------------------------- + +10.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section +10.3, no one other than the license steward has the right to modify or +publish new versions of this License. Each version will be given a +distinguishing version number. + +10.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version +of the License under which You originally received the Covered Software, +or under the terms of any subsequent version published by the license +steward. + +10.3. Modified Versions + +If you create software not governed by this License, and you want to +create a new license for such software, you may create and use a +modified version of this License if you rename the license and remove +any references to the name of the license steward (except to note that +such modified license differs from this License). + +10.4. Distributing Source Code Form that is Incompatible With Secondary +Licenses + +If You choose to distribute Source Code Form that is Incompatible With +Secondary Licenses under the terms of this version of the License, the +notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice +------------------------------------------- + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular +file, then You may include the notice in a location (such as a LICENSE +file in a relevant directory) where a recipient would be likely to look +for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - "Incompatible With Secondary Licenses" Notice +--------------------------------------------------------- + + This Source Code Form is "Incompatible With Secondary Licenses", as + defined by the Mozilla Public License, v. 2.0. diff --git a/gnss-service/api/gnss-ext.h b/gnss-service/api/gnss-ext.h new file mode 100644 index 0000000..18439e3 --- /dev/null +++ b/gnss-service/api/gnss-ext.h @@ -0,0 +1,488 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup GNSSService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_GNSS_EXT +#define INCLUDE_GENIVI_GNSS_EXT + +#include "gnss-meta-data.h" +#include <stdint.h> +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * 3 dimensional distance used for description of geometric descriptions within the vehicle reference system. + */ +typedef struct { + float x; /**< Distance in x direction in [m] according to the reference coordinate system. */ + float y; /**< Distance in y direction in [m] according to the reference coordinate system. */ + float z; /**< Distance in z direction in [m] according to the reference coordinate system. */ +} TGNSSDistance3D; + +/** + * TGNSSAccuracy::validityBits provides information about the currently valid signals of the GNSS accuracy data. + * It is a or'ed bitmask of the EGNSSAccuracyValidityBits values. + */ +typedef enum { + GNSS_ACCURACY_PDOP_VALID = 0x00000001, /**< Validity bit for field TGNSSAccuracy::pdop. */ + GNSS_ACCURACY_HDOP_VALID = 0x00000002, /**< Validity bit for field TGNSSAccuracy::hdop. */ + GNSS_ACCURACY_VDOP_VALID = 0x00000004, /**< Validity bit for field TGNSSAccuracy::vdop. */ + GNSS_ACCURACY_USAT_VALID = 0x00000008, /**< Validity bit for field TGNSSAccuracy::usedSatellites. */ + GNSS_ACCURACY_TSAT_VALID = 0x00000010, /**< Validity bit for field TGNSSAccuracy::trackedSatellites. */ + GNSS_ACCURACY_VSAT_VALID = 0x00000020, /**< Validity bit for field TGNSSAccuracy::visibleSatellites. */ + GNSS_ACCURACY_SLAT_VALID = 0x00000040, /**< Validity bit for field TGNSSAccuracy::sigmaLatitude. */ + GNSS_ACCURACY_SLON_VALID = 0x00000080, /**< Validity bit for field TGNSSAccuracy::sigmaLongitude. */ + GNSS_ACCURACY_SALT_VALID = 0x00000100, /**< Validity bit for field TGNSSAccuracy::sigmaAltitude. */ + GNSS_ACCURACY_STAT_VALID = 0x00000200, /**< Validity bit for field TGNSSAccuracy::fixStatus. */ + GNSS_ACCURACY_TYPE_VALID = 0x00000400, /**< Validity bit for field TGNSSAccuracy::fixTypeBits. */ +} EGNSSAccuracyValidityBits; + +/** + * Description of the fix status of the GNSS reveiver. + */ +typedef enum { + GNSS_FIX_STATUS_NO, /**< GNSS has no fix, i.e. position, velocity, time cannot be determined */ + GNSS_FIX_STATUS_2D, /**< GNSS has a 2D fix, i.e. the horizontal position can be determined but not the altitude. + This implies that also velocity and time are available. */ + GNSS_FIX_STATUS_3D, /**< GNSS has a 3D fix, i.e. position can be determined including the altitude. + This implies that also velocity and time are available. */ + GNSS_FIX_STATUS_TIME /**< GNSS can only determine the time, but not position and velocity */ +} EGNSSFixStatus; + +/** + * TGNSSAccuracy::fixTypeBits provides GNSS Fix Type indication. + * I.e. it identifies the sources actually used for the GNSS calculation + * It is a or'ed bitmask of the EGNSSFixType values. + * The bit values have been grouped logically with gaps where future extensions can be foreseen + * Within one group, not all combinations make necessarily sense + * Between different groups, all combinations should make sense + */ +typedef enum { + //Information about the used satellite data + GNSS_FIX_TYPE_SINGLE_FREQUENCY = 0x00000001, /**< GNSS satellite data are received on a single frequency. + A typical example is GPS using only the C/A code on the L1 frequency. + It e.g. also applies to a combined GPS(L1)/Galileo(E1) fix since L1 and E1 share the same frequency. */ + GNSS_FIX_TYPE_MULTI_FREQUENCY = 0x00000002, /**< GNSS satellite data are received on a multiple frequencies. + This enables the receiver to correct frequency-dependent errors such as for ionospheric delays. + An example could be a GPS receiver receiving on the L1 and L2C band. */ + GNSS_FIX_TYPE_MULTI_CONSTELLATION = 0x00000004, /**< GNSS satellite data are received and used for the fix from more than one GNSS system. + For example, the fix could be calculated from GPS and GLONASS. + This is also possible for single frequency as several GNSS systems share the same frequencies. */ + //Information of improvement techniques based on the satellite signals + GNSS_FIX_TYPE_PPP = 0x00000010, /**< PPP = Precise Point Positioning + An improved precision is achieved without differential corrections. + This is possible even for single frequency receivers, e.g. by using carrier phase tracking */ + GNSS_FIX_TYPE_INTEGRITY_CHECKED = 0x00000020, /**< Additional integrity checks have been done to ensure the correctness of the fix. */ + //Information about used correction data + GNSS_FIX_TYPE_SBAS = 0x00001000, /**< SBAS = Satellite Based Augmentation System + Correction data from an SBAS system such as WAAS, EGNOS, ... are taken into account */ + GNSS_FIX_TYPE_DGNSS = 0x00002000, /**< DGNSS = Differential GNSS + Correction data from Differential GNSS is taken into account */ + GNSS_FIX_TYPE_RTK_FIXED = 0x00004000, /**< RTK = Real Time Kinematic + Correction data from a RTK fixed solution is taken into account */ + GNSS_FIX_TYPE_RTK_FLOAT = 0x00008000, /**< RTK = Real Time Kinematic + Correction data from a RTK floating solution is taken into account */ + //Information about position propagation + GNSS_FIX_TYPE_ESTIMATED = 0x00100000, /**< The position is propagated without additional sensor input */ + GNSS_FIX_TYPE_DEAD_RECKONING = 0x00200000, /**< The position is propagated supported with additional sensor input */ + //Information to identify artificial GNSS fixes + GNSS_FIX_TYPE_MANUAL = 0x10000000, /**< Position is set by manual input */ + GNSS_FIX_TYPE_SIMULATOR_MODE = 0x20000000, /**< Position is simulated */ +} EGNSSFixType; + +/** + * Accuracy and status information about the GNSS position. + * This data structure provides accuracy information. Either the directly from most GNSS receivers + * available DOP information or if available the error expressed in sigmas for the different axis. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the accuracy data. */ + float pdop; /**< The positional (3D) dilution of precision. */ + float hdop; /**< The horizontal (2D) dilution of precision. */ + float vdop; /**< The vertical (altitude) dilution of precision. */ + uint16_t usedSatellites; /**< Number of used satellites. */ + uint16_t trackedSatellites; /**< Number of tracked satellites. */ + uint16_t visibleSatellites; /**< Number of visible satellites. */ + float sigmaLatitude; /**< Standard error estimate of latitude in [m]. */ + float sigmaLongitude; /**< Standard error estimate of longitude in [m]. */ + float sigmaAltitude; /**< Standard error estimate of altitude in [m]. */ + EGNSSFixStatus fixStatus; /**< Value representing the GNSS mode. */ + uint32_t fixTypeBits; /**< Bit mask indicating the sources actually used for the GNSS calculation. + [bitwise or'ed @ref EGNSSFixType values]. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGNSSAccuracyValidityBits values]. + Must be checked before usage. */ +} TGNSSAccuracy; + +/** + * TGNSSCourse3D::validityBits provides information about the currently valid signals of the GNSS course 3D data. + * It is a or'ed bitmask of the EGNSSCourse3DValidityBits values. + */ +typedef enum { + GNSS_COURSE3D_SPEEDLAT_VALID = 0x00000001, /**< Validity bit for field TGNSSCourse3D::speedLatitude. */ + GNSS_COURSE3D_SPEEDLON_VALID = 0x00000002, /**< Validity bit for field TGNSSCourse3D::speedLongitude. */ + GNSS_COURSE3D_SPEEDALT_VALID = 0x00000004, /**< Validity bit for field TGNSSCourse3D::speedAltitude. */ +} EGNSSCourse3DValidityBits; + +/** + * Course 3D is an extension to the normal course information provided by the GNSS service. + * The course information is given for each axis seperately. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the accuracy data. */ + float speedLatitude; /**< Speed in direction of latitude in [m/s]. */ + float speedLongitude; /**< Speed in direction of longitude in [m/s]. */ + float speedAltitude; /**< Speed in direction of altitude in [m/s]. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGNSSCourse3DValidityBits values]. + Must be checked before usage. */ +} TGNSSCourse3D; + +/** + * Provides the UTC (Coordinated Universal Time) time part. + */ +typedef struct { + uint8_t hour; /**< Hour fraction of the UTC time. Unit: [hour] Number between 0 and 23 */ + uint8_t minute; /**< Minute fraction of the UTC time. Unit: [minutes] Number between 0 and 59 */ + uint8_t second; /**< Second fraction of the UTC time. Unit: [seconds] Number between 0 and 59. + In case of a leap second this value is 60. */ + uint16_t ms; /**< Millisecond fraction of the UTC time. Unit: [milliseconds] Number between 0 and 999 */ + bool valid; /**< Defines the validity of the complete structure. Must be checked before usage. */ +} TUTCTime; + +/** + * Provides the UTC (Coordinated Universal Time) date part. + */ +typedef struct { + uint8_t day; /**< Day fraction of the UTC time. Unit: [day]. Number between 1 and 31 */ + uint8_t month; /**< Month fraction of the UTC time. Unit: [month] Number betweeen 0 and 11 */ + uint16_t year; /**< Year fraction of the UTC time. Unit: [year] Number equivalent to the year */ + bool valid; /**< Defines the validity of the complete structure. Must be checked before usage. */ +} TUTCDate; + +/** + * Enumeration to describe the type of GNSS system to which a particular GNSS satellite belongs. + */ +typedef enum { + GNSS_SYSTEM_GPS = 1, /**< GPS */ + GNSS_SYSTEM_GLONASS = 2, /**< GLONASS */ + GNSS_SYSTEM_GALILEO = 3, /**< GALILEO */ + GNSS_SYSTEM_COMPASS = 4, /**< COMPASS / Bei Du */ + /* Numbers > 100 are used to identify SBAS (satellite based augmentation system) */ + GNSS_SYSTEM_SBAS_WAAS = 101, /**< WASS (North America) */ + GNSS_SYSTEM_SBAS_EGNOS = 102, /**< EGNOS (Europe) */ + GNSS_SYSTEM_SBAS_MSAS = 103, /**< MSAS (Japan) */ + GNSS_SYSTEM_SBAS_QZSS_SAIF = 104, /**< QZSS-SAIF (Japan) */ + GNSS_SYSTEM_SBAS_SDCM = 105, /**< SDCM (Russia) */ + GNSS_SYSTEM_SBAS_GAGAN = 106, /**< GAGAN (India) */ +} EGNSSSystem; + +/** + * TGNSSSatelliteDetail::statusBits provides additional status information about a GNSS satellite. + * It is a or'ed bitmask of the EGNSSSatelliteFlag values. + */ +typedef enum { + GNSS_SATELLITE_USED = 0x00000001, /**< Bit is set when satellite is used for fix. */ + GNSS_SATELLITE_EPHEMERIS_AVAILABLE = 0x00000002, /**< Bit is set when ephemeris is available for this satellite. */ +} EGNSSSatelliteFlag; + +/** + * TGNSSSatelliteDetail::validityBits provides information about the currently valid values of GNSS satellite data. + * It is a or'ed bitmask of the EGNSSSatelliteDetailValidityBits values. + */ +typedef enum { + GNSS_SATELLITE_SYSTEM_VALID = 0x00000001, /**< Validity bit for field TGNSSSatelliteDetail::system. */ + GNSS_SATELLITE_ID_VALID = 0x00000002, /**< Validity bit for field TGNSSSatelliteDetail::satelliteId. */ + GNSS_SATELLITE_AZIMUTH_VALID = 0x00000004, /**< Validity bit for field TGNSSSatelliteDetail::azimuth. */ + GNSS_SATELLITE_ELEVATION_VALIDLID = 0x00000008, /**< Validity bit for field TGNSSSatelliteDetail::elevation. */ + GNSS_SATELLITE_SNR_VALID = 0x00000010, /**< Validity bit for field TGNSSSatelliteDetail::SNR. */ + GNSS_SATELLITE_USED_VALID = 0x00000020, /**< Validity bit for field TGNSSSatelliteDetail::statusBits::GNSS_SATELLITE_USED. */ + GNSS_SATELLITE_EPHEMERIS_AVAILABLE_VALID = 0x00000040, /**< Validity bit for field TGNSSSatelliteDetail::statusBits::GNSS_SATELLITE_EPHEMERIS_AVAILABLE. */ +} EGNSSSatelliteDetailValidityBits; + +/** + * Detailed data from one GNSS satellite. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the satellite detail data. */ + EGNSSSystem system; /**< Value representing the GNSS system. */ + uint16_t satelliteId; /**< Satellite ID. See also https://collab.genivi.org/issues/browse/GT-2299 + Numbering scheme 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 + */ + uint16_t azimuth; /**< Satellite Azimuth in degrees. Value range 0..359 */ + uint16_t elevation; /**< Satellite Elevation in degrees. Value range 0..90 */ + uint16_t SNR; /**< SNR (C/No) in dBHz. Range 0 to 99, null when not tracking */ + uint32_t statusBits; /**< Bit mask of additional status flags. + [bitwise or'ed @ref EGNSSSatelliteFlag values]. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGNSSSatelliteDetailValidityBits values]. + Must be checked before usage. */ +} TGNSSSatelliteDetail; + +/** + * Callback type for extended GNSS accuracy. + * Use this type of callback if you want to register for extended GNSS accuracy data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param accuracy pointer to an array of TGNSSAccuracy with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GNSSAccuracyCallback)(const TGNSSAccuracy accuracy[], uint16_t numElements); + +/** + * Callback type for extended GNSS 3D course. + * Use this type of callback if you want to register for extended GNSS 3D course data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param course pointer to an array of TGNSSCourse3D with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GNSSCourse3DCallback)(const TGNSSCourse3D course[], uint16_t numElements); + +/** + * Callback type for extended GNSS UTC time. + * Use this type of callback if you want to register for extended GNSS UTC time data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param time pointer to an array of TUTCTime with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GNSSUTCTimeCallback)(const TUTCTime time[], uint16_t numElements); + +/** + * Callback type for extended GNSS UTC date. + * Use this type of callback if you want to register for extended + * GNSS UTC date and the GNSS UTC time data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param date pointer to an array of TUTCDate with size numElements + * @param time pointer to an array of TUTCTime with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GNSSUTCDateCallback)(const TUTCDate date[], const TUTCTime time[], uint16_t numElements); + +/** + * Callback type for GNSS satellite details. + * Use this type of callback if you want to register for GNSS satellite detail data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param time pointer to an array of TGNSSSatelliteDetail with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GNSSSatelliteDetailCallback)(const TGNSSSatelliteDetail satelliteDetail[], uint16_t numElements); + +/** + * Initialization of the extended GNSS service. + * Must be called before using the extended GNSS service to set up the service. + * @return True if initialization has been successfull. + */ +bool gnssExtendedInit(); + +/** + * Destroy the extended GNSS service. + * Must be called after using the extended GNSS service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool gnssExtendedDestroy(); + +/** + * Provide meta information about extended GNSS service. + * The meta data of a service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool gnssExtendedGetMetaData(TGnssMetaData *data); + +/** + * Accessing static configuration information about the antenna position. + * @param distance After calling the method the currently available antenna configuration data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + * + * Static configuration data for the extended GNSS service. + * The reference point mentioned in the vehicle configuration lies underneath the center of the rear axle on the surface of the road. + * The reference coordinate system is the car reference system as provided in the documentation. + * See https://collab.genivi.org/wiki/display/genivi/LBSSensorServiceRequirementsBorg#LBSSensorServiceRequirementsBorg-ReferenceSystem + */ +bool gnssExtendedGetAntennaPosition(TGNSSDistance3D *distance); + +/** + * Method to get the accuracy data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param accuracy After calling the method the currently available GNSS accuracy data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssExtendedGetAccuracy(TGNSSAccuracy *accuracy); + +/** + * Register GNSS accuracy callback. + * This is the recommended method for continuously accessing the accuracy data. + * The callback will be invoked when new accuracy data is available from the GNSS receiver. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool gnssExtendedRegisterAccuracyCallback(GNSSAccuracyCallback callback); + +/** + * Deregister extended GNSS accuracy callback. + * After calling this method no new GNSS accuracy data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool gnssExtendedDeregisterAccuracyCallback(GNSSAccuracyCallback callback); + +/** + * Method to get the extended 3D course data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param course After calling the method the currently available GNSS 3D course data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssExtendedGet3DCourse(TGNSSCourse3D *course); + +/** + * Register extended GNSS 3D course callback. + * This is the recommended method for continuously accessing the 3D course data. + * The callback will be invoked when new course data is available from the GNSS receiver. + * It is intended to extend the GNSS course information by data split into each axis. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool gnssExtendedRegister3DCourseCallback(GNSSCourse3DCallback callback); + +/** + * Deregister extended GNSS 3D course callback. + * After calling this method no new GNSS 3D course data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool gnssExtendedDeregister3DCourseCallback(GNSSCourse3DCallback callback); + +/** + * Method to get the UTC Time data of the GNSS receiver at a specific point in time. + * The valid flag is updated. The data is only guaranteed to be updated when the valid flag is true. + * @param time After calling the method the current GNSS UTC time is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssExtendedGetUTCTime(TUTCTime *time); + +/** + * Register extended GNSS UTC time callback. + * The callback will be invoked when new time data is available from the GNSS receiver. + * The valid flags is updated. The data is only guaranteed to be updated when the valid flag is true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool gnssExtendedRegisterUTCTimeCallback(GNSSUTCTimeCallback callback); + +/** + * Deregister extended GNSS UTC time callback. + * After calling this method no new time will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool gnssExtendedDeregisterUTCTimeCallback(GNSSUTCTimeCallback callback); + +/** + * Method to get the UTC date of the GNSS receiver at a specific point in time. + * The valid flag is updated. The data is only guaranteed to be updated when the valid flag is true. + * @param date After calling the method the current GNSS UTC date is written into this parameter. + * @param time After calling the method the current GNSS UTC time is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssExtendedGetUTCDate(TUTCDate *date, TUTCTime *time); + +/** + * Register extended GNSS UTC date callback. + * The callback will be invoked when new date data is available from the GNSS receiver. + * The valid flags is updated. The data is only guaranteed to be updated when the valid flag is true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool gnssExtendedRegisterUTCDateCallback(GNSSUTCDateCallback callback); + +/** + * Deregister extended GNSS UTC date callback. + * After calling this method no new date will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool gnssExtendedDeregisterUTCDateCallback(GNSSUTCDateCallback callback); + +/** + * Method to get the GNSS satellite details at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flag is true. + * @param satelliteDetails After calling the method current GNSS satellite details are written into this array with size count. + * @param count Number of elements of the array *satelliteDetails. This should be at least TGnssMetaData::numChannels. + * @param numSatelliteDetails Number of elements written to the array *satelliteDetails. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssExtendedGetSatelliteDetails(TGNSSSatelliteDetail* satelliteDetails, uint16_t count, uint16_t* numSatelliteDetails); + +/** + * Register GNSS satellite detail callback. + * The callback will be invoked when new date data is available from the GNSS receiver. + * The valid flags is updated. The data is only guaranteed to be updated when the valid flag is true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool gnssExtendedRegisterSatelliteDetailCallback(GNSSSatelliteDetailCallback callback); + +/** + * Deregister GNSS satellite detail callback. + * After calling this method no new data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool gnssExtendedDeregisterSatelliteDetailCallback(GNSSSatelliteDetailCallback callback); + +/** + * Provides the precision timing information as signaled by the GNSS PPS signal. + * For accurate timing the 1 PPS (pulse per second) signal from the GNSS receiver is used within the positioning framework. + * The PPS is a hardware signal which is a UTC synchronized pulse. + * The duration between the pulses is 1s +/- 40ns and the duration of the pulse is configurable (about 100-200ms). + * The PPS signal can be provided in the positioning framework as an interrupt service routine and this method provides the access + * to the delta from UTC to system time. + * If you really need precision timing you have to have the system time set within a range of +/-2s of UTC. + * @param delta The result is provided in this parameter in nanoseconds. It gives the deviation of the system time (+/-) in respect to the PPS pulse and UTC. + * If the deviation is is greater than a value that can be represented with 32 Bits (i.e. more or less than about 2s) the + * maximum values are written to this parameter and the return value will be false. + * @return True if the precision timing is available and fits in the range which can be represented by the delta parameter. + */ +bool gnssExtendedGetPrecisionTimingOffset(int32_t *delta); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_SNS_GNSS_EXT */ diff --git a/gnss-service/api/gnss-meta-data.h b/gnss-service/api/gnss-meta-data.h new file mode 100644 index 0000000..b1a57e2 --- /dev/null +++ b/gnss-service/api/gnss-meta-data.h @@ -0,0 +1,76 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup GNSSService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + + +#ifndef INCLUDE_GNSS_METADATA +#define INCLUDE_GNSS_METADATA + +#include <stdint.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * The GNSS category introduces the concept that sensor information can also be derived information + * computed by combining several signals. + */ +typedef enum { + GNSS_CATEGORY_UNKNOWN, /**< Unknown category. Should not be used. */ + GNSS_CATEGORY_LOGICAL, /**< A logical GNSS service can combine the signal of a GNSS receiver with additional sources. */ + GNSS_CATEGORY_PHYSICAL /**< A physical GNSS service, i.e. a stand-alone GNSS receiver. */ +} EGnssCategory; + +/** + * TGnssMetaData:typeBits provides information about the sources used for the GNSS calculation + * It is a or'ed bitmask of the EGnssTypeBits values. + */ +typedef enum { + GNSS_TYPE_GNSS = 0x00000001, /**< GNSS receiver. Should always be set. */ + GNSS_TYPE_ASSISTED = 0x00000002, /**< GNSS receiver with support for Assisted GNSS. E.g. ephemeris or clock data can be provided over network for faster TTFF */ + GNSS_TYPE_SBAS = 0x00000004, /**< GNSS receiver with support for SBAS (satellite based augmentation system), such as WAAS, EGNOS, ... */ + GNSS_TYPE_DGPS = 0x00000008, /**< GNSS receiver with support for differential GPS */ + GNSS_TYPE_DR = 0x00000010, /**< GNSS receiver with built in dead reckoning sensor fusion */ +} EGnssTypeBits; + + +/** + * The software platform provides the following information about the GNSS output signals. + * GNSS clients need the meta data information in order to correctly handle data provided by GNSS service and + * to adapt to the variation in the signal data delivery. + */ +typedef struct { + uint32_t version; /**< Version of the GNSS service. */ + EGnssCategory category; /**< GNSS Category (Physical/Logical). */ + uint32_t typeBits; /**< GNSS Type: combination of bits defined in @ref EGnssTypeBits. */ + uint32_t cycleTime; /**< GNSS cycle time (update interval) in ms. 0 for irregular updates */ + uint16_t numChannels; /**< Number of GNSS receiver channels for satellite signal reception. */ +} TGnssMetaData; + +/** + * Retrieve the metadata of all available GNSS sensors. + * @param returns a a pointer an array of TGnssMetaData (maybe NULL if no metadata is available) + * @return number of elements in the array of TGnssMetaData + */ +int32_t getGnssMetaDataList(const TGnssMetaData** metadata); + + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GNSS_METADATA */ diff --git a/gnss-service/api/gnss-simple.h b/gnss-service/api/gnss-simple.h new file mode 100644 index 0000000..c82d250 --- /dev/null +++ b/gnss-service/api/gnss-simple.h @@ -0,0 +1,211 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup GNSSService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_GNSS_SIMPLE +#define INCLUDE_GENIVI_GNSS_SIMPLE + +#include "gnss-meta-data.h" +#include <stdint.h> +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Reference level for the GNSS altitude. + */ +typedef enum { + GNSS_ALTITUDE_UNKNOWN = 0, /**< Reference level is unknown. */ + GNSS_ALTITUDE_ELLIPSOIDE = 1, /**< Reference level is the WGS-84 ellopsoid. */ + GNSS_ALTITUDE_ABOVE_MEAN_SEA_LEVEL = 2 /**< Reference level is the geoid (mean sea level). */ +} EGNSSAltitudeType; + +/** + * TGNSSSimpleConfiguration::validityBits provides information about the currently valid values of GNSS configuration data. + * It is a or'ed bitmask of the EGNSSSimpleConfigurationValidityBits values. + */ +typedef enum { + GNSS_SIMPLE_CONFIG_ALTITUDE_TYPE_VALID = 0x00000001 /**< Validity bit for field TGNSSSimpleConfiguration::typeOfAltitude. */ +} EGNSSSimpleConfigurationValidityBits; + +/** + * GNSS Simple Configuration Data. + */ +typedef struct { + EGNSSAltitudeType altitudeType; /**< Reference level for the GNSS altitude. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGNSSSimpleConfigurationValidityBits values]. + Must be checked before usage. */ +} TGNSSSimpleConfiguration; + +/** + * TGNSSPosition::validityBits provides information about the currently valid signals of the GNSS position data. + * It is a or'ed bitmask of the EGNSSPositionValidityBits values. + */ +typedef enum { + GNSS_POSITION_LATITUDE_VALID = 0x00000001, /**< Validity bit for field TGNSSPosition::latitude. */ + GNSS_POSITION_LONGITUDE_VALID = 0x00000002, /**< Validity bit for field TGNSSPosition::longitude. */ + GNSS_POSITION_ALTITUDE_VALID = 0x00000004, /**< Validity bit for field TGNSSPosition::altitude. */ +} EGNSSPositionValidityBits; + +/** + * Main position information. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the position data. [ms] */ + double latitude; /**< Latitude in WGS84 in degrees. */ + double longitude; /**< Longitude in WGS84 in degrees. */ + float altitude; /**< Altitude in [m]. See TGNSSSimpleConfiguration.typeOfAltitude for reference level (ellipsoid or MSL). */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGNSSPositionValidityBits values]. + Must be checked before usage. */ +} TGNSSPosition; + +/** + * TGNSSCourse::validityBits provides information about the currently valid signals of the GNSS course data. + * It is a or'ed bitmask of the EGNSSCourseValidityBits values. + */ +typedef enum { + GNSS_COURSE_SPEED_VALID = 0x00000001, /**< Validity bit for field TGNSSCourse::speed. */ + GNSS_COURSE_CLIMB_VALID = 0x00000002, /**< Validity bit for field TGNSSCourse::climb. */ + GNSS_COURSE_HEADING_VALID = 0x00000004, /**< Validity bit for field TGNSSCourse::heading. */ +} EGNSSCourseValidityBits; + +/** + * GNSS course provides information about the currently course of the receiver. + * There is an extended service providing the speed for each axis seperately in GNSS-Extended. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the GNSS course signal in [ms]. + To enable an accurate DR filtering a defined clock has to be used. */ + float speed; /**< Speed measured by the GPS receiver [m/s]. */ + float climb; /**< Incline / decline in degrees [degree]. */ + float heading; /**< GNSS course angle [degree] (0 => north, 90 => east, 180 => south, 270 => west, no negative values). */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGNSSCourseValidityBits values]. + Must be checked before usage. */ +} TGNSSCourse; + +/** + * Callback type for GNSS position. + * Use this type of callback if you want to register for GNSS position data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param pos pointer to an array of TGNSSPosition with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GNSSPositionCallback)(const TGNSSPosition pos[], uint16_t numElements); + +/** + * Callback type for GNSS course. + * Use this type of callback if you want to register for GNSS course data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param course pointer to an array of TGNSSCourse with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GNSSCourseCallback)(const TGNSSCourse course[], uint16_t numElements); + +/** + * Initialization of the GNSS service. + * Must be called before using the GNSS service to set up the service. + * @return True if initialization has been successfull. + */ +bool gnssSimpleInit(); + +/** + * Destroy the GNSS service. + * Must be called after using the GNSS service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool gnssSimpleDestroy(); + +/** + * Accessing static configuration information about the GNSS sensor. + * @param gnssConfig After calling the method the currently available GNSS configuration data is written into gnssConfig. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssSimpleGetConfiguration(TGNSSSimpleConfiguration* gnssConfig); + +/** + * Provide meta information about GNSS service. + * The meta data of a service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool gnssSimpleGetMetaData(TGnssMetaData *data); + +/** + * Method to get the GNSS position data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param pos After calling the method the currently available position data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssSimpleGetPosition(TGNSSPosition* pos); + +/** + * Register GNSS position callback. + * The callback will be invoked when new position data is available from the GNSS receiver. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool gnssSimpleRegisterPositionCallback(GNSSPositionCallback callback); + +/** + * Deregister GNSS Position callback. + * After calling this method no new GNSS position data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool gnssSimpleDeregisterPositionCallback(GNSSPositionCallback callback); + +/** + * Method to get the GNSS course data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param course After calling the method the currently available position data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool gnssSimpleGetCourse(TGNSSCourse* course); + +/** + * Register GNSS course callback. + * The callback will be invoked when new course data is available from the GNSS receiver. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool gnssSimpleRegisterCourseCallback(GNSSCourseCallback callback); + +/** + * Deregister GNSS course callback. + * After calling this method no new GNSS course data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool gnssSimpleDeregisterCourseCallback(GNSSCourseCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_GNSS_SIMPLE */ diff --git a/gnss-service/api/gnss.h b/gnss-service/api/gnss.h new file mode 100644 index 0000000..d42d3f2 --- /dev/null +++ b/gnss-service/api/gnss.h @@ -0,0 +1,62 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup GNSSService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_GNSS +#define INCLUDE_GENIVI_GNSS + +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + + +// API Version +#define GENIVI_GNSS_API_MAJOR 2 +#define GENIVI_GNSS_API_MINOR 0 +#define GENIVI_GNSS_API_MICRO 0 + +/** + * Initialization of the GNSS service. + * Must be called before using the GNSS service to set up the service. + * @return True if initialization has been successfull. + */ +bool gnssInit(); + +/** + * Destroy the GNSS service. + * Must be called after using the GNSS service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool gnssDestroy(); + +/** + * GNSS services version information. + * This information is for the GNSS services system structure. + * The version information for each specific GNSS component can be obtained via the metadata. + * @param major Major version number. Changes in this number are used for incompatible API change. + * @param minor Minor version number. Changes in this number are used for compatible API change. + * @param micro Micro version number. Changes in this number are used for minor changes. + */ +void gnssGetVersion(int *major, int *minor, int *micro); + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/gnss-service/doc/GNSSServiceAPI.pdf b/gnss-service/doc/GNSSServiceAPI.pdf Binary files differnew file mode 100644 index 0000000..e2c5f8b --- /dev/null +++ b/gnss-service/doc/GNSSServiceAPI.pdf diff --git a/gnss-service/doc/TestPlan.txt b/gnss-service/doc/TestPlan.txt new file mode 100644 index 0000000..d31db3c --- /dev/null +++ b/gnss-service/doc/TestPlan.txt @@ -0,0 +1,21 @@ +/************************************************************************** + * Component Name: GNSSService + * Compliance Level: Abstract Component + * File: TestPlan.txt + * This document describes how to test the Abstract Component GNSSService. + * It is an artifact required by the GENIVI release process + * and is a prerequisite for the standardization of GENIVI interfaces + **************************************************************************/ + +In order to test the GNSSService you just need to run the test script +'run-test.sh' with the parameter 'gnss' and then wait 10 s until the test is completed. + +The script starts the gnss-service-client application followed by the log-replayer +application: + +Example: + +run-test.sh gnss + + + diff --git a/gnss-service/doc/tools/Doxyfile b/gnss-service/doc/tools/Doxyfile new file mode 100644 index 0000000..9065171 --- /dev/null +++ b/gnss-service/doc/tools/Doxyfile @@ -0,0 +1,1630 @@ +# Doxyfile 1.7.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = "GNSSService" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = ./generated + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = NO + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen to replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penality. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will rougly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols + +SYMBOL_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespace are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command <command> <input-file>, where <command> is the value of +# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = ../../api . + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 + +FILE_PATTERNS = *.h + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = *.c + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command <filter> <input-file>, where <filter> +# is the value of the INPUT_FILTER tag, and <input-file> is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the stylesheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters"> +# Qt Help Project / Custom Filters</a>. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes"> +# Qt Help Project / Filter Attributes</a>. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvances is that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = YES + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = YES + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = YES + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# in the INCLUDE_PATH (see below) will be search if a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all function-like macros that are alone +# on a line, have an all uppercase name, and do not end with a semicolon. Such +# function macros are typically used for boiler-plate code, and will confuse +# the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. 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+\rtlch\fcs1 \ab\af0\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink18 \sqformat heading 4;}{
+\s5\ql \fi-1008\li1008\ri0\sb240\sa60\nowidctlpar\wrapdefault\faauto\ls1\ilvl4\outlinelevel4\rin0\lin1008\itap0 \rtlch\fcs1 \ab\ai\af0\afs26\alang1025 \ltrch\fcs0 \b\i\fs26\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031
+\sbasedon0 \snext0 \slink19 \sqformat heading 5;}{\s6\ql \fi-1152\li1152\ri0\sb240\sa60\nowidctlpar\wrapdefault\faauto\ls1\ilvl5\outlinelevel5\rin0\lin1152\itap0 \rtlch\fcs1 \ab\af0\afs22\alang1025 \ltrch\fcs0
+\b\fs22\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink20 \sqformat heading 6;}{\s7\ql \fi-1296\li1296\ri0\sb240\sa60\nowidctlpar\wrapdefault\faauto\ls1\ilvl6\outlinelevel6\rin0\lin1296\itap0
+\rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink21 \sqformat heading 7;}{
+\s8\ql \fi-1440\li1440\ri0\sb240\sa60\nowidctlpar\wrapdefault\faauto\ls1\ilvl7\outlinelevel7\rin0\lin1440\itap0 \rtlch\fcs1 \ai\af0\afs24\alang1025 \ltrch\fcs0 \i\fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031
+\sbasedon0 \snext0 \slink22 \sqformat heading 8;}{\s9\ql \fi-1584\li1584\ri0\sb240\sa60\nowidctlpar\wrapdefault\faauto\ls1\ilvl8\outlinelevel8\rin0\lin1584\itap0 \rtlch\fcs1 \af1\afs22\alang1025 \ltrch\fcs0
+\fs22\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink23 \sqformat heading 9;}{\*\cs10 \additive Default Paragraph Font;}{\*
+\ts11\tsrowd\trftsWidthB3\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind0\tblindtype3\tscellwidthfts0\tsvertalt\tsbrdrt\tsbrdrl\tsbrdrb\tsbrdrr\tsbrdrdgl\tsbrdrdgr\tsbrdrh\tsbrdrv \ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs22\alang1025 \ltrch\fcs0 \fs22\lang1031\langfe1031\loch\f31506\hich\af31506\dbch\af31505\cgrid\langnp1031\langfenp1031
+\snext11 \ssemihidden \sunhideused \sqformat Normal Table;}{\*\cs15 \additive \rtlch\fcs1 \ab\af36\afs32 \ltrch\fcs0 \b\f36\fs32 \sbasedon10 \slink1 \slocked \'dcberschrift 1 Zchn;}{\*\cs16 \additive \rtlch\fcs1 \ab\ai\af1\afs28 \ltrch\fcs0 \b\i\f1\fs28
+\sbasedon10 \slink2 \slocked \'dcberschrift 2 Zchn;}{\*\cs17 \additive \rtlch\fcs1 \ab\af36\afs26 \ltrch\fcs0 \b\f36\fs26 \sbasedon10 \slink3 \slocked \'dcberschrift 3 Zchn;}{\*\cs18 \additive \rtlch\fcs1 \ab\af0\afs28 \ltrch\fcs0 \b\fs28
+\sbasedon10 \slink4 \slocked \'dcberschrift 4 Zchn;}{\*\cs19 \additive \rtlch\fcs1 \ab\ai\af0\afs26 \ltrch\fcs0 \b\i\fs26 \sbasedon10 \slink5 \slocked \'dcberschrift 5 Zchn;}{\*\cs20 \additive \rtlch\fcs1 \ab\af0 \ltrch\fcs0 \b
+\sbasedon10 \slink6 \slocked \'dcberschrift 6 Zchn;}{\*\cs21 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink7 \slocked \'dcberschrift 7 Zchn;}{\*\cs22 \additive \rtlch\fcs1 \ai\af0 \ltrch\fcs0 \i \sbasedon10 \slink8 \slocked
+\'dcberschrift 8 Zchn;}{\*\cs23 \additive \rtlch\fcs1 \af36 \ltrch\fcs0 \f36 \sbasedon10 \slink9 \slocked \'dcberschrift 9 Zchn;}{\*\cs24 \additive \f3 WW8Num1z0;}{\*\cs25 \additive \f2 WW8Num1z2;}{\*\cs26 \additive \f10 WW8Num1z3;}{\*\cs27 \additive \f3
+WW8Num4z0;}{\*\cs28 \additive \f1 WW8Num4z1;}{\*\cs29 \additive \f3 WW8Num5z0;}{\*\cs30 \additive \f1 WW8Num5z1;}{\*\cs31 \additive \f3 WW8Num6z0;}{\*\cs32 \additive \f1 WW8Num6z1;}{\*\cs33 \additive \f3 WW8Num8z0;}{\*\cs34 \additive \f1 WW8Num8z1;}{\*
+\cs35 \additive \f3 WW8Num9z0;}{\*\cs36 \additive \f1 WW8Num9z1;}{\*\cs37 \additive \f3 WW8Num10z0;}{\*\cs38 \additive \f1 WW8Num10z1;}{\*\cs39 \additive \f3 WW8Num11z0;}{\*\cs40 \additive \f1 WW8Num11z1;}{\*\cs41 \additive \f3 WW8Num12z0;}{\*\cs42
+\additive \f1 WW8Num12z1;}{\*\cs43 \additive \f10 WW8Num12z2;}{\*\cs44 \additive \f3 WW8Num13z0;}{\*\cs45 \additive \f2 WW8Num13z1;}{\*\cs46 \additive \f10 WW8Num13z2;}{\*\cs47 \additive \f3 WW8Num14z0;}{\*\cs48 \additive \f2 WW8Num14z1;}{\*\cs49
+\additive \f10 WW8Num14z2;}{\*\cs50 \additive \f3 WW8Num17z0;}{\*\cs51 \additive \f2 WW8Num17z1;}{\*\cs52 \additive \f10 WW8Num17z2;}{\*\cs53 \additive \f3 WW8Num18z0;}{\*\cs54 \additive \f2 WW8Num18z1;}{\*\cs55 \additive \f10 WW8Num18z2;}{\*\cs56
+\additive \f3 WW8Num20z0;}{\*\cs57 \additive \f2 WW8Num20z1;}{\*\cs58 \additive \f10 WW8Num20z2;}{\*\cs59 \additive \f3 WW8Num21z0;}{\*\cs60 \additive \f2 WW8Num21z1;}{\*\cs61 \additive \f10 WW8Num21z2;}{\*\cs62 \additive \f3 WW8Num22z0;}{\*\cs63
+\additive \f2 WW8Num22z1;}{\*\cs64 \additive \f10 WW8Num22z2;}{\*\cs65 \additive \f3 WW8Num23z0;}{\*\cs66 \additive \f2 WW8Num23z1;}{\*\cs67 \additive \f10 WW8Num23z2;}{\*\cs68 \additive \f3 WW8Num3z0;}{\*\cs69 \additive \f1 WW8Num3z1;}{\*\cs70 \additive
+\f3 WW8Num7z0;}{\*\cs71 \additive \f1 WW8Num7z1;}{\*\cs72 \additive Absatz-Standardschriftart1;}{\*\cs73 \additive WW-Absatz-Standardschriftart;}{\*\cs74 \additive WW-Absatz-Standardschriftart1;}{\*\cs75 \additive WW-Absatz-Standardschriftart11;}{\*\cs76
+\additive WW-Absatz-Standardschriftart111;}{\*\cs77 \additive WW-Absatz-Standardschriftart1111;}{\*\cs78 \additive Numbering Symbols;}{\*\cs79 \additive \rtlch\fcs1 \ab\af0\afs20 \ltrch\fcs0 \b\fs20\cf1 \sbasedon10 \sqformat Strong;}{\*\cs80 \additive
+\f1 Bullets;}{\*\cs81 \additive \rtlch\fcs1 \af0\afs20 \ltrch\fcs0 \fs20\ul\cf2 \sbasedon10 Hyperlink;}{\*\cs82 \additive \f38\fs14 Char1;}{\*\cs83 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 line number;}{\*\cs84 \additive \b\f1\fs40 Char;}{\*
+\cs85 \additive emphasis;}{\s86\ql \li0\ri0\sb240\sa120\keepn\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs28\alang1025 \ltrch\fcs0 \fs28\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext87
+Heading;}{\s87\ql \li0\ri0\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext87 \slink88 Body Text;}{\*
+\cs88 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink87 \slocked Textk\'f6rper Zchn;}{\s89\ql \li0\ri0\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0
+\fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext89 List;}{\s90\ql \li0\ri0\sb120\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \ai\af0\afs24\alang1025 \ltrch\fcs0
+\i\fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext90 \sqformat caption;}{\s91\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0
+\fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext91 Index;}{\s92\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0
+\fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext92 \slink93 footer;}{\*\cs93 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink92 \slocked Fu\'dfzeile Zchn;}{
+\s94\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext94 Table Contents;}{
+\s95\qc \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \ab\af0\afs24\alang1025 \ltrch\fcs0 \b\fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext95 Table Heading;}{
+\s96\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext96 \slink97 header;}{\*\cs97 \additive
+\rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink96 \slocked Kopfzeile Zchn;}{\s98\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af38\afs16\alang1025 \ltrch\fcs0
+\fs16\lang1031\langfe1031\loch\f38\hich\af38\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext98 \slink99 Balloon Text;}{\*\cs99 \additive \rtlch\fcs1 \af38\afs16 \ltrch\fcs0 \f38\fs16 \sbasedon10 \slink98 \slocked Sprechblasentext Zchn;}{
+\s100\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \spriority39 toc 1;}{
+\s101\ql \li240\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin240\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \spriority39 toc 2;}{
+\s102\ql \li0\ri0\sb120\sa120\keep\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext102 Body;}{
+\s103\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext103 Subtitle Text;}{
+\s104\ql \li0\ri0\sa240\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext104 Title Page Text;}{
+\s105\ql \li0\ri0\sb60\sa60\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \ab\af1\afs40\alang1025 \ltrch\fcs0 \b\fs40\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext107 \slink106 \sqformat
+Title;}{\*\cs106 \additive \rtlch\fcs1 \ab\af36\afs32 \ltrch\fcs0 \b\f36\fs32 \sbasedon10 \slink105 \slocked Titel Zchn;}{\s107\qc \li0\ri0\sb240\sa120\keepn\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \ai\af1\afs28\alang1025 \ltrch\fcs0
+\i\fs28\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext87 \slink108 \sqformat Subtitle;}{\*\cs108 \additive \rtlch\fcs1 \af36 \ltrch\fcs0 \f36 \sbasedon10 \slink107 \slocked Untertitel Zchn;}{
+\s109\ql \li0\ri0\nowidctlpar\brdrt\brdrs\brdrw30\brdrcf1 \wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs16\alang1025 \ltrch\fcs0 \fs16\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext109 Copyright;}{
+\s110\ql \li566\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin566\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext110 \spriority39 toc 3;}{
+\s111\ql \li849\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin849\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext111 toc 4;}{
+\s112\ql \li1132\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1132\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext112 toc 5;}{
+\s113\ql \li1415\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1415\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext113 toc 6;}{
+\s114\ql \li1698\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1698\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext114 toc 7;}{
+\s115\ql \li1981\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1981\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext115 toc 8;}{
+\s116\ql \li2264\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin2264\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext116 toc 9;}{
+\s117\ql \li2547\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin2547\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext117 Contents 10;}{\*\cs118 \additive
+\rtlch\fcs1 \af0 \ltrch\fcs0 \ul\cf12 \sbasedon10 FollowedHyperlink;}{\*\cs119 \additive \b\f39\fs16\cf1\chshdng0\chcfpat0\chcbpat17 SSBookmark;}{\s120\ql \fi-360\li360\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 \rtlch\fcs1 \af0\afs20\alang1025
+\ltrch\fcs0 \fs20\cf1\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext0 Numbered List;}{\s121\ql \fi-360\li360\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 \rtlch\fcs1 \af0\afs20\alang1025 \ltrch\fcs0
+\fs20\cf1\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext0 Bulleted List;}{\s122\ql \li0\ri0\sa120\sl480\slmult1\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs18\alang1025 \ltrch\fcs0
+\fs18\cf1\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink123 Body Text 2;}{\*\cs123 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink122 \slocked Textk\'f6rper 2 Zchn;}{
+\s124\ql \li0\ri0\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs16\alang1025 \ltrch\fcs0 \fs16\cf1\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink125 Body Text 3;}{\*
+\cs125 \additive \rtlch\fcs1 \af0\afs16 \ltrch\fcs0 \fs16 \sbasedon10 \slink124 \slocked Textk\'f6rper 3 Zchn;}{\s126\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs20\alang1025 \ltrch\fcs0
+\fs20\cf1\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink127 Note Heading;}{\*\cs127 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink126 \slocked Fu\'df/-Endnoten\'fcberschrift Zchn;}{
+\s128\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af2\afs20\alang1025 \ltrch\fcs0 \fs20\cf1\lang1031\langfe1031\loch\f2\hich\af2\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext0 \slink129 Plain Text;}{\*\cs129
+\additive \rtlch\fcs1 \af2\afs20 \ltrch\fcs0 \f2\fs20 \sbasedon10 \slink128 \slocked Nur Text Zchn;}{\s130\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af2\afs18\alang1025 \ltrch\fcs0
+\fs18\cf1\lang1031\langfe1031\loch\f2\hich\af2\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext0 Code;}{\*\cs131 \additive \i\fs20\cf18 Field Label;}{\*\cs132 \additive \b\fs22\cf1 Table Heading1;}{\*\cs133 \additive \b\fs20\ul\cf1 Object type;}{
+\s134\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \ab\ai\af0\afs20\alang1025 \ltrch\fcs0 \b\i\fs20\cf19\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext0 List Header;}{
+\s135\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext0 Chapter title 2;}{\*\cs136 \additive
+\f37\fs22\cf20 E-MailFormatvorlage15;}{\*\cs137 \additive \b\f39\fs16\cf8\chshdng0\chcfpat0\chcbpat6 SSTemplateField;}}{\*\listtable{\list\listtemplateid1{\listlevel\levelnfc0\levelnfcn0\leveljc0\leveljcn0\levelfollow0\levelstartat1\levelspace0
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+\par }\pard\plain \ltrpar\s2\qc \li0\ri0\nowidctlpar\wrapdefault\faauto\outlinelevel1\rin0\lin0\itap0 \rtlch\fcs1 \ab\ai\af1\afs28\alang1025 \ltrch\fcs0 \b\i\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\ab0\ai0\af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid2844597
+\par
+\par }\pard\plain \ltrpar\qc \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs40\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 GENIVI }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs40\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1250073 \hich\af0\dbch\af31505\loch\f0 GNSSService
+
+\par }\pard\plain \ltrpar\s87\qc \li0\ri0\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0 \ltrch\fcs0
+\cf18\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597
+\par }\pard\plain \ltrpar\qc \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs40\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Component}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs40\cf1\lang1033\langfe1031\langnp1033\insrsid6052774 \hich\af0\dbch\af31505\loch\f0 }{
+\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs40\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Specification}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang2057\langfe1031\langnp2057\insrsid2844597
+\par }\pard \ltrpar\qc \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Release }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 3}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 .0.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 0-alpha}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs40\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597\charrsid1460691
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Status:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid1460691
+\hich\af0\dbch\af31505\loch\f0 Draft}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang2057\langfe1031\langnp2057\insrsid2844597
+\par }\pard\plain \ltrpar\s103\qc \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24
+\ltrch\fcs0 \b0\f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid6052774 \hich\af0\dbch\af31505\loch\f0 27}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 .}{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid6052774 \hich\af0\dbch\af31505\loch\f0 03}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\hich\af0\dbch\af31505\loch\f0 .201}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid6052774 \hich\af0\dbch\af31505\loch\f0 4}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard\plain \ltrpar\s104\ql \li10\ri0\sa240\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597
+\par }\pard\plain \ltrpar\s103\ql \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24
+\ltrch\fcs0 \f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Accepted for release by:}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard \ltrpar\s103\ql \li0\ri0\widctlpar\wrapdefault\faauto\rin0\lin0\itap0\pararsid6052774 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 This document }{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 is a draft}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid1250073 \hich\af0\dbch\af31505\loch\f0
+ of the GNSSService API 3.0.0}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid6052774 \hich\af0\dbch\af31505\loch\f0 defined\hich\af0\dbch\af31505\loch\f0 by the GENIVI expert group Location Based Services (LBS).
+
+\par }\pard \ltrpar\s103\ql \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597
+\par }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597
+\par \hich\af0\dbch\af31505\loch\f0 Abstract:}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard\plain \ltrpar\s104\ql \li10\ri0\sa240\widctlpar\tqc\tx4163\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 This document describes the API of the }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 GNSSService}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 }{
+\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Abstract Component.
+\par }\pard\plain \ltrpar\s103\ql \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24
+\ltrch\fcs0 \f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Keywords:
+\par }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 GNSSService, GNSS, GPS, Positioning API. }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597
+\par }\pard\plain \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0\pararsid6052774 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24
+\ltrch\fcs0 \b\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid6052774 \page }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 SPDX-License-Identifier: CC-BY-SA-3.0}{
+\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583
+\par }\pard \ltrpar\ql \li0\ri0\widctlpar\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0\itap0\pararsid6052774 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \~
+\par }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5666552\charrsid5666552 \hich\af2\dbch\af31505\loch\f2 Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, P}{\rtlch\fcs1 \af2 \ltrch\fcs0
+\f2\lang1033\langfe1031\langnp1033\insrsid8347924 \hich\af2\dbch\af31505\loch\f2 C}{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5666552\charrsid5666552 \hich\af2\dbch\af31505\loch\f2 \hich\f2 A Peugeot Citro\'eb\loch\f2
+n, XS Embedded GmbH}{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774
+\par }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5666552
+\par }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 This work is licensed under the Creative Commons Attribution-ShareAlike 3.0}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 Unported License.}{
+\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583
+\par }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 To view a copy of this}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af2\dbch\af31505\loch\f2
+license, visit http://creativecom\hich\af2\dbch\af31505\loch\f2 mons.org/licenses/by-sa/3.0/}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583
+\par }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \~\hich\af2\dbch\af31505\loch\f2 or send a letter to Creative Commons, 444}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583 \hich\af2\dbch\af31505\loch\f2
+Castro Street, Suite 900, Mountain View, California, 94041, USA.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid6052774\charrsid5441583
+\par }\pard\plain \ltrpar\s103\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0\pararsid2300746 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \page }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs60\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\hich\af0\dbch\af31505\loch\f0 Table of Contents}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs24\cf1\lang2057\langfe1031\langnp2057\insrsid2844597\charrsid2300746
+\par }\pard\plain \ltrpar\qc \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard\plain \ltrpar\s100\ql \li0\ri0\nowidctlpar\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031
+{\field\fldedit{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 TOC \\o "1-9"}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 Change History}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986497 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f00630033003800320039003800360034003900370000000000}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 4}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }\pard \ltrpar\s100\ql \li0\ri0\nowidctlpar\tx566\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 1.}{\rtlch\fcs1
+\af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0
+Introduction}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986498 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f00630033003800320039003800360034003900380000000000}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 5}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 2.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 Terminology}{\rtlch\fcs1 \af0
+\ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0
+ PAGEREF _Toc382986499 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f00630033003800320039003800360034003900390000000080}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 6}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 3.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Requirements\tab }
+{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986500 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f00630033003800320039003800360035003000300000000000}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 7}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }\pard\plain \ltrpar\s101\ql \li240\ri0\nowidctlpar\tx849\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin240\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 1.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Requirements Diagram}{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986501 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300031000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 7}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }\pard\plain \ltrpar\s110\ql \li566\ri0\nowidctlpar\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin566\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 AGPS Support}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }
+{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986502 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300032000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 Forward a Set of Sensor Values}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986503 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300033000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Provides Data via IPC}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986504 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300034000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 Support of different Global Navigation Satellite Systems (GNSS) to calculate the current position.}{\rtlch\fcs1 \af0
+\ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0
+ PAGEREF _Toc382986505 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300035000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 9}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Accelerator Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986506 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300036000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Access to Sensor Services}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986507 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300037000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 10}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Car Configuration\hich\af0\dbch\af31505\loch\f0 Data}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986508 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300038000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 10}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 Data Latency for GNSS and DR Signals}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986509 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500300039000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 10}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Enhanced Position}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986510 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310030000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 11}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Extended Acceleration Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986511 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310031000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 11}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Extended GNSS Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _T
+\hich\af0\dbch\af31505\loch\f0 oc382986512 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310032000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 11}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Extended Gyroscope Sensor Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986513 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310033000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 12}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 GNSS Service}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986514 \\\hich\af0\dbch\af31505\loch\f0 h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310034000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 12}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PPS Signal}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab
+}{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986515 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310035000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 12}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Inclination Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986516 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310036000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Odometer Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986517 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310037000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 ReverseGear Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986518 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310038000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Sensor Directory}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986519 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500310039000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Sensor Meta-Data}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986520 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320030000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 14}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Sensor Signal Timestamp}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986521 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320031000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 14}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Signal Measurement Units}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986522 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320032000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 14}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Signal Values Type Compatibility}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986523 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320033000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 15}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Simple Gyroscope Sensor Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986524 \\
+\hich\af0\dbch\af31505\loch\f0 h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320034000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 15}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Slip Angle Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986525 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320035000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 15}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 SteeringAngle Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986526 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320036000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 15}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Vehicle State Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986527 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320037000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 16}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 VehicleSpeed Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986528 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320038000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 16}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 Wheel Tick/Speed Sensor Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986529 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500320039000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 16}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }\pard\plain \ltrpar\s100\ql \li0\ri0\nowidctlpar\tx566\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 4.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Architecture\tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986530 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500330030000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 17}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }\pard\plain \ltrpar\s101\ql \li240\ri0\nowidctlpar\tx849\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin240\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\ulc1\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 1.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\dbch\af0\noproof\langnp1033\ulc1\insrsid2300746\charrsid2300746 GNSSService}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986531 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500330031000000ffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 17}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 2.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 GNSSService Diagram}{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986532 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500330032000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 17}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 3.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \hich\af0\dbch\af31505\loch\f0 Traceability Diagram}{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986533 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid11760134\charrsid2300746 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500330033000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 18}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid2300746\charrsid2300746
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 4.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\insrsid2300746 \tab }{\rtlch\fcs1 \af0
+\ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\insrsid2300746\charrsid1268824 \hich\af0\dbch\af31505\loch\f0 Context Diagram}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid2300746 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\insrsid2300746 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986534 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid11760134 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003500330034000000ffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid7172812 \hich\af0\dbch\af31505\loch\f0 19}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\insrsid2300746
+\par }\pard\plain \ltrpar\s103\qc \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 }}\pard\plain \ltrpar
+\s103\qc \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \sectd \ltrsect
+\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard\plain \ltrpar\s1\ql \li0\ri0\sa240\keepn\pagebb\nowidctlpar\tx442\wrapdefault\faauto\outlinelevel0\rin0\lin0\itap0\pararsid1460691 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0
+\b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart _Toc382986497}\hich\af0\dbch\af31505\loch\f0
+Change History{\*\bkmkend _Toc382986497}
+\par }\pard\plain \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrs\brdrw20\brdrcf1 \clbrdrb
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+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1800\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx5019\clvertalt\clbrdrt\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb
+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrs\brdrw20\brdrcf1 \clcbpat1\cltxlrtb\clftsWidth3\clwWidth5300\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx10316\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs24\cf8\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Version\cell \hich\af0\dbch\af31505\loch\f0 Date\cell
+\hich\af0\dbch\af31505\loch\f0 Author\cell \hich\af0\dbch\af31505\loch\f0 Change\cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow0\irowband0\ltrrow\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt
+\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrs\brdrw20\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1308\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx1417\clvertalt
+\clbrdrt\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1800\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx3218\clvertalt\clbrdrt
+\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1800\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx5019\clvertalt\clbrdrt
+\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrs\brdrw20\brdrcf1 \clcbpat1\cltxlrtb\clftsWidth3\clwWidth5300\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx10316\row \ltrrow
+}\trowd \irow1\irowband1\ltrrow\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb
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+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb
+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 0.1}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
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+\cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Document Created\cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 0.2}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 18.11.2013}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 MResidori}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 Document generated from the GENIVI Enterprise Architect model}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow2\irowband2\ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid1336472 0.3}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid1336472 \hich\af0\dbch\af31505\loch\f0 27.03.2014}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\insrsid1336472 \hich\af0\dbch\af31505\loch\f0 MResidori}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid1336472 \hich\af0\dbch\af31505\loch\f0 Added copyright notes}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow3\irowband3\ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow4\irowband4\lastrow \ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row }\pard\plain \ltrpar\s103\ql \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1
+\ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par
+\par }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid2844597
+\par {\*\bkmkstart _Toc382986498}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 1.\tab}}\pard\plain \ltrpar
+\s1\ql \fi-431\li441\ri0\sa240\keepn\pagebb\nowidctlpar\tx442\wrapdefault\faauto\ls1\outlinelevel0\rin0\lin441\itap0 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0 \b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Introduction{\*\bkmkend _Toc382986498}
+\par }\pard\plain \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 This document describes the}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\hich\af0\dbch\af31505\loch\f0 API of the}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 GNSSService component}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597 .}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0\pararsid13195837 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par }\pard \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+The GNSSService is a component that abstracts the access to GNSS devices (e.g. GPS receivers).
+\par
+\par \hich\af0\dbch\af31505\loch\f0 It hides hardware and software dependencies on specific GNSS devices and their drivers.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 In systems that implements the EnhancedPositionService component, the\hich\af0\dbch\af31505\loch\f0 GNSSService is typ}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid1460691
+\hich\af0\dbch\af31505\loch\f0 ically provided as a C library that is dynamically linked by the }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid1460691\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+EnhancedPositionService}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid1460691 .}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par
+\par {\*\bkmkstart _Toc382986499}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 2.\tab}}\pard\plain \ltrpar
+\s1\ql \fi-431\li441\ri0\sa240\keepn\pagebb\nowidctlpar\tx442\wrapdefault\faauto\ls1\outlinelevel0\rin0\lin441\itap0 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0 \b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Terminology{\*\bkmkend _Toc382986499}
+\par }\pard\plain \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb
+\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone \cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb
+\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0
+{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\i\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Term\cell \hich\af0\dbch\af31505\loch\f0 Description\cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow0\irowband0\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr
+\brdrs\brdrw5\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\dbch\af0\insrsid2844597 GNSS}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\dbch\af0\insrsid2844597 Global }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \fs24\dbch\af0\insrsid2300746 Navigation }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\dbch\af0\insrsid2844597 Satellite System}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow2\irowband2\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
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+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow3\irowband3\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow4\irowband4\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow5\irowband5\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow6\irowband6\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597 \trowd \irow7\irowband7\lastrow \ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row }\pard \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid2844597
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid2844597
+\par
+\par
+\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid2844597 \page
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid2844597 \hich\af0\dbch\af31505\loch\f0
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\insrsid2844597
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597
+\par {\*\bkmkstart _Toc382986500}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 3.\tab}}\pard\plain \ltrpar
+\s1\ql \fi-431\li431\ri0\sa240\keepn\nowidctlpar\wrapdefault\faauto\ls1\outlinelevel0\rin0\lin431\itap0 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0 \b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Requirements}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986500}
+\par {\*\bkmkstart POSITIONING}{\*\bkmkstart BKM_A679085C_2D8E_47C4_8FA6_FF234C4B6C7A}{\*\bkmkstart _Toc382986501}{\*\bkmkend POSITIONING}{\*\bkmkend BKM_A679085C_2D8E_47C4_8FA6_FF234C4B6C7A}{\listtext\pard\plain\ltrpar \s2 \rtlch\fcs1 \af0 \ltrch\fcs0
+\b\i\fs28\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 1.\tab}}\pard\plain \ltrpar\s2\ql \li0\ri0\sb480\sa240\keepn\nowidctlpar\wrapdefault\faauto\ls1\ilvl1\outlinelevel1\rin0\lin0\itap0 \rtlch\fcs1 \ab\ai\af1\afs28\alang1025 \ltrch\fcs0
+\b\i\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\ai0\af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Requirements Diagram{\*\bkmkend _Toc382986501}
+\par }\pard\plain \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid1460691 \hich\af0\dbch\af31505\loch\f0 This diagram}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+ shows an overview of all requirements in the area of positioning.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 The requirements are organized in four groups:
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \insrsid2844597 \hich\af0\dbch\af31505\loch\f0 1.\tab}}\pard \ltrpar\ql \fi-360\li360\ri0\nowidctlpar\wrapdefault\faauto\ls2\rin0\lin360\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 SW-POS: general requirements
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 2.\tab}}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 SW-GNSS: requirements related to the GNSS receiver
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 3.\tab}\hich\af0\dbch\af31505\loch\f0 SW-SNS: requirements related to the vehicle sensors
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 4.\tab}\hich\af0\dbch\af31505\loch\f0 SW-ENP: requirements related to enhanced positioning
+\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
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+\f0\cf1\lang3081\langfe1031\langnp3081\insrsid2844597
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \i\f0\cf1\lang3081\langfe1031\langnp3081\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Figure: }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \i\f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 1}{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\fs24\cf1\insrsid2844597
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid1460691 \page }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid2844597 \hich\af0\dbch\af31505\loch\f0
+\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid2844597
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_5D246AA2_D0D3_45DD_95EA_997285CF6240}{\*\bkmkend BKM_5D246AA2_D0D3_45DD_95EA_997285CF6240}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986502}\hich\af0\dbch\af31505\loch\f0 AGPS Support}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986502}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides the possibility to inject AGPS "Assisted GPS" data to the GPS device.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rationale:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This allows to speed up the time to get a valid (fixed) GPS position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_BEE73F84_D2F1_488E_8814_FB5C8D8D8314}{\*\bkmkend BKM_BEE73F84_D2F1_488E_8814_FB5C8D8D8314}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 {\*\bkmkstart _Toc382986503}\hich\af0\dbch\af31505\loch\f0 Forward a Set of Sensor Values}{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986503}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The Enhanced Position contains in addition to the Position and Course values as well a set of sensor data.
+\par \hich\af0\dbch\af31505\loch\f0 - yawRate in degrees per second
+\par \hich\af0\dbch\af31505\loch\f0 - filter status
+\par \hich\af0\dbch\af31505\loch\f0 - accuracy information in form of sigma values for every direction [m] and the covariance between lat\hich\af0\dbch\af31505\loch\f0 itude and longitude in m^2.
+\par \hich\af0\dbch\af31505\loch\f0 - number of used, tracked and visible satellites.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Some clients (e.g. Map Matcher) needs the basic DR filtered position specific sensor values as additional input for the decision algorithm.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_7B545194_1ADA_4A5C_88D5_F61B742CBADF}{\*\bkmkend BKM_7B545194_1ADA_4A5C_88D5_F61B742CBADF}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986504}\hich\af0\dbch\af31505\loch\f0 Provides Data via IPC}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986504}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The enhanced position is accessible for multiple clients on the platform at the same time.
+\par \hich\af0\dbch\af31505\loch\f0 An IPC is used to deliver to the clients the Enhanced Position data fields.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Several SW components in the system are clients for the result of the filtered\hich\af0\dbch\af31505\loch\f0 position and need to access the data.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_7A1CA548_5445_4FA6_B5AC_AA9850280A0E}{\*\bkmkend BKM_7A1CA548_5445_4FA6_B5AC_AA9850280A0E}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 {\*\bkmkstart _Toc382986505}\hich\af0\dbch\af31505\loch\f0
+Support of different Global Navigation Satellite Systems (GNSS) to calculate the current position.}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986505}
+\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0
+\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow0\irowband0\ltrrow
+\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\hich\af0\dbch\af31505\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 \hich\f0 The interfaces are defined in such a way that client applications don\'b4\loch\f0
+t need to know the details of the GNSS in use (e.g. GPS, Galileo, GLONASS, Compass).}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_CF466440_7A77_4953_B1CA_B7B69CC0937F}{\*\bkmkend BKM_CF466440_7A77_4953_B1CA_B7B69CC0937F}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986506}\hich\af0\dbch\af31505\loch\f0 Accelerator Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986506}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0
+The software platform provides a sensor, which delivers the vehicle acceleration in the driving direction (x Axis, see reference system). The sensor value is delivered in m/s^2. Sensor value of temperature near the sensor is optional.
+\par \hich\af0\dbch\af31505\loch\f0 Configuration data about placement and orientation of the sensor can be provided optionally.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Used for optimizing the dead reckoning solution.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_E6811D2E_B770_44CE_A48C_551D2F489BD3}{\*\bkmkend BKM_E6811D2E_B770_44CE_A48C_551D2F489BD3}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986507}\hich\af0\dbch\af31505\loch\f0 Acce\hich\af0\dbch\af31505\loch\f0 ss to Sensor Services}{\rtlch\fcs1 \ab0\af0\afs24
+\ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986507}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform delivers signals to multiple client applications concurrently by the Sensor Service.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This allows for multiple Client Applications to share a single Sensor.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_9DD1FD36_53B6_4ADC_BC80_28147CE6BA97}{\*\bkmkend BKM_9DD1FD36_53B6_4ADC_BC80_28147CE6BA97}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986508}\hich\af0\dbch\af31505\loch\f0 Car Configuration Data}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986508}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides car configuration data, that contains general vehicle details (e.g. physical dimensions of car, distance of axis, driven axis, etc).
+\par \hich\af0\dbch\af31505\loch\f0 Sensor related configuration data depends on the specific sensor requirements \hich\af0\dbch\af31505\loch\f0 (e.g. position of sensor) and is included with the specific sensors.
+\par \hich\af0\dbch\af31505\loch\f0 - Position of center of gravity
+\par \hich\af0\dbch\af31505\loch\f0 - Position of front and rear axle
+\par \hich\af0\dbch\af31505\loch\f0 - driven axles
+\par \hich\af0\dbch\af31505\loch\f0 - seat count
+\par \hich\af0\dbch\af31505\loch\f0 - vehicle mass
+\par \hich\af0\dbch\af31505\loch\f0 - vehicle width
+\par \hich\af0\dbch\af31505\loch\f0 - track width
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 DR module needs the detailed \hich\af0\dbch\af31505\loch\f0 information for more accurate calculations.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_16719EE2_F45E_4EB4_BACA_A698BE38946D}{\*\bkmkend BKM_16719EE2_F45E_4EB4_BACA_A698BE38946D}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 {\*\bkmkstart _Toc382986509}\hich\af0\dbch\af31505\loch\f0 Data Latency for GNSS and DR Signals}{
+\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986509}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GNonFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides the signals of the GNSS, Extended GNSS and enhanced position in less than 300 ms after acquisition.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This guarantees that the tracked current position does not deviate much from the actual position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_996DC7E9_0411_4828_B17E_E0762D139CB8}{\*\bkmkend BKM_996DC7E9_0411_4828_B17E_E0762D139CB8}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986510}\hich\af0\dbch\af31505\loch\f0 Enhanced Position}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986510}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform delivers the filtered (i.e. combined G\hich\af0\dbch\af31505\loch\f0
+NSS and vehicle sensor) position as the Enhanced Position, which is the result of the dead reckoning calculation. The Enhanced Position contains:
+\par \hich\af0\dbch\af31505\loch\f0 - Position expressed as WGS 84 longitude and latitude (unit is tenth of microdegree (degree x 10^-7^))
+\par \hich\af0\dbch\af31505\loch\f0 - the\hich\af0\dbch\af31505\loch\f0 Altitude 'above mean sea level' in meters (corrected by GeoID)
+\par \hich\af0\dbch\af31505\loch\f0 - Heading in degrees relative to the true north
+\par \hich\af0\dbch\af31505\loch\f0 - Climb
+\par \hich\af0\dbch\af31505\loch\f0 - Speed in meters per seconds, positive in the forward direction
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Other SW-components on the same platform want to access t\hich\af0\dbch\af31505\loch\f0 he improved GNSS position, which is calculated by a dead reckoning algorithm.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_3A038C1F_8D20_4F79_9A03_4EE2F499A576}{\*\bkmkend BKM_3A038C1F_8D20_4F79_9A03_4EE2F499A576}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986511}\hich\af0\dbch\af31505\loch\f0 Extended Acceleration Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986511}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides a sensor, which provides the acceleration on the additional axis y (left-side) and z (up).
+\par \hich\af0\dbch\af31505\loch\f0 The position of the sensor in 3D space in relation to the reference point is given. The angles\hich\af0\dbch\af31505\loch\f0
+ of the sensor can be specified in the car configuration data. The standard deviations for the sensors can be specified for each axis.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Used for optimizing the dead reckoning solution. }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_7860A370_907B_471E_B6AE_824BC0B33612}{\*\bkmkend BKM_7860A370_907B_471E_B6AE_824BC0B33612}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986512}\hich\af0\dbch\af31505\loch\f0 Extended GNSS Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986512}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides an extension to the GNSS Service with optional information.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Accuracy:
+\par \hich\af0\dbch\af31505\loch\f0 - fixStatus
+\par \hich\af0\dbch\af31505\loch\f0 - hdop, pdop, vdop
+\par \hich\af0\dbch\af31505\loch\f0 - numberOfSatellites
+\par \hich\af0\dbch\af31505\loch\f0 - sigmaLatitude, sigmaLongitude, sigmaAltitude
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Satellite Details:
+\par \hich\af0\dbch\af31505\loch\f0 - Information per satellite: azimuth, elevation, inUse, SatelliteId, signalNoiseRatio
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Course Details:
+\par \hich\af0\dbch\af31505\loch\f0 - speed for 3-axis
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Antenna:\hich\af0\dbch\af31505\loch\f0
+\par \hich\af0\dbch\af31505\loch\f0 - Antenna Position in 3D coordinates in relation to the reference point (see reference system).
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Updated at least with 1Hz frequency additionally to the Signals provided by GNSS-Only Service.
+\par \hich\af0\dbch\af31505\loch\f0 The GNSS Service should provide the capability to switch between different GNSS-Devices (e.g. Galileo, GPS, etc)
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 These data are used for improved positioning based on GNSS.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_5701AE97_B90C_4E04_B6BE_FD9B4E0B5AE8}{\*\bkmkend BKM_5701AE97_B90C_4E04_B6BE_FD9B4E0B5AE8}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986513}\hich\af0\dbch\af31505\loch\f0 Extended Gyroscope Sensor Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986513}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes the sensor that delivers
+\par \hich\af0\dbch\af31505\loch\f0 - pitch rate
+\par \hich\af0\dbch\af31505\loch\f0 - roll rate
+\par
+\par \hich\af0\dbch\af31505\loch\f0 This sensor values extend the simple gyroscope sensor.
+\par \hich\af0\dbch\af31505\loch\f0 Sign of is defined by rule of right hand (thumb direction: left and front, see reference system).
+\par \hich\af0\dbch\af31505\loch\f0 Car configuration data need to provide position angles according to vehicle reference system.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational\hich\af0\dbch\af31505\loch\f0 :}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor Service is used in Dead Reckoning calculations of the vehicle position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_8239AA50_795C_44AA_AE72_3C93DBD7156F}{\*\bkmkend BKM_8239AA50_795C_44AA_AE72_3C93DBD7156F}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986514}\hich\af0\dbch\af31505\loch\f0 GNSS Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986514}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a service that provides the following GNSS Signals updated at least with 1Hz frequency:
+\par \hich\af0\dbch\af31505\loch\f0 Position:
+\par \hich\af0\dbch\af31505\loch\f0 - position expressed as WGS 84 altitude, longitude and latitude in tenth of microdegree (degree x 10^-7^)
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Course:
+\par \hich\af0\dbch\af31505\loch\f0 - speed in meters per second
+\par \hich\af0\dbch\af31505\loch\f0 - climb
+\par \hich\af0\dbch\af31505\loch\f0 - heading relative to true north expressed in degrees
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Timestamp and date as UTC.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 These data are contained in NMEA 0183 $GPGGA and $GPRMC messages and provide the minimum information required for\hich\af0\dbch\af31505\loch\f0 GNSS-only vehicle positioning.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_45EB2F3D_AB1F_4FAB_A760_2864498C0089}{\*\bkmkend BKM_45EB2F3D_AB1F_4FAB_A760_2864498C0089}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986515}\hich\af0\dbch\af31505\loch\f0 PPS Signal}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986515}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 1) For accurate timing the 1 PPS (pulse per second) signal from the GPS receiver is provided within the positioning framework.
+\par \hich\af0\dbch\af31505\loch\f0 The PPS is a hardware signal which is a UTC synchronized pulse.
+\par \hich\af0\dbch\af31505\loch\f0 The duration between the pulses is 1s +\hich\af0\dbch\af31505\loch\f0 /- 40ns and the duration of the pulse isconfigurable (e.g. it could be 100ms or 200ms).
+\par \hich\af0\dbch\af31505\loch\f0 The pulses occur exactly at the UTC full second timeslots.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 2) One option is to provide this signal in the positioning framework as an interrupt service routine and the\hich\af0\dbch\af31505\loch\f0
+ difference to the system time can be accessed by a getter. This provides a synchronization of the system time to UTC.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rationale:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Used for synchronizing the timing of the ECU.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_A9E81885_5A72_4468_9D44_FAFFB36B8386}{\*\bkmkend BKM_A9E81885_5A72_4468_9D44_FAFFB36B8386}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986516}\hich\af0\dbch\af31505\loch\f0 Inclination Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986516}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 \hich\f0 The software platform provides the inclination of the road in longitudinal direction, i.e. in the direction of movement [\'b0\loch\f0 \hich\f0 ]. Estimated gradient of the road in transverse direction [\'b0\loch\f0
+]. In unstable driving situations this value might not be available.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor is used for optimizations in Dead Reckoning calculations of the vehicle position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_47A9E8ED_849B_4767_8D4E_962C4DA31ED6}{\*\bkmkend BKM_47A9E8ED_849B_4767_8D4E_962C4DA31ED6}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986517}\hich\af0\dbch\af31505\loch\f0 Odometer Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986517}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 GFunctionalRequireme\hich\af0\dbch\af31505\loch\f0 \hich\f0 nt\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{
+\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a Sensor that delivers the traveled distance.
+\par \hich\af0\dbch\af31505\loch\f0 Distance in [cm] with at least 5Hz as a running counter with overflow to support multiple clients.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Odometer is sometimes the only speed related Signal available to the head unit. }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_8C51AAAC_C15D_4373_A239_1ECC6BD0CC6F}{\*\bkmkend BKM_8C51AAAC_C15D_4373_A239_1ECC6BD0CC6F}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986518}\hich\af0\dbch\af31505\loch\f0 ReverseGear Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986518}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a Sensor that delivers the information if the reverse gear is enabled or not.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The direction of movement is included in the vehicle speed. This information is only used to detect reverse gear or not.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_12C297B7_F3DC_4AAF_88A1_19A950C5A5AF}{\*\bkmkend BKM_12C297B7_F3DC_4AAF_88A1_19A950C5A5AF}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986519}\hich\af0\dbch\af31505\loch\f0 Sensor Directory}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986519}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Client Applications are able to query what Sensors are currently available.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This allows for development of flexible applications that do not know what sensor data are available in the vehicle a priori. Client shall checks first this directory to\hich\af0\dbch\af31505\loch\f0
+ find out which ones are available; use meta-data to choose one of interest and use provided data to connect to necessary services.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_2B05801A_57D8_4F40_B21A_3A5ABDA0D723}{\*\bkmkend BKM_2B05801A_57D8_4F40_B21A_3A5ABDA0D723}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986520}\hich\af0\dbch\af31505\loch\f0 Sensor Meta-Data{\*\bkmkend _Toc382986520}\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides the following information about the Sensor and the related output Signals:
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Identifier that is unique within the system
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Category (Physical/Logical)
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Type (GPS, Odometer, Map Matching, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Sub-Type (ordinary GPS, differential GPS, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Output Signals (Longitude, Latitude, Course, Speed, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Output Signal Sampling Frequency (1 Hz, 10 Hz, irr\hich\af0\dbch\af31505\loch\f0 egular, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Output Signal Measurement Units (kilometers per hour; meters per second; etc.)
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Sensor clients need that information in order to correctly handle data provided by sensor service and to adapt to the variation in the signal data del\hich\af0\dbch\af31505\loch\f0 ivery.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_EC3B43EB_48CD_4655_B0E5_ECD6FCC27D22}{\*\bkmkend BKM_EC3B43EB_48CD_4655_B0E5_ECD6FCC27D22}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986521}\hich\af0\dbch\af31505\loch\f0 Sensor Signal Timestamp}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986521}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0
+The software platform provides for each sample returned by the Sensor Service the timestamp, when it is accompanied. The timestamp corresponds to the time point of the sample acquisition or calculation. Timestamps are derived from the same clock that is a
+\hich\af0\dbch\af31505\loch\f0 c\hich\af0\dbch\af31505\loch\f0 cessible to the Client Applications.
+\par \hich\af0\dbch\af31505\loch\f0 Timestamp is delivered with a accuracy of milliseconds.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Measurement timestamps are important for proper functioning of most processing algorithms. For instance, algorithms for sensor calibration and dead rec\hich\af0\dbch\af31505\loch\f0
+koning typically use data from multiple sensors in conjunction, e.g. logical sensor.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_42D1E2B2_3C60_4111_937C_4E623943E76B}{\*\bkmkend BKM_42D1E2B2_3C60_4111_937C_4E623943E76B}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986522}\hich\af0\dbch\af31505\loch\f0 Signal Measurement Units}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986522}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform delivers signal values in universal, implementation independent units. It's preferred to use SI-units.
+\par \hich\af0\dbch\af31505\loch\f0 For example, a gyroscope signal should \hich\af0\dbch\af31505\loch\f0 be measured in millidegrees per second instead of A/D converter counts.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This decouples the client applications from the implementation details of individual sensor devices.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_4D1BDDB2_08F9_46CB_8F8E_D5C66B58F665}{\*\bkmkend BKM_4D1BDDB2_08F9_46CB_8F8E_D5C66B58F665}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986523}\hich\af0\dbch\af31505\loch\f0 Signal Values Type Compatibility}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986523}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0
+All Sensor Services that provide Signals referring to the same physical quantity deliver their data in the same format (including API signatures, data type and measurement units). However, sampling frequency, accuracy etc. can differ.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Sensor ser\hich\af0\dbch\af31505\loch\f0 vice clients are able to use multiple Sensor Services without changes in the interfaces.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597
+\cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_E5A2FF62_488F_4070_B583_2D991A38AAB5}{\*\bkmkend BKM_E5A2FF62_488F_4070_B583_2D991A38AAB5}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986524}\hich\af0\dbch\af31505\loch\f0 Simple Gyroscope Sensor Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986524}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\hich\af0\dbch\af31505\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes the Sensor that delivers
+\par \hich\af0\dbch\af31505\loch\f0 - yaw rate: the rate of the vehicle heading change
+\par \hich\af0\dbch\af31505\loch\f0 -temperature
+\par \hich\af0\dbch\af31505\loch\f0 - status:(temperature compensated or not, etc)
+\par \hich\af0\dbch\af31505\loch\f0 at the frequency of at least 5Hz. Unit of yaw rate is "degrees per second".
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Sign of yaw rate is defined by rule of right hand (thumb direction: up)
+\par \hich\af0\dbch\af31505\loch\f0 (see reference system)
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor Service is used in Dead Reckoning calculations of the vehicl\hich\af0\dbch\af31505\loch\f0 e position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_01180058_26E7_4C88_ABEB_C374DF0A79A6}{\*\bkmkend BKM_01180058_26E7_4C88_ABEB_C374DF0A79A6}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986525}\hich\af0\dbch\af31505\loch\f0 Slip Angle Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986525}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Platform provides a sensor, which delivers the value sli\hich\af0\dbch\af31505\loch\f0 \hich\f0 p angle in degrees [\'b0\loch\f0
+]. It is defined as the angle between the fixed car axis (direction of driving) and the real direction of vehicle movement. The direction and sign is defined equal to the yaw rate (See reference system).
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor is used \hich\af0\dbch\af31505\loch\f0 for optimizations in Dead Reckoning calculations of the vehicle position. }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_E3EDACA8_EA6E_40F0_99EB_C0DD135BCD4B}{\*\bkmkend BKM_E3EDACA8_EA6E_40F0_99EB_C0DD135BCD4B}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986526}\hich\af0\dbch\af31505\loch\f0 SteeringAngle Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986526}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This sensor provides the angles of the front and rear wheels and the steering wheel in degrees.
+\par \hich\af0\dbch\af31505\loch\f0 Configuration values can be provided for sigmas and steering ratio.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Is used as additional element for plausibilisation of the yaw rate i\hich\af0\dbch\af31505\loch\f0 n the dead reckoning module.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_AB1F2BD2_1F0A_460B_845C_3AD99D76CBFB}{\*\bkmkend BKM_AB1F2BD2_1F0A_460B_845C_3AD99D76CBFB}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986527}\hich\af0\dbch\af31505\loch\f0 Vehicle State Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986527}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides a sensor, giving the state of certain vehicle systems:
+\par \hich\af0\dbch\af31505\loch\f0 ABS: on/off
+\par \hich\af0\dbch\af31505\loch\f0 ESP: on/off
+\par \hich\af0\dbch\af31505\loch\f0 ASC: on/off (stability control)
+\par \hich\af0\dbch\af31505\loch\f0 breaks: on/off
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor is used for optimizations in Dead Reckoning calculations of the vehicle p\hich\af0\dbch\af31505\loch\f0 osition.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_8FD20BA2_EBFF_4E93_AE79_AE599EB55993}{\*\bkmkend BKM_8FD20BA2_EBFF_4E93_AE79_AE599EB55993}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid2844597 {\*\bkmkstart _Toc382986528}\hich\af0\dbch\af31505\loch\f0 VehicleSpeed Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986528}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a Sensor that delivers the vehicle speed. Filtered vehicle speed in [m/s] with a frequency of at least 5Hz. Direction is given by the sign of this value.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 Vehicle speed is sometimes the only speed related signal ava\hich\af0\dbch\af31505\loch\f0 ilable to the head unit.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkstart BKM_2578FC62_52D4_4A9E_A175_4B075D1022F6}{\*\bkmkend BKM_2578FC62_52D4_4A9E_A175_4B075D1022F6}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 {\*\bkmkstart _Toc382986529}\hich\af0\dbch\af31505\loch\f0 Wheel Tick/Speed Sensor Service}{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986529}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid2844597 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid2844597 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides a Sensor that delivers the running counter of partial wheel revolutions at the frequency of at least 5Hz or the already calculated wheelspeed (speed in [m/s] or angular speed).
+\par
+\par \hich\af0\dbch\af31505\loch\f0 The resolution of a single wheel revolution (i.\hich\af0\dbch\af31505\loch\f0 e. the number of ticks per revolution) is included with the Sensor Service meta-data.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 This identifiers specify the wheel of measurement:
+\par \hich\af0\dbch\af31505\loch\f0 0: Average of non driven axle
+\par \hich\af0\dbch\af31505\loch\f0 1: Left front wheel
+\par \hich\af0\dbch\af31505\loch\f0 2: Right front wheel
+\par \hich\af0\dbch\af31505\loch\f0 3: Left rear wheel
+\par \hich\af0\dbch\af31505\loch\f0 4: Right rear wheel
+\par \hich\af0\dbch\af31505\loch\f0 Uni\hich\af0\dbch\af31505\loch\f0 t: [ticks].
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor typically registers \hich\f0 \lquote \loch\f0 ticks\hich\f0 \rquote \loch\f0 from a wheel, adds them up and sends to the vehicle bus with a certain interval. The number of \hich\f0 \lquote \loch\f0 ticks
+\hich\f0 \rquote \loch\f0 per complete wheel revolution \hich\af0\dbch\af31505\loch\f0
+is known in advance. In some cases, the data from multiple wheels are averaged. Other implementations send the already precalculated speed per wheel or axle, which is a valid replacement for most use cases.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid2844597 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
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+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0
+\par \hich\af0\dbch\af31505\loch\f0
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597
+\par
+\par
+\par
+\par {\*\bkmkstart _Toc382986530}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 4.\tab}}\pard\plain \ltrpar
+\s1\ql \fi-431\li431\ri0\sa240\keepn\nowidctlpar\wrapdefault\faauto\ls1\outlinelevel0\rin0\lin431\itap0 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0 \b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 Architecture}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid2844597 {\*\bkmkend _Toc382986530}
+\par {\*\bkmkstart GNSSSERVICE}{\*\bkmkstart BKM_0B5009E3_C988_497D_A571_CD322897BFC7}{\*\bkmkstart _Toc382986531}{\*\bkmkend GNSSSERVICE}{\*\bkmkend BKM_0B5009E3_C988_497D_A571_CD322897BFC7}{\listtext\pard\plain\ltrpar \s2 \rtlch\fcs1 \ab\ai\af0 \ltrch\fcs0
+\cs16\f1\fs25\cf1\ulc1\insrsid2844597 \hich\af1\dbch\af0\loch\f1 1.\tab}}\pard\plain \ltrpar\s2\ql \li0\ri0\sb480\sa240\keepn\nowidctlpar\wrapdefault\faauto\ls1\ilvl1\outlinelevel1\rin0\lin0\itap0 \rtlch\fcs1 \ab\ai\af1\afs28\alang1025 \ltrch\fcs0
+\b\i\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \cs16\b0\i0\fs25\cf1\dbch\af0\ulc1\insrsid2844597 GNSSService}{\rtlch\fcs1 \ab0\ai0\af0\afs24 \ltrch\fcs0
+\f0\cf1\ulc1\insrsid2844597 {\*\bkmkend _Toc382986531}
+\par }\pard\plain \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\insrsid2844597
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 The GNSSService is a component that abstracts the access to GNSS devices (e.g. GPS receivers).
+\par
+\par \hich\af0\dbch\af31505\loch\f0 It hides hardware and software dependencies on specific GNSS devices and their drivers.
+\par
+\par
+\par {\*\bkmkstart BKM_DA61A823_EEB8_49FD_88D1_D5C34773A71F}{\*\bkmkend BKM_DA61A823_EEB8_49FD_88D1_D5C34773A71F}
+\par
+\par {\*\bkmkstart _Toc382986532}{\listtext\pard\plain\ltrpar \s2 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\i\fs28\cf1\insrsid2844597 \hich\af0\dbch\af31505\loch\f0 2.\tab}}\pard\plain \ltrpar
+\s2\ql \li0\ri0\sb480\sa240\keepn\nowidctlpar\wrapdefault\faauto\ls1\ilvl1\outlinelevel1\rin0\lin0\itap0 \rtlch\fcs1 \ab\ai\af1\afs28\alang1025 \ltrch\fcs0 \b\i\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {
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+\par }\pard\plain \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid2844597\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 This diagram shows the GNSSService\hich\af0\dbch\af31505\loch\f0 and its interfaces.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
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\ No newline at end of file diff --git a/gnss-service/doc/tools/README.txt b/gnss-service/doc/tools/README.txt new file mode 100644 index 0000000..ebf9dfd --- /dev/null +++ b/gnss-service/doc/tools/README.txt @@ -0,0 +1,26 @@ +--------------------------------- +Document Generation +--------------------------------- + +0) +Install the following packages: +sudo apt-get install doxygen +sudo apt-get install pdftk + +1) +Modify the <component name>API-part1.doc as needed. + +2) +Convert the <component name>API-part1.doc +into a PDF document with the same name. + +3) +Navigate to the directory 'tools'. + +4) +Generate the documentation: +./generate-doc.sh + +A document called <component name>API-part2.pdf will be automatically generated. +The final component documentation (<component name>API.pdf) will be created in +the parent directory. diff --git a/gnss-service/doc/tools/generate-doc.sh b/gnss-service/doc/tools/generate-doc.sh new file mode 100755 index 0000000..1b09e8b --- /dev/null +++ b/gnss-service/doc/tools/generate-doc.sh @@ -0,0 +1,26 @@ +#! /bin/bash +OUTPUT_DIR=.. + +OUTPUT_FILE=GNSSServiceAPI.pdf +FILE1=GNSSServiceAPI-part1.pdf +FILE2=GNSSServiceAPI-part2.pdf + +doxygen Doxyfile generated/latex +pushd generated/latex +make +popd + +if [ -f generated/latex/refman.pdf ]; + then + #copy the file containing the doxygen documentation + cp generated/latex/refman.pdf $FILE2 + #concatenate pdf files + pdftk $FILE1 $FILE2 cat output $OUTPUT_DIR/$OUTPUT_FILE + #show output file + evince $OUTPUT_DIR/$OUTPUT_FILE & + else + echo "Error generating pdf file" +fi + + + diff --git a/gnss-service/src/CMakeLists.txt b/gnss-service/src/CMakeLists.txt new file mode 100644 index 0000000..edf7b2a --- /dev/null +++ b/gnss-service/src/CMakeLists.txt @@ -0,0 +1,69 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: GNSSService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "LIB-GNSS-SERVICE") +message(STATUS "WITH_DLT = ${WITH_DLT}") +message(STATUS "WITH_GPSD = ${WITH_GPSD}") +message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}") +message(STATUS "WITH_TESTS = ${WITH_TESTS}") + +include_directories("${PROJECT_SOURCE_DIR}/api") + +find_package(PkgConfig) + +set(LIBRARIES pthread) + +if(WITH_DLT) + add_definitions("-DDLT_ENABLED=1") + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}") + find_package(DLT REQUIRED) + include_directories( ${DLT_INCLUDE_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +if(WITH_GPSD) + pkg_check_modules(GPSD libgps>=2.94) + #generate library using gpsd as input + set(LIB_SRC_USE_GPSD ${CMAKE_SOURCE_DIR}/src/gnss-use-gpsd.c + ${CMAKE_SOURCE_DIR}/src/gnss-simple.c + ${CMAKE_SOURCE_DIR}/src/gnss-ext.c + ${CMAKE_SOURCE_DIR}/src/gnss-meta-data.c) + add_library(gnss-service-use-gpsd SHARED ${LIB_SRC_USE_GPSD}) + target_link_libraries(gnss-service-use-gpsd gps ${LIBRARIES}) +elseif(WITH_REPLAYER) + #generate library using replayer as input + set(LIB_SRC_USE_REPLAYER ${CMAKE_SOURCE_DIR}/src/gnss-use-replayer.c + ${CMAKE_SOURCE_DIR}/src/gnss-simple.c + ${CMAKE_SOURCE_DIR}/src/gnss-ext.c + ${CMAKE_SOURCE_DIR}/src/gnss-meta-data.c) + add_library(gnss-service-use-replayer SHARED ${LIB_SRC_USE_REPLAYER}) + target_link_libraries(gnss-service-use-replayer ${LIBRARIES}) +else() + message(STATUS "Invalid cmake option!") +endif() + + + + + + + + + + + diff --git a/gnss-service/src/globals.h b/gnss-service/src/globals.h new file mode 100644 index 0000000..4e252c4 --- /dev/null +++ b/gnss-service/src/globals.h @@ -0,0 +1,47 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef GLOBALS_H +#define GLOBALS_H + +#include <stdbool.h> +#include <pthread.h> +#include <time.h> + +#include "gnss.h" +#include "gnss-simple.h" +#include "gnss-ext.h" +#include "gnss-meta-data.h" + +extern pthread_mutex_t mutexCb; +extern pthread_mutex_t mutexData; + +extern TGNSSPosition gPosition; +extern TGNSSCourse gCourse; +extern TGNSSAccuracy gAccuracy; +extern TGNSSSatelliteDetail gSatelliteDetail; //TODO: buffer full set of satellite details for one point in time +extern TGNSSSimpleConfiguration gConfiguration; + +extern const TGnssMetaData gMetaData; + +extern GNSSPositionCallback cbPosition; +extern GNSSCourseCallback cbCourse; +extern GNSSAccuracyCallback cbAccuracy; +extern GNSSSatelliteDetailCallback cbSatelliteDetail; + +#endif /* GLOBALS_H */ diff --git a/gnss-service/src/gnss-ext.c b/gnss-service/src/gnss-ext.c new file mode 100644 index 0000000..8f88c07 --- /dev/null +++ b/gnss-service/src/gnss-ext.c @@ -0,0 +1,122 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "globals.h" +#include "gnss-ext.h" + +TGNSSAccuracy gAccuracy; +GNSSAccuracyCallback cbAccuracy = 0; + +TGNSSSatelliteDetail gSatelliteDetail; //TODO: buffer full set of satellite details for one point in time +GNSSSatelliteDetailCallback cbSatelliteDetail = 0; + +bool gnssExtendedInit() +{ + return true; +} + +bool gnssExtendedDestroy() +{ + return true; +} + +bool gnssExtendedRegisterAccuracyCallback(GNSSAccuracyCallback callback) +{ + if(cbAccuracy != 0) + { + return false; //if already registered + } + + pthread_mutex_lock(&mutexCb); + cbAccuracy = callback; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool gnssExtendedDeregisterAccuracyCallback(GNSSAccuracyCallback callback) +{ + if(cbAccuracy == callback && callback != 0) + { + pthread_mutex_lock(&mutexCb); + cbAccuracy = 0; + pthread_mutex_unlock(&mutexCb); + + return true; + } + + return false; +} + +bool gnssExtendedGetAccuracy(TGNSSAccuracy* accuracy) +{ + if(!accuracy) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *accuracy = gAccuracy; + pthread_mutex_unlock(&mutexData); + + return true; +} + +bool gnssExtendedRegisterSatelliteDetailCallback(GNSSSatelliteDetailCallback callback) +{ + if(cbSatelliteDetail != 0) + { + return false; //if already registered + } + + pthread_mutex_lock(&mutexCb); + cbSatelliteDetail = callback; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool gnssExtendedDeregisterSatelliteDetailCallback(GNSSSatelliteDetailCallback callback) +{ + if(cbSatelliteDetail == callback && callback != 0) + { + pthread_mutex_lock(&mutexCb); + cbSatelliteDetail = 0; + pthread_mutex_unlock(&mutexCb); + + return true; + } + + return false; +} + +bool gnssExtendedGetSatelliteDetails(TGNSSSatelliteDetail* satelliteDetails, uint16_t count, uint16_t* numSatelliteDetails) +{ + if(!satelliteDetails || !count) + { + return false; + } + +//TODO: return full set of satellite details for one point in time + pthread_mutex_lock(&mutexData); + *satelliteDetails = gSatelliteDetail; + *numSatelliteDetails = 1; + pthread_mutex_unlock(&mutexData); + + return true; +} diff --git a/gnss-service/src/gnss-meta-data.c b/gnss-service/src/gnss-meta-data.c new file mode 100644 index 0000000..bf9b192 --- /dev/null +++ b/gnss-service/src/gnss-meta-data.c @@ -0,0 +1,49 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "globals.h" +#include "gnss-meta-data.h" + +const TGnssMetaData gGnssMetaData = { + GENIVI_GNSS_API_MAJOR, //version + GNSS_CATEGORY_PHYSICAL, //category + GNSS_TYPE_GNSS, //typeBits + 1000, //cycleTime in ms + 4 //number of channels +}; + +bool gnssSimpleGetMetaData(TGnssMetaData *data) +{ + if(!data) + { + return false; + } + + *data = gGnssMetaData; + + return true; +} + + +int32_t getGnssMetaDataList(const TGnssMetaData** metadata) +{ + *metadata = &gGnssMetaData; + + return 1; + +}
\ No newline at end of file diff --git a/gnss-service/src/gnss-simple.c b/gnss-service/src/gnss-simple.c new file mode 100644 index 0000000..03ad012 --- /dev/null +++ b/gnss-service/src/gnss-simple.c @@ -0,0 +1,146 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "globals.h" +#include "gnss-simple.h" + +GNSSPositionCallback cbPosition = 0; +GNSSCourseCallback cbCourse = 0; +TGNSSPosition gPosition; +TGNSSCourse gCourse; +TGNSSSimpleConfiguration gConfiguration; + +bool gnssSimpleInit() +{ + gPosition.validityBits = 0; + gConfiguration.validityBits = 0; + gCourse.validityBits = 0; + + cbPosition = 0; + cbCourse = 0; + + return true; +} + +bool gnssSimpleDestroy() +{ + return true; +} + +bool gnssSimpleGetConfiguration(TGNSSSimpleConfiguration* gnssConfig) +{ + if(!gnssConfig) + { + return false; + } + + *gnssConfig = gConfiguration; + + return true; +} + +bool gnssSimpleRegisterPositionCallback(GNSSPositionCallback callback) +{ + //printf("gnssSimpleRegisterPositionCallback\n"); + if(cbPosition != 0) + { + return false; + } + + pthread_mutex_lock(&mutexCb); + cbPosition = callback; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool gnssSimpleDeregisterPositionCallback(GNSSPositionCallback callback) +{ + //printf("gnssSimpleDeregisterPositionCallback\n"); + if (cbPosition == callback && callback != 0) + { + pthread_mutex_lock(&mutexCb); + cbPosition = 0; + pthread_mutex_unlock(&mutexCb); + + return true; + } + return false; +} + +bool gnssSimpleGetPosition(TGNSSPosition* pos) +{ + if(!pos) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *pos = gPosition; + pthread_mutex_unlock(&mutexData); + + return true; +} + +bool gnssSimpleRegisterCourseCallback(GNSSCourseCallback callback) +{ + //printf("gnssSimpleRegisterCourseCallback\n"); + if(cbCourse != 0) + { + return false; + } + + pthread_mutex_lock(&mutexCb); + cbCourse = callback; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool gnssSimpleDeregisterCourseCallback(GNSSCourseCallback callback) +{ + //printf("gnssSimpleDeregisterCourseCallback\n"); + if(cbCourse == callback && callback != 0) + { + pthread_mutex_lock(&mutexCb); + cbCourse = 0; + pthread_mutex_unlock(&mutexCb); + + return true; + } + + return false; +} + +bool gnssSimpleGetCourse(TGNSSCourse* course) +{ + if(!course) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *course = gCourse; + pthread_mutex_unlock(&mutexData); + + return true; +} + + + + diff --git a/gnss-service/src/gnss-use-gpsd.c b/gnss-service/src/gnss-use-gpsd.c new file mode 100644 index 0000000..dbbcaeb --- /dev/null +++ b/gnss-service/src/gnss-use-gpsd.c @@ -0,0 +1,347 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <stdio.h> +#include <stdlib.h> +#include <stdbool.h> +#include <time.h> +#include <errno.h> +#include <pthread.h> +#include <assert.h> + +#include "globals.h" +#include "gnss.h" +#include "gnss-simple.h" +#include "log.h" +#include "gps.h" + +#define PORT "2947" + +static struct gps_data_t gpsdata; + +pthread_t listenerThread; +pthread_mutex_t mutexCb; +pthread_mutex_t mutexData; +bool isRunning = false; + +DLT_DECLARE_CONTEXT(gContext); + +void *listen( void *ptr ); + +bool gnssInit() +{ + isRunning = true; + + if(pthread_create( &listenerThread, NULL, listen, NULL) != 0) + { + isRunning = false; + return false; + } + + return true; +} + +bool gnssDestroy() +{ + isRunning = false; + + if(listenerThread) + { + pthread_join( listenerThread, NULL); + } + + return true; +} + +void gnssGetVersion(int *major, int *minor, int *micro) +{ + if(major) + { + *major = GENIVI_GNSS_API_MAJOR; + } + + if (minor) + { + *minor = GENIVI_GNSS_API_MINOR; + } + + if (micro) + { + *micro = GENIVI_GNSS_API_MICRO; + } +} + +static EGNSSFixStatus convertToFixStatus(int fixMode) +{ + EGNSSFixStatus status = GNSS_FIX_STATUS_NO; + + switch (fixMode) + { + case MODE_NOT_SEEN: + status = GNSS_FIX_STATUS_NO; + break; + case MODE_NO_FIX: + status = GNSS_FIX_STATUS_TIME; + break; // check this + case MODE_2D: + status = GNSS_FIX_STATUS_2D; + break; + case MODE_3D: + status = GNSS_FIX_STATUS_3D; + break; + default: + status = GNSS_FIX_STATUS_NO; + LOG_ERROR_MSG(gContext,"should not reach default case"); + break; + } + + return status; +} + +bool extractAccuracy(struct gps_data_t* pGpsData, TGNSSAccuracy* pAccuracy) +{ + static EGNSSFixStatus oldFixStatus = GNSS_FIX_STATUS_NO; + static uint16_t oldUsedSatellites = 0; + static uint16_t oldVisibleSatellites = 0; + bool fixStatusChanged = false; + bool satellitesChanged = false; + + if(!pGpsData || !pAccuracy) + { + return false; + } + + pAccuracy->validityBits = 0; + + pAccuracy->timestamp = pGpsData->fix.time; + + fixStatusChanged = (oldFixStatus != convertToFixStatus(pGpsData->fix.mode)); + + satellitesChanged = ((oldUsedSatellites != (uint16_t)pGpsData->satellites_used) || + (oldVisibleSatellites != (uint16_t)pGpsData->satellites_visible)); + + if(((pGpsData->set & MODE_SET) && fixStatusChanged) || + (pGpsData->set & DOP_SET) || + ((pGpsData->set & SATELLITE_SET) && satellitesChanged)) + { + oldFixStatus = pAccuracy->fixStatus; + pAccuracy->fixStatus = convertToFixStatus(pGpsData->fix.mode); + pAccuracy->validityBits |= GNSS_ACCURACY_STAT_VALID; + LOG_DEBUG(gContext,"FixStatus: %d", (int)pAccuracy->fixStatus); + + pAccuracy->pdop = (float)pGpsData->dop.pdop; + pAccuracy->validityBits |= GNSS_ACCURACY_PDOP_VALID; + LOG_DEBUG(gContext,"pdop: %lf", pAccuracy->pdop); + + pAccuracy->hdop = (float)pGpsData->dop.hdop; + pAccuracy->validityBits |= GNSS_ACCURACY_HDOP_VALID; + LOG_DEBUG(gContext,"hdop: %lf", pAccuracy->hdop); + + pAccuracy->vdop = (float)pGpsData->dop.vdop; + pAccuracy->validityBits |= GNSS_ACCURACY_VDOP_VALID; + LOG_DEBUG(gContext,"vdop: %lf", pAccuracy->vdop); + + if(pGpsData->satellites_used >= 0) + { + oldUsedSatellites = pAccuracy->usedSatellites; + pAccuracy->usedSatellites = (uint16_t)pGpsData->satellites_used; + pAccuracy->validityBits |= GNSS_ACCURACY_USAT_VALID; + LOG_DEBUG(gContext,"Used Satellites: %d", pAccuracy->usedSatellites); + } + + if(pGpsData->satellites_visible >= 0) + { + oldVisibleSatellites = pAccuracy->visibleSatellites; + pAccuracy->visibleSatellites = (uint16_t)pGpsData->satellites_visible; + pAccuracy->validityBits |= GNSS_ACCURACY_VSAT_VALID; + LOG_DEBUG(gContext,"Visible Satellites: %d", pAccuracy->visibleSatellites); + } + + if(cbAccuracy != 0) + { + cbAccuracy(pAccuracy,1); + } + } + return true; +} + +bool extractPosition(struct gps_data_t* pGpsData, TGNSSPosition* pPosition) +{ + if(!pGpsData || !pPosition) + { + return false; + } + + if( ((pGpsData->set & LATLON_SET) || (pGpsData->set & ALTITUDE_SET)) && + (pGpsData->set & MODE_SET) && + ((pGpsData->fix.mode == MODE_2D) || (pGpsData->fix.mode == MODE_3D)) ) + { + pPosition->validityBits = 0; + + pPosition->timestamp = pGpsData->fix.time; + + if(pGpsData->set & LATLON_SET) + { + pPosition->validityBits |= GNSS_ACCURACY_SLAT_VALID; + pPosition->latitude = pGpsData->fix.latitude; + + pPosition->validityBits |= GNSS_ACCURACY_SLON_VALID; + pPosition->longitude = pGpsData->fix.longitude; + + LOG_DEBUG(gContext,"Latitude: %lf", pPosition->latitude); + LOG_DEBUG(gContext,"Longitude: %lf", pPosition->longitude); + } + + if((pGpsData->set & ALTITUDE_SET) && (pGpsData->fix.mode == MODE_3D)) + { + pPosition->validityBits |= GNSS_ACCURACY_SALT_VALID; + pPosition->altitude = (float)pGpsData->fix.altitude; + + LOG_DEBUG(gContext,"Altitude: %lf", pPosition->altitude); + } + + if (cbPosition != 0) + { + cbPosition(pPosition,1); + } + } + return true; +} + +bool extractCourse(struct gps_data_t* pGpsData, TGNSSCourse* pCourse) +{ + static float oldSpeed = 0; + static float oldClimb = 0; + static float oldHeading = 0; + + if(!pGpsData || !pCourse) + { + return false; + } + + pCourse->validityBits = 0; + + if( ((pGpsData->set & SPEED_SET) && (oldSpeed != (float)pGpsData->fix.speed)) || + ((pGpsData->set & CLIMB_SET) && (oldClimb != (float)pGpsData->fix.climb)) || + ((pGpsData->set & TRACK_SET) && (oldHeading != (float)pGpsData->fix.track)) ) + { + if(pGpsData->set & SPEED_SET) + { + oldSpeed = pCourse->speed; + pCourse->speed = (float)pGpsData->fix.speed; + pCourse->validityBits |= GNSS_COURSE_SPEED_VALID; + LOG_DEBUG(gContext,"Speed: %lf", pCourse->speed); + } + + if(pGpsData->set & CLIMB_SET) + { + oldClimb = pCourse->climb; + pCourse->climb = (float)pGpsData->fix.climb; + pCourse->validityBits |= GNSS_COURSE_CLIMB_VALID; + LOG_DEBUG(gContext,"Climb: %lf", pCourse->climb); + } + + if(pGpsData->set & TRACK_SET) + { + oldHeading = pCourse->heading; + pCourse->heading = (float)pGpsData->fix.track; + pCourse->validityBits |= GNSS_COURSE_HEADING_VALID; + LOG_DEBUG(gContext,"Heading: %lf", pCourse->heading); + } + + if(cbCourse != 0) + { + cbCourse(pCourse,1); + } + } + return true; +} + +void *listen( void *ptr ) +{ + char* server = "localhost"; + char* device = 0; + + unsigned int flags = WATCH_ENABLE; + + DLT_REGISTER_APP("GNSS","GNSS-SERVICE"); + DLT_REGISTER_CONTEXT(gContext,"GSRV","Global Context"); + + LOG_INFO(gContext,"GNSSService listening port %s...",PORT); + + device = getenv("GNSS_DEVICE"); + + LOG_DEBUG(gContext,"server: %s, port: %s",server,PORT); + + if(gps_open("localhost", PORT, &gpsdata) != 0) + { + LOG_ERROR(gContext,"no gpsd running or network error: %d, %s",errno, gps_errstr(errno)); + exit(EXIT_FAILURE); + } + + flags |= WATCH_JSON; + + if(device != 0) + { + flags |= WATCH_DEVICE; + LOG_DEBUG(gContext,"device: %s",device); + } + + (void)gps_stream(&gpsdata, flags, device); + + while(isRunning == true) + { + if(!gps_waiting(&gpsdata, 15000000)) + { + LOG_ERROR_MSG(gContext,"error while waiting"); + break; + } + else + { + if(gps_read(&gpsdata)) + { + pthread_mutex_lock(&mutexData); + + if(!extractPosition(&gpsdata,&gPosition)) + { + LOG_ERROR_MSG(gContext,"error extracting position"); + } + + if(!extractCourse(&gpsdata,&gCourse)) + { + LOG_ERROR_MSG(gContext,"error extracting course"); + } + + if(!extractAccuracy(&gpsdata,&gAccuracy)) + { + LOG_ERROR_MSG(gContext,"error extracting accuracy"); + } + + pthread_mutex_unlock(&mutexData); + } + } + } + + (void)gps_close(&gpsdata); + + return EXIT_SUCCESS; +} + + + + diff --git a/gnss-service/src/gnss-use-replayer.c b/gnss-service/src/gnss-use-replayer.c new file mode 100644 index 0000000..39beda1 --- /dev/null +++ b/gnss-service/src/gnss-use-replayer.c @@ -0,0 +1,455 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <stdbool.h> +#include <time.h> +#include <errno.h> +#include <pthread.h> +#include <assert.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/types.h> +#include <sys/socket.h> +#include <unistd.h> +#include <memory.h> + +#include "globals.h" +#include "gnss.h" +#include "gnss-simple.h" +#include "log.h" + +#define BUFLEN 256 +#define MSGIDLEN 20 +#define PORT 9930 + +#define MAX_BUF_MSG 16 + +pthread_t listenerThread; +pthread_mutex_t mutexCb; +pthread_mutex_t mutexData; +bool isRunning = false; + +void *listenForMessages( void *ptr ); + +DLT_DECLARE_CONTEXT(gContext); + +bool gnssInit() +{ + isRunning = true; + + if(pthread_create(&listenerThread, NULL, listenForMessages, NULL) != 0) + { + isRunning = false; + return false; + } + + return true; +} + +bool gnssDestroy() +{ + isRunning = false; + + if(listenerThread) + { + pthread_join(listenerThread, NULL); + } + + return true; +} + +void gnssGetVersion(int *major, int *minor, int *micro) +{ + if(major) + { + *major = GENIVI_GNSS_API_MAJOR; + } + + if (minor) + { + *minor = GENIVI_GNSS_API_MINOR; + } + + if (micro) + { + *micro = GENIVI_GNSS_API_MICRO; + } +} + +bool processGVGNSAC(char* data, TGNSSAccuracy* pAccuracy) +{ + //parse data like: 061064000,0$GVGNSP,061064000,49.02657,12.06527,336.70000,0X07 + + //storage for buffered data + static TGNSSAccuracy buf_acc[MAX_BUF_MSG]; + static uint16_t buf_size = 0; + static uint16_t last_countdown = 0; + + uint64_t timestamp; + uint16_t countdown; + TGNSSAccuracy acc = { 0 }; + uint16_t fixStatus; + uint32_t n = 0; + + if(!data || !pAccuracy) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%llu,%hu$GVGNSAC,%llu,%f,%f,%f,%hu,%hu,%hu,%f,%f,%f,%hu,%x,%x", + ×tamp, &countdown, &acc.timestamp, + &acc.pdop, &acc.hdop, &acc.vdop, + &acc.usedSatellites, &acc.trackedSatellites, &acc.visibleSatellites, + &acc.sigmaLatitude, &acc.sigmaLongitude, &acc.sigmaAltitude, + &fixStatus, &acc.fixTypeBits, &acc.validityBits); + acc.fixStatus = fixStatus; + + if (n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVGNSAC failed!"); + return false; + } + + *pAccuracy = acc; + + //buffered data handling + if (countdown < MAX_BUF_MSG) //enough space in buffer? + { + if (buf_size == 0) //a new sequence starts + { + buf_size = countdown+1; + last_countdown = countdown; + buf_acc[buf_size-countdown-1] = acc; + } + else if ((last_countdown-countdown) == 1) //sequence continued + { + last_countdown = countdown; + buf_acc[buf_size-countdown-1] = acc; + } + else //sequence interrupted: clear buffer + { + buf_size = 0; + last_countdown = 0; + } + } + else //clear buffer + { + buf_size = 0; + last_countdown = 0; + } + + if((cbAccuracy != 0) && (countdown == 0) && (buf_size >0) ) + { + cbAccuracy(buf_acc,buf_size); + buf_size = 0; + last_countdown = 0; + } + + return true; +} + +static bool processGVGNSP(char* data, TGNSSPosition* pPosition) +{ + //parse data like: 061064000,0$GVGNSP,061064000,49.02657,12.06527,336.70000,0X07 + + //storage for buffered data + static TGNSSPosition buf_pos[MAX_BUF_MSG]; + static uint16_t buf_size = 0; + static uint16_t last_countdown = 0; + + uint64_t timestamp; + uint16_t countdown; + TGNSSPosition pos = { 0 }; + uint32_t n = 0; + + if(!data || !pPosition) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%llu,%hu$GVGNSP,%llu,%lf,%lf,%f,%x", ×tamp, &countdown, &pos.timestamp, &pos.latitude, &pos.longitude, &pos.altitude, &pos.validityBits); + + if (n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVGNSP failed!"); + return false; + } + + *pPosition = pos; + + //buffered data handling + if (countdown < MAX_BUF_MSG) //enough space in buffer? + { + if (buf_size == 0) //a new sequence starts + { + buf_size = countdown+1; + last_countdown = countdown; + buf_pos[buf_size-countdown-1] = pos; + } + else if ((last_countdown-countdown) == 1) //sequence continued + { + last_countdown = countdown; + buf_pos[buf_size-countdown-1] = pos; + } + else //sequence interrupted: clear buffer + { + buf_size = 0; + last_countdown = 0; + } + } + else //clear buffer + { + buf_size = 0; + last_countdown = 0; + } + + if((cbPosition != 0) && (countdown == 0) && (buf_size >0) ) + { + cbPosition(buf_pos,buf_size); + buf_size = 0; + last_countdown = 0; + } + + return true; +} + +static bool processGVGNSC(char* data, TGNSSCourse* pCourse) +{ + //parse data like: 061064000,0$GVGNSC,061064000,0.00,0,131.90000,0X05 + + //storage for buffered data + static TGNSSCourse buf_course[MAX_BUF_MSG]; + static uint16_t buf_size = 0; + static uint16_t last_countdown = 0; + + uint64_t timestamp; + uint16_t countdown; + TGNSSCourse course = { 0 }; + uint32_t n = 0; + + if(!data || !pCourse) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%llu,%hu$GVGNSC,%llu,%f,%f,%f,%x", ×tamp, &countdown, &course.timestamp, &course.speed, &course.climb, &course.heading, &course.validityBits); + + + if (n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVGNSC failed!"); + return false; + } + + *pCourse = course; + + //buffered data handling + if (countdown < MAX_BUF_MSG) //enough space in buffer? + { + if (buf_size == 0) //a new sequence starts + { + buf_size = countdown+1; + last_countdown = countdown; + buf_course[buf_size-countdown-1] = course; + } + else if ((last_countdown-countdown) == 1) //sequence continued + { + last_countdown = countdown; + buf_course[buf_size-countdown-1] = course; + } + else //sequence interrupted: clear buffer + { + buf_size = 0; + last_countdown = 0; + } + } + else //clear buffer + { + buf_size = 0; + last_countdown = 0; + } + + if((cbCourse != 0) && (countdown == 0) && (buf_size >0) ) + { + cbCourse(buf_course,buf_size); + buf_size = 0; + last_countdown = 0; + } + + return true; +} + +static bool processGVGNSSAT(char* data, TGNSSSatelliteDetail* pSatelliteDetail) +{ + //parse data like: 061064000,05$GVGNSSAT,061064000,1,18,314.0,22.0,39,0X00,0X1F + + //storage for buffered data + static TGNSSSatelliteDetail buf_sat[MAX_BUF_MSG]; + static uint16_t buf_size = 0; + static uint16_t last_countdown = 0; + + uint64_t timestamp; + uint16_t countdown; + TGNSSSatelliteDetail sat = { 0 }; + uint16_t system = 0; + uint32_t n = 0; + + if(!data || !pSatelliteDetail) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%llu,%hu$GVGNSSAT,%llu,%hu,%hu,%hu,%hu,%hu,%x,%x", ×tamp, &countdown, &sat.timestamp,&system,&sat.satelliteId,&sat.azimuth,&sat.elevation,&sat.SNR,&sat.statusBits,&sat.validityBits); + sat.system = system; + //LOG_DEBUG(gContext,"Decoded: %llu,%hu$GVGNSSAT,%llu,%d,%hu,%hu,%hu,%hu,0X%X,0X%X ", timestamp, countdown, sat.timestamp, sat.system, sat.satelliteId, sat.azimuth, sat.elevation, sat.SNR, sat.statusBits, sat.validityBits); + + if (n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVGNSSAT failed!"); + return false; + } + + *pSatelliteDetail = sat; + + //buffered data handling + if (countdown < MAX_BUF_MSG) //enough space in buffer? + { + if (buf_size == 0) //a new sequence starts + { + buf_size = countdown+1; + last_countdown = countdown; + buf_sat[buf_size-countdown-1] = sat; + } + else if ((last_countdown-countdown) == 1) //sequence continued + { + last_countdown = countdown; + buf_sat[buf_size-countdown-1] = sat; + } + else //sequence interrupted: clear buffer + { + buf_size = 0; + last_countdown = 0; + } + } + else //clear buffer + { + buf_size = 0; + last_countdown = 0; + } + + if((cbSatelliteDetail != 0) && (countdown == 0) && (buf_size >0) ) + { + cbSatelliteDetail(buf_sat,buf_size); + buf_size = 0; + last_countdown = 0; + } + + return true; +} + +void *listenForMessages( void *ptr ) +{ + struct sockaddr_in si_me; + struct sockaddr_in si_other; + int s; + socklen_t slen = sizeof(si_other); + char buf[BUFLEN]; + char msgId[MSGIDLEN]; + int port = PORT; + + DLT_REGISTER_APP("GNSS", "GNSS-SERVICE"); + DLT_REGISTER_CONTEXT(gContext,"GSRV", "Global Context"); + + LOG_DEBUG(gContext,"GNSSService listening on port %d...",port); + + if((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))==-1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + exit(EXIT_FAILURE); + } + + memset((char *) &si_me, 0, sizeof(si_me)); + si_me.sin_family = AF_INET; + + si_me.sin_port = htons(port); + si_me.sin_addr.s_addr = htonl(INADDR_ANY); + if(bind(s, (struct sockaddr *)&si_me, (socklen_t)sizeof(si_me)) == -1) + { + LOG_ERROR_MSG(gContext,"bind() failed!"); + exit(EXIT_FAILURE); + } + + while(isRunning == true) + { + if(recvfrom(s, buf, BUFLEN, 0, (struct sockaddr *)&si_other, (socklen_t *)&slen) == -1) + { + LOG_ERROR_MSG(gContext,"recvfrom() failed!"); + exit(EXIT_FAILURE); + } + + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + + LOG_DEBUG(gContext,"Received Packet from %s:%d", + inet_ntoa(si_other.sin_addr), ntohs(si_other.sin_port)); + + sscanf(buf, "%*[^'$']$%[^',']", msgId); + + LOG_DEBUG(gContext,"MsgID:%s",msgId); + LOG_DEBUG(gContext,"Len:%d",strlen(buf)); + LOG_DEBUG(gContext,"Data:%s",buf); + + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + + pthread_mutex_lock(&mutexData); + + if(strcmp("GVGNSP", msgId) == 0) + { + processGVGNSP(buf, &gPosition); + } + else if(strcmp("GVGNSC", msgId) == 0) + { + processGVGNSC(buf, &gCourse); + } + else if(strcmp("GVGNSAC", msgId) == 0) + { + processGVGNSAC(buf, &gAccuracy); + } + else if(strcmp("GVGNSSAT", msgId) == 0) + { + processGVGNSSAT(buf, &gSatelliteDetail); + } + + pthread_mutex_unlock(&mutexData); + } + + close(s); + + return EXIT_SUCCESS; +} + + + + diff --git a/gnss-service/src/log.h b/gnss-service/src/log.h new file mode 100644 index 0000000..f310461 --- /dev/null +++ b/gnss-service/src/log.h @@ -0,0 +1,137 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011 +* Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef INCLUDE_LOG +#define INCLUDE_LOG + +// turn-on via cmake define: +// $ cmake -DWITH_DLT=1 .. + +#if (!DLT_ENABLED) +/*****************************************************************************/ +// use printf +#include <stdio.h> + +// some type-name used instead of DLT context +typedef const char* NoDltContext; + +#define DLT_DECLARE_CONTEXT(CONTEXT) \ + NoDltContext CONTEXT; + +#define DLT_IMPORT_CONTEXT(CONTEXT) \ + extern NoDltContext CONTEXT; + +#define DLT_REGISTER_CONTEXT(CONTEXT, CONTEXT_ID, DESC) \ + CONTEXT = CONTEXT_ID; + +#define DLT_REGISTER_APP(CONTEXT, DESC) ; + +#define DLT_UNREGISTER_CONTEXT(CONTEXT) ; +#define DLT_UNREGISTER_APP() ; +#define dlt_free() ; + +// log calls +#define LOG_VERBOSE_MSG(context, msg) \ + fprintf(stderr, "[VERBO][%4s] " msg "\n", context) +#define LOG_VERBOSE(context, fmt, ...) \ + fprintf(stderr, "[VERBO][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_DEBUG_MSG(context, msg) \ + fprintf(stderr, "[DEBUG][%4s] " msg "\n", context) +#define LOG_DEBUG(context, fmt, ...) \ + fprintf(stderr, "[DEBUG][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_INFO_MSG(context, msg) \ + fprintf(stderr, "[INFO ][%4s] " msg "\n", context) +#define LOG_INFO(context, fmt, ...) \ + fprintf(stderr, "[INFO ][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_WARNING_MSG(context, msg) \ + fprintf(stderr, "[WARN ][%4s] " msg "\n", context) +#define LOG_WARNING(context, fmt, ...) \ + fprintf(stderr, "[WARN ][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_ERROR_MSG(context, msg) \ + fprintf(stderr, "[ERROR][%4s] " msg "\n", context) +#define LOG_ERROR(context, fmt, ...) \ + fprintf(stderr, "[ERROR][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_FATAL_MSG(context, msg) \ + fprintf(stderr, "[FATAL][%4s] " msg "\n", context) +#define LOG_FATAL(context, fmt, ...) \ + fprintf(stderr, "[FATAL][%4s] " fmt "\n", context, __VA_ARGS__) + +#else /* DLT_ENABLED */ +/*****************************************************************************/ +// use DLT +#include "dlt.h" + +typedef const char* Context; + +#define LOG_VERBOSE_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_VERBOSE, DLT_STRING(msg)); +#define LOG_VERBOSE(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_VERBOSE, DLT_STRING(logBuffer)); \ + } +#define LOG_DEBUG_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_DEBUG, DLT_STRING(msg)); +#define LOG_DEBUG(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_DEBUG, DLT_STRING(logBuffer)); \ + } +#define LOG_INFO_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_INFO, DLT_STRING(msg)); +#define LOG_INFO(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_INFO, DLT_STRING(logBuffer)); \ + } +#define LOG_WARNING_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_WARN, DLT_STRING(msg)); +#define LOG_WARNING(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_WARN, DLT_STRING(logBuffer)); \ + } +#define LOG_ERROR_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_ERROR, DLT_STRING(msg)); +#define LOG_ERROR(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_ERROR, DLT_STRING(logBuffer)); \ + } +#define LOG_FATAL_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_FATAL, DLT_STRING(msg)); +#define LOG_FATAL(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_FATAL, DLT_STRING(logBuffer)); \ + } + +#endif /* DLT_ENABLED */ + +#endif /* INCLUDE_LOG */ diff --git a/gnss-service/test/CMakeLists.txt b/gnss-service/test/CMakeLists.txt new file mode 100755 index 0000000..86bb3c4 --- /dev/null +++ b/gnss-service/test/CMakeLists.txt @@ -0,0 +1,50 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: GNSSService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "GNSS-SERVICE-CLIENT") +message( STATUS "WITH_DLT = ${WITH_DLT}") +message( STATUS "WITH_GPSD = ${WITH_GPSD}") +message( STATUS "WITH_REPLAYER = ${WITH_REPLAYER}") + +include_directories("${PROJECT_SOURCE_DIR}/api") +include_directories("${PROJECT_SOURCE_DIR}/src") + +find_package(PkgConfig) + +set(SRCS ${CMAKE_SOURCE_DIR}/test/gnss-service-client.c) + +add_executable(gnss-service-client ${SRCS}) + +if(WITH_GPSD) + set(LIBRARIES gnss-service-use-gpsd gps) +elseif(WITH_REPLAYER) + set(LIBRARIES gnss-service-use-replayer) +else() + message(STATUS "Invalid cmake option!") +endif() + +if(WITH_DLT) + add_definitions("-DDLT_ENABLED=1") + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}") + find_package(DLT REQUIRED) + include_directories( ${DLT_INCLUDE_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +target_link_libraries(gnss-service-client ${LIBRARIES}) + diff --git a/gnss-service/test/compliance-test/CMakeLists.txt b/gnss-service/test/compliance-test/CMakeLists.txt new file mode 100644 index 0000000..4bf194c --- /dev/null +++ b/gnss-service/test/compliance-test/CMakeLists.txt @@ -0,0 +1,49 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: GNSSService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "GNSS-SERVICE-COMPLIANCE-TEST") +message( STATUS "WITH_DLT = ${WITH_DLT}") +message( STATUS "WITH_GPSD = ${WITH_GPSD}") +message( STATUS "WITH_REPLAYER = ${WITH_REPLAYER}") + +include_directories("${PROJECT_SOURCE_DIR}/api") +include_directories("${PROJECT_SOURCE_DIR}/src") + +find_package(PkgConfig) + +set(SRCS ${CMAKE_SOURCE_DIR}/test/compliance-test/gnss-service-compliance-test.c) + +add_executable(gnss-service-compliance-test ${SRCS}) + +if(WITH_GPSD) + pkg_check_modules(GPSD libgps>=2.94) + set(LIBRARIES gnss-service-use-gpsd gps) +elseif(WITH_REPLAYER) + set(LIBRARIES gnss-service-use-replayer) +endif() + +if(WITH_DLT) + add_definitions("-DDLT_ENABLED=1") + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}") + find_package(DLT REQUIRED) + include_directories( ${DLT_INCLUDE_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +target_link_libraries(gnss-service-compliance-test ${LIBRARIES}) + diff --git a/gnss-service/test/compliance-test/README b/gnss-service/test/compliance-test/README new file mode 100644 index 0000000..f70aa74 --- /dev/null +++ b/gnss-service/test/compliance-test/README @@ -0,0 +1,26 @@ +============================ +GNSSService - Compliance Test +============================ + +--------------------- +Usage +--------------------- +* Compile the provided test application against your + implementation of the GNSSService library. +* Make sure that a GPS receiver is connected +* Start the 'gnss-service-compliance-test' +* Wait 10 seconds for the test to complete + +--------------------- +Important Note +--------------------- +The test application 'gnss-service-compliance-test' +is just a prototype of a test application that may be used +in future to prove that the current implementation of the +GNSSService is GENIVI compliant. + +At the time of writing no testing framework +has officially been defined within the GENIVI Alliance. + +This tets application is simply provided as a test tool. + diff --git a/gnss-service/test/compliance-test/gnss-service-compliance-test.c b/gnss-service/test/compliance-test/gnss-service-compliance-test.c new file mode 100644 index 0000000..16cef40 --- /dev/null +++ b/gnss-service/test/compliance-test/gnss-service-compliance-test.c @@ -0,0 +1,148 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <stdlib.h> +#include <stdio.h> +#include <assert.h> +#include <stdbool.h> +#include <unistd.h> + +#include "gnss.h" +#include "gnss-simple.h" +#include "gnss-ext.h" +#include "log.h" + +DLT_DECLARE_CONTEXT(gCtx); + +#define TEST_FAILED EXIT_FAILURE +#define TEST_PASSED EXIT_SUCCESS + +static int testResult = TEST_PASSED; + + +static void cbPosition(const TGNSSPosition pos[], uint16_t numElements) +{ + if(pos == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"cbPosition failed!"); + testResult = TEST_FAILED; + return; + } +} + +static void cbCourse(const TGNSSCourse course[], uint16_t numElements) +{ + if(course == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"cbCourse failed!"); + testResult = TEST_FAILED; + return; + } +} + +static void cbAccuracy(const TGNSSAccuracy accuracy[], uint16_t numElements) +{ + if(accuracy == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"cbAccuracy failed!"); + testResult = TEST_FAILED; + return; + } +} + +bool checkMajorVersion(int expectedMajor) +{ + int major = -1; + + gnssGetVersion(&major, 0, 0); + + if(major != expectedMajor) + { + LOG_ERROR(gCtx,"Wrong API version: gnssGetVersion returned unexpected value %d != %d", + major, + expectedMajor); + + testResult = TEST_FAILED; + return false; + } + + return true; +} + +bool init() +{ + if(!checkMajorVersion(2)) + { + return false; + } + + if(!gnssInit()) + { + return false; + } + + if(!gnssSimpleInit()) + { + return false; + } + + return true; +} + +int main() +{ + int i = 0; + + DLT_REGISTER_APP("GNSS", "GNSS-SERVICE-COMPLIANCE-TEST"); + DLT_REGISTER_CONTEXT(gCtx,"GCLT", "Global Context"); + + LOG_INFO_MSG(gCtx,"Starting gnss-service-compliance-test..."); + + if(init()) + { + //register for GNSS + gnssSimpleRegisterPositionCallback(&cbPosition); + gnssSimpleRegisterCourseCallback(&cbCourse); + gnssExtendedRegisterAccuracyCallback(&cbAccuracy); + + //listen for events for about 10 seconds + for(i = 0; i < 10; i++) + { + sleep(1); + } + + //deregister + gnssSimpleDeregisterPositionCallback(&cbPosition); + gnssSimpleDeregisterCourseCallback(&cbCourse); + gnssExtendedDeregisterAccuracyCallback(&cbAccuracy); + + gnssSimpleDestroy(); + gnssDestroy(); + } + + //return if the test succeded or failed + if(testResult == TEST_FAILED) + { + LOG_INFO_MSG(gCtx,"TEST_FAILED"); + return EXIT_FAILURE; + } + + LOG_INFO_MSG(gCtx,"TEST_PASSED"); + + return EXIT_SUCCESS; +} diff --git a/gnss-service/test/gnss-service-client.c b/gnss-service/test/gnss-service-client.c new file mode 100644 index 0000000..86f7c17 --- /dev/null +++ b/gnss-service/test/gnss-service-client.c @@ -0,0 +1,181 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup GNSSService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <stdlib.h> +#include <stdio.h> +#include <assert.h> +#include <stdbool.h> +#include <unistd.h> + +#include "gnss.h" +#include "gnss-simple.h" +#include "gnss-ext.h" +#include "log.h" + +DLT_DECLARE_CONTEXT(gCtx); + +static void cbPosition(const TGNSSPosition pos[], uint16_t numElements) +{ + int i; + if(pos == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"cbPosition failed!"); + return; + } + + for (i = 0; i<numElements; i++) + { + LOG_INFO(gCtx,"Position Update[%d/%d]: lat=%f lon=%f", + i+1, + numElements, + pos[i].latitude, + pos[i].longitude); + } +} + +static void cbCourse(const TGNSSCourse course[], uint16_t numElements) +{ + int i; + if(course == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"cbCourse failed!"); + return; + } + + for (i = 0; i<numElements; i++) + { + LOG_INFO(gCtx,"Course Updatee[%d/%d]: speed=%f heading=%f climb=%f", + i+1, + numElements, + course[i].speed, + course[i].heading, + course[i].climb); + } + +} + +static void cbAccuracy(const TGNSSAccuracy accuracy[], uint16_t numElements) +{ + int i; + if(accuracy == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"cbAccuracy failed!"); + return; + } + + for (i = 0; i<numElements; i++) + { + LOG_INFO(gCtx,"Accuracy Update[%d/%d]: usedSatellites=%d visibleSatellites=%d fixStatus=%d fixTypeBits=0x%08X", + i+1, + numElements, + accuracy[i].usedSatellites, + accuracy[i].visibleSatellites, + accuracy[i].fixStatus, + accuracy[i].fixTypeBits); + } +} + +static void cbSatelliteDetail(const TGNSSSatelliteDetail satelliteDetail[], uint16_t numElements) +{ + int i; + if(satelliteDetail == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"cbSatelliteDetail failed!"); + return; + } + + for (i = 0; i<numElements; i++) + { + LOG_INFO(gCtx,"SatelliteDetail Update[%d/%d]: satelliteId=%d azimuth=%d elevation=%d SNR=%d", + i+1, + numElements, + satelliteDetail[i].satelliteId, + satelliteDetail[i].azimuth, + satelliteDetail[i].elevation, + satelliteDetail[i].SNR); + } +} + +bool checkMajorVersion(int expectedMajor) +{ + int major = -1; + + gnssGetVersion(&major, 0, 0); + + if(major != expectedMajor) + { + LOG_ERROR(gCtx,"Wrong API version: gnssGetVersion returned unexpected value %d != %d", + major, + expectedMajor); + + return false; + } + + return true; +} + +void init() +{ + if(!checkMajorVersion(2)) + { + exit(EXIT_FAILURE); + } + + if(!gnssInit()) + { + exit(EXIT_FAILURE); + } + + if(!gnssSimpleInit()) + { + exit(EXIT_FAILURE); + } +} + +int main() +{ + init(); + + DLT_REGISTER_APP("GNSS", "GNSS-SERVICE-CLIENT"); + DLT_REGISTER_CONTEXT(gCtx,"GCLT", "Global Context"); + + LOG_INFO_MSG(gCtx,"starting gnss-service-client..."); + + // register for GNSS + gnssSimpleRegisterPositionCallback(&cbPosition); + gnssSimpleRegisterCourseCallback(&cbCourse); + gnssExtendedRegisterAccuracyCallback(&cbAccuracy); + gnssExtendedRegisterSatelliteDetailCallback(&cbSatelliteDetail); + + // enter endless loop + while(1) + { + sleep(1); + } + + // deregister + gnssSimpleDeregisterPositionCallback(&cbPosition); + gnssSimpleDeregisterCourseCallback(&cbCourse); + gnssExtendedDeregisterAccuracyCallback(&cbAccuracy); + gnssExtendedDeregisterSatelliteDetailCallback(&cbSatelliteDetail); + + gnssSimpleDestroy(); + gnssDestroy(); + + return EXIT_SUCCESS; +} diff --git a/log-replayer/CMakeLists.txt b/log-replayer/CMakeLists.txt new file mode 100644 index 0000000..f13e1ec --- /dev/null +++ b/log-replayer/CMakeLists.txt @@ -0,0 +1,39 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: Replayer +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +project(log-replayer) +cmake_minimum_required(VERSION 2.6.0) + +option(WITH_DLT + "Enable the build to enable DLT logging " OFF) + +option(WITH_TESTS + "Compile test applications" OFF) + +message(STATUS) +message(STATUS "---------------------------------------------------------") + +add_subdirectory(src) +add_subdirectory(logs) + +if(WITH_TESTS) +add_subdirectory(test) +endif() + +message(STATUS "---------------------------------------------------------") +message(STATUS) diff --git a/log-replayer/FindDLT.cmake b/log-replayer/FindDLT.cmake new file mode 100644 index 0000000..032eeff --- /dev/null +++ b/log-replayer/FindDLT.cmake @@ -0,0 +1,12 @@ +set(DLT_INCLUDE_DIRS /usr/include/dlt) +set(DLT_LIBRARIES dlt) +set(DLT_LIBRARY_DIRS /usr/lib) + +find_package(PkgConfig) +pkg_check_modules(DLT REQUIRED automotive-dlt) + +if(${DLT_FOUND}) + #message(STATUS "found and use automotive-dlt: version ${DLT_VERSION}") +else() + message("missing DLT - check with 'pkg-config automotive-dlt --cflags-only-I'") +endif() diff --git a/log-replayer/LICENSE b/log-replayer/LICENSE new file mode 100644 index 0000000..14e2f77 --- /dev/null +++ b/log-replayer/LICENSE @@ -0,0 +1,373 @@ +Mozilla Public License Version 2.0 +================================== + +1. Definitions +-------------- + +1.1. "Contributor" + means each individual or legal entity that creates, contributes to + the creation of, or owns Covered Software. + +1.2. "Contributor Version" + means the combination of the Contributions of others (if any) used + by a Contributor and that particular Contributor's Contribution. + +1.3. "Contribution" + means Covered Software of a particular Contributor. + +1.4. "Covered Software" + means Source Code Form to which the initial Contributor has attached + the notice in Exhibit A, the Executable Form of such Source Code + Form, and Modifications of such Source Code Form, in each case + including portions thereof. + +1.5. "Incompatible With Secondary Licenses" + means + + (a) that the initial Contributor has attached the notice described + in Exhibit B to the Covered Software; or + + (b) that the Covered Software was made available under the terms of + version 1.1 or earlier of the License, but not also under the + terms of a Secondary License. + +1.6. "Executable Form" + means any form of the work other than Source Code Form. + +1.7. "Larger Work" + means a work that combines Covered Software with other material, in + a separate file or files, that is not Covered Software. + +1.8. "License" + means this document. + +1.9. "Licensable" + means having the right to grant, to the maximum extent possible, + whether at the time of the initial grant or subsequently, any and + all of the rights conveyed by this License. + +1.10. "Modifications" + means any of the following: + + (a) any file in Source Code Form that results from an addition to, + deletion from, or modification of the contents of Covered + Software; or + + (b) any new file in Source Code Form that contains any Covered + Software. + +1.11. "Patent Claims" of a Contributor + means any patent claim(s), including without limitation, method, + process, and apparatus claims, in any patent Licensable by such + Contributor that would be infringed, but for the grant of the + License, by the making, using, selling, offering for sale, having + made, import, or transfer of either its Contributions or its + Contributor Version. + +1.12. "Secondary License" + means either the GNU General Public License, Version 2.0, the GNU + Lesser General Public License, Version 2.1, the GNU Affero General + Public License, Version 3.0, or any later versions of those + licenses. + +1.13. "Source Code Form" + means the form of the work preferred for making modifications. + +1.14. "You" (or "Your") + means an individual or a legal entity exercising rights under this + License. For legal entities, "You" includes any entity that + controls, is controlled by, or is under common control with You. For + purposes of this definition, "control" means (a) the power, direct + or indirect, to cause the direction or management of such entity, + whether by contract or otherwise, or (b) ownership of more than + fifty percent (50%) of the outstanding shares or beneficial + ownership of such entity. + +2. License Grants and Conditions +-------------------------------- + +2.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, +non-exclusive license: + +(a) under intellectual property rights (other than patent or trademark) + Licensable by such Contributor to use, reproduce, make available, + modify, display, perform, distribute, and otherwise exploit its + Contributions, either on an unmodified basis, with Modifications, or + as part of a Larger Work; and + +(b) under Patent Claims of such Contributor to make, use, sell, offer + for sale, have made, import, and otherwise transfer either its + Contributions or its Contributor Version. + +2.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution +become effective for each Contribution on the date the Contributor first +distributes such Contribution. + +2.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under +this License. No additional rights or licenses will be implied from the +distribution or licensing of Covered Software under this License. +Notwithstanding Section 2.1(b) above, no patent license is granted by a +Contributor: + +(a) for any code that a Contributor has removed from Covered Software; + or + +(b) for infringements caused by: (i) Your and any other third party's + modifications of Covered Software, or (ii) the combination of its + Contributions with other software (except as part of its Contributor + Version); or + +(c) under Patent Claims infringed by Covered Software in the absence of + its Contributions. + +This License does not grant any rights in the trademarks, service marks, +or logos of any Contributor (except as may be necessary to comply with +the notice requirements in Section 3.4). + +2.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to +distribute the Covered Software under a subsequent version of this +License (see Section 10.2) or under the terms of a Secondary License (if +permitted under the terms of Section 3.3). + +2.5. Representation + +Each Contributor represents that the Contributor believes its +Contributions are its original creation(s) or it has sufficient rights +to grant the rights to its Contributions conveyed by this License. + +2.6. Fair Use + +This License is not intended to limit any rights You have under +applicable copyright doctrines of fair use, fair dealing, or other +equivalents. + +2.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted +in Section 2.1. + +3. Responsibilities +------------------- + +3.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any +Modifications that You create or to which You contribute, must be under +the terms of this License. You must inform recipients that the Source +Code Form of the Covered Software is governed by the terms of this +License, and how they can obtain a copy of this License. You may not +attempt to alter or restrict the recipients' rights in the Source Code +Form. + +3.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + +(a) such Covered Software must also be made available in Source Code + Form, as described in Section 3.1, and You must inform recipients of + the Executable Form how they can obtain a copy of such Source Code + Form by reasonable means in a timely manner, at a charge no more + than the cost of distribution to the recipient; and + +(b) You may distribute such Executable Form under the terms of this + License, or sublicense it under different terms, provided that the + license for the Executable Form does not attempt to limit or alter + the recipients' rights in the Source Code Form under this License. + +3.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, +provided that You also comply with the requirements of this License for +the Covered Software. If the Larger Work is a combination of Covered +Software with a work governed by one or more Secondary Licenses, and the +Covered Software is not Incompatible With Secondary Licenses, this +License permits You to additionally distribute such Covered Software +under the terms of such Secondary License(s), so that the recipient of +the Larger Work may, at their option, further distribute the Covered +Software under the terms of either this License or such Secondary +License(s). + +3.4. Notices + +You may not remove or alter the substance of any license notices +(including copyright notices, patent notices, disclaimers of warranty, +or limitations of liability) contained within the Source Code Form of +the Covered Software, except that You may alter any license notices to +the extent required to remedy known factual inaccuracies. + +3.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, +indemnity or liability obligations to one or more recipients of Covered +Software. However, You may do so only on Your own behalf, and not on +behalf of any Contributor. You must make it absolutely clear that any +such warranty, support, indemnity, or liability obligation is offered by +You alone, and You hereby agree to indemnify every Contributor for any +liability incurred by such Contributor as a result of warranty, support, +indemnity or liability terms You offer. You may include additional +disclaimers of warranty and limitations of liability specific to any +jurisdiction. + +4. Inability to Comply Due to Statute or Regulation +--------------------------------------------------- + +If it is impossible for You to comply with any of the terms of this +License with respect to some or all of the Covered Software due to +statute, judicial order, or regulation then You must: (a) comply with +the terms of this License to the maximum extent possible; and (b) +describe the limitations and the code they affect. Such description must +be placed in a text file included with all distributions of the Covered +Software under this License. Except to the extent prohibited by statute +or regulation, such description must be sufficiently detailed for a +recipient of ordinary skill to be able to understand it. + +5. Termination +-------------- + +5.1. The rights granted under this License will terminate automatically +if You fail to comply with any of its terms. However, if You become +compliant, then the rights granted under this License from a particular +Contributor are reinstated (a) provisionally, unless and until such +Contributor explicitly and finally terminates Your grants, and (b) on an +ongoing basis, if such Contributor fails to notify You of the +non-compliance by some reasonable means prior to 60 days after You have +come back into compliance. Moreover, Your grants from a particular +Contributor are reinstated on an ongoing basis if such Contributor +notifies You of the non-compliance by some reasonable means, this is the +first time You have received notice of non-compliance with this License +from such Contributor, and You become compliant prior to 30 days after +Your receipt of the notice. + +5.2. If You initiate litigation against any entity by asserting a patent +infringement claim (excluding declaratory judgment actions, +counter-claims, and cross-claims) alleging that a Contributor Version +directly or indirectly infringes any patent, then the rights granted to +You by any and all Contributors for the Covered Software under Section +2.1 of this License shall terminate. + +5.3. In the event of termination under Sections 5.1 or 5.2 above, all +end user license agreements (excluding distributors and resellers) which +have been validly granted by You or Your distributors under this License +prior to termination shall survive termination. + +************************************************************************ +* * +* 6. Disclaimer of Warranty * +* ------------------------- * +* * +* Covered Software is provided under this License on an "as is" * +* basis, without warranty of any kind, either expressed, implied, or * +* statutory, including, without limitation, warranties that the * +* Covered Software is free of defects, merchantable, fit for a * +* particular purpose or non-infringing. The entire risk as to the * +* quality and performance of the Covered Software is with You. * +* Should any Covered Software prove defective in any respect, You * +* (not any Contributor) assume the cost of any necessary servicing, * +* repair, or correction. This disclaimer of warranty constitutes an * +* essential part of this License. No use of any Covered Software is * +* authorized under this License except under this disclaimer. * +* * +************************************************************************ + +************************************************************************ +* * +* 7. Limitation of Liability * +* -------------------------- * +* * +* Under no circumstances and under no legal theory, whether tort * +* (including negligence), contract, or otherwise, shall any * +* Contributor, or anyone who distributes Covered Software as * +* permitted above, be liable to You for any direct, indirect, * +* special, incidental, or consequential damages of any character * +* including, without limitation, damages for lost profits, loss of * +* goodwill, work stoppage, computer failure or malfunction, or any * +* and all other commercial damages or losses, even if such party * +* shall have been informed of the possibility of such damages. This * +* limitation of liability shall not apply to liability for death or * +* personal injury resulting from such party's negligence to the * +* extent applicable law prohibits such limitation. Some * +* jurisdictions do not allow the exclusion or limitation of * +* incidental or consequential damages, so this exclusion and * +* limitation may not apply to You. * +* * +************************************************************************ + +8. Litigation +------------- + +Any litigation relating to this License may be brought only in the +courts of a jurisdiction where the defendant maintains its principal +place of business and such litigation shall be governed by laws of that +jurisdiction, without reference to its conflict-of-law provisions. +Nothing in this Section shall prevent a party's ability to bring +cross-claims or counter-claims. + +9. Miscellaneous +---------------- + +This License represents the complete agreement concerning the subject +matter hereof. If any provision of this License is held to be +unenforceable, such provision shall be reformed only to the extent +necessary to make it enforceable. Any law or regulation which provides +that the language of a contract shall be construed against the drafter +shall not be used to construe this License against a Contributor. + +10. Versions of the License +--------------------------- + +10.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section +10.3, no one other than the license steward has the right to modify or +publish new versions of this License. Each version will be given a +distinguishing version number. + +10.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version +of the License under which You originally received the Covered Software, +or under the terms of any subsequent version published by the license +steward. + +10.3. Modified Versions + +If you create software not governed by this License, and you want to +create a new license for such software, you may create and use a +modified version of this License if you rename the license and remove +any references to the name of the license steward (except to note that +such modified license differs from this License). + +10.4. Distributing Source Code Form that is Incompatible With Secondary +Licenses + +If You choose to distribute Source Code Form that is Incompatible With +Secondary Licenses under the terms of this version of the License, the +notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice +------------------------------------------- + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular +file, then You may include the notice in a location (such as a LICENSE +file in a relevant directory) where a recipient would be likely to look +for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - "Incompatible With Secondary Licenses" Notice +--------------------------------------------------------- + + This Source Code Form is "Incompatible With Secondary Licenses", as + defined by the Mozilla Public License, v. 2.0. diff --git a/log-replayer/README b/log-replayer/README new file mode 100644 index 0000000..4c3a422 --- /dev/null +++ b/log-replayer/README @@ -0,0 +1,2 @@ +The logreplayer is just a simple tool that was written to test GNSSService and SensorsService. +The logreplayer is not an official GENIVI component (yet). diff --git a/log-replayer/doc/LogReplayerDataFormat.v2.00.doc b/log-replayer/doc/LogReplayerDataFormat.v2.00.doc Binary files differnew file mode 100644 index 0000000..474246a --- /dev/null +++ b/log-replayer/doc/LogReplayerDataFormat.v2.00.doc diff --git a/log-replayer/doc/TestPlan.txt b/log-replayer/doc/TestPlan.txt new file mode 100644 index 0000000..8d1ee46 --- /dev/null +++ b/log-replayer/doc/TestPlan.txt @@ -0,0 +1,16 @@ +/************************************************************************** + * Component Name: LogReplayer + **************************************************************************/ + +In order to test the LogReplayer you just need to run the test script +'run-test.sh' with the parameter 'repl' and then wait 10 s until the test is completed. + +The script starts the test-log-replayer application followed by the log-replayer +application: + +Example: + +run-test.sh repl + + + diff --git a/log-replayer/logs/20100403_Z205_Switzerland_short.log b/log-replayer/logs/20100403_Z205_Switzerland_short.log new file mode 100644 index 0000000..119e05e --- /dev/null +++ b/log-replayer/logs/20100403_Z205_Switzerland_short.log @@ -0,0 +1,1750 @@ +#Log file generated from the nmea2gvl.py converter
+#Original NMEA file: 20100403_Z205_Switzerland_short.txt
+#Receiver type: z205
+#By courtesy of Continental Automotive
+0,0$GVGNSVER,2,0,0
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+#$GPGSV,3,3,11,20,07,122,,29,02,334,,16,09,036,*4B
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+#$GPGSV,3,1,11,07,63,152,31,13,57,053,40,10,43,302,35,04,43,214,36*7F
+#$GPGSV,3,2,11,02,42,284,37,08,32,188,36,23,30,066,40,05,18,302,38*7B
+#$GPGSV,3,3,11,16,09,036,,20,07,122,23,29,02,334,*4A
+#$GPRMC,131038.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*7B
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+#$GPRMC,131039.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*7A
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+#$GPGSV,3,1,11,07,63,152,31,13,57,053,40,10,43,302,35,04,43,214,37*7E
+#$GPGSV,3,2,11,02,42,284,38,08,32,188,36,23,30,066,41,05,18,302,38*75
+#$GPGSV,3,3,11,16,09,036,,20,07,122,24,29,02,334,*4D
+#$GPRMC,131042.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*76
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+#$GPGSV,3,2,11,02,42,284,39,08,32,188,36,23,30,066,40,05,18,302,39*74
+#$GPGSV,3,3,11,16,09,036,,20,07,122,24,29,02,334,*4D
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+#$GPGSV,3,3,11,16,09,036,,20,07,122,,29,02,334,*4B
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+047451000,0$GVGNSAC,047451000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+#$GPGSV,3,1,11,07,63,152,29,13,56,053,42,10,44,302,38,04,43,214,37*7E
+#$GPGSV,3,2,11,02,42,284,39,08,32,188,35,23,30,066,40,05,18,302,40*79
+#$GPGSV,3,3,11,16,09,036,,20,07,122,,29,02,334,*4B
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+047454000,05$GVGNSSAT,047454000,1,08,188,32,35,0X00,0X1F
+047454000,04$GVGNSSAT,047454000,1,23,066,30,40,0X00,0X1F
+047454000,03$GVGNSSAT,047454000,1,05,302,18,40,0X00,0X1F
+047454000,02$GVGNSSAT,047454000,1,16,036,09,0,0X00,0X0F
+047454000,01$GVGNSSAT,047454000,1,20,122,07,0,0X00,0X0F
+047454000,00$GVGNSSAT,047454000,1,29,334,02,0,0X00,0X0F
+#$GPRMC,131055.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*70
+047455000,0$GVGNSP,047455000,46.31577,6.93554,0,0X03
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+047455000,0$GVGNSAC,047455000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+047456000,0$GVGNSP,047456000,46.31577,6.93554,0,0X03
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+047456000,0$GVGNSAC,047456000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+047457000,0$GVGNSP,047457000,46.31577,6.93554,0,0X03
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+047457000,0$GVGNSAC,047457000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+#$GPGSV,3,1,11,07,63,152,15,13,56,053,42,10,44,302,38,04,43,214,37*71
+#$GPGSV,3,2,11,02,42,284,39,08,32,188,35,23,30,066,39,05,18,302,40*77
+#$GPGSV,3,3,11,16,09,036,,20,07,122,,29,02,334,*4B
+#$GPRMC,131058.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*7D
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+047458000,09$GVGNSSAT,047458000,1,13,053,56,42,0X00,0X1F
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+047458000,07$GVGNSSAT,047458000,1,04,214,43,37,0X00,0X1F
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+047458000,05$GVGNSSAT,047458000,1,08,188,32,35,0X00,0X1F
+047458000,04$GVGNSSAT,047458000,1,23,066,30,39,0X00,0X1F
+047458000,03$GVGNSSAT,047458000,1,05,302,18,40,0X00,0X1F
+047458000,02$GVGNSSAT,047458000,1,16,036,09,0,0X00,0X0F
+047458000,01$GVGNSSAT,047458000,1,20,122,07,0,0X00,0X0F
+047458000,00$GVGNSSAT,047458000,1,29,334,02,0,0X00,0X0F
+#$GPRMC,131059.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*7C
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+047459000,0$GVGNSAC,047459000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+#$GPGSV,3,1,11,07,63,152,25,13,56,053,42,10,44,302,38,04,43,214,38*7D
+#$GPGSV,3,2,11,02,42,284,39,08,32,188,35,23,30,066,39,05,18,302,40*77
+#$GPGSV,3,3,11,16,09,036,,20,07,122,,29,02,334,21*48
+#$GPRMC,131102.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*73
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+047462000,03$GVGNSSAT,047462000,1,05,302,18,40,0X00,0X1F
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+047462000,01$GVGNSSAT,047462000,1,20,122,07,0,0X00,0X0F
+047462000,00$GVGNSSAT,047462000,1,29,334,02,21,0X00,0X1F
+#$GPRMC,131103.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*72
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+047463000,0$GVGNSAC,047463000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+047464000,0$GVGNSP,047464000,46.31577,6.93554,0,0X03
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+047464000,0$GVGNSAC,047464000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+047465000,0$GVGNSP,047465000,46.31577,6.93554,0,0X03
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+047465000,0$GVGNSAC,047465000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+#$GPGSV,3,1,11,07,63,151,22,13,56,053,43,10,44,302,39,04,43,214,38*79
+#$GPGSV,3,2,11,02,42,284,40,08,32,188,36,23,30,066,38,05,18,302,40*7B
+#$GPGSV,3,3,11,16,09,036,,20,07,122,25,29,02,334,21*4F
+#$GPRMC,131106.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*77
+047466000,0$GVGNSP,047466000,46.31577,6.93554,398.0,0X07
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+047466000,09$GVGNSSAT,047466000,1,13,053,56,43,0X00,0X1F
+047466000,08$GVGNSSAT,047466000,1,10,302,44,39,0X00,0X1F
+047466000,07$GVGNSSAT,047466000,1,04,214,43,38,0X00,0X1F
+047466000,06$GVGNSSAT,047466000,1,02,284,42,40,0X00,0X1F
+047466000,05$GVGNSSAT,047466000,1,08,188,32,36,0X00,0X1F
+047466000,04$GVGNSSAT,047466000,1,23,066,30,38,0X00,0X1F
+047466000,03$GVGNSSAT,047466000,1,05,302,18,40,0X00,0X1F
+047466000,02$GVGNSSAT,047466000,1,16,036,09,0,0X00,0X0F
+047466000,01$GVGNSSAT,047466000,1,20,122,07,25,0X00,0X1F
+047466000,00$GVGNSSAT,047466000,1,29,334,02,21,0X00,0X1F
+#$GPRMC,131107.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*76
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+047467000,0$GVGNSAC,047467000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131108.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*79
+047468000,0$GVGNSP,047468000,46.31577,6.93554,0,0X03
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+047468000,0$GVGNSAC,047468000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131109.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*78
+047469000,0$GVGNSP,047469000,46.31577,6.93554,0,0X03
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+047469000,0$GVGNSAC,047469000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPGGA,131110.000,4618.9464,N,00656.1324,E,1,09,0.9,398.0,M,48.1,M,,0000*55
+#$GPGSV,3,1,11,07,63,151,25,13,56,053,43,10,44,302,39,04,43,214,38*7E
+#$GPGSV,3,2,11,02,42,284,40,08,32,188,37,23,30,066,38,05,18,302,39*74
+#$GPGSV,3,3,11,16,09,036,,20,07,122,26,29,02,334,*4F
+#$GPRMC,131110.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*70
+047470000,0$GVGNSP,047470000,46.31577,6.93554,398.0,0X07
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+#$GPRMC,131111.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*71
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+047471000,0$GVGNSAC,047471000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
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+#$GPGSV,3,1,11,07,63,151,23,13,56,053,42,10,44,302,39,04,43,214,37*76
+#$GPGSV,3,2,11,02,42,284,40,08,32,188,36,23,30,066,37,05,18,302,39*7A
+#$GPGSV,3,3,11,16,09,036,,20,07,122,25,29,02,334,*4C
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+#$GPRMC,131115.000,A,4618.9464,N,00656.1324,E,0.00,,030410,,,A*75
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+#$GPRMC,131117.000,A,4618.9411,N,00656.1345,E,4.56,232.03,030410,,,A*6B
+047477000,0$GVGNSP,047477000,46.31569,6.93558,0,0X03
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+#$GPGSV,3,1,11,07,63,151,37,13,56,053,33,10,44,302,40,04,43,214,38*74
+#$GPGSV,3,2,11,02,42,283,40,08,32,188,37,23,30,066,28,05,18,302,38*73
+#$GPGSV,3,3,11,16,09,036,,20,07,123,25,29,02,334,*4D
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+#$GPGSV,3,1,11,07,63,151,40,13,56,053,29,10,44,302,32,04,42,214,28*7A
+#$GPGSV,3,2,11,02,42,283,26,08,33,188,40,23,29,066,42,05,18,302,29*76
+#$GPGSV,3,3,11,16,09,036,,20,07,123,31,29,02,334,*48
+#$GPRMC,131146.000,A,4618.9404,N,00656.1638,E,6.58,74.03,030410,,,A*58
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+#$GPRMC,131147.000,A,4618.9409,N,00656.1670,E,9.29,76.11,030410,,,A*50
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+#$GPGSV,3,1,11,07,63,151,40,13,56,053,29,10,44,302,31,04,42,214,23*72
+#$GPGSV,3,2,11,02,42,283,26,08,33,188,40,23,29,066,42,05,18,302,27*78
+#$GPGSV,3,3,11,16,09,036,,20,07,123,24,29,02,334,*4C
+#$GPRMC,131150.000,A,4618.9436,N,00656.1831,E,15.13,75.71,030410,,,A*60
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+#$GPRMC,131151.000,A,4618.9446,N,00656.1893,E,15.75,76.28,030410,,,A*61
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+#$GPRMC,131152.000,A,4618.9456,N,00656.1956,E,15.75,75.78,030410,,,A*6D
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+#$GPRMC,131153.000,A,4618.9466,N,00656.2016,E,14.39,77.70,030410,,,A*62
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+#$GPGGA,131154.000,4618.9469,N,00656.2084,E,1,09,0.9,382.4,M,48.1,M,,0000*5D
+#$GPGSV,3,1,11,07,63,151,40,13,56,053,28,10,44,302,31,04,42,214,24*74
+#$GPGSV,3,2,11,02,42,283,27,08,33,188,40,23,29,066,42,05,18,302,26*78
+#$GPGSV,3,3,11,16,09,036,,20,07,123,25,29,02,334,*4D
+#$GPRMC,131154.000,A,4618.9469,N,00656.2084,E,12.79,78.29,030410,,,A*60
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+#$GPRMC,131155.000,A,4618.9479,N,00656.2127,E,12.01,78.50,030410,,,A*69
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+047515000,0$GVGNSAC,047515000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131156.000,A,4618.9489,N,00656.2168,E,11.45,76.30,030410,,,A*65
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+047516000,0$GVGNSAC,047516000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131157.000,A,4618.9503,N,00656.2207,E,10.97,73.40,030410,,,A*61
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+047517000,0$GVGNSAC,047517000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPGGA,131158.000,4618.9509,N,00656.2256,E,1,09,0.9,382.8,M,48.1,M,,0000*57
+#$GPGSV,3,1,11,07,63,151,38,13,56,053,29,10,44,302,33,04,42,214,27*7B
+#$GPGSV,3,2,11,02,42,283,29,08,33,188,40,23,29,066,42,05,18,302,30*71
+#$GPGSV,3,3,11,16,09,036,,20,07,123,24,29,02,334,*4C
+#$GPRMC,131158.000,A,4618.9509,N,00656.2256,E,12.38,75.52,030410,,,A*62
+047518000,0$GVGNSP,047518000,46.31585,6.93709,382.8,0X07
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+047518000,04$GVGNSSAT,047518000,1,23,066,29,42,0X00,0X1F
+047518000,03$GVGNSSAT,047518000,1,05,302,18,30,0X00,0X1F
+047518000,02$GVGNSSAT,047518000,1,16,036,09,0,0X00,0X0F
+047518000,01$GVGNSSAT,047518000,1,20,123,07,24,0X00,0X1F
+047518000,00$GVGNSSAT,047518000,1,29,334,02,0,0X00,0X0F
+#$GPRMC,131159.000,A,4618.9516,N,00656.2309,E,12.92,75.45,030410,,,A*60
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+047519000,0$GVGNSAC,047519000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131200.000,A,4618.9524,N,00656.2361,E,12.56,74.79,030410,,,A*66
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+047520000,0$GVGNSAC,047520000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131201.000,A,4618.9529,N,00656.2415,E,11.74,72.14,030410,,,A*60
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+#$GPGGA,131202.000,4618.9536,N,00656.2466,E,1,09,0.9,384.3,M,48.1,M,,0000*5F
+#$GPGSV,3,1,11,07,63,151,40,13,56,053,32,10,44,302,33,04,42,214,26*7F
+#$GPGSV,3,2,11,02,42,283,28,08,33,188,40,23,29,066,43,05,18,302,41*77
+#$GPGSV,3,3,11,16,09,036,,20,07,123,28,29,02,334,*40
+#$GPRMC,131202.000,A,4618.9536,N,00656.2466,E,11.38,71.26,030410,,,A*63
+047522000,0$GVGNSP,047522000,46.31589,6.93744,384.3,0X07
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+047522000,0$GVGNSAC,047522000,0,0.9,0,09,0,0,0,0,0,2,0X00000001,0X60A
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+047522000,01$GVGNSSAT,047522000,1,20,123,07,28,0X00,0X1F
+047522000,00$GVGNSSAT,047522000,1,29,334,02,0,0X00,0X0F
+#$GPRMC,131203.000,A,4618.9543,N,00656.2515,E,11.71,71.21,030410,,,A*6F
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+047523000,0$GVGNSAC,047523000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131204.000,A,4618.9553,N,00656.2563,E,12.47,72.73,030410,,,A*6A
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+047524000,0$GVGNSAC,047524000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131205.000,A,4618.9563,N,00656.2611,E,12.39,73.86,030410,,,A*6C
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+#$GPGSV,3,1,11,07,63,151,40,13,56,053,28,10,44,302,33,04,42,214,26*74
+#$GPGSV,3,2,11,02,42,283,21,08,33,188,40,23,29,066,43,05,18,302,33*7B
+#$GPGSV,3,3,11,16,09,036,,20,07,123,33,29,02,334,*4A
+#$GPRMC,131206.000,A,4618.9571,N,00656.2655,E,10.27,76.55,030410,,,A*6A
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+#$GPRMC,131207.000,A,4618.9576,N,00656.2691,E,8.13,76.00,030410,,,A*5A
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+#$GPRMC,131208.000,A,4618.9580,N,00656.2719,E,6.12,73.85,030410,,,A*5A
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+#$GPRMC,131209.000,A,4618.9583,N,00656.2741,E,5.43,79.93,030410,,,A*5F
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+#$GPGSV,3,1,11,07,63,151,40,13,56,053,29,10,44,302,33,04,42,214,23*70
+#$GPGSV,3,2,11,02,42,283,30,08,33,188,40,23,29,066,43,05,18,302,34*7C
+#$GPGSV,3,3,11,16,09,036,,20,07,123,31,29,02,334,23*49
+#$GPRMC,131210.000,A,4618.9586,N,00656.2761,E,4.78,76.26,030410,,,A*58
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+#$GPGSV,3,2,11,04,42,214,29,08,33,188,40,23,29,067,38,05,19,302,24*71
+#$GPGSV,3,3,11,16,09,035,,20,06,123,28,29,02,333,24*43
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+#$GPGSV,3,1,11,07,64,150,29,13,55,054,36,10,45,302,17,02,42,282,19*74
+#$GPGSV,3,2,11,04,42,214,29,08,33,188,40,23,29,067,37,05,19,302,23*79
+#$GPGSV,3,3,11,16,09,035,,20,06,123,27,29,02,333,26*4E
+#$GPRMC,131334.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*75
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+#$GPGSV,3,1,11,07,64,150,28,13,55,054,36,10,45,302,17,02,42,282,19*75
+#$GPGSV,3,2,11,04,42,214,30,08,33,188,40,23,29,067,28,05,19,302,22*7E
+#$GPGSV,3,3,11,16,09,035,,20,06,123,23,29,02,333,27*4B
+#$GPRMC,131338.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*79
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+#$GPRMC,131339.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*78
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+#$GPGGA,131342.000,4618.8533,N,00656.4605,E,1,09,0.9,387.0,M,48.1,M,,0000*5F
+#$GPGSV,3,1,11,07,64,150,24,13,55,054,36,10,45,302,18,02,42,282,20*7C
+#$GPGSV,3,2,11,04,42,214,32,08,33,188,40,23,29,067,26,05,19,302,23*73
+#$GPGSV,3,3,11,16,09,035,,20,06,123,22,29,02,333,27*4A
+#$GPRMC,131342.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*74
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+#$GPRMC,131343.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*75
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+047623000,0$GVGNSAC,047623000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131344.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*72
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+#$GPRMC,131345.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*73
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+#$GPGGA,131346.000,4618.8533,N,00656.4605,E,1,09,0.9,387.0,M,48.1,M,,0000*5B
+#$GPGSV,3,1,11,07,64,150,24,13,55,054,36,10,45,302,19,02,42,282,19*77
+#$GPGSV,3,2,11,04,42,213,33,08,34,188,40,23,29,067,26,05,19,303,23*73
+#$GPGSV,3,3,11,16,09,035,,20,06,123,21,29,02,333,27*49
+#$GPRMC,131346.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*70
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+#$GPRMC,131347.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*71
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+#$GPRMC,131349.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*7F
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+#$GPGSV,3,1,11,07,64,150,20,13,55,054,35,10,45,302,19,02,42,282,18*71
+#$GPGSV,3,2,11,04,42,213,33,08,34,188,41,23,29,067,26,05,19,303,24*75
+#$GPGSV,3,3,11,16,09,035,,20,06,123,21,29,02,333,28*46
+#$GPRMC,131350.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*77
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+#$GPRMC,131353.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*74
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+#$GPGSV,3,1,11,07,64,150,18,13,55,054,35,10,45,302,19,02,42,282,16*74
+#$GPGSV,3,2,11,04,42,213,33,08,34,188,41,23,29,067,26,05,19,303,24*75
+#$GPGSV,3,3,11,16,09,035,,20,06,123,20,29,02,333,28*47
+#$GPRMC,131354.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*73
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+047634000,00$GVGNSSAT,047634000,1,29,333,02,28,0X00,0X1F
+#$GPRMC,131355.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*72
+047635000,0$GVGNSP,047635000,46.31422,6.94101,0,0X03
+047635000,0$GVGNSC,047635000,0.00,0,0,0X01
+047635000,0$GVGNSAC,047635000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131356.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*71
+047636000,0$GVGNSP,047636000,46.31422,6.94101,0,0X03
+047636000,0$GVGNSC,047636000,0.00,0,0,0X01
+047636000,0$GVGNSAC,047636000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131357.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*70
+047637000,0$GVGNSP,047637000,46.31422,6.94101,0,0X03
+047637000,0$GVGNSC,047637000,0.00,0,0,0X01
+047637000,0$GVGNSAC,047637000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPGGA,131358.000,4618.8533,N,00656.4605,E,1,07,1.0,387.0,M,48.1,M,,0000*52
+#$GPGSV,3,1,11,07,64,150,18,13,55,054,35,10,45,302,,02,42,282,16*7C
+#$GPGSV,3,2,11,04,42,213,33,08,34,188,41,23,29,067,26,05,19,303,24*75
+#$GPGSV,3,3,11,16,09,035,,20,06,123,20,29,02,333,29*46
+#$GPRMC,131358.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*7F
+047638000,0$GVGNSP,047638000,46.31422,6.94101,387.0,0X07
+047638000,0$GVGNSC,047638000,0.00,0,0,0X01
+047638000,0$GVGNSAC,047638000,0,1.0,0,07,0,0,0,0,0,2,0X00000001,0X60A
+047638000,10$GVGNSSAT,047638000,1,07,150,64,18,0X00,0X1F
+047638000,09$GVGNSSAT,047638000,1,13,054,55,35,0X00,0X1F
+047638000,08$GVGNSSAT,047638000,1,10,302,45,0,0X00,0X0F
+047638000,07$GVGNSSAT,047638000,1,02,282,42,16,0X00,0X1F
+047638000,06$GVGNSSAT,047638000,1,04,213,42,33,0X00,0X1F
+047638000,05$GVGNSSAT,047638000,1,08,188,34,41,0X00,0X1F
+047638000,04$GVGNSSAT,047638000,1,23,067,29,26,0X00,0X1F
+047638000,03$GVGNSSAT,047638000,1,05,303,19,24,0X00,0X1F
+047638000,02$GVGNSSAT,047638000,1,16,035,09,0,0X00,0X0F
+047638000,01$GVGNSSAT,047638000,1,20,123,06,20,0X00,0X1F
+047638000,00$GVGNSSAT,047638000,1,29,333,02,29,0X00,0X1F
+#$GPRMC,131359.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*7E
+047639000,0$GVGNSP,047639000,46.31422,6.94101,0,0X03
+047639000,0$GVGNSC,047639000,0.00,0,0,0X01
+047639000,0$GVGNSAC,047639000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131400.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*75
+047640000,0$GVGNSP,047640000,46.31422,6.94101,0,0X03
+047640000,0$GVGNSC,047640000,0.00,0,0,0X01
+047640000,0$GVGNSAC,047640000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131401.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*74
+047641000,0$GVGNSP,047641000,46.31422,6.94101,0,0X03
+047641000,0$GVGNSC,047641000,0.00,0,0,0X01
+047641000,0$GVGNSAC,047641000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPGGA,131402.000,4618.8533,N,00656.4605,E,1,08,0.9,387.0,M,48.1,M,,0000*5D
+#$GPGSV,3,1,11,07,64,150,19,13,55,054,35,10,45,302,20,02,42,282,16*7F
+#$GPGSV,3,2,11,04,42,213,34,08,34,188,41,23,29,067,26,05,19,303,24*72
+#$GPGSV,3,3,11,16,09,035,,20,06,123,20,29,02,333,29*46
+#$GPRMC,131402.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*77
+047642000,0$GVGNSP,047642000,46.31422,6.94101,387.0,0X07
+047642000,0$GVGNSC,047642000,0.00,0,0,0X01
+047642000,0$GVGNSAC,047642000,0,0.9,0,08,0,0,0,0,0,2,0X00000001,0X60A
+047642000,10$GVGNSSAT,047642000,1,07,150,64,19,0X00,0X1F
+047642000,09$GVGNSSAT,047642000,1,13,054,55,35,0X00,0X1F
+047642000,08$GVGNSSAT,047642000,1,10,302,45,20,0X00,0X1F
+047642000,07$GVGNSSAT,047642000,1,02,282,42,16,0X00,0X1F
+047642000,06$GVGNSSAT,047642000,1,04,213,42,34,0X00,0X1F
+047642000,05$GVGNSSAT,047642000,1,08,188,34,41,0X00,0X1F
+047642000,04$GVGNSSAT,047642000,1,23,067,29,26,0X00,0X1F
+047642000,03$GVGNSSAT,047642000,1,05,303,19,24,0X00,0X1F
+047642000,02$GVGNSSAT,047642000,1,16,035,09,0,0X00,0X0F
+047642000,01$GVGNSSAT,047642000,1,20,123,06,20,0X00,0X1F
+047642000,00$GVGNSSAT,047642000,1,29,333,02,29,0X00,0X1F
+#$GPRMC,131403.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*76
+047643000,0$GVGNSP,047643000,46.31422,6.94101,0,0X03
+047643000,0$GVGNSC,047643000,0.00,0,0,0X01
+047643000,0$GVGNSAC,047643000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131404.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*71
+047644000,0$GVGNSP,047644000,46.31422,6.94101,0,0X03
+047644000,0$GVGNSC,047644000,0.00,0,0,0X01
+047644000,0$GVGNSAC,047644000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131405.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*70
+047645000,0$GVGNSP,047645000,46.31422,6.94101,0,0X03
+047645000,0$GVGNSC,047645000,0.00,0,0,0X01
+047645000,0$GVGNSAC,047645000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPGGA,131406.000,4618.8533,N,00656.4605,E,1,08,0.9,387.0,M,48.1,M,,0000*59
+#$GPGSV,3,1,11,07,64,150,20,13,55,054,35,10,45,302,20,02,42,282,22*72
+#$GPGSV,3,2,11,04,42,213,34,08,34,188,41,23,29,067,25,05,19,303,25*70
+#$GPGSV,3,3,11,16,09,035,,20,06,123,19,29,02,333,28*4D
+#$GPRMC,131406.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*73
+047646000,0$GVGNSP,047646000,46.31422,6.94101,387.0,0X07
+047646000,0$GVGNSC,047646000,0.00,0,0,0X01
+047646000,0$GVGNSAC,047646000,0,0.9,0,08,0,0,0,0,0,2,0X00000001,0X60A
+047646000,10$GVGNSSAT,047646000,1,07,150,64,20,0X00,0X1F
+047646000,09$GVGNSSAT,047646000,1,13,054,55,35,0X00,0X1F
+047646000,08$GVGNSSAT,047646000,1,10,302,45,20,0X00,0X1F
+047646000,07$GVGNSSAT,047646000,1,02,282,42,22,0X00,0X1F
+047646000,06$GVGNSSAT,047646000,1,04,213,42,34,0X00,0X1F
+047646000,05$GVGNSSAT,047646000,1,08,188,34,41,0X00,0X1F
+047646000,04$GVGNSSAT,047646000,1,23,067,29,25,0X00,0X1F
+047646000,03$GVGNSSAT,047646000,1,05,303,19,25,0X00,0X1F
+047646000,02$GVGNSSAT,047646000,1,16,035,09,0,0X00,0X0F
+047646000,01$GVGNSSAT,047646000,1,20,123,06,19,0X00,0X1F
+047646000,00$GVGNSSAT,047646000,1,29,333,02,28,0X00,0X1F
+#$GPRMC,131407.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*72
+047647000,0$GVGNSP,047647000,46.31422,6.94101,0,0X03
+047647000,0$GVGNSC,047647000,0.00,0,0,0X01
+047647000,0$GVGNSAC,047647000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131408.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*7D
+047648000,0$GVGNSP,047648000,46.31422,6.94101,0,0X03
+047648000,0$GVGNSC,047648000,0.00,0,0,0X01
+047648000,0$GVGNSAC,047648000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131409.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*7C
+047649000,0$GVGNSP,047649000,46.31422,6.94101,0,0X03
+047649000,0$GVGNSC,047649000,0.00,0,0,0X01
+047649000,0$GVGNSAC,047649000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPGGA,131410.000,4618.8533,N,00656.4605,E,1,08,0.9,387.0,M,48.1,M,,0000*5E
+#$GPGSV,3,1,11,07,64,150,21,13,55,054,34,10,45,302,20,02,42,282,21*71
+#$GPGSV,3,2,11,04,42,213,34,08,34,188,41,23,29,067,21,05,19,303,26*77
+#$GPGSV,3,3,11,16,09,035,,20,06,123,18,29,02,333,28*4C
+#$GPRMC,131410.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*74
+047650000,0$GVGNSP,047650000,46.31422,6.94101,387.0,0X07
+047650000,0$GVGNSC,047650000,0.00,0,0,0X01
+047650000,0$GVGNSAC,047650000,0,0.9,0,08,0,0,0,0,0,2,0X00000001,0X60A
+047650000,10$GVGNSSAT,047650000,1,07,150,64,21,0X00,0X1F
+047650000,09$GVGNSSAT,047650000,1,13,054,55,34,0X00,0X1F
+047650000,08$GVGNSSAT,047650000,1,10,302,45,20,0X00,0X1F
+047650000,07$GVGNSSAT,047650000,1,02,282,42,21,0X00,0X1F
+047650000,06$GVGNSSAT,047650000,1,04,213,42,34,0X00,0X1F
+047650000,05$GVGNSSAT,047650000,1,08,188,34,41,0X00,0X1F
+047650000,04$GVGNSSAT,047650000,1,23,067,29,21,0X00,0X1F
+047650000,03$GVGNSSAT,047650000,1,05,303,19,26,0X00,0X1F
+047650000,02$GVGNSSAT,047650000,1,16,035,09,0,0X00,0X0F
+047650000,01$GVGNSSAT,047650000,1,20,123,06,18,0X00,0X1F
+047650000,00$GVGNSSAT,047650000,1,29,333,02,28,0X00,0X1F
+#$GPRMC,131411.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*75
+047651000,0$GVGNSP,047651000,46.31422,6.94101,0,0X03
+047651000,0$GVGNSC,047651000,0.00,0,0,0X01
+047651000,0$GVGNSAC,047651000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131412.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*76
+047652000,0$GVGNSP,047652000,46.31422,6.94101,0,0X03
+047652000,0$GVGNSC,047652000,0.00,0,0,0X01
+047652000,0$GVGNSAC,047652000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131413.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*77
+047653000,0$GVGNSP,047653000,46.31422,6.94101,0,0X03
+047653000,0$GVGNSC,047653000,0.00,0,0,0X01
+047653000,0$GVGNSAC,047653000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPGGA,131414.000,4618.8533,N,00656.4605,E,1,08,0.9,387.0,M,48.1,M,,0000*5A
+#$GPGSV,3,1,11,07,64,150,22,13,55,054,34,10,45,302,19,02,42,282,20*79
+#$GPGSV,3,2,11,04,42,213,34,08,34,188,42,23,29,067,20,05,19,303,26*75
+#$GPGSV,3,3,11,16,09,035,,20,06,123,18,29,02,333,29*4D
+#$GPRMC,131414.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*70
+047654000,0$GVGNSP,047654000,46.31422,6.94101,387.0,0X07
+047654000,0$GVGNSC,047654000,0.00,0,0,0X01
+047654000,0$GVGNSAC,047654000,0,0.9,0,08,0,0,0,0,0,2,0X00000001,0X60A
+047654000,10$GVGNSSAT,047654000,1,07,150,64,22,0X00,0X1F
+047654000,09$GVGNSSAT,047654000,1,13,054,55,34,0X00,0X1F
+047654000,08$GVGNSSAT,047654000,1,10,302,45,19,0X00,0X1F
+047654000,07$GVGNSSAT,047654000,1,02,282,42,20,0X00,0X1F
+047654000,06$GVGNSSAT,047654000,1,04,213,42,34,0X00,0X1F
+047654000,05$GVGNSSAT,047654000,1,08,188,34,42,0X00,0X1F
+047654000,04$GVGNSSAT,047654000,1,23,067,29,20,0X00,0X1F
+047654000,03$GVGNSSAT,047654000,1,05,303,19,26,0X00,0X1F
+047654000,02$GVGNSSAT,047654000,1,16,035,09,0,0X00,0X0F
+047654000,01$GVGNSSAT,047654000,1,20,123,06,18,0X00,0X1F
+047654000,00$GVGNSSAT,047654000,1,29,333,02,29,0X00,0X1F
+#$GPRMC,131415.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*71
+047655000,0$GVGNSP,047655000,46.31422,6.94101,0,0X03
+047655000,0$GVGNSC,047655000,0.00,0,0,0X01
+047655000,0$GVGNSAC,047655000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
+#$GPRMC,131416.000,A,4618.8533,N,00656.4605,E,0.00,,030410,,,A*72
+047656000,0$GVGNSP,047656000,46.31422,6.94101,0,0X03
+047656000,0$GVGNSC,047656000,0.00,0,0,0X01
+047656000,0$GVGNSAC,047656000,0,0,0,0,0,0,0,0,0,2,0X00000001,0X600
diff --git a/log-replayer/logs/20100411_Geko_Regensburg_short.log b/log-replayer/logs/20100411_Geko_Regensburg_short.log new file mode 100644 index 0000000..4e6b5a7 --- /dev/null +++ b/log-replayer/logs/20100411_Geko_Regensburg_short.log @@ -0,0 +1,58 @@ +#Log file generated from the nmea2gvl.py converter
+#Original NMEA file: 20100411_Geko_Regensburg.txt
+#Receiver type: geko301
+#Rear track width: 1.525m
+#Wheel rolling cirumference: 1.920m
+#Wheel ticks per revolution: 96
+#By courtesy of Continental Automotive
+0,0$GVGNSVER,2,0,0
+0,0$GVSNSVER,2,0,0
+#$GPRMC,165754,A,4901.5940,N,01203.9161,E,1.0,209.4,110410,1.6,E,A*18
+#$GPGGA,165754,4901.5940,N,01203.9161,E,1,07,1.0,337.7,M,46.6,M,,*4F
+#$GPGSV,3,1,12,02,19,043,00,05,20,199,40,08,29,072,44,10,04,181,00*7C
+#$GPGSV,3,2,12,15,74,283,51,17,16,132,38,18,22,314,40,19,00,012,00*7B
+#$GPGSV,3,3,12,24,01,296,00,26,18,307,42,27,36,272,49,28,56,068,49*7F
+061074000,0$GVGNSP,061074000,49.02657,12.06527,337.7,0X07
+061074000,0$GVGNSC,061074000,0.51,0,209.40,0X05
+061074000,0$GVGNSAC,061074000,0,1.0,0,07,0,0,0,0,0,2,0X00000001,0X60A
+061074000,11$GVGNSSAT,061074000,1,02,043,19,00,0X00,0X1F
+061074000,10$GVGNSSAT,061074000,1,05,199,20,40,0X00,0X1F
+061074000,09$GVGNSSAT,061074000,1,08,072,29,44,0X00,0X1F
+061074000,08$GVGNSSAT,061074000,1,10,181,04,00,0X00,0X1F
+061074000,07$GVGNSSAT,061074000,1,15,283,74,51,0X00,0X1F
+061074000,06$GVGNSSAT,061074000,1,17,132,16,38,0X00,0X1F
+061074000,05$GVGNSSAT,061074000,1,18,314,22,40,0X00,0X1F
+061074000,04$GVGNSSAT,061074000,1,19,012,00,00,0X00,0X1F
+061074000,03$GVGNSSAT,061074000,1,24,296,01,00,0X00,0X1F
+061074000,02$GVGNSSAT,061074000,1,26,307,18,42,0X00,0X1F
+061074000,01$GVGNSSAT,061074000,1,27,272,36,49,0X00,0X1F
+061074000,00$GVGNSSAT,061074000,1,28,068,56,49,0X00,0X1F
+#SNS 'derived' from GPS
+061074000,0$GVSNSVEHSP,061074000,0.51,0X01
+061074000,0$GVSNSGYRO,061074000,-38.75,0,0,0,0X01
+061074000,0$GVSNSWHTK,061074000,7,103,8,000,0,0,0,0
+#$GPRMC,165756,A,4901.5931,N,01203.9114,E,4.4,270.1,110410,1.6,E,A*14
+#$GPGGA,165756,4901.5931,N,01203.9114,E,1,07,1.3,338.2,M,46.6,M,,*40
+#$GPGSV,3,1,12,02,19,043,00,05,20,199,00,08,29,072,42,10,04,181,00*7E
+#$GPGSV,3,2,12,15,74,283,51,17,16,132,38,18,22,314,44,19,00,012,00*7F
+#$GPGSV,3,3,12,24,01,296,00,26,18,307,44,27,36,272,49,28,56,068,47*77
+061076000,0$GVGNSP,061076000,49.02655,12.06519,338.2,0X07
+061076000,0$GVGNSC,061076000,2.26,0,270.10,0X05
+061076000,0$GVGNSAC,061076000,0,1.3,0,07,0,0,0,0,0,2,0X00000001,0X60A
+061076000,11$GVGNSSAT,061076000,1,02,043,19,00,0X00,0X1F
+061076000,10$GVGNSSAT,061076000,1,05,199,20,00,0X00,0X1F
+061076000,09$GVGNSSAT,061076000,1,08,072,29,42,0X00,0X1F
+061076000,08$GVGNSSAT,061076000,1,10,181,04,00,0X00,0X1F
+061076000,07$GVGNSSAT,061076000,1,15,283,74,51,0X00,0X1F
+061076000,06$GVGNSSAT,061076000,1,17,132,16,38,0X00,0X1F
+061076000,05$GVGNSSAT,061076000,1,18,314,22,44,0X00,0X1F
+061076000,04$GVGNSSAT,061076000,1,19,012,00,00,0X00,0X1F
+061076000,03$GVGNSSAT,061076000,1,24,296,01,00,0X00,0X1F
+061076000,02$GVGNSSAT,061076000,1,26,307,18,44,0X00,0X1F
+061076000,01$GVGNSSAT,061076000,1,27,272,36,49,0X00,0X1F
+061076000,00$GVGNSSAT,061076000,1,28,068,56,47,0X00,0X1F
+#SNS 'derived' from GPS
+061076000,0$GVSNSVEHSP,061076000,2.26,0X01
+061076000,0$GVSNSGYRO,061076000,-30.35,0,0,0,0X01
+061076000,0$GVSNSWHTK,061076000,7,266,8,185,0,0,0,0
+
diff --git a/log-replayer/logs/CMakeLists.txt b/log-replayer/logs/CMakeLists.txt new file mode 100644 index 0000000..afda513 --- /dev/null +++ b/log-replayer/logs/CMakeLists.txt @@ -0,0 +1,22 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: Replayer +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +#copy log files to facilitate testing +configure_file(geneve-cologny.log geneve-cologny.log COPYONLY) +configure_file(20100411_Geko_Regensburg_short.log 20100411_Geko_Regensburg_short.log COPYONLY) + diff --git a/log-replayer/logs/geneve-cologny.log b/log-replayer/logs/geneve-cologny.log new file mode 100644 index 0000000..9cc9746 --- /dev/null +++ b/log-replayer/logs/geneve-cologny.log @@ -0,0 +1,1810 @@ +#Log file generated from the gvl1to2.py converter
+#Original log file: geneve-cologny.gvsl
+0,0$GVGNSVER,2,0,0
+0,0$GVSNSVER,2,0,0
+#4147$GVGPSP,3,46.201839,6.146647,0
+000004147,0$GVGNSP,000004147,46.201839,6.146647,0,0X03
+#4147$GVVEHSP,1,23.43
+000004147,0$GVSNSVEHSP,000004147,23.43,0X01
+#4147$GVGPSC,3,11.111111,27.000000,10
+000004147,0$GVGNSC,000004147,11.111111,0,27.000000,0X05
+#4147$GVVEHSP,1,24.43
+000004147,0$GVSNSVEHSP,000004147,24.43,0X01
+#5157$GVGPSP,3,46.202026,6.146818,0
+000005157,0$GVGNSP,000005157,46.202026,6.146818,0,0X03
+#5157$GVGPSC,3,11.111111,44.000000,11
+000005157,0$GVGNSC,000005157,11.111111,0,44.000000,0X05
+#6164$GVGPSP,3,46.201970,6.146935,11
+000006164,0$GVGNSP,000006164,46.201970,6.146935,0,0X03
+#6164$GVGPSC,3,11.111111,132.000000,12
+000006164,0$GVGNSC,000006164,11.111111,0,132.000000,0X05
+#7177$GVGPSP,3,46.201908,6.147034,0
+000007177,0$GVGNSP,000007177,46.201908,6.147034,0,0X03
+#7177$GVGPSC,3,11.111111,132.000000,13
+000007177,0$GVGNSC,000007177,11.111111,0,132.000000,0X05
+#8179$GVGPSP,3,46.201846,6.147133,13
+000008179,0$GVGNSP,000008179,46.201846,6.147133,0,0X03
+#8179$GVGPSC,3,11.111111,132.000000,14
+000008179,0$GVGNSC,000008179,11.111111,0,132.000000,0X05
+#9188$GVGPSP,3,46.201783,6.147250,0
+000009188,0$GVGNSP,000009188,46.201783,6.147250,0,0X03
+#9188$GVGPSC,3,11.111111,125.000000,15
+000009188,0$GVGNSC,000009188,11.111111,0,125.000000,0X05
+#10197$GVGPSP,3,46.201727,6.147358,0
+000010197,0$GVGNSP,000010197,46.201727,6.147358,0,0X03
+#10197$GVGPSC,3,11.111111,125.000000,16
+000010197,0$GVGNSC,000010197,11.111111,0,125.000000,0X05
+#11214$GVGPSP,3,46.201678,6.147475,0
+000011214,0$GVGNSP,000011214,46.201678,6.147475,0,0X03
+#11214$GVGPSC,3,11.111111,124.000000,15
+000011214,0$GVGNSC,000011214,11.111111,0,124.000000,0X05
+#12222$GVGPSP,3,46.201591,6.147448,0
+000012222,0$GVGNSP,000012222,46.201591,6.147448,0,0X03
+#12222$GVGPSC,3,11.111111,212.000000,14
+000012222,0$GVGNSC,000012222,11.111111,0,212.000000,0X05
+#12222$GVVEHSP,1,25.43
+000012222,0$GVSNSVEHSP,000012222,25.43,0X01
+#13224$GVGPSP,3,46.201516,6.147358,0
+000013224,0$GVGNSP,000013224,46.201516,6.147358,0,0X03
+#13224$GVGPSC,3,11.111111,219.000000,13
+000013224,0$GVGNSC,000013224,11.111111,0,219.000000,0X05
+#14230$GVGPSP,3,46.201441,6.147277,0
+000014230,0$GVGNSP,000014230,46.201441,6.147277,0,0X03
+#14230$GVGPSC,3,11.111111,218.000000,12
+000014230,0$GVGNSC,000014230,11.111111,0,218.000000,0X05
+#15237$GVGPSP,3,46.201366,6.147187,12
+000015237,0$GVGNSP,000015237,46.201366,6.147187,0,0X03
+#15237$GVGPSC,3,11.111111,218.000000,11
+000015237,0$GVGNSC,000015237,11.111111,0,218.000000,0X05
+#16241$GVGPSP,3,46.201286,6.147097,0
+000016241,0$GVGNSP,000016241,46.201286,6.147097,0,0X03
+#16241$GVGPSC,3,11.111111,223.000000,10
+000016241,0$GVGNSC,000016241,11.111111,0,223.000000,0X05
+#17245$GVGPSP,3,46.201217,6.146998,0
+000017245,0$GVGNSP,000017245,46.201217,6.146998,0,0X03
+#17245$GVGPSC,3,11.111111,225.000000,9
+000017245,0$GVGNSC,000017245,11.111111,0,225.000000,0X05
+#18247$GVGPSP,3,46.201149,6.146881,0
+000018247,0$GVGNSP,000018247,46.201149,6.146881,0,0X03
+#18247$GVGPSC,3,11.111111,258.000000,10
+000018247,0$GVGNSC,000018247,11.111111,0,258.000000,0X05
+#19255$GVGPSP,3,46.201105,6.146746,0
+000019255,0$GVGNSP,000019255,46.201105,6.146746,0,0X03
+#19255$GVGPSC,3,11.111111,231.000000,11
+000019255,0$GVGNSC,000019255,11.111111,0,231.000000,0X05
+#20261$GVGPSP,3,46.201043,6.146629,0
+000020261,0$GVGNSP,000020261,46.201043,6.146629,0,0X03
+#20261$GVGPSC,3,11.111111,231.000000,13
+000020261,0$GVGNSC,000020261,11.111111,0,231.000000,0X05
+#21266$GVGPSP,3,46.200968,6.146530,13
+000021266,0$GVGNSP,000021266,46.200968,6.146530,0,0X03
+#21266$GVGPSC,3,11.111111,217.000000,14
+000021266,0$GVGNSC,000021266,11.111111,0,217.000000,0X05
+#22271$GVGPSP,3,46.200893,6.146440,0
+000022271,0$GVGNSP,000022271,46.200893,6.146440,0,0X03
+#22271$GVGPSC,3,11.111111,218.000000,12
+000022271,0$GVGNSC,000022271,11.111111,0,218.000000,0X05
+#23275$GVGPSP,3,46.200806,6.146351,13
+000023275,0$GVGNSP,000023275,46.200806,6.146351,0,0X03
+#23275$GVGPSC,3,11.111111,217.000000,6
+000023275,0$GVGNSC,000023275,11.111111,0,217.000000,0X05
+#24285$GVGPSP,3,46.200725,6.146252,0
+000024285,0$GVGNSP,000024285,46.200725,6.146252,0,0X03
+#24285$GVGPSC,3,11.111111,290.000000,8
+000024285,0$GVGNSC,000024285,11.111111,0,290.000000,0X05
+#25288$GVGPSP,3,46.200756,6.146117,0
+000025288,0$GVGNSP,000025288,46.200756,6.146117,0,0X03
+#25288$GVGPSC,3,11.111111,290.000000,10
+000025288,0$GVGNSC,000025288,11.111111,0,290.000000,0X05
+#26290$GVGPSP,3,46.200794,6.145991,0
+000026290,0$GVGNSP,000026290,46.200794,6.145991,0,0X03
+#26290$GVGPSC,3,11.111111,291.000000,20
+000026290,0$GVGNSC,000026290,11.111111,0,291.000000,0X05
+#27291$GVGPSP,3,46.200825,6.145856,0
+000027291,0$GVGNSP,000027291,46.200825,6.145856,0,0X03
+#27291$GVGPSC,3,11.111111,290.000000,0
+000027291,0$GVGNSC,000027291,11.111111,0,290.000000,0X05
+#28293$GVGPSP,3,46.200862,6.145721,0
+000028293,0$GVGNSP,000028293,46.200862,6.145721,0,0X03
+#28293$GVGPSC,3,11.111111,291.000000,0
+000028293,0$GVGNSC,000028293,11.111111,0,291.000000,0X05
+#29310$GVGPSP,3,46.200893,6.145604,23
+000029310,0$GVGNSP,000029310,46.200893,6.145604,0,0X03
+#29310$GVGPSC,3,11.111111,290.000000,0
+000029310,0$GVGNSC,000029310,11.111111,0,290.000000,0X05
+#30322$GVGPSP,3,46.200925,6.145469,0
+000030322,0$GVGNSP,000030322,46.200925,6.145469,0,0X03
+#30322$GVGPSC,3,11.111111,289.000000,0
+000030322,0$GVGNSC,000030322,11.111111,0,289.000000,0X05
+#31324$GVGPSP,3,46.200962,6.145334,0
+000031324,0$GVGNSP,000031324,46.200962,6.145334,0,0X03
+#31324$GVGPSC,3,11.111111,290.000000,0
+000031324,0$GVGNSC,000031324,11.111111,0,290.000000,0X05
+#32331$GVGPSP,3,46.200993,6.145208,0
+000032331,0$GVGNSP,000032331,46.200993,6.145208,0,0X03
+#32331$GVGPSC,3,11.111111,295.000000,0
+000032331,0$GVGNSC,000032331,11.111111,0,295.000000,0X05
+#33344$GVGPSP,3,46.201037,6.145083,0
+000033344,0$GVGNSP,000033344,46.201037,6.145083,0,0X03
+#33344$GVGPSC,3,11.111111,295.000000,0
+000033344,0$GVGNSC,000033344,11.111111,0,295.000000,0X05
+#34357$GVGPSP,3,46.201080,6.144948,0
+000034357,0$GVGNSP,000034357,46.201080,6.144948,0,0X03
+#34357$GVGPSC,3,11.111111,299.000000,0
+000034357,0$GVGNSC,000034357,11.111111,0,299.000000,0X05
+#35361$GVGPSP,3,46.201124,6.144831,0
+000035361,0$GVGNSP,000035361,46.201124,6.144831,0,0X03
+#35361$GVGPSC,3,11.111111,299.000000,0
+000035361,0$GVGNSC,000035361,11.111111,0,299.000000,0X05
+#36364$GVGPSP,3,46.201173,6.144714,24
+000036364,0$GVGNSP,000036364,46.201173,6.144714,0,0X03
+#36364$GVGPSC,3,11.111111,300.000000,20
+000036364,0$GVGNSC,000036364,11.111111,0,300.000000,0X05
+#37366$GVGPSP,3,46.201223,6.144588,0
+000037366,0$GVGNSP,000037366,46.201223,6.144588,0,0X03
+#37366$GVGPSC,3,11.111111,299.000000,0
+000037366,0$GVGNSC,000037366,11.111111,0,299.000000,0X05
+#38373$GVGPSP,3,46.201267,6.144462,0
+000038373,0$GVGNSP,000038373,46.201267,6.144462,0,0X03
+#38373$GVGPSC,3,11.111111,300.000000,20
+000038373,0$GVGNSC,000038373,11.111111,0,300.000000,0X05
+#39376$GVGPSP,3,46.201317,6.144345,0
+000039376,0$GVGNSP,000039376,46.201317,6.144345,0,0X03
+#39376$GVGPSC,3,11.111111,301.000000,0
+000039376,0$GVGNSC,000039376,11.111111,0,301.000000,0X05
+#40379$GVGPSP,3,46.201366,6.144228,0
+000040379,0$GVGNSP,000040379,46.201366,6.144228,0,0X03
+#40379$GVGPSC,3,11.111111,300.000000,20
+000040379,0$GVGNSC,000040379,11.111111,0,300.000000,0X05
+#41385$GVGPSP,3,46.201416,6.144102,0
+000041385,0$GVGNSP,000041385,46.201416,6.144102,0,0X03
+#41385$GVGPSC,3,11.111111,300.000000,20
+000041385,0$GVGNSC,000041385,11.111111,0,300.000000,0X05
+#42387$GVGPSP,3,46.201454,6.143976,0
+000042387,0$GVGNSP,000042387,46.201454,6.143976,0,0X03
+#42387$GVGPSC,3,11.111111,279.000000,0
+000042387,0$GVGNSC,000042387,11.111111,0,279.000000,0X05
+#43389$GVGPSP,3,46.201466,6.143841,0
+000043389,0$GVGNSP,000043389,46.201466,6.143841,0,0X03
+#43389$GVGPSC,3,11.111111,272.000000,0
+000043389,0$GVGNSC,000043389,11.111111,0,272.000000,0X05
+#45391$GVGPSP,3,46.201466,6.143698,23
+000045391,0$GVGNSP,000045391,46.201466,6.143698,0,0X03
+#45391$GVGPSC,3,11.111111,273.000000,0
+000045391,0$GVGNSC,000045391,11.111111,0,273.000000,0X05
+#45391$GVGPSP,3,46.201460,6.143563,0
+000045391,0$GVGNSP,000045391,46.201460,6.143563,0,0X03
+#45391$GVGPSC,3,11.111111,254.000000,0
+000045391,0$GVGNSC,000045391,11.111111,0,254.000000,0X05
+#46393$GVGPSP,3,46.201435,6.143419,0
+000046393,0$GVGNSP,000046393,46.201435,6.143419,0,0X03
+#46393$GVGPSC,3,11.111111,254.000000,0
+000046393,0$GVGNSC,000046393,11.111111,0,254.000000,0X05
+#47398$GVGPSP,3,46.201366,6.143491,0
+000047398,0$GVGNSP,000047398,46.201366,6.143491,0,0X03
+#47398$GVGPSC,3,11.111111,123.000000,28
+000047398,0$GVGNSC,000047398,11.111111,0,123.000000,0X05
+#48401$GVGPSP,3,46.201323,6.143608,0
+000048401,0$GVGNSP,000048401,46.201323,6.143608,0,0X03
+#48401$GVGPSC,3,11.111111,112.000000,0
+000048401,0$GVGNSC,000048401,11.111111,0,112.000000,0X05
+#49404$GVGPSP,3,46.201292,6.143752,0
+000049404,0$GVGNSP,000049404,46.201292,6.143752,0,0X03
+#49404$GVGPSC,3,11.111111,102.000000,0
+000049404,0$GVGNSC,000049404,11.111111,0,102.000000,0X05
+#50427$GVGPSP,3,46.201292,6.143877,0
+000050427,0$GVGNSP,000050427,46.201292,6.143877,0,0X03
+#50427$GVGPSC,3,11.111111,55.000000,0
+000050427,0$GVGNSC,000050427,11.111111,0,55.000000,0X05
+#51450$GVGPSP,3,46.201292,6.144003,0
+000051450,0$GVGNSP,000051450,46.201292,6.144003,0,0X03
+#51450$GVGPSC,3,11.111111,118.000000,0
+000051450,0$GVGNSC,000051450,11.111111,0,118.000000,0X05
+#52475$GVGPSP,3,46.201242,6.144120,0
+000052475,0$GVGNSP,000052475,46.201242,6.144120,0,0X03
+#52475$GVGPSC,3,11.111111,119.000000,0
+000052475,0$GVGNSC,000052475,11.111111,0,119.000000,0X05
+#53491$GVGPSP,3,46.201192,6.144246,0
+000053491,0$GVGNSP,000053491,46.201192,6.144246,0,0X03
+#53491$GVGPSC,3,11.111111,119.000000,0
+000053491,0$GVGNSC,000053491,11.111111,0,119.000000,0X05
+#54501$GVGPSP,3,46.201149,6.144363,0
+000054501,0$GVGNSP,000054501,46.201149,6.144363,0,0X03
+#54501$GVGPSC,3,11.111111,119.000000,0
+000054501,0$GVGNSC,000054501,11.111111,0,119.000000,0X05
+#55505$GVGPSP,3,46.201105,6.144480,0
+000055505,0$GVGNSP,000055505,46.201105,6.144480,0,0X03
+#55505$GVGPSC,3,11.111111,123.000000,28
+000055505,0$GVGNSC,000055505,11.111111,0,123.000000,0X05
+#56507$GVGPSP,3,46.201055,6.144588,0
+000056507,0$GVGNSP,000056507,46.201055,6.144588,0,0X03
+#56507$GVGPSC,3,11.111111,124.000000,35
+000056507,0$GVGNSC,000056507,11.111111,0,124.000000,0X05
+#57509$GVGPSP,3,46.200999,6.144696,0
+000057509,0$GVGNSP,000057509,46.200999,6.144696,0,0X03
+#57509$GVGPSC,3,11.111111,124.000000,35
+000057509,0$GVGNSC,000057509,11.111111,0,124.000000,0X05
+#58515$GVGPSP,3,46.200949,6.144813,12
+000058515,0$GVGNSP,000058515,46.200949,6.144813,0,0X03
+#58515$GVGPSC,3,11.111111,124.000000,35
+000058515,0$GVGNSC,000058515,11.111111,0,124.000000,0X05
+#59519$GVGPSP,3,46.200893,6.144921,0
+000059519,0$GVGNSP,000059519,46.200893,6.144921,0,0X03
+#59519$GVGPSC,3,11.111111,124.000000,35
+000059519,0$GVGNSC,000059519,11.111111,0,124.000000,0X05
+#60549$GVGPSP,3,46.200844,6.145029,0
+000060549,0$GVGNSP,000060549,46.200844,6.145029,0,0X03
+#60549$GVGPSC,3,11.111111,124.000000,35
+000060549,0$GVGNSC,000060549,11.111111,0,124.000000,0X05
+#61552$GVGPSP,3,46.200788,6.145145,0
+000061552,0$GVGNSP,000061552,46.200788,6.145145,0,0X03
+#61552$GVGPSC,3,11.111111,124.000000,35
+000061552,0$GVGNSC,000061552,11.111111,0,124.000000,0X05
+#62561$GVGPSP,3,46.200738,6.145253,0
+000062561,0$GVGNSP,000062561,46.200738,6.145253,0,0X03
+#62561$GVGPSC,3,11.111111,124.000000,35
+000062561,0$GVGNSC,000062561,11.111111,0,124.000000,0X05
+#63564$GVGPSP,3,46.200688,6.145361,0
+000063564,0$GVGNSP,000063564,46.200688,6.145361,0,0X03
+#63564$GVGPSC,3,11.111111,124.000000,35
+000063564,0$GVGNSC,000063564,11.111111,0,124.000000,0X05
+#64567$GVGPSP,3,46.200638,6.145469,0
+000064567,0$GVGNSP,000064567,46.200638,6.145469,0,0X03
+#64567$GVGPSC,3,11.111111,124.000000,35
+000064567,0$GVGNSC,000064567,11.111111,0,124.000000,0X05
+#65572$GVGPSP,3,46.200582,6.145577,0
+000065572,0$GVGNSP,000065572,46.200582,6.145577,0,0X03
+#65572$GVGPSC,3,11.111111,124.000000,35
+000065572,0$GVGNSC,000065572,11.111111,0,124.000000,0X05
+#66585$GVGPSP,3,46.200526,6.145694,0
+000066585,0$GVGNSP,000066585,46.200526,6.145694,0,0X03
+#66585$GVGPSC,3,11.111111,124.000000,35
+000066585,0$GVGNSC,000066585,11.111111,0,124.000000,0X05
+#67595$GVGPSP,3,46.200476,6.145811,0
+000067595,0$GVGNSP,000067595,46.200476,6.145811,0,0X03
+#67595$GVGPSC,3,11.111111,124.000000,35
+000067595,0$GVGNSC,000067595,11.111111,0,124.000000,0X05
+#68620$GVGPSP,3,46.200427,6.145919,0
+000068620,0$GVGNSP,000068620,46.200427,6.145919,0,0X03
+#68620$GVGPSC,3,11.111111,124.000000,35
+000068620,0$GVGNSC,000068620,11.111111,0,124.000000,0X05
+#69622$GVGPSP,3,46.200371,6.146018,0
+000069622,0$GVGNSP,000069622,46.200371,6.146018,0,0X03
+#69622$GVGPSC,3,11.111111,124.000000,35
+000069622,0$GVGNSC,000069622,11.111111,0,124.000000,0X05
+#70623$GVGPSP,3,46.200321,6.146135,0
+000070623,0$GVGNSP,000070623,46.200321,6.146135,0,0X03
+#70623$GVGPSC,3,11.111111,124.000000,35
+000070623,0$GVGNSC,000070623,11.111111,0,124.000000,0X05
+#71630$GVGPSP,3,46.200265,6.146243,0
+000071630,0$GVGNSP,000071630,46.200265,6.146243,0,0X03
+#71630$GVGPSC,3,11.111111,124.000000,35
+000071630,0$GVGNSC,000071630,11.111111,0,124.000000,0X05
+#72633$GVGPSP,3,46.200215,6.146360,0
+000072633,0$GVGNSP,000072633,46.200215,6.146360,0,0X03
+#72633$GVGPSC,3,11.111111,124.000000,35
+000072633,0$GVGNSC,000072633,11.111111,0,124.000000,0X05
+#73641$GVGPSP,3,46.200159,6.146476,0
+000073641,0$GVGNSP,000073641,46.200159,6.146476,0,0X03
+#73641$GVGPSC,3,11.111111,124.000000,35
+000073641,0$GVGNSC,000073641,11.111111,0,124.000000,0X05
+#74646$GVGPSP,3,46.200103,6.146593,0
+000074646,0$GVGNSP,000074646,46.200103,6.146593,0,0X03
+#74646$GVGPSC,3,11.111111,124.000000,35
+000074646,0$GVGNSC,000074646,11.111111,0,124.000000,0X05
+#75651$GVGPSP,3,46.200047,6.146701,0
+000075651,0$GVGNSP,000075651,46.200047,6.146701,0,0X03
+#75651$GVGPSC,3,11.111111,124.000000,35
+000075651,0$GVGNSC,000075651,11.111111,0,124.000000,0X05
+#76670$GVGPSP,3,46.199997,6.146809,0
+000076670,0$GVGNSP,000076670,46.199997,6.146809,0,0X03
+#76670$GVGPSC,3,11.111111,124.000000,35
+000076670,0$GVGNSC,000076670,11.111111,0,124.000000,0X05
+#77674$GVGPSP,3,46.199947,6.146917,0
+000077674,0$GVGNSP,000077674,46.199947,6.146917,0,0X03
+#77674$GVGPSC,3,11.111111,124.000000,35
+000077674,0$GVGNSC,000077674,11.111111,0,124.000000,0X05
+#78680$GVGPSP,3,46.199885,6.147043,0
+000078680,0$GVGNSP,000078680,46.199885,6.147043,0,0X03
+#78680$GVGPSC,3,11.111111,129.000000,23
+000078680,0$GVGNSC,000078680,11.111111,0,129.000000,0X05
+#79684$GVGPSP,3,46.199823,6.147151,0
+000079684,0$GVGNSP,000079684,46.199823,6.147151,0,0X03
+#79684$GVGPSC,3,11.111111,126.000000,22
+000079684,0$GVGNSC,000079684,11.111111,0,126.000000,0X05
+#80691$GVGPSP,3,46.199742,6.147250,0
+000080691,0$GVGNSP,000080691,46.199742,6.147250,0,0X03
+#80691$GVGPSC,3,11.111111,151.000000,15
+000080691,0$GVGNSC,000080691,11.111111,0,151.000000,0X05
+#81701$GVGPSP,3,46.199648,6.147322,0
+000081701,0$GVGNSP,000081701,46.199648,6.147322,0,0X03
+#81701$GVGPSC,3,11.111111,163.000000,15
+000081701,0$GVGNSC,000081701,11.111111,0,163.000000,0X05
+#82702$GVGPSP,3,46.199543,6.147358,0
+000082702,0$GVGNSP,000082702,46.199543,6.147358,0,0X03
+#82702$GVGPSC,3,11.111111,165.000000,23
+000082702,0$GVGNSC,000082702,11.111111,0,165.000000,0X05
+#83707$GVGPSP,3,46.199443,6.147403,0
+000083707,0$GVGNSP,000083707,46.199443,6.147403,0,0X03
+#83707$GVGPSC,3,11.111111,163.000000,24
+000083707,0$GVGNSC,000083707,11.111111,0,163.000000,0X05
+#84708$GVGPSP,3,46.199350,6.147457,0
+000084708,0$GVGNSP,000084708,46.199350,6.147457,0,0X03
+#84708$GVGPSC,3,11.111111,157.000000,25
+000084708,0$GVGNSC,000084708,11.111111,0,157.000000,0X05
+#85710$GVGPSP,3,46.199250,6.147520,0
+000085710,0$GVGNSP,000085710,46.199250,6.147520,0,0X03
+#85710$GVGPSC,3,11.111111,158.000000,26
+000085710,0$GVGNSC,000085710,11.111111,0,158.000000,0X05
+#86720$GVGPSP,3,46.199150,6.147583,0
+000086720,0$GVGNSP,000086720,46.199150,6.147583,0,0X03
+#86720$GVGPSC,3,11.111111,155.000000,26
+000086720,0$GVGNSC,000086720,11.111111,0,155.000000,0X05
+#87722$GVGPSP,3,46.199051,6.147646,0
+000087722,0$GVGNSP,000087722,46.199051,6.147646,0,0X03
+#87722$GVGPSC,3,11.111111,155.000000,27
+000087722,0$GVGNSC,000087722,11.111111,0,155.000000,0X05
+#88727$GVGPSP,3,46.198951,6.147718,0
+000088727,0$GVGNSP,000088727,46.198951,6.147718,0,0X03
+#88727$GVGPSC,3,11.111111,150.000000,29
+000088727,0$GVGNSC,000088727,11.111111,0,150.000000,0X05
+#89732$GVGPSP,3,46.198864,6.147780,0
+000089732,0$GVGNSP,000089732,46.198864,6.147780,0,0X03
+#89732$GVGPSC,3,11.111111,158.000000,25
+000089732,0$GVGNSC,000089732,11.111111,0,158.000000,0X05
+#90734$GVGPSP,3,46.198783,6.147861,0
+000090734,0$GVGNSP,000090734,46.198783,6.147861,0,0X03
+#90734$GVGPSC,3,11.111111,140.000000,18
+000090734,0$GVGNSC,000090734,11.111111,0,140.000000,0X05
+#91735$GVGPSP,3,46.198709,6.147969,0
+000091735,0$GVGNSP,000091735,46.198709,6.147969,0,0X03
+#91735$GVGPSC,3,11.111111,131.000000,12
+000091735,0$GVGNSC,000091735,11.111111,0,131.000000,0X05
+#92740$GVGPSP,3,46.198640,6.148068,0
+000092740,0$GVGNSP,000092740,46.198640,6.148068,0,0X03
+#92740$GVGPSC,3,11.111111,131.000000,13
+000092740,0$GVGNSC,000092740,11.111111,0,131.000000,0X05
+#93745$GVGPSP,3,46.198578,6.148176,0
+000093745,0$GVGNSP,000093745,46.198578,6.148176,0,0X03
+#93745$GVGPSC,3,11.111111,129.000000,0
+000093745,0$GVGNSC,000093745,11.111111,0,129.000000,0X05
+#94748$GVGPSP,3,46.198516,6.148284,0
+000094748,0$GVGNSP,000094748,46.198516,6.148284,0,0X03
+#94748$GVGPSC,3,11.111111,130.000000,0
+000094748,0$GVGNSC,000094748,11.111111,0,130.000000,0X05
+#95753$GVGPSP,3,46.198453,6.148392,0
+000095753,0$GVGNSP,000095753,46.198453,6.148392,0,0X03
+#95753$GVGPSC,3,11.111111,130.000000,0
+000095753,0$GVGNSC,000095753,11.111111,0,130.000000,0X05
+#96755$GVGPSP,3,46.198441,6.148536,0
+000096755,0$GVGNSP,000096755,46.198441,6.148536,0,0X03
+#96755$GVGPSC,3,11.111111,89.000000,0
+000096755,0$GVGNSC,000096755,11.111111,0,89.000000,0X05
+#97761$GVGPSP,3,46.198441,6.148680,0
+000097761,0$GVGNSP,000097761,46.198441,6.148680,0,0X03
+#97761$GVGPSC,3,11.111111,89.000000,0
+000097761,0$GVGNSC,000097761,11.111111,0,89.000000,0X05
+#98767$GVGPSP,3,46.198447,6.148806,0
+000098767,0$GVGNSP,000098767,46.198447,6.148806,0,0X03
+#98767$GVGPSC,3,11.111111,83.000000,0
+000098767,0$GVGNSC,000098767,11.111111,0,83.000000,0X05
+#99777$GVGPSP,3,46.198453,6.148923,0
+000099777,0$GVGNSP,000099777,46.198453,6.148923,0,0X03
+#99777$GVGPSC,3,11.111111,83.000000,0
+000099777,0$GVGNSC,000099777,11.111111,0,83.000000,0X05
+#100794$GVGPSP,3,46.198466,6.149049,0
+000100794,0$GVGNSP,000100794,46.198466,6.149049,0,0X03
+#100794$GVGPSC,3,11.111111,83.000000,0
+000100794,0$GVGNSC,000100794,11.111111,0,83.000000,0X05
+#101800$GVGPSP,3,46.198472,6.149183,0
+000101800,0$GVGNSP,000101800,46.198472,6.149183,0,0X03
+#101800$GVGPSC,3,11.111111,83.000000,0
+000101800,0$GVGNSC,000101800,11.111111,0,83.000000,0X05
+#102802$GVGPSP,3,46.198484,6.149309,0
+000102802,0$GVGNSP,000102802,46.198484,6.149309,0,0X03
+#102802$GVGPSC,3,11.111111,81.000000,0
+000102802,0$GVGNSC,000102802,11.111111,0,81.000000,0X05
+#103804$GVGPSP,3,46.198497,6.149444,0
+000103804,0$GVGNSP,000103804,46.198497,6.149444,0,0X03
+#103804$GVGPSC,3,11.111111,82.000000,0
+000103804,0$GVGNSC,000103804,11.111111,0,82.000000,0X05
+#104807$GVGPSP,3,46.198516,6.149588,0
+000104807,0$GVGNSP,000104807,46.198516,6.149588,0,0X03
+#104807$GVGPSC,3,11.111111,44.000000,28
+000104807,0$GVGNSC,000104807,11.111111,0,44.000000,0X05
+#105811$GVGPSP,3,46.198584,6.149687,0
+000105811,0$GVGNSP,000105811,46.198584,6.149687,0,0X03
+#105811$GVGPSC,3,11.111111,44.000000,28
+000105811,0$GVGNSC,000105811,11.111111,0,44.000000,0X05
+#106817$GVGPSP,3,46.198653,6.149786,0
+000106817,0$GVGNSP,000106817,46.198653,6.149786,0,0X03
+#106817$GVGPSC,3,11.111111,44.000000,28
+000106817,0$GVGNSC,000106817,11.111111,0,44.000000,0X05
+#107819$GVGPSP,3,46.198721,6.149885,0
+000107819,0$GVGNSP,000107819,46.198721,6.149885,0,0X03
+#107819$GVGPSC,3,11.111111,44.000000,28
+000107819,0$GVGNSC,000107819,11.111111,0,44.000000,0X05
+#108825$GVGPSP,3,46.198789,6.149984,0
+000108825,0$GVGNSP,000108825,46.198789,6.149984,0,0X03
+#108825$GVGPSC,3,11.111111,44.000000,28
+000108825,0$GVGNSC,000108825,11.111111,0,44.000000,0X05
+#109829$GVGPSP,3,46.198864,6.150083,0
+000109829,0$GVGNSP,000109829,46.198864,6.150083,0,0X03
+#109829$GVGPSC,3,11.111111,44.000000,28
+000109829,0$GVGNSC,000109829,11.111111,0,44.000000,0X05
+#110835$GVGPSP,3,46.198933,6.150182,0
+000110835,0$GVGNSP,000110835,46.198933,6.150182,0,0X03
+#110835$GVGPSC,3,11.111111,44.000000,28
+000110835,0$GVGNSC,000110835,11.111111,0,44.000000,0X05
+#111842$GVGPSP,3,46.199007,6.150290,0
+000111842,0$GVGNSP,000111842,46.199007,6.150290,0,0X03
+#111842$GVGPSC,3,11.111111,44.000000,28
+000111842,0$GVGNSC,000111842,11.111111,0,44.000000,0X05
+#112844$GVGPSP,3,46.199070,6.150380,0
+000112844,0$GVGNSP,000112844,46.199070,6.150380,0,0X03
+#112844$GVGPSC,3,11.111111,44.000000,28
+000112844,0$GVGNSC,000112844,11.111111,0,44.000000,0X05
+#113847$GVGPSP,3,46.199138,6.150478,0
+000113847,0$GVGNSP,000113847,46.199138,6.150478,0,0X03
+#113847$GVGPSC,3,11.111111,44.000000,28
+000113847,0$GVGNSC,000113847,11.111111,0,44.000000,0X05
+#114853$GVGPSP,3,46.199213,6.150577,0
+000114853,0$GVGNSP,000114853,46.199213,6.150577,0,0X03
+#114853$GVGPSC,3,11.111111,44.000000,28
+000114853,0$GVGNSC,000114853,11.111111,0,44.000000,0X05
+#115868$GVGPSP,3,46.199281,6.150685,0
+000115868,0$GVGNSP,000115868,46.199281,6.150685,0,0X03
+#115868$GVGPSC,3,11.111111,44.000000,28
+000115868,0$GVGNSC,000115868,11.111111,0,44.000000,0X05
+#116887$GVGPSP,3,46.199356,6.150784,0
+000116887,0$GVGNSP,000116887,46.199356,6.150784,0,0X03
+#116887$GVGPSC,3,11.111111,43.000000,0
+000116887,0$GVGNSC,000116887,11.111111,0,43.000000,0X05
+#116908$GVGPSP,3,46.199424,6.150874,0
+000116908,0$GVGNSP,000116908,46.199424,6.150874,0,0X03
+#116908$GVGPSC,3,11.111111,44.000000,28
+000116908,0$GVGNSC,000116908,11.111111,0,44.000000,0X05
+#117916$GVGPSP,3,46.199493,6.150982,0
+000117916,0$GVGNSP,000117916,46.199493,6.150982,0,0X03
+#117916$GVGPSC,3,11.111111,44.000000,28
+000117916,0$GVGNSC,000117916,11.111111,0,44.000000,0X05
+#118919$GVGPSP,3,46.199561,6.151081,0
+000118919,0$GVGNSP,000118919,46.199561,6.151081,0,0X03
+#118919$GVGPSC,3,11.111111,42.000000,0
+000118919,0$GVGNSC,000118919,11.111111,0,42.000000,0X05
+#119923$GVGPSP,3,46.199636,6.151180,0
+000119923,0$GVGNSP,000119923,46.199636,6.151180,0,0X03
+#119923$GVGPSC,3,11.111111,46.000000,0
+000119923,0$GVGNSC,000119923,11.111111,0,46.000000,0X05
+#120933$GVGPSP,3,46.199711,6.151288,0
+000120933,0$GVGNSP,000120933,46.199711,6.151288,0,0X03
+#120933$GVGPSC,3,11.111111,41.000000,0
+000120933,0$GVGNSC,000120933,11.111111,0,41.000000,0X05
+#121946$GVGPSP,3,46.199785,6.151387,0
+000121946,0$GVGNSP,000121946,46.199785,6.151387,0,0X03
+#121946$GVGPSC,3,11.111111,42.000000,0
+000121946,0$GVGNSC,000121946,11.111111,0,42.000000,0X05
+#122949$GVGPSP,3,46.199860,6.151495,0
+000122949,0$GVGNSP,000122949,46.199860,6.151495,0,0X03
+#122949$GVGPSC,3,11.111111,46.000000,0
+000122949,0$GVGNSC,000122949,11.111111,0,46.000000,0X05
+#123968$GVGPSP,3,46.199929,6.151603,0
+000123968,0$GVGNSP,000123968,46.199929,6.151603,0,0X03
+#123968$GVGPSC,3,11.111111,46.000000,0
+000123968,0$GVGNSC,000123968,11.111111,0,46.000000,0X05
+#124975$GVGPSP,3,46.199997,6.151702,0
+000124975,0$GVGNSP,000124975,46.199997,6.151702,0,0X03
+#124975$GVGPSC,3,11.111111,45.000000,0
+000124975,0$GVGNSC,000124975,11.111111,0,45.000000,0X05
+#125988$GVGPSP,3,46.200066,6.151800,0
+000125988,0$GVGNSP,000125988,46.200066,6.151800,0,0X03
+#125988$GVGPSC,3,11.111111,46.000000,0
+000125988,0$GVGNSC,000125988,11.111111,0,46.000000,0X05
+#126998$GVGPSP,3,46.200134,6.151908,0
+000126998,0$GVGNSP,000126998,46.200134,6.151908,0,0X03
+#126998$GVGPSC,3,11.111111,44.000000,28
+000126998,0$GVGNSC,000126998,11.111111,0,44.000000,0X05
+#128001$GVGPSP,3,46.200202,6.152016,0
+000128001,0$GVGNSP,000128001,46.200202,6.152016,0,0X03
+#128001$GVGPSC,3,11.111111,45.000000,0
+000128001,0$GVGNSC,000128001,11.111111,0,45.000000,0X05
+#129008$GVGPSP,3,46.200271,6.152106,0
+000129008,0$GVGNSP,000129008,46.200271,6.152106,0,0X03
+#129008$GVGPSC,3,11.111111,44.000000,28
+000129008,0$GVGNSC,000129008,11.111111,0,44.000000,0X05
+#130032$GVGPSP,3,46.200339,6.152214,0
+000130032,0$GVGNSP,000130032,46.200339,6.152214,0,0X03
+#130032$GVGPSC,3,11.111111,45.000000,0
+000130032,0$GVGNSC,000130032,11.111111,0,45.000000,0X05
+#131037$GVGPSP,3,46.200408,6.152313,0
+000131037,0$GVGNSP,000131037,46.200408,6.152313,0,0X03
+#131037$GVGPSC,3,11.111111,44.000000,28
+000131037,0$GVGNSC,000131037,11.111111,0,44.000000,0X05
+#132043$GVGPSP,3,46.200483,6.152412,0
+000132043,0$GVGNSP,000132043,46.200483,6.152412,0,0X03
+#132043$GVGPSC,3,11.111111,44.000000,28
+000132043,0$GVGNSC,000132043,11.111111,0,44.000000,0X05
+#134059$GVGPSP,3,46.200551,6.152520,0
+000134059,0$GVGNSP,000134059,46.200551,6.152520,0,0X03
+#134059$GVGPSC,3,11.111111,44.000000,28
+000134059,0$GVGNSC,000134059,11.111111,0,44.000000,0X05
+#134078$GVGPSP,3,46.200620,6.152619,0
+000134078,0$GVGNSP,000134078,46.200620,6.152619,0,0X03
+#134078$GVGPSC,3,11.111111,44.000000,28
+000134078,0$GVGNSC,000134078,11.111111,0,44.000000,0X05
+#135085$GVGPSP,3,46.200694,6.152727,0
+000135085,0$GVGNSP,000135085,46.200694,6.152727,0,0X03
+#135085$GVGPSC,3,11.111111,44.000000,28
+000135085,0$GVGNSC,000135085,11.111111,0,44.000000,0X05
+#136088$GVGPSP,3,46.200763,6.152817,0
+000136088,0$GVGNSP,000136088,46.200763,6.152817,0,0X03
+#136088$GVGPSC,3,11.111111,44.000000,28
+000136088,0$GVGNSC,000136088,11.111111,0,44.000000,0X05
+#137093$GVGPSP,3,46.200831,6.152925,0
+000137093,0$GVGNSP,000137093,46.200831,6.152925,0,0X03
+#137093$GVGPSC,3,11.111111,44.000000,28
+000137093,0$GVGNSC,000137093,11.111111,0,44.000000,0X05
+#139100$GVGPSP,3,46.200900,6.153015,0
+000139100,0$GVGNSP,000139100,46.200900,6.153015,0,0X03
+#139100$GVGPSC,3,11.111111,50.000000,0
+000139100,0$GVGNSC,000139100,11.111111,0,50.000000,0X05
+#139119$GVGPSP,3,46.200962,6.153122,0
+000139119,0$GVGNSP,000139119,46.200962,6.153122,0,0X03
+#139119$GVGPSC,3,11.111111,50.000000,0
+000139119,0$GVGNSC,000139119,11.111111,0,50.000000,0X05
+#140148$GVGPSP,3,46.201024,6.153230,0
+000140148,0$GVGNSP,000140148,46.201024,6.153230,0,0X03
+#140148$GVGPSC,3,11.111111,15.000000,0
+000140148,0$GVGNSC,000140148,11.111111,0,15.000000,0X05
+#141152$GVGPSP,3,46.201117,6.153266,0
+000141152,0$GVGNSP,000141152,46.201117,6.153266,0,0X03
+#141152$GVGPSC,3,11.111111,14.000000,0
+000141152,0$GVGNSC,000141152,11.111111,0,14.000000,0X05
+#142156$GVGPSP,3,46.201211,6.153302,0
+000142156,0$GVGNSP,000142156,46.201211,6.153302,0,0X03
+#142156$GVGPSC,3,11.111111,12.000000,0
+000142156,0$GVGNSC,000142156,11.111111,0,12.000000,0X05
+#143160$GVGPSP,3,46.201304,6.153329,0
+000143160,0$GVGNSP,000143160,46.201304,6.153329,0,0X03
+#143160$GVGPSC,3,11.111111,14.000000,0
+000143160,0$GVGNSC,000143160,11.111111,0,14.000000,0X05
+#144169$GVGPSP,3,46.201379,6.153401,0
+000144169,0$GVGNSP,000144169,46.201379,6.153401,0,0X03
+#144169$GVGPSC,3,11.111111,98.000000,0
+000144169,0$GVGNSC,000144169,11.111111,0,98.000000,0X05
+#145174$GVGPSP,3,46.201391,6.153536,0
+000145174,0$GVGNSP,000145174,46.201391,6.153536,0,0X03
+#145174$GVGPSC,3,11.111111,74.000000,0
+000145174,0$GVGNSC,000145174,11.111111,0,74.000000,0X05
+#146183$GVGPSP,3,46.201441,6.153653,0
+000146183,0$GVGNSP,000146183,46.201441,6.153653,0,0X03
+#146183$GVGPSC,3,11.111111,40.000000,18
+000146183,0$GVGNSC,000146183,11.111111,0,40.000000,0X05
+#147185$GVGPSP,3,46.201516,6.153743,0
+000147185,0$GVGNSP,000147185,46.201516,6.153743,0,0X03
+#147185$GVGPSC,3,11.111111,23.000000,0
+000147185,0$GVGNSC,000147185,11.111111,0,23.000000,0X05
+#148187$GVGPSP,3,46.201591,6.153779,0
+000148187,0$GVGNSP,000148187,46.201591,6.153779,0,0X03
+#148187$GVGPSC,3,11.111111,7.000000,0
+000148187,0$GVGNSC,000148187,11.111111,0,7.000000,0X05
+#149191$GVGPSP,3,46.201696,6.153779,0
+000149191,0$GVGNSP,000149191,46.201696,6.153779,0,0X03
+#149191$GVGPSC,3,11.111111,344.000000,28
+000149191,0$GVGNSC,000149191,11.111111,0,344.000000,0X05
+#150197$GVGPSP,3,46.201796,6.153707,0
+000150197,0$GVGNSP,000150197,46.201796,6.153707,0,0X03
+#150197$GVGPSC,3,11.111111,324.000000,0
+000150197,0$GVGNSC,000150197,11.111111,0,324.000000,0X05
+#151200$GVGPSP,3,46.201871,6.153653,0
+000151200,0$GVGNSP,000151200,46.201871,6.153653,0,0X03
+#151200$GVGPSC,3,11.111111,16.000000,0
+000151200,0$GVGNSC,000151200,11.111111,0,16.000000,0X05
+#152204$GVGPSP,3,46.201958,6.153689,0
+000152204,0$GVGNSP,000152204,46.201958,6.153689,0,0X03
+#152204$GVGPSC,3,11.111111,16.000000,0
+000152204,0$GVGNSC,000152204,11.111111,0,16.000000,0X05
+#153215$GVGPSP,3,46.202039,6.153725,0
+000153215,0$GVGNSP,000153215,46.202039,6.153725,0,0X03
+#153215$GVGPSC,3,11.111111,16.000000,0
+000153215,0$GVGNSC,000153215,11.111111,0,16.000000,0X05
+#154218$GVGPSP,3,46.202126,6.153761,0
+000154218,0$GVGNSP,000154218,46.202126,6.153761,0,0X03
+#154218$GVGPSC,3,11.111111,16.000000,0
+000154218,0$GVGNSC,000154218,11.111111,0,16.000000,0X05
+#155223$GVGPSP,3,46.202213,6.153797,0
+000155223,0$GVGNSP,000155223,46.202213,6.153797,0,0X03
+#155223$GVGPSC,3,11.111111,16.000000,0
+000155223,0$GVGNSC,000155223,11.111111,0,16.000000,0X05
+#156228$GVGPSP,3,46.202300,6.153833,0
+000156228,0$GVGNSP,000156228,46.202300,6.153833,0,0X03
+#156228$GVGPSC,3,11.111111,16.000000,0
+000156228,0$GVGNSC,000156228,11.111111,0,16.000000,0X05
+#157235$GVGPSP,3,46.202387,6.153869,0
+000157235,0$GVGNSP,000157235,46.202387,6.153869,0,0X03
+#157235$GVGPSC,3,11.111111,16.000000,0
+000157235,0$GVGNSC,000157235,11.111111,0,16.000000,0X05
+#158242$GVGPSP,3,46.202468,6.153905,0
+000158242,0$GVGNSP,000158242,46.202468,6.153905,0,0X03
+#158242$GVGPSC,3,11.111111,16.000000,0
+000158242,0$GVGNSC,000158242,11.111111,0,16.000000,0X05
+#159246$GVGPSP,3,46.202549,6.153941,0
+000159246,0$GVGNSP,000159246,46.202549,6.153941,0,0X03
+#159246$GVGPSC,3,11.111111,16.000000,0
+000159246,0$GVGNSC,000159246,11.111111,0,16.000000,0X05
+#160251$GVGPSP,3,46.202636,6.153977,0
+000160251,0$GVGNSP,000160251,46.202636,6.153977,0,0X03
+#160251$GVGPSC,3,11.111111,16.000000,0
+000160251,0$GVGNSC,000160251,11.111111,0,16.000000,0X05
+#161258$GVGPSP,3,46.202723,6.154013,0
+000161258,0$GVGNSP,000161258,46.202723,6.154013,0,0X03
+#161258$GVGPSC,3,11.111111,16.000000,0
+000161258,0$GVGNSC,000161258,11.111111,0,16.000000,0X05
+#162264$GVGPSP,3,46.202817,6.154049,0
+000162264,0$GVGNSP,000162264,46.202817,6.154049,0,0X03
+#162264$GVGPSC,3,11.111111,15.000000,0
+000162264,0$GVGNSC,000162264,11.111111,0,15.000000,0X05
+#163267$GVGPSP,3,46.202910,6.154085,0
+000163267,0$GVGNSP,000163267,46.202910,6.154085,0,0X03
+#163267$GVGPSC,3,11.111111,15.000000,0
+000163267,0$GVGNSC,000163267,11.111111,0,15.000000,0X05
+#164270$GVGPSP,3,46.202997,6.154121,0
+000164270,0$GVGNSP,000164270,46.202997,6.154121,0,0X03
+#164270$GVGPSC,3,11.111111,16.000000,0
+000164270,0$GVGNSC,000164270,11.111111,0,16.000000,0X05
+#165301$GVGPSP,3,46.203084,6.154157,0
+000165301,0$GVGNSP,000165301,46.203084,6.154157,0,0X03
+#165301$GVGPSC,3,11.111111,15.000000,0
+000165301,0$GVGNSC,000165301,11.111111,0,15.000000,0X05
+#166315$GVGPSP,3,46.203171,6.154193,0
+000166315,0$GVGNSP,000166315,46.203171,6.154193,0,0X03
+#166315$GVGPSC,3,11.111111,17.000000,0
+000166315,0$GVGNSC,000166315,11.111111,0,17.000000,0X05
+#167318$GVGPSP,3,46.203259,6.154229,0
+000167318,0$GVGNSP,000167318,46.203259,6.154229,0,0X03
+#167318$GVGPSC,3,11.111111,18.000000,0
+000167318,0$GVGNSC,000167318,11.111111,0,18.000000,0X05
+#168325$GVGPSP,3,46.203346,6.154274,0
+000168325,0$GVGNSP,000168325,46.203346,6.154274,0,0X03
+#168325$GVGPSC,3,11.111111,15.000000,0
+000168325,0$GVGNSC,000168325,11.111111,0,15.000000,0X05
+#169334$GVGPSP,3,46.203433,6.154310,0
+000169334,0$GVGNSP,000169334,46.203433,6.154310,0,0X03
+#169334$GVGPSC,3,11.111111,15.000000,0
+000169334,0$GVGNSC,000169334,11.111111,0,15.000000,0X05
+#170339$GVGPSP,3,46.203514,6.154337,0
+000170339,0$GVGNSP,000170339,46.203514,6.154337,0,0X03
+#170339$GVGPSC,3,11.111111,15.000000,0
+000170339,0$GVGNSC,000170339,11.111111,0,15.000000,0X05
+#171346$GVGPSP,3,46.203601,6.154373,0
+000171346,0$GVGNSP,000171346,46.203601,6.154373,0,0X03
+#171346$GVGPSC,3,11.111111,16.000000,0
+000171346,0$GVGNSC,000171346,11.111111,0,16.000000,0X05
+#172353$GVGPSP,3,46.203688,6.154408,0
+000172353,0$GVGNSP,000172353,46.203688,6.154408,0,0X03
+#172353$GVGPSC,3,11.111111,16.000000,0
+000172353,0$GVGNSC,000172353,11.111111,0,16.000000,0X05
+#173363$GVGPSP,3,46.203775,6.154444,0
+000173363,0$GVGNSP,000173363,46.203775,6.154444,0,0X03
+#173363$GVGPSC,3,11.111111,16.000000,0
+000173363,0$GVGNSC,000173363,11.111111,0,16.000000,0X05
+#174366$GVGPSP,3,46.203856,6.154480,0
+000174366,0$GVGNSP,000174366,46.203856,6.154480,0,0X03
+#174366$GVGPSC,3,11.111111,16.000000,0
+000174366,0$GVGNSC,000174366,11.111111,0,16.000000,0X05
+#175378$GVGPSP,3,46.203956,6.154525,0
+000175378,0$GVGNSP,000175378,46.203956,6.154525,0,0X03
+#175378$GVGPSC,3,11.111111,17.000000,0
+000175378,0$GVGNSC,000175378,11.111111,0,17.000000,0X05
+#176397$GVGPSP,3,46.204024,6.154606,0
+000176397,0$GVGNSP,000176397,46.204024,6.154606,0,0X03
+#176397$GVGPSC,3,11.111111,55.000000,0
+000176397,0$GVGNSC,000176397,11.111111,0,55.000000,0X05
+#177400$GVGPSP,3,46.204074,6.154705,0
+000177400,0$GVGNSP,000177400,46.204074,6.154705,0,0X03
+#177400$GVGPSC,3,11.111111,53.000000,0
+000177400,0$GVGNSC,000177400,11.111111,0,53.000000,0X05
+#178404$GVGPSP,3,46.204130,6.154822,0
+000178404,0$GVGNSP,000178404,46.204130,6.154822,0,0X03
+#178404$GVGPSC,3,11.111111,54.000000,0
+000178404,0$GVGNSC,000178404,11.111111,0,54.000000,0X05
+#179406$GVGPSP,3,46.204180,6.154921,0
+000179406,0$GVGNSP,000179406,46.204180,6.154921,0,0X03
+#179406$GVGPSC,3,11.111111,53.000000,0
+000179406,0$GVGNSC,000179406,11.111111,0,53.000000,0X05
+#180413$GVGPSP,3,46.204236,6.155029,0
+000180413,0$GVGNSP,000180413,46.204236,6.155029,0,0X03
+#180413$GVGPSC,3,11.111111,54.000000,0
+000180413,0$GVGNSC,000180413,11.111111,0,54.000000,0X05
+#181424$GVGPSP,3,46.204286,6.155128,0
+000181424,0$GVGNSP,000181424,46.204286,6.155128,0,0X03
+#181424$GVGPSC,3,11.111111,54.000000,0
+000181424,0$GVGNSC,000181424,11.111111,0,54.000000,0X05
+#182432$GVGPSP,3,46.204342,6.155236,0
+000182432,0$GVGNSP,000182432,46.204342,6.155236,0,0X03
+#182432$GVGPSC,3,11.111111,54.000000,0
+000182432,0$GVGNSC,000182432,11.111111,0,54.000000,0X05
+#183440$GVGPSP,3,46.204391,6.155344,0
+000183440,0$GVGNSP,000183440,46.204391,6.155344,0,0X03
+#183440$GVGPSC,3,11.111111,55.000000,0
+000183440,0$GVGNSC,000183440,11.111111,0,55.000000,0X05
+#184454$GVGPSP,3,46.204447,6.155452,0
+000184454,0$GVGNSP,000184454,46.204447,6.155452,0,0X03
+#184454$GVGPSC,3,11.111111,55.000000,0
+000184454,0$GVGNSC,000184454,11.111111,0,55.000000,0X05
+#185474$GVGPSP,3,46.204491,6.155551,0
+000185474,0$GVGNSP,000185474,46.204491,6.155551,0,0X03
+#185474$GVGPSC,3,11.111111,56.000000,12
+000185474,0$GVGNSC,000185474,11.111111,0,56.000000,0X05
+#186486$GVGPSP,3,46.204541,6.155668,0
+000186486,0$GVGNSP,000186486,46.204541,6.155668,0,0X03
+#186486$GVGPSC,3,11.111111,55.000000,0
+000186486,0$GVGNSC,000186486,11.111111,0,55.000000,0X05
+#187506$GVGPSP,3,46.204597,6.155766,0
+000187506,0$GVGNSP,000187506,46.204597,6.155766,0,0X03
+#187506$GVGPSC,3,11.111111,53.000000,0
+000187506,0$GVGNSC,000187506,11.111111,0,53.000000,0X05
+#188517$GVGPSP,3,46.204640,6.155874,0
+000188517,0$GVGNSP,000188517,46.204640,6.155874,0,0X03
+#188517$GVGPSC,3,11.111111,55.000000,0
+000188517,0$GVGNSC,000188517,11.111111,0,55.000000,0X05
+#189525$GVGPSP,3,46.204690,6.155973,0
+000189525,0$GVGNSP,000189525,46.204690,6.155973,0,0X03
+#189525$GVGPSC,3,11.111111,54.000000,0
+000189525,0$GVGNSC,000189525,11.111111,0,54.000000,0X05
+#190528$GVGPSP,3,46.204746,6.156081,0
+000190528,0$GVGNSP,000190528,46.204746,6.156081,0,0X03
+#190528$GVGPSC,3,11.111111,54.000000,0
+000190528,0$GVGNSC,000190528,11.111111,0,54.000000,0X05
+#191531$GVGPSP,3,46.204796,6.156198,0
+000191531,0$GVGNSP,000191531,46.204796,6.156198,0,0X03
+#191531$GVGPSC,3,11.111111,55.000000,0
+000191531,0$GVGNSC,000191531,11.111111,0,55.000000,0X05
+#192537$GVGPSP,3,46.204852,6.156297,0
+000192537,0$GVGNSP,000192537,46.204852,6.156297,0,0X03
+#192537$GVGPSC,3,11.111111,54.000000,0
+000192537,0$GVGNSC,000192537,11.111111,0,54.000000,0X05
+#193538$GVGPSP,3,46.204902,6.156405,0
+000193538,0$GVGNSP,000193538,46.204902,6.156405,0,0X03
+#193538$GVGPSC,3,11.111111,55.000000,0
+000193538,0$GVGNSC,000193538,11.111111,0,55.000000,0X05
+#194545$GVGPSP,3,46.204952,6.156504,0
+000194545,0$GVGNSP,000194545,46.204952,6.156504,0,0X03
+#194545$GVGPSC,3,11.111111,55.000000,0
+000194545,0$GVGNSC,000194545,11.111111,0,55.000000,0X05
+#195552$GVGPSP,3,46.205001,6.156621,0
+000195552,0$GVGNSP,000195552,46.205001,6.156621,0,0X03
+#195552$GVGPSC,3,11.111111,56.000000,12
+000195552,0$GVGNSC,000195552,11.111111,0,56.000000,0X05
+#196564$GVGPSP,3,46.205051,6.156729,0
+000196564,0$GVGNSP,000196564,46.205051,6.156729,0,0X03
+#196564$GVGPSC,3,11.111111,55.000000,0
+000196564,0$GVGNSC,000196564,11.111111,0,55.000000,0X05
+#197578$GVGPSP,3,46.205101,6.156828,0
+000197578,0$GVGNSP,000197578,46.205101,6.156828,0,0X03
+#197578$GVGPSC,3,11.111111,55.000000,0
+000197578,0$GVGNSC,000197578,11.111111,0,55.000000,0X05
+#198590$GVGPSP,3,46.205157,6.156936,0
+000198590,0$GVGNSP,000198590,46.205157,6.156936,0,0X03
+#198590$GVGPSC,3,11.111111,55.000000,0
+000198590,0$GVGNSC,000198590,11.111111,0,55.000000,0X05
+#199600$GVGPSP,3,46.205201,6.157043,0
+000199600,0$GVGNSP,000199600,46.205201,6.157043,0,0X03
+#199600$GVGPSC,3,11.111111,55.000000,0
+000199600,0$GVGNSC,000199600,11.111111,0,55.000000,0X05
+#200605$GVGPSP,3,46.205257,6.157142,0
+000200605,0$GVGNSP,000200605,46.205257,6.157142,0,0X03
+#200605$GVGPSC,3,11.111111,55.000000,0
+000200605,0$GVGNSC,000200605,11.111111,0,55.000000,0X05
+#201609$GVGPSP,3,46.205300,6.157250,0
+000201609,0$GVGNSP,000201609,46.205300,6.157250,0,0X03
+#201609$GVGPSC,3,11.111111,56.000000,12
+000201609,0$GVGNSC,000201609,11.111111,0,56.000000,0X05
+#202620$GVGPSP,3,46.205356,6.157358,0
+000202620,0$GVGNSP,000202620,46.205356,6.157358,0,0X03
+#202620$GVGPSC,3,11.111111,55.000000,0
+000202620,0$GVGNSC,000202620,11.111111,0,55.000000,0X05
+#203625$GVGPSP,3,46.205406,6.157466,0
+000203625,0$GVGNSP,000203625,46.205406,6.157466,0,0X03
+#203625$GVGPSC,3,11.111111,55.000000,0
+000203625,0$GVGNSC,000203625,11.111111,0,55.000000,0X05
+#204633$GVGPSP,3,46.205456,6.157574,0
+000204633,0$GVGNSP,000204633,46.205456,6.157574,0,0X03
+#204633$GVGPSC,3,11.111111,55.000000,0
+000204633,0$GVGNSC,000204633,11.111111,0,55.000000,0X05
+#205639$GVGPSP,3,46.205512,6.157682,0
+000205639,0$GVGNSP,000205639,46.205512,6.157682,0,0X03
+#205639$GVGPSC,3,11.111111,53.000000,0
+000205639,0$GVGNSC,000205639,11.111111,0,53.000000,0X05
+#206657$GVGPSP,3,46.205562,6.157781,0
+000206657,0$GVGNSP,000206657,46.205562,6.157781,0,0X03
+#206657$GVGPSC,3,11.111111,54.000000,0
+000206657,0$GVGNSC,000206657,11.111111,0,54.000000,0X05
+#207659$GVGPSP,3,46.205611,6.157889,0
+000207659,0$GVGNSP,000207659,46.205611,6.157889,0,0X03
+#207659$GVGPSC,3,11.111111,54.000000,0
+000207659,0$GVGNSC,000207659,11.111111,0,54.000000,0X05
+#208667$GVGPSP,3,46.205661,6.157988,0
+000208667,0$GVGNSP,000208667,46.205661,6.157988,0,0X03
+#208667$GVGPSC,3,11.111111,54.000000,0
+000208667,0$GVGNSC,000208667,11.111111,0,54.000000,0X05
+#209669$GVGPSP,3,46.205711,6.158096,0
+000209669,0$GVGNSP,000209669,46.205711,6.158096,0,0X03
+#209669$GVGPSC,3,11.111111,54.000000,0
+000209669,0$GVGNSC,000209669,11.111111,0,54.000000,0X05
+#210673$GVGPSP,3,46.205767,6.158204,0
+000210673,0$GVGNSP,000210673,46.205767,6.158204,0,0X03
+#210673$GVGPSC,3,11.111111,54.000000,0
+000210673,0$GVGNSC,000210673,11.111111,0,54.000000,0X05
+#211679$GVGPSP,3,46.205823,6.158312,0
+000211679,0$GVGNSP,000211679,46.205823,6.158312,0,0X03
+#211679$GVGPSC,3,11.111111,54.000000,0
+000211679,0$GVGNSC,000211679,11.111111,0,54.000000,0X05
+#212685$GVGPSP,3,46.205867,6.158419,0
+000212685,0$GVGNSP,000212685,46.205867,6.158419,0,0X03
+#212685$GVGPSC,3,11.111111,56.000000,12
+000212685,0$GVGNSC,000212685,11.111111,0,56.000000,0X05
+#213710$GVGPSP,3,46.205923,6.158527,0
+000213710,0$GVGNSP,000213710,46.205923,6.158527,0,0X03
+#213710$GVGPSC,3,11.111111,55.000000,0
+000213710,0$GVGNSC,000213710,11.111111,0,55.000000,0X05
+#214716$GVGPSP,3,46.205972,6.158635,0
+000214716,0$GVGNSP,000214716,46.205972,6.158635,0,0X03
+#214716$GVGPSC,3,11.111111,55.000000,0
+000214716,0$GVGNSC,000214716,11.111111,0,55.000000,0X05
+#215720$GVGPSP,3,46.206022,6.158734,0
+000215720,0$GVGNSP,000215720,46.206022,6.158734,0,0X03
+#215720$GVGPSC,3,11.111111,54.000000,0
+000215720,0$GVGNSC,000215720,11.111111,0,54.000000,0X05
+#216741$GVGPSP,3,46.206072,6.158842,0
+000216741,0$GVGNSP,000216741,46.206072,6.158842,0,0X03
+#216741$GVGPSC,3,11.111111,54.000000,0
+000216741,0$GVGNSC,000216741,11.111111,0,54.000000,0X05
+#217751$GVGPSP,3,46.206122,6.158941,0
+000217751,0$GVGNSP,000217751,46.206122,6.158941,0,0X03
+#217751$GVGPSC,3,11.111111,54.000000,0
+000217751,0$GVGNSC,000217751,11.111111,0,54.000000,0X05
+#218772$GVGPSP,3,46.206178,6.159049,0
+000218772,0$GVGNSP,000218772,46.206178,6.159049,0,0X03
+#218772$GVGPSC,3,11.111111,54.000000,0
+000218772,0$GVGNSC,000218772,11.111111,0,54.000000,0X05
+#219786$GVGPSP,3,46.206228,6.159157,0
+000219786,0$GVGNSP,000219786,46.206228,6.159157,0,0X03
+#219786$GVGPSC,3,11.111111,56.000000,12
+000219786,0$GVGNSC,000219786,11.111111,0,56.000000,0X05
+#220803$GVGPSP,3,46.206277,6.159265,0
+000220803,0$GVGNSP,000220803,46.206277,6.159265,0,0X03
+#220803$GVGPSC,3,11.111111,56.000000,12
+000220803,0$GVGNSC,000220803,11.111111,0,56.000000,0X05
+#221808$GVGPSP,3,46.206327,6.159373,0
+000221808,0$GVGNSP,000221808,46.206327,6.159373,0,0X03
+#221808$GVGPSC,3,11.111111,56.000000,12
+000221808,0$GVGNSC,000221808,11.111111,0,56.000000,0X05
+#222814$GVGPSP,3,46.206371,6.159472,0
+000222814,0$GVGNSP,000222814,46.206371,6.159472,0,0X03
+#222814$GVGPSC,3,11.111111,56.000000,12
+000222814,0$GVGNSC,000222814,11.111111,0,56.000000,0X05
+#223817$GVGPSP,3,46.206420,6.159580,0
+000223817,0$GVGNSP,000223817,46.206420,6.159580,0,0X03
+#223817$GVGPSC,3,11.111111,56.000000,12
+000223817,0$GVGNSC,000223817,11.111111,0,56.000000,0X05
+#224835$GVGPSP,3,46.206470,6.159688,0
+000224835,0$GVGNSP,000224835,46.206470,6.159688,0,0X03
+#224835$GVGPSC,3,11.111111,55.000000,0
+000224835,0$GVGNSC,000224835,11.111111,0,55.000000,0X05
+#225853$GVGPSP,3,46.206526,6.159804,0
+000225853,0$GVGNSP,000225853,46.206526,6.159804,0,0X03
+#225853$GVGPSC,3,11.111111,55.000000,0
+000225853,0$GVGNSC,000225853,11.111111,0,55.000000,0X05
+#226857$GVGPSP,3,46.206582,6.159921,0
+000226857,0$GVGNSP,000226857,46.206582,6.159921,0,0X03
+#226857$GVGPSC,3,11.111111,54.000000,0
+000226857,0$GVGNSC,000226857,11.111111,0,54.000000,0X05
+#227863$GVGPSP,3,46.206638,6.160038,0
+000227863,0$GVGNSP,000227863,46.206638,6.160038,0,0X03
+#227863$GVGPSC,3,11.111111,54.000000,0
+000227863,0$GVGNSC,000227863,11.111111,0,54.000000,0X05
+#228865$GVGPSP,3,46.206694,6.160146,0
+000228865,0$GVGNSP,000228865,46.206694,6.160146,0,0X03
+#228865$GVGPSC,3,11.111111,54.000000,0
+000228865,0$GVGNSC,000228865,11.111111,0,54.000000,0X05
+#229872$GVGPSP,3,46.206744,6.160263,0
+000229872,0$GVGNSP,000229872,46.206744,6.160263,0,0X03
+#229872$GVGPSC,3,11.111111,55.000000,0
+000229872,0$GVGNSC,000229872,11.111111,0,55.000000,0X05
+#230886$GVGPSP,3,46.206800,6.160371,0
+000230886,0$GVGNSP,000230886,46.206800,6.160371,0,0X03
+#230886$GVGPSC,3,11.111111,54.000000,0
+000230886,0$GVGNSC,000230886,11.111111,0,54.000000,0X05
+#231892$GVGPSP,3,46.206850,6.160470,0
+000231892,0$GVGNSP,000231892,46.206850,6.160470,0,0X03
+#231892$GVGPSC,3,11.111111,54.000000,0
+000231892,0$GVGNSC,000231892,11.111111,0,54.000000,0X05
+#232893$GVGPSP,3,46.206900,6.160569,0
+000232893,0$GVGNSP,000232893,46.206900,6.160569,0,0X03
+#232893$GVGPSC,3,11.111111,54.000000,0
+000232893,0$GVGNSC,000232893,11.111111,0,54.000000,0X05
+#233909$GVGPSP,3,46.206956,6.160686,0
+000233909,0$GVGNSP,000233909,46.206956,6.160686,0,0X03
+#233909$GVGPSC,3,11.111111,55.000000,0
+000233909,0$GVGNSC,000233909,11.111111,0,55.000000,0X05
+#234920$GVGPSP,3,46.207005,6.160794,0
+000234920,0$GVGNSP,000234920,46.207005,6.160794,0,0X03
+#234920$GVGPSC,3,11.111111,55.000000,0
+000234920,0$GVGNSC,000234920,11.111111,0,55.000000,0X05
+#235930$GVGPSP,3,46.207055,6.160902,0
+000235930,0$GVGNSP,000235930,46.207055,6.160902,0,0X03
+#235930$GVGPSC,3,11.111111,55.000000,0
+000235930,0$GVGNSC,000235930,11.111111,0,55.000000,0X05
+#236940$GVGPSP,3,46.207118,6.161027,0
+000236940,0$GVGNSP,000236940,46.207118,6.161027,0,0X03
+#236940$GVGPSC,3,11.111111,54.000000,0
+000236940,0$GVGNSC,000236940,11.111111,0,54.000000,0X05
+#237949$GVGPSP,3,46.207167,6.161135,0
+000237949,0$GVGNSP,000237949,46.207167,6.161135,0,0X03
+#237949$GVGPSC,3,11.111111,55.000000,0
+000237949,0$GVGNSC,000237949,11.111111,0,55.000000,0X05
+#238961$GVGPSP,3,46.207223,6.161243,0
+000238961,0$GVGNSP,000238961,46.207223,6.161243,0,0X03
+#238961$GVGPSC,3,11.111111,55.000000,0
+000238961,0$GVGNSC,000238961,11.111111,0,55.000000,0X05
+#239971$GVGPSP,3,46.207273,6.161360,0
+000239971,0$GVGNSP,000239971,46.207273,6.161360,0,0X03
+#239971$GVGPSC,3,11.111111,56.000000,12
+000239971,0$GVGNSC,000239971,11.111111,0,56.000000,0X05
+#240990$GVGPSP,3,46.207323,6.161459,0
+000240990,0$GVGNSP,000240990,46.207323,6.161459,0,0X03
+#240990$GVGPSC,3,11.111111,59.000000,0
+000240990,0$GVGNSC,000240990,11.111111,0,59.000000,0X05
+#242003$GVGPSP,3,46.207360,6.161567,0
+000242003,0$GVGNSP,000242003,46.207360,6.161567,0,0X03
+#242003$GVGPSC,3,11.111111,60.000000,0
+000242003,0$GVGNSC,000242003,11.111111,0,60.000000,0X05
+#243025$GVGPSP,3,46.207404,6.161666,0
+000243025,0$GVGNSP,000243025,46.207404,6.161666,0,0X03
+#243025$GVGPSC,3,11.111111,59.000000,0
+000243025,0$GVGNSC,000243025,11.111111,0,59.000000,0X05
+#244034$GVGPSP,3,46.207441,6.161774,0
+000244034,0$GVGNSP,000244034,46.207441,6.161774,0,0X03
+#244034$GVGPSC,3,11.111111,61.000000,0
+000244034,0$GVGNSC,000244034,11.111111,0,61.000000,0X05
+#245044$GVGPSP,3,46.207485,6.161882,0
+000245044,0$GVGNSP,000245044,46.207485,6.161882,0,0X03
+#245044$GVGPSC,3,11.111111,64.000000,0
+000245044,0$GVGNSC,000245044,11.111111,0,64.000000,0X05
+#246054$GVGPSP,3,46.207516,6.161990,0
+000246054,0$GVGNSP,000246054,46.207516,6.161990,0,0X03
+#246054$GVGPSC,3,11.111111,65.000000,0
+000246054,0$GVGNSC,000246054,11.111111,0,65.000000,0X05
+#247068$GVGPSP,3,46.207553,6.162098,0
+000247068,0$GVGNSP,000247068,46.207553,6.162098,0,0X03
+#247068$GVGPSC,3,11.111111,64.000000,0
+000247068,0$GVGNSC,000247068,11.111111,0,64.000000,0X05
+#248081$GVGPSP,3,46.207591,6.162206,0
+000248081,0$GVGNSP,000248081,46.207591,6.162206,0,0X03
+#248081$GVGPSC,3,11.111111,64.000000,0
+000248081,0$GVGNSC,000248081,11.111111,0,64.000000,0X05
+#249085$GVGPSP,3,46.207628,6.162332,0
+000249085,0$GVGNSP,000249085,46.207628,6.162332,0,0X03
+#249085$GVGPSC,3,11.111111,65.000000,0
+000249085,0$GVGNSC,000249085,11.111111,0,65.000000,0X05
+#250089$GVGPSP,3,46.207659,6.162439,0
+000250089,0$GVGNSP,000250089,46.207659,6.162439,0,0X03
+#250089$GVGPSC,3,11.111111,71.000000,0
+000250089,0$GVGNSC,000250089,11.111111,0,71.000000,0X05
+#251096$GVGPSP,3,46.207690,6.162556,0
+000251096,0$GVGNSP,000251096,46.207690,6.162556,0,0X03
+#251096$GVGPSC,3,11.111111,70.000000,0
+000251096,0$GVGNSC,000251096,11.111111,0,70.000000,0X05
+#252100$GVGPSP,3,46.207715,6.162682,0
+000252100,0$GVGNSP,000252100,46.207715,6.162682,0,0X03
+#252100$GVGPSC,3,11.111111,71.000000,0
+000252100,0$GVGNSC,000252100,11.111111,0,71.000000,0X05
+#253101$GVGPSP,3,46.207746,6.162799,0
+000253101,0$GVGNSP,000253101,46.207746,6.162799,0,0X03
+#253101$GVGPSC,3,11.111111,70.000000,0
+000253101,0$GVGNSC,000253101,11.111111,0,70.000000,0X05
+#254106$GVGPSP,3,46.207777,6.162925,0
+000254106,0$GVGNSP,000254106,46.207777,6.162925,0,0X03
+#254106$GVGPSC,3,11.111111,70.000000,0
+000254106,0$GVGNSC,000254106,11.111111,0,70.000000,0X05
+#255110$GVGPSP,3,46.207802,6.163051,0
+000255110,0$GVGNSP,000255110,46.207802,6.163051,0,0X03
+#255110$GVGPSC,3,11.111111,70.000000,0
+000255110,0$GVGNSC,000255110,11.111111,0,70.000000,0X05
+#256121$GVGPSP,3,46.207833,6.163177,0
+000256121,0$GVGNSP,000256121,46.207833,6.163177,0,0X03
+#256121$GVGPSC,3,11.111111,70.000000,0
+000256121,0$GVGNSC,000256121,11.111111,0,70.000000,0X05
+#257125$GVGPSP,3,46.207864,6.163294,0
+000257125,0$GVGNSP,000257125,46.207864,6.163294,0,0X03
+#257125$GVGPSC,3,11.111111,70.000000,0
+000257125,0$GVGNSC,000257125,11.111111,0,70.000000,0X05
+#258131$GVGPSP,3,46.207895,6.163420,0
+000258131,0$GVGNSP,000258131,46.207895,6.163420,0,0X03
+#258131$GVGPSC,3,11.111111,70.000000,0
+000258131,0$GVGNSC,000258131,11.111111,0,70.000000,0X05
+#259136$GVGPSP,3,46.207920,6.163546,0
+000259136,0$GVGNSP,000259136,46.207920,6.163546,0,0X03
+#259136$GVGPSC,3,11.111111,70.000000,0
+000259136,0$GVGNSC,000259136,11.111111,0,70.000000,0X05
+#260144$GVGPSP,3,46.207951,6.163654,0
+000260144,0$GVGNSP,000260144,46.207951,6.163654,0,0X03
+#260144$GVGPSC,3,11.111111,69.000000,0
+000260144,0$GVGNSC,000260144,11.111111,0,69.000000,0X05
+#261158$GVGPSP,3,46.207983,6.163779,0
+000261158,0$GVGNSP,000261158,46.207983,6.163779,0,0X03
+#261158$GVGPSC,3,11.111111,70.000000,0
+000261158,0$GVGNSC,000261158,11.111111,0,70.000000,0X05
+#262180$GVGPSP,3,46.208014,6.163914,0
+000262180,0$GVGNSP,000262180,46.208014,6.163914,0,0X03
+#262180$GVGPSC,3,11.111111,67.000000,0
+000262180,0$GVGNSC,000262180,11.111111,0,67.000000,0X05
+#263197$GVGPSP,3,46.208045,6.164031,0
+000263197,0$GVGNSP,000263197,46.208045,6.164031,0,0X03
+#263197$GVGPSC,3,11.111111,67.000000,0
+000263197,0$GVGNSC,000263197,11.111111,0,67.000000,0X05
+#264200$GVGPSP,3,46.208082,6.164139,0
+000264200,0$GVGNSP,000264200,46.208082,6.164139,0,0X03
+#264200$GVGPSC,3,11.111111,65.000000,0
+000264200,0$GVGNSC,000264200,11.111111,0,65.000000,0X05
+#265201$GVGPSP,3,46.208120,6.164265,0
+000265201,0$GVGNSP,000265201,46.208120,6.164265,0,0X03
+#265201$GVGPSC,3,11.111111,61.000000,0
+000265201,0$GVGNSC,000265201,11.111111,0,61.000000,0X05
+#266214$GVGPSP,3,46.208163,6.164382,0
+000266214,0$GVGNSP,000266214,46.208163,6.164382,0,0X03
+#266214$GVGPSC,3,11.111111,60.000000,0
+000266214,0$GVGNSC,000266214,11.111111,0,60.000000,0X05
+#267220$GVGPSP,3,46.208207,6.164499,0
+000267220,0$GVGNSP,000267220,46.208207,6.164499,0,0X03
+#267220$GVGPSC,3,11.111111,60.000000,0
+000267220,0$GVGNSC,000267220,11.111111,0,60.000000,0X05
+#268234$GVGPSP,3,46.208250,6.164598,0
+000268234,0$GVGNSP,000268234,46.208250,6.164598,0,0X03
+#268234$GVGPSC,3,11.111111,59.000000,0
+000268234,0$GVGNSC,000268234,11.111111,0,59.000000,0X05
+#269250$GVGPSP,3,46.208288,6.164706,0
+000269250,0$GVGNSP,000269250,46.208288,6.164706,0,0X03
+#269250$GVGPSC,3,11.111111,61.000000,0
+000269250,0$GVGNSC,000269250,11.111111,0,61.000000,0X05
+#270251$GVGPSP,3,46.208331,6.164814,0
+000270251,0$GVGNSP,000270251,46.208331,6.164814,0,0X03
+#270251$GVGPSC,3,11.111111,61.000000,0
+000270251,0$GVGNSC,000270251,11.111111,0,61.000000,0X05
+#271263$GVGPSP,3,46.208368,6.164931,0
+000271263,0$GVGNSP,000271263,46.208368,6.164931,0,0X03
+#271263$GVGPSC,3,11.111111,62.000000,0
+000271263,0$GVGNSC,000271263,11.111111,0,62.000000,0X05
+#271266$GVGPSP,3,46.208424,6.165047,0
+000271266,0$GVGNSP,000271266,46.208424,6.165047,0,0X03
+#271266$GVGPSC,3,11.111111,57.000000,0
+000271266,0$GVGNSC,000271266,11.111111,0,57.000000,0X05
+#272270$GVGPSP,3,46.208468,6.165164,0
+000272270,0$GVGNSP,000272270,46.208468,6.165164,0,0X03
+#272270$GVGPSC,3,11.111111,57.000000,0
+000272270,0$GVGNSC,000272270,11.111111,0,57.000000,0X05
+#273292$GVGPSP,3,46.208518,6.165272,0
+000273292,0$GVGNSP,000273292,46.208518,6.165272,0,0X03
+#273292$GVGPSC,3,11.111111,57.000000,0
+000273292,0$GVGNSC,000273292,11.111111,0,57.000000,0X05
+#274297$GVGPSP,3,46.208561,6.165371,0
+000274297,0$GVGNSP,000274297,46.208561,6.165371,0,0X03
+#274297$GVGPSC,3,11.111111,57.000000,0
+000274297,0$GVGNSC,000274297,11.111111,0,57.000000,0X05
+#276300$GVGPSP,3,46.208611,6.165479,0
+000276300,0$GVGNSP,000276300,46.208611,6.165479,0,0X03
+#276300$GVGPSC,3,11.111111,57.000000,0
+000276300,0$GVGNSC,000276300,11.111111,0,57.000000,0X05
+#276308$GVGPSP,3,46.208661,6.165587,0
+000276308,0$GVGNSP,000276308,46.208661,6.165587,0,0X03
+#276308$GVGPSC,3,11.111111,57.000000,0
+000276308,0$GVGNSC,000276308,11.111111,0,57.000000,0X05
+#277311$GVGPSP,3,46.208711,6.165695,0
+000277311,0$GVGNSP,000277311,46.208711,6.165695,0,0X03
+#277311$GVGPSC,3,11.111111,57.000000,0
+000277311,0$GVGNSC,000277311,11.111111,0,57.000000,0X05
+#278313$GVGPSP,3,46.208754,6.165803,0
+000278313,0$GVGNSP,000278313,46.208754,6.165803,0,0X03
+#278313$GVGPSC,3,11.111111,57.000000,0
+000278313,0$GVGNSC,000278313,11.111111,0,57.000000,0X05
+#279319$GVGPSP,3,46.208798,6.165902,0
+000279319,0$GVGNSP,000279319,46.208798,6.165902,0,0X03
+#279319$GVGPSC,3,11.111111,57.000000,0
+000279319,0$GVGNSC,000279319,11.111111,0,57.000000,0X05
+#280334$GVGPSP,3,46.208848,6.166010,0
+000280334,0$GVGNSP,000280334,46.208848,6.166010,0,0X03
+#280334$GVGPSC,3,11.111111,57.000000,0
+000280334,0$GVGNSC,000280334,11.111111,0,57.000000,0X05
+#281338$GVGPSP,3,46.208897,6.166118,0
+000281338,0$GVGNSP,000281338,46.208897,6.166118,0,0X03
+#281338$GVGPSC,3,11.111111,57.000000,0
+000281338,0$GVGNSC,000281338,11.111111,0,57.000000,0X05
+#282344$GVGPSP,3,46.208941,6.166226,0
+000282344,0$GVGNSP,000282344,46.208941,6.166226,0,0X03
+#282344$GVGPSC,3,11.111111,57.000000,0
+000282344,0$GVGNSC,000282344,11.111111,0,57.000000,0X05
+#283349$GVGPSP,3,46.208991,6.166324,0
+000283349,0$GVGNSP,000283349,46.208991,6.166324,0,0X03
+#283349$GVGPSC,3,11.111111,57.000000,0
+000283349,0$GVGNSC,000283349,11.111111,0,57.000000,0X05
+#284353$GVGPSP,3,46.209041,6.166432,0
+000284353,0$GVGNSP,000284353,46.209041,6.166432,0,0X03
+#284353$GVGPSC,3,11.111111,57.000000,0
+000284353,0$GVGNSC,000284353,11.111111,0,57.000000,0X05
+#285361$GVGPSP,3,46.209084,6.166540,0
+000285361,0$GVGNSP,000285361,46.209084,6.166540,0,0X03
+#285361$GVGPSC,3,11.111111,57.000000,0
+000285361,0$GVGNSC,000285361,11.111111,0,57.000000,0X05
+#286362$GVGPSP,3,46.209134,6.166648,0
+000286362,0$GVGNSP,000286362,46.209134,6.166648,0,0X03
+#286362$GVGPSC,3,11.111111,57.000000,0
+000286362,0$GVGNSC,000286362,11.111111,0,57.000000,0X05
+#287393$GVGPSP,3,46.209184,6.166756,0
+000287393,0$GVGNSP,000287393,46.209184,6.166756,0,0X03
+#287393$GVGPSC,3,11.111111,57.000000,0
+000287393,0$GVGNSC,000287393,11.111111,0,57.000000,0X05
+#288402$GVGPSP,3,46.209227,6.166855,0
+000288402,0$GVGNSP,000288402,46.209227,6.166855,0,0X03
+#288402$GVGPSC,3,11.111111,57.000000,0
+000288402,0$GVGNSC,000288402,11.111111,0,57.000000,0X05
+#289406$GVGPSP,3,46.209271,6.166963,0
+000289406,0$GVGNSP,000289406,46.209271,6.166963,0,0X03
+#289406$GVGPSC,3,11.111111,57.000000,0
+000289406,0$GVGNSC,000289406,11.111111,0,57.000000,0X05
+#290414$GVGPSP,3,46.209321,6.167071,0
+000290414,0$GVGNSP,000290414,46.209321,6.167071,0,0X03
+#290414$GVGPSC,3,11.111111,56.000000,12
+000290414,0$GVGNSC,000290414,11.111111,0,56.000000,0X05
+#291422$GVGPSP,3,46.209370,6.167179,0
+000291422,0$GVGNSP,000291422,46.209370,6.167179,0,0X03
+#291422$GVGPSC,3,11.111111,57.000000,0
+000291422,0$GVGNSC,000291422,11.111111,0,57.000000,0X05
+#292427$GVGPSP,3,46.209414,6.167278,0
+000292427,0$GVGNSP,000292427,46.209414,6.167278,0,0X03
+#292427$GVGPSC,3,11.111111,57.000000,0
+000292427,0$GVGNSC,000292427,11.111111,0,57.000000,0X05
+#293434$GVGPSP,3,46.209464,6.167386,0
+000293434,0$GVGNSP,000293434,46.209464,6.167386,0,0X03
+#293434$GVGPSC,3,11.111111,56.000000,12
+000293434,0$GVGNSC,000293434,11.111111,0,56.000000,0X05
+#295466$GVGPSP,3,46.209514,6.167494,0
+000295466,0$GVGNSP,000295466,46.209514,6.167494,0,0X03
+#295466$GVGPSC,3,11.111111,57.000000,0
+000295466,0$GVGNSC,000295466,11.111111,0,57.000000,0X05
+#295478$GVGPSP,3,46.209557,6.167602,0
+000295478,0$GVGNSP,000295478,46.209557,6.167602,0,0X03
+#295478$GVGPSC,3,11.111111,56.000000,12
+000295478,0$GVGNSC,000295478,11.111111,0,56.000000,0X05
+#296481$GVGPSP,3,46.209607,6.167709,0
+000296481,0$GVGNSP,000296481,46.209607,6.167709,0,0X03
+#296481$GVGPSC,3,11.111111,56.000000,12
+000296481,0$GVGNSC,000296481,11.111111,0,56.000000,0X05
+#297483$GVGPSP,3,46.209657,6.167808,0
+000297483,0$GVGNSP,000297483,46.209657,6.167808,0,0X03
+#297483$GVGPSC,3,11.111111,56.000000,12
+000297483,0$GVGNSC,000297483,11.111111,0,56.000000,0X05
+#298493$GVGPSP,3,46.209700,6.167925,0
+000298493,0$GVGNSP,000298493,46.209700,6.167925,0,0X03
+#298493$GVGPSC,3,11.111111,56.000000,12
+000298493,0$GVGNSC,000298493,11.111111,0,56.000000,0X05
+#299501$GVGPSP,3,46.209750,6.168024,0
+000299501,0$GVGNSP,000299501,46.209750,6.168024,0,0X03
+#299501$GVGPSC,3,11.111111,56.000000,12
+000299501,0$GVGNSC,000299501,11.111111,0,56.000000,0X05
+#300514$GVGPSP,3,46.209800,6.168132,0
+000300514,0$GVGNSP,000300514,46.209800,6.168132,0,0X03
+#300514$GVGPSC,3,11.111111,56.000000,12
+000300514,0$GVGNSC,000300514,11.111111,0,56.000000,0X05
+#301523$GVGPSP,3,46.209843,6.168240,0
+000301523,0$GVGNSP,000301523,46.209843,6.168240,0,0X03
+#301523$GVGPSC,3,11.111111,56.000000,12
+000301523,0$GVGNSC,000301523,11.111111,0,56.000000,0X05
+#302526$GVGPSP,3,46.209893,6.168339,0
+000302526,0$GVGNSP,000302526,46.209893,6.168339,0,0X03
+#302526$GVGPSC,3,11.111111,56.000000,12
+000302526,0$GVGNSC,000302526,11.111111,0,56.000000,0X05
+#303530$GVGPSP,3,46.209943,6.168447,0
+000303530,0$GVGNSP,000303530,46.209943,6.168447,0,0X03
+#303530$GVGPSC,3,11.111111,56.000000,12
+000303530,0$GVGNSC,000303530,11.111111,0,56.000000,0X05
+#304535$GVGPSP,3,46.209993,6.168555,0
+000304535,0$GVGNSP,000304535,46.209993,6.168555,0,0X03
+#304535$GVGPSC,3,11.111111,56.000000,12
+000304535,0$GVGNSC,000304535,11.111111,0,56.000000,0X05
+#305540$GVGPSP,3,46.210036,6.168663,0
+000305540,0$GVGNSP,000305540,46.210036,6.168663,0,0X03
+#305540$GVGPSC,3,11.111111,56.000000,12
+000305540,0$GVGNSC,000305540,11.111111,0,56.000000,0X05
+#306545$GVGPSP,3,46.210086,6.168762,0
+000306545,0$GVGNSP,000306545,46.210086,6.168762,0,0X03
+#306545$GVGPSC,3,11.111111,56.000000,12
+000306545,0$GVGNSC,000306545,11.111111,0,56.000000,0X05
+#307552$GVGPSP,3,46.210130,6.168870,0
+000307552,0$GVGNSP,000307552,46.210130,6.168870,0,0X03
+#307552$GVGPSC,3,11.111111,56.000000,12
+000307552,0$GVGNSC,000307552,11.111111,0,56.000000,0X05
+#308556$GVGPSP,3,46.210180,6.168977,0
+000308556,0$GVGNSP,000308556,46.210180,6.168977,0,0X03
+#308556$GVGPSC,3,11.111111,56.000000,12
+000308556,0$GVGNSC,000308556,11.111111,0,56.000000,0X05
+#309558$GVGPSP,3,46.210229,6.169085,0
+000309558,0$GVGNSP,000309558,46.210229,6.169085,0,0X03
+#309558$GVGPSC,3,11.111111,56.000000,12
+000309558,0$GVGNSC,000309558,11.111111,0,56.000000,0X05
+#310563$GVGPSP,3,46.210279,6.169193,0
+000310563,0$GVGNSP,000310563,46.210279,6.169193,0,0X03
+#310563$GVGPSC,3,11.111111,56.000000,12
+000310563,0$GVGNSC,000310563,11.111111,0,56.000000,0X05
+#311565$GVGPSP,3,46.210323,6.169292,0
+000311565,0$GVGNSP,000311565,46.210323,6.169292,0,0X03
+#311565$GVGPSC,3,11.111111,56.000000,12
+000311565,0$GVGNSC,000311565,11.111111,0,56.000000,0X05
+#312570$GVGPSP,3,46.210372,6.169400,0
+000312570,0$GVGNSP,000312570,46.210372,6.169400,0,0X03
+#312570$GVGPSC,3,11.111111,56.000000,12
+000312570,0$GVGNSC,000312570,11.111111,0,56.000000,0X05
+#313574$GVGPSP,3,46.210422,6.169508,0
+000313574,0$GVGNSP,000313574,46.210422,6.169508,0,0X03
+#313574$GVGPSC,3,11.111111,56.000000,12
+000313574,0$GVGNSC,000313574,11.111111,0,56.000000,0X05
+#314578$GVGPSP,3,46.210472,6.169616,0
+000314578,0$GVGNSP,000314578,46.210472,6.169616,0,0X03
+#314578$GVGPSC,3,11.111111,56.000000,12
+000314578,0$GVGNSC,000314578,11.111111,0,56.000000,0X05
+#315588$GVGPSP,3,46.210516,6.169715,0
+000315588,0$GVGNSP,000315588,46.210516,6.169715,0,0X03
+#315588$GVGPSC,3,11.111111,56.000000,12
+000315588,0$GVGNSC,000315588,11.111111,0,56.000000,0X05
+#316598$GVGPSP,3,46.210565,6.169823,0
+000316598,0$GVGNSP,000316598,46.210565,6.169823,0,0X03
+#316598$GVGPSC,3,11.111111,56.000000,12
+000316598,0$GVGNSC,000316598,11.111111,0,56.000000,0X05
+#317602$GVGPSP,3,46.210615,6.169931,0
+000317602,0$GVGNSP,000317602,46.210615,6.169931,0,0X03
+#317602$GVGPSC,3,11.111111,56.000000,12
+000317602,0$GVGNSC,000317602,11.111111,0,56.000000,0X05
+#318608$GVGPSP,3,46.210665,6.170039,0
+000318608,0$GVGNSP,000318608,46.210665,6.170039,0,0X03
+#318608$GVGPSC,3,11.111111,56.000000,12
+000318608,0$GVGNSC,000318608,11.111111,0,56.000000,0X05
+#319613$GVGPSP,3,46.210715,6.170147,0
+000319613,0$GVGNSP,000319613,46.210715,6.170147,0,0X03
+#319613$GVGPSC,3,11.111111,56.000000,12
+000319613,0$GVGNSC,000319613,11.111111,0,56.000000,0X05
+#320625$GVGPSP,3,46.210758,6.170255,0
+000320625,0$GVGNSP,000320625,46.210758,6.170255,0,0X03
+#320625$GVGPSC,3,11.111111,56.000000,12
+000320625,0$GVGNSC,000320625,11.111111,0,56.000000,0X05
+#321631$GVGPSP,3,46.210808,6.170353,0
+000321631,0$GVGNSP,000321631,46.210808,6.170353,0,0X03
+#321631$GVGPSC,3,11.111111,56.000000,12
+000321631,0$GVGNSC,000321631,11.111111,0,56.000000,0X05
+#322652$GVGPSP,3,46.210858,6.170461,0
+000322652,0$GVGNSP,000322652,46.210858,6.170461,0,0X03
+#322652$GVGPSC,3,11.111111,56.000000,12
+000322652,0$GVGNSC,000322652,11.111111,0,56.000000,0X05
+#323663$GVGPSP,3,46.210901,6.170569,0
+000323663,0$GVGNSP,000323663,46.210901,6.170569,0,0X03
+#323663$GVGPSC,3,11.111111,56.000000,12
+000323663,0$GVGNSC,000323663,11.111111,0,56.000000,0X05
+#324673$GVGPSP,3,46.210951,6.170677,0
+000324673,0$GVGNSP,000324673,46.210951,6.170677,0,0X03
+#324673$GVGPSC,3,11.111111,56.000000,12
+000324673,0$GVGNSC,000324673,11.111111,0,56.000000,0X05
+#325692$GVGPSP,3,46.210995,6.170776,0
+000325692,0$GVGNSP,000325692,46.210995,6.170776,0,0X03
+#325692$GVGPSC,3,11.111111,56.000000,12
+000325692,0$GVGNSC,000325692,11.111111,0,56.000000,0X05
+#326703$GVGPSP,3,46.211045,6.170884,0
+000326703,0$GVGNSP,000326703,46.211045,6.170884,0,0X03
+#326703$GVGPSC,3,11.111111,56.000000,12
+000326703,0$GVGNSC,000326703,11.111111,0,56.000000,0X05
+#327711$GVGPSP,3,46.211094,6.170992,0
+000327711,0$GVGNSP,000327711,46.211094,6.170992,0,0X03
+#327711$GVGPSC,3,11.111111,56.000000,12
+000327711,0$GVGNSC,000327711,11.111111,0,56.000000,0X05
+#328714$GVGPSP,3,46.211144,6.171100,0
+000328714,0$GVGNSP,000328714,46.211144,6.171100,0,0X03
+#328714$GVGPSC,3,11.111111,56.000000,12
+000328714,0$GVGNSC,000328714,11.111111,0,56.000000,0X05
+#329721$GVGPSP,3,46.211194,6.171199,0
+000329721,0$GVGNSP,000329721,46.211194,6.171199,0,0X03
+#329721$GVGPSC,3,11.111111,56.000000,12
+000329721,0$GVGNSC,000329721,11.111111,0,56.000000,0X05
+#330725$GVGPSP,3,46.211238,6.171307,0
+000330725,0$GVGNSP,000330725,46.211238,6.171307,0,0X03
+#330725$GVGPSC,3,11.111111,56.000000,12
+000330725,0$GVGNSC,000330725,11.111111,0,56.000000,0X05
+#331730$GVGPSP,3,46.211287,6.171415,0
+000331730,0$GVGNSP,000331730,46.211287,6.171415,0,0X03
+#331730$GVGPSC,3,11.111111,56.000000,12
+000331730,0$GVGNSC,000331730,11.111111,0,56.000000,0X05
+#332735$GVGPSP,3,46.211337,6.171523,0
+000332735,0$GVGNSP,000332735,46.211337,6.171523,0,0X03
+#332735$GVGPSC,3,11.111111,56.000000,12
+000332735,0$GVGNSC,000332735,11.111111,0,56.000000,0X05
+#333743$GVGPSP,3,46.211387,6.171630,0
+000333743,0$GVGNSP,000333743,46.211387,6.171630,0,0X03
+#333743$GVGPSC,3,11.111111,56.000000,12
+000333743,0$GVGNSC,000333743,11.111111,0,56.000000,0X05
+#334753$GVGPSP,3,46.211430,6.171729,0
+000334753,0$GVGNSP,000334753,46.211430,6.171729,0,0X03
+#334753$GVGPSC,3,11.111111,56.000000,12
+000334753,0$GVGNSC,000334753,11.111111,0,56.000000,0X05
+#335757$GVGPSP,3,46.211480,6.171837,0
+000335757,0$GVGNSP,000335757,46.211480,6.171837,0,0X03
+#335757$GVGPSC,3,11.111111,56.000000,12
+000335757,0$GVGNSC,000335757,11.111111,0,56.000000,0X05
+#336762$GVGPSP,3,46.211530,6.171945,0
+000336762,0$GVGNSP,000336762,46.211530,6.171945,0,0X03
+#336762$GVGPSC,3,11.111111,56.000000,12
+000336762,0$GVGNSC,000336762,11.111111,0,56.000000,0X05
+#337766$GVGPSP,3,46.211580,6.172053,0
+000337766,0$GVGNSP,000337766,46.211580,6.172053,0,0X03
+#337766$GVGPSC,3,11.111111,56.000000,12
+000337766,0$GVGNSC,000337766,11.111111,0,56.000000,0X05
+#338775$GVGPSP,3,46.211630,6.172161,0
+000338775,0$GVGNSP,000338775,46.211630,6.172161,0,0X03
+#338775$GVGPSC,3,11.111111,57.000000,0
+000338775,0$GVGNSC,000338775,11.111111,0,57.000000,0X05
+#339788$GVGPSP,3,46.211673,6.172296,0
+000339788,0$GVGNSP,000339788,46.211673,6.172296,0,0X03
+#339788$GVGPSC,3,11.111111,61.000000,0
+000339788,0$GVGNSC,000339788,11.111111,0,61.000000,0X05
+#340794$GVGPSP,3,46.211723,6.172422,0
+000340794,0$GVGNSP,000340794,46.211723,6.172422,0,0X03
+#340794$GVGPSC,3,11.111111,63.000000,0
+000340794,0$GVGNSC,000340794,11.111111,0,63.000000,0X05
+#341796$GVGPSP,3,46.211766,6.172548,0
+000341796,0$GVGNSP,000341796,46.211766,6.172548,0,0X03
+#341796$GVGPSC,3,11.111111,63.000000,0
+000341796,0$GVGNSC,000341796,11.111111,0,63.000000,0X05
+#342799$GVGPSP,3,46.211804,6.172656,0
+000342799,0$GVGNSP,000342799,46.211804,6.172656,0,0X03
+#342799$GVGPSC,3,11.111111,63.000000,0
+000342799,0$GVGNSC,000342799,11.111111,0,63.000000,0X05
+#343801$GVGPSP,3,46.211841,6.172773,0
+000343801,0$GVGNSP,000343801,46.211841,6.172773,0,0X03
+#343801$GVGPSC,3,11.111111,63.000000,0
+000343801,0$GVGNSC,000343801,11.111111,0,63.000000,0X05
+#344804$GVGPSP,3,46.211785,6.172881,0
+000344804,0$GVGNSP,000344804,46.211785,6.172881,0,0X03
+#344804$GVGPSC,3,11.111111,140.000000,18
+000344804,0$GVGNSC,000344804,11.111111,0,140.000000,0X05
+#345806$GVGPSP,3,46.211717,6.172970,0
+000345806,0$GVGNSP,000345806,46.211717,6.172970,0,0X03
+#345806$GVGPSC,3,11.111111,139.000000,0
+000345806,0$GVGNSC,000345806,11.111111,0,139.000000,0X05
+#346810$GVGPSP,3,46.211642,6.173060,0
+000346810,0$GVGNSP,000346810,46.211642,6.173060,0,0X03
+#346810$GVGPSC,3,11.111111,122.000000,0
+000346810,0$GVGNSC,000346810,11.111111,0,122.000000,0X05
+#347817$GVGPSP,3,46.211598,6.173186,0
+000347817,0$GVGNSP,000347817,46.211598,6.173186,0,0X03
+#347817$GVGPSC,3,11.111111,109.000000,0
+000347817,0$GVGNSC,000347817,11.111111,0,109.000000,0X05
+#348825$GVGPSP,3,46.211567,6.173321,0
+000348825,0$GVGNSP,000348825,46.211567,6.173321,0,0X03
+#348825$GVGPSC,3,11.111111,109.000000,0
+000348825,0$GVGNSC,000348825,11.111111,0,109.000000,0X05
+#349834$GVGPSP,3,46.211536,6.173438,0
+000349834,0$GVGNSP,000349834,46.211536,6.173438,0,0X03
+#349834$GVGPSC,3,11.111111,115.000000,0
+000349834,0$GVGNSC,000349834,11.111111,0,115.000000,0X05
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+#350837$GVGPSC,3,11.111111,116.000000,0
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+#351847$GVGPSP,3,46.211455,6.173672,0
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+#351847$GVGPSC,3,11.111111,115.000000,0
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+#352856$GVGPSP,3,46.211418,6.173789,0
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+#353862$GVGPSP,3,46.211381,6.173906,0
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+#353862$GVGPSC,3,11.111111,116.000000,0
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+#354863$GVGPSP,3,46.211337,6.174041,0
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+#354863$GVGPSC,3,11.111111,114.000000,0
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+#355868$GVGPSP,3,46.211312,6.174176,0
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+#355868$GVGPSC,3,11.111111,99.000000,0
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+#356874$GVGPSP,3,46.211306,6.174310,0
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+#356874$GVGPSC,3,11.111111,71.000000,0
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+#357884$GVGPSP,3,46.211343,6.174445,0
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+#357884$GVGPSC,3,11.111111,63.000000,0
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+#358888$GVGPSP,3,46.211387,6.174571,0
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+#358888$GVGPSC,3,11.111111,61.000000,0
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+#359893$GVGPSC,3,11.111111,53.000000,0
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+#360902$GVGPSP,3,46.211486,6.174787,0
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+#360902$GVGPSC,3,11.111111,53.000000,0
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+#361905$GVGPSP,3,46.211549,6.174895,0
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+#361905$GVGPSC,3,11.111111,48.000000,0
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+#362909$GVGPSP,3,46.211611,6.174994,0
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+#362909$GVGPSC,3,11.111111,49.000000,0
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+#363915$GVGPSP,3,46.211673,6.175102,0
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+#363915$GVGPSC,3,11.111111,45.000000,0
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+#364918$GVGPSP,3,46.211735,6.175192,0
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+#364918$GVGPSC,3,11.111111,44.000000,28
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+#365924$GVGPSP,3,46.211804,6.175291,0
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+#365924$GVGPSC,3,11.111111,44.000000,28
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+#366926$GVGPSP,3,46.211866,6.175381,0
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+#366926$GVGPSC,3,11.111111,44.000000,28
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+#367930$GVGPSP,3,46.211935,6.175480,0
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+#367930$GVGPSC,3,11.111111,44.000000,28
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+#368935$GVGPSP,3,46.212003,6.175579,0
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+#368935$GVGPSC,3,11.111111,44.000000,28
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+#369939$GVGPSP,3,46.212065,6.175668,0
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+#369939$GVGPSC,3,11.111111,44.000000,28
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+#370941$GVGPSP,3,46.212134,6.175767,0
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+#370941$GVGPSC,3,11.111111,44.000000,28
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+#371943$GVGPSP,3,46.212202,6.175866,0
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+#371943$GVGPSC,3,11.111111,44.000000,28
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+#372949$GVGPSP,3,46.212264,6.175956,0
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+#372949$GVGPSC,3,11.111111,44.000000,28
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+#373953$GVGPSP,3,46.212333,6.176055,0
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+#373953$GVGPSC,3,11.111111,46.000000,0
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+#374961$GVGPSP,3,46.212395,6.176145,0
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+#374961$GVGPSC,3,11.111111,46.000000,0
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+#375969$GVGPSP,3,46.212451,6.176235,0
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+#375969$GVGPSC,3,11.111111,46.000000,0
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+#376981$GVGPSP,3,46.212513,6.176325,0
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+#376981$GVGPSC,3,11.111111,46.000000,0
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+#377982$GVGPSP,3,46.212576,6.176424,0
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+#377982$GVGPSC,3,11.111111,44.000000,28
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+#378988$GVGPSP,3,46.212638,6.176514,0
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+#378988$GVGPSC,3,11.111111,44.000000,28
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+#379991$GVGPSP,3,46.212700,6.176613,0
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+#379991$GVGPSC,3,11.111111,47.000000,0
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+#380999$GVGPSP,3,46.212756,6.176703,0
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+#380999$GVGPSC,3,11.111111,47.000000,0
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+#382003$GVGPSP,3,46.212812,6.176784,0
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+#382003$GVGPSC,3,11.111111,47.000000,0
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+#383006$GVGPSP,3,46.212868,6.176865,0
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+#384010$GVGPSP,3,46.212924,6.176954,0
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+#385014$GVGPSP,3,46.212974,6.177044,0
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+#386021$GVGPSP,3,46.213030,6.177134,0
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+#386021$GVGPSC,3,11.111111,47.000000,0
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+#387024$GVGPSP,3,46.213092,6.177215,0
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+#387024$GVGPSC,3,11.111111,47.000000,0
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+#388025$GVGPSP,3,46.213148,6.177305,0
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+#388025$GVGPSC,3,11.111111,47.000000,0
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+#389032$GVGPSP,3,46.213204,6.177395,0
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+#390035$GVGPSP,3,46.213260,6.177494,0
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+#390035$GVGPSC,3,11.111111,47.000000,0
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+#391038$GVGPSP,3,46.213322,6.177584,0
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+#391038$GVGPSC,3,11.111111,47.000000,0
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+#392041$GVGPSP,3,46.213378,6.177683,0
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+#392041$GVGPSC,3,11.111111,47.000000,0
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+#393047$GVGPSP,3,46.213441,6.177782,0
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+#393047$GVGPSC,3,11.111111,46.000000,0
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+#394048$GVGPSP,3,46.213515,6.177890,0
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+#395051$GVGPSP,3,46.213577,6.177962,0
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+#396057$GVGPSP,3,46.213640,6.178043,0
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+#397061$GVGPSP,3,46.213708,6.178133,0
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+#399071$GVGPSC,3,11.111111,42.000000,0
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+#400075$GVGPSP,3,46.213913,6.178393,0
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+#400075$GVGPSC,3,11.111111,40.000000,18
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+#401082$GVGPSC,3,11.111111,44.000000,28
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+#402091$GVGPSP,3,46.214050,6.178582,0
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+#402091$GVGPSC,3,11.111111,43.000000,0
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+#403093$GVGPSP,3,46.214113,6.178672,0
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+#403093$GVGPSC,3,11.111111,43.000000,0
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+#404094$GVGPSP,3,46.214187,6.178762,0
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+#404094$GVGPSC,3,11.111111,43.000000,0
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+#405099$GVGPSP,3,46.214250,6.178852,0
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+#405099$GVGPSC,3,11.111111,44.000000,28
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+#406100$GVGPSP,3,46.214306,6.178951,0
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+#406100$GVGPSC,3,11.111111,51.000000,0
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+#407103$GVGPSP,3,46.214362,6.179041,0
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+#407103$GVGPSC,3,11.111111,50.000000,0
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+#408106$GVGPSP,3,46.214418,6.179140,0
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+#408106$GVGPSC,3,11.111111,51.000000,0
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+#409110$GVGPSP,3,46.214467,6.179248,0
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+#409110$GVGPSC,3,11.111111,54.000000,0
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+#410113$GVGPSP,3,46.214523,6.179356,0
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+#411119$GVGPSP,3,46.214573,6.179464,0
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+#411119$GVGPSC,3,11.111111,54.000000,0
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+#412129$GVGPSP,3,46.214629,6.179572,0
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+#412129$GVGPSC,3,11.111111,50.000000,0
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+#413148$GVGPSP,3,46.214698,6.179670,0
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+#413148$GVGPSC,3,11.111111,40.000000,18
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+#414151$GVGPSC,3,11.111111,34.000000,0
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+#415153$GVGPSP,3,46.214841,6.179832,0
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+#415153$GVGPSC,3,11.111111,34.000000,0
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+#416157$GVGPSP,3,46.214915,6.179904,0
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+#416157$GVGPSC,3,11.111111,34.000000,0
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+#417161$GVGPSP,3,46.214990,6.179976,0
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+#417161$GVGPSC,3,11.111111,34.000000,0
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+#418164$GVGPSP,3,46.215065,6.180057,0
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+#418164$GVGPSC,3,11.111111,35.000000,0
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+#419173$GVGPSP,3,46.215152,6.180120,0
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+#419173$GVGPSC,3,11.111111,20.000000,0
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+#420178$GVGPSP,3,46.215251,6.180174,0
+000420178,0$GVGNSP,000420178,46.215251,6.180174,0,0X03
+#420178$GVGPSC,3,11.111111,20.000000,0
+000420178,0$GVGNSC,000420178,11.111111,0,20.000000,0X05
+#421180$GVGPSP,3,46.215339,6.180219,0
+000421180,0$GVGNSP,000421180,46.215339,6.180219,0,0X03
+#421180$GVGPSC,3,11.111111,20.000000,0
+000421180,0$GVGNSC,000421180,11.111111,0,20.000000,0X05
+#422184$GVGPSP,3,46.215419,6.180264,0
+000422184,0$GVGNSP,000422184,46.215419,6.180264,0,0X03
+#422184$GVGPSC,3,11.111111,28.000000,0
+000422184,0$GVGNSC,000422184,11.111111,0,28.000000,0X05
+#423191$GVGPSP,3,46.215500,6.180327,0
+000423191,0$GVGNSP,000423191,46.215500,6.180327,0,0X03
+#423191$GVGPSC,3,11.111111,26.000000,0
+000423191,0$GVGNSC,000423191,11.111111,0,26.000000,0X05
+#424196$GVGPSP,3,46.215575,6.180408,0
+000424196,0$GVGNSP,000424196,46.215575,6.180408,0,0X03
+#424196$GVGPSC,3,11.111111,43.000000,0
+000424196,0$GVGNSC,000424196,11.111111,0,43.000000,0X05
+#425201$GVGPSP,3,46.215637,6.180498,0
+000425201,0$GVGNSP,000425201,46.215637,6.180498,0,0X03
+#425201$GVGPSC,3,11.111111,43.000000,0
+000425201,0$GVGNSC,000425201,11.111111,0,43.000000,0X05
+#426206$GVGPSP,3,46.215699,6.180588,0
+000426206,0$GVGNSP,000426206,46.215699,6.180588,0,0X03
+#426206$GVGPSC,3,11.111111,53.000000,0
+000426206,0$GVGNSC,000426206,11.111111,0,53.000000,0X05
+#427211$GVGPSP,3,46.215755,6.180696,0
+000427211,0$GVGNSP,000427211,46.215755,6.180696,0,0X03
+#427211$GVGPSC,3,11.111111,53.000000,0
+000427211,0$GVGNSC,000427211,11.111111,0,53.000000,0X05
+#428214$GVGPSP,3,46.215811,6.180804,0
+000428214,0$GVGNSP,000428214,46.215811,6.180804,0,0X03
+#428214$GVGPSC,3,11.111111,75.000000,0
+000428214,0$GVGNSC,000428214,11.111111,0,75.000000,0X05
+#429223$GVGPSP,3,46.215830,6.180920,0
+000429223,0$GVGNSP,000429223,46.215830,6.180920,0,0X03
+#429223$GVGPSC,3,11.111111,75.000000,0
+000429223,0$GVGNSC,000429223,11.111111,0,75.000000,0X05
+#430227$GVGPSP,3,46.215861,6.181037,0
+000430227,0$GVGNSP,000430227,46.215861,6.181037,0,0X03
+#430227$GVGPSC,3,11.111111,60.000000,0
+000430227,0$GVGNSC,000430227,11.111111,0,60.000000,0X05
+#431234$GVGPSP,3,46.215930,6.181127,0
+000431234,0$GVGNSP,000431234,46.215930,6.181127,0,0X03
+#431234$GVGPSC,3,11.111111,39.000000,0
+000431234,0$GVGNSC,000431234,11.111111,0,39.000000,0X05
+#432240$GVGPSP,3,46.215998,6.181208,0
+000432240,0$GVGNSP,000432240,46.215998,6.181208,0,0X03
+#432240$GVGPSC,3,11.111111,40.000000,18
+000432240,0$GVGNSC,000432240,11.111111,0,40.000000,0X05
+#433250$GVGPSP,3,46.216067,6.181289,0
+000433250,0$GVGNSP,000433250,46.216067,6.181289,0,0X03
+#433250$GVGPSC,3,11.111111,38.000000,0
+000433250,0$GVGNSC,000433250,11.111111,0,38.000000,0X05
+#434265$GVGPSP,3,46.216147,6.181388,0
+000434265,0$GVGNSP,000434265,46.216147,6.181388,0,0X03
+#434265$GVGPSC,3,11.111111,40.000000,18
+000434265,0$GVGNSC,000434265,11.111111,0,40.000000,0X05
+#435271$GVGPSP,3,46.216228,6.181442,0
+000435271,0$GVGNSP,000435271,46.216228,6.181442,0,0X03
+#435271$GVGPSC,3,11.111111,41.000000,0
+000435271,0$GVGNSC,000435271,11.111111,0,41.000000,0X05
+#436285$GVGPSP,3,46.216291,6.181532,0
+000436285,0$GVGNSP,000436285,46.216291,6.181532,0,0X03
+#436285$GVGPSC,3,11.111111,49.000000,0
+000436285,0$GVGNSC,000436285,11.111111,0,49.000000,0X05
+#437305$GVGPSP,3,46.216353,6.181631,0
+000437305,0$GVGNSP,000437305,46.216353,6.181631,0,0X03
+#437305$GVGPSC,3,11.111111,48.000000,0
+000437305,0$GVGNSC,000437305,11.111111,0,48.000000,0X05
+#438314$GVGPSP,3,46.216415,6.181730,0
+000438314,0$GVGNSP,000438314,46.216415,6.181730,0,0X03
+#438314$GVGPSC,3,11.111111,48.000000,0
+000438314,0$GVGNSC,000438314,11.111111,0,48.000000,0X05
+#439319$GVGPSP,3,46.216477,6.181829,0
+000439319,0$GVGNSP,000439319,46.216477,6.181829,0,0X03
+#439319$GVGPSC,3,11.111111,44.000000,28
+000439319,0$GVGNSC,000439319,11.111111,0,44.000000,0X05
+#440324$GVGPSP,3,46.216546,6.181928,0
+000440324,0$GVGNSP,000440324,46.216546,6.181928,0,0X03
+#440324$GVGPSC,3,11.111111,43.000000,0
+000440324,0$GVGNSC,000440324,11.111111,0,43.000000,0X05
+#441327$GVGPSP,3,46.216608,6.182009,0
+000441327,0$GVGNSP,000441327,46.216608,6.182009,0,0X03
+#441327$GVGPSC,3,11.111111,43.000000,0
+000441327,0$GVGNSC,000441327,11.111111,0,43.000000,0X05
+#442333$GVGPSP,3,46.216676,6.182108,0
+000442333,0$GVGNSP,000442333,46.216676,6.182108,0,0X03
+#442333$GVGPSC,3,11.111111,41.000000,0
+000442333,0$GVGNSC,000442333,11.111111,0,41.000000,0X05
+#443337$GVGPSP,3,46.216745,6.182189,0
+000443337,0$GVGNSP,000443337,46.216745,6.182189,0,0X03
+#443337$GVGPSC,3,11.111111,41.000000,0
+000443337,0$GVGNSC,000443337,11.111111,0,41.000000,0X05
+#444341$GVGPSP,3,46.216807,6.182278,0
+000444341,0$GVGNSP,000444341,46.216807,6.182278,0,0X03
+#444341$GVGPSC,3,11.111111,42.000000,0
+000444341,0$GVGNSC,000444341,11.111111,0,42.000000,0X05
+#445344$GVGPSP,3,46.216882,6.182368,0
+000445344,0$GVGNSP,000445344,46.216882,6.182368,0,0X03
+#445344$GVGPSC,3,11.111111,40.000000,18
+000445344,0$GVGNSC,000445344,11.111111,0,40.000000,0X05
+#446347$GVGPSP,3,46.216944,6.182449,0
+000446347,0$GVGNSP,000446347,46.216944,6.182449,0,0X03
+#446347$GVGPSC,3,11.111111,40.000000,18
+000446347,0$GVGNSC,000446347,11.111111,0,40.000000,0X05
+#447351$GVGPSP,3,46.217025,6.182539,0
+000447351,0$GVGNSP,000447351,46.217025,6.182539,0,0X03
+#447351$GVGPSC,3,11.111111,41.000000,0
+000447351,0$GVGNSC,000447351,11.111111,0,41.000000,0X05
+#448355$GVGPSP,3,46.217087,6.182620,0
+000448355,0$GVGNSP,000448355,46.217087,6.182620,0,0X03
+#448355$GVGPSC,3,11.111111,42.000000,0
+000448355,0$GVGNSC,000448355,11.111111,0,42.000000,0X05
+#449360$GVGPSP,3,46.217149,6.182710,0
+000449360,0$GVGNSP,000449360,46.217149,6.182710,0,0X03
+#449360$GVGPSC,3,11.111111,43.000000,0
+000449360,0$GVGNSC,000449360,11.111111,0,43.000000,0X05
+#450368$GVGPSP,3,46.217218,6.182791,0
+000450368,0$GVGNSP,000450368,46.217218,6.182791,0,0X03
+#450368$GVGPSC,3,11.111111,42.000000,0
+000450368,0$GVGNSC,000450368,11.111111,0,42.000000,0X05
+#451373$GVGPSP,3,46.217286,6.182890,0
+000451373,0$GVGNSP,000451373,46.217286,6.182890,0,0X03
+#451373$GVGPSC,3,11.111111,52.000000,46
+000451373,0$GVGNSC,000451373,11.111111,0,52.000000,0X05
+#452383$GVGPSP,3,46.217336,6.182998,0
+000452383,0$GVGNSP,000452383,46.217336,6.182998,0,0X03
+#452383$GVGPSC,3,11.111111,53.000000,42
+000452383,0$GVGNSC,000452383,11.111111,0,53.000000,0X05
+#453392$GVGPSP,3,46.217348,6.183106,0
+000453392,0$GVGNSP,000453392,46.217348,6.183106,0,0X03
+#453392$GVGPSC,3,11.111111,141.000000,41
+000453392,0$GVGNSC,000453392,11.111111,0,141.000000,0X05
+#454397$GVGPSP,3,46.217280,6.183196,0
+000454397,0$GVGNSP,000454397,46.217280,6.183196,0,0X03
+#454397$GVGPSC,3,11.111111,139.000000,38
+000454397,0$GVGNSC,000454397,11.111111,0,139.000000,0X05
diff --git a/log-replayer/logs/logs_v1.7z b/log-replayer/logs/logs_v1.7z Binary files differnew file mode 100644 index 0000000..49ae6fe --- /dev/null +++ b/log-replayer/logs/logs_v1.7z diff --git a/log-replayer/logs/nmea/NMEA_Logs.7z b/log-replayer/logs/nmea/NMEA_Logs.7z Binary files differnew file mode 100644 index 0000000..2a9ae47 --- /dev/null +++ b/log-replayer/logs/nmea/NMEA_Logs.7z diff --git a/log-replayer/logs/nmea/nmea2gvl.py b/log-replayer/logs/nmea/nmea2gvl.py new file mode 100644 index 0000000..e926090 --- /dev/null +++ b/log-replayer/logs/nmea/nmea2gvl.py @@ -0,0 +1,1000 @@ +#! /usr/bin/env python3
+
+# Convert a NMEA Log to the revised GENIVI positioning log format
+# Based on my initial NMEA decoder: https://gist.github.com/huirad/d7a511f78ddba8537bd6
+# Helmut.3.Schmidt@continental-corporation.com
+
+###########################################################################
+# @licence app begin@
+# SPDX-License-Identifier: MPL-2.0
+#
+# Component Name: LogReplayer
+# Author: Helmut Schmidt <Helmut.3.Schmidt@continental-corporation.com>
+#
+# Copyright (C) 2013, Continental Automotive GmbH
+#
+# License:
+# This Source Code Form is subject to the terms of the
+# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+# this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+#
+# # @licence end@
+###########################################################################
+
+
+#####################################
+# Imports
+#####################################
+
+import sys
+import re
+import argparse
+import math
+
+
+###########################################################
+# Configuration Parameters, can also be set by command line
+###########################################################
+
+#debug flag
+c_debug = False
+
+#receiver type
+#Used to determine when a sequence of NMEA sentences is complete
+#This can be set by command line
+#Supported values:
+# "geko301" for the Garmin geko301
+# "z205" for the Becker PND Z205 which contains a SiRFStarIII Chipset
+c_receiver_type = "geko301"
+
+#(rear) track width in m
+#default value: 1.525m (VW Golf)
+c_track = 1.525
+
+#wheel (rolling) circumference
+#default value: 1.92m (VW Golf)
+c_wheel_circ = 1.92
+
+#wheel ticks per revolution
+#default value: 96
+c_wheel_tick_rev = 96
+
+#####################################
+# Data structure definitions
+#####################################
+
+#empty dictionary for the content of a GPRMC sentence
+empty_rmc = {
+ "year" : None,
+ "month" : None,
+ "day" : None,
+ "hour" : None,
+ "minute" : None,
+ "second" : None,
+ "lat" : None,
+ "lon" : None,
+ "course" : None,
+ "speed" : None
+}
+
+#empty dictionary for the content of a GPGGA sentence
+empty_gga = {
+ "hour" : None,
+ "minute" : None,
+ "second" : None,
+ "lat" : None,
+ "lon" : None,
+ "quality" : None,
+ "sat_used" : None,
+ "hdop" : None,
+ "alt_msl" : None,
+ "geoid_sep" : None,
+ "dgps_age" : None
+}
+
+#empty dictionary for the content of a GPGSV sentence
+empty_gsv = {
+ "sent_tot" : None,
+ "sent_num" : None,
+ "sat_view" : None,
+ "sat1_prn" : None,
+ "sat1_ele" : None,
+ "sat1_azi" : None,
+ "sat1_snr" : None,
+ "sat2_prn" : None,
+ "sat2_ele" : None,
+ "sat2_azi" : None,
+ "sat2_snr" : None,
+ "sat3_prn" : None,
+ "sat3_ele" : None,
+ "sat3_azi" : None,
+ "sat3_snr" : None,
+ "sat4_prn" : None,
+ "sat4_ele" : None,
+ "sat4_azi" : None,
+ "sat4_snr" : None
+}
+
+
+#####################################
+# Function definitions to read NMEA
+#####################################
+
+#Verify if NMEA checksum of a sentence is correct
+def isChecksumCorrect(line):
+ checksum = 0
+ for char in line[1:-3]:
+ checksum = checksum ^ ord(char)
+ return (checksum == int(line[-2:],16))
+
+
+#Read a GPRMC sentence to a dictionary
+# Format: $GPRMC,<time as hhmmss>,<status A=active>,<lat in ddmm.mmm>,<N/S>,<lon in dddmm.mmm>,<E/W>,<speed in knots>,<course in degrees>,<date as ddmmyy>,<magnetic variation in degrees>,<E/W>*<checksum>
+# Example: $GPRMC,165746,A,4901.5940,N,01203.9163,E,0.0,131.9,110410,1.6,E,A*1D
+def readRMC (fields):
+ ret = empty_rmc.copy()
+ if ((fields[2] == "A") or (fields[2] == "a")):
+ #time
+ time_str = fields[1]
+ if len(time_str)>=6:
+ ret["hour"] = int(time_str[0:2])
+ ret["minute"] = int(time_str[2:4])
+ ret["second"] = int(time_str[4:6])
+ #latitude
+ lat_str = fields[3]
+ if len(lat_str)>=4:
+ ret["lat"] = int(lat_str[0:2])+float(lat_str[2:])/60.0
+ #latitude sign
+ if ((fields[4] == "W") or (fields[4] == "w")):
+ ret["lat"] = - ret["lat"]
+ #longitude
+ lon_str = fields[5]
+ if len(lon_str)>=4:
+ ret["lon"] = int(lon_str[0:3])+float(lon_str[3:])/60.0
+ #longitude sign
+ if ((fields[6] == "S") or (fields[6] == "s")):
+ ret["lon"] = - ret["lon"]
+ #speed in m/s
+ speed_str = fields[7]
+ if len(speed_str)>0:
+ ret["speed"] = float(speed_str)*1.852/3.6
+ #course in degrees
+ course_str = fields[8]
+ if len(course_str)>0:
+ ret["course"] = float(course_str)
+ #date
+ date_str = fields[9]
+ if len(date_str)==6:
+ ret["year"] = int(date_str[4:6])+2000
+ ret["month"] = int(date_str[2:4])
+ ret["day"] = int(date_str[0:2])
+ return ret
+
+
+#Read a GPGGA sentence to a dictionary
+# Format: $GPGGA,<time as hhmmss>,<lat in ddmm.mmm>,<N/S>,<lon in dddmm.mmm>,<E/W>,<quality>,<sat_used>,<hdop>,<alt_msl>,<m>,<geoid_sep>,<m>,<dgps_age>*<checksum>
+# Example: $GPGGA,165744,4901.5940,N,01203.9163,E,1,07,1.0,336.7,M,46.6,M,,*4D
+def readGGA (fields):
+ ret = empty_gga.copy()
+ if ((fields[6] == "1") or (fields[6] == "2")):
+ #time
+ time_str = fields[1]
+ if len(time_str)==6:
+ ret["hour"] = int(time_str[0:2])
+ ret["minute"] = int(time_str[2:4])
+ ret["second"] = int(time_str[4:6])
+ #latitude
+ lat_str = fields[2]
+ if len(lat_str)>=4:
+ ret["lat"] = int(lat_str[0:2])+float(lat_str[2:])/60.0
+ #latitude sign
+ if ((fields[3] == "W") or (fields[3] == "w")):
+ ret["lat"] = - ret["lat"]
+ #longitude
+ lon_str = fields[4]
+ if len(lon_str)>=4:
+ ret["lon"] = int(lon_str[0:3])+float(lon_str[3:])/60.0
+ #longitude sign
+ if ((fields[5] == "S") or (fields[5] == "s")):
+ ret["lon"] = - ret["lon"]
+ #sat_used
+ sat_used_str = fields[7]
+ if len(sat_used_str)>0:
+ ret["sat_used"] = int(sat_used_str)
+ #hdop
+ hdop_str = fields[8]
+ if len(hdop_str)>0:
+ ret["hdop"] = float(hdop_str)
+ #alt_msl
+ alt_msl_str = fields[9]
+ if len(alt_msl_str)>0:
+ ret["alt_msl"] = float(alt_msl_str)
+ #geoid_sep
+ geoid_sep_str = fields[11]
+ if len(geoid_sep_str)>0:
+ ret["geoid_sep"] = float(geoid_sep_str)
+ return ret
+
+#Read a GPGSV sentence to a dictionary
+# Format: $GPGSV,<total # of sentences>,<sentence #>,<# sat in view>,<SAT1 PRN>,<SAT1 Elevation>,<SAT1 azimuth>,<SAT1 SNR>,...<SAT4 PRN>,<SAT4 Elevation>,<SAT4 azimuth>,<SAT4 SNR>*<checksum>
+# Example: $GPGSV,3,2,10,17,21,125,00,18,24,310,41,24,00,292,00,26,23,308,43*74
+def readGSV (fields):
+ ret = empty_gsv.copy()
+ #sent_tot
+ sent_tot_str = fields[1]
+ if len(sent_tot_str)>0:
+ ret["sent_tot"] = int(sent_tot_str)
+ #sent_num
+ sent_num_str = fields[2]
+ if len(sent_num_str)>0:
+ ret["sent_num"] = int(sent_num_str)
+ #sent_tot
+ sat_view_str = fields[3]
+ if len(sat_view_str)>0:
+ ret["sat_view"] = int(sat_view_str)
+
+ #sat1_prn
+ if len(fields) >= 8:
+ sat1_prn_str = fields[4]
+ if len(sat1_prn_str)>0:
+ ret["sat1_prn"] = int(sat1_prn_str)
+ #fo.write("sat1_prn={0:02d}|".format(ret["sat1_prn"]))
+ #sat1_ele
+ sat1_ele_str = fields[5]
+ if len(sat1_ele_str)>0:
+ ret["sat1_ele"] = int(sat1_ele_str)
+ #fo.write("sat1_ele={0:.02f}|".format(ret["sat1_ele"]))
+ #sat1_azi
+ sat1_azi_str = fields[6]
+ if len(sat1_azi_str)>0:
+ ret["sat1_azi"] = int(sat1_azi_str)
+ #fo.write("sat1_azi={0:.02f}|".format(ret["sat1_azi"]))
+ #sat1_snr
+ sat1_snr_str = fields[7]
+ if len(sat1_snr_str)>0:
+ ret["sat1_snr"] = int(sat1_snr_str)
+ #fo.write("sat1_snr={0:02d}\n".format(ret["sat1_snr"]))
+
+ if len(fields) >= 12:
+ #sat2_prn
+ sat2_prn_str = fields[8]
+ if len(sat2_prn_str)>0:
+ ret["sat2_prn"] = int(sat2_prn_str)
+ #sat2_ele
+ sat2_ele_str = fields[9]
+ if len(sat2_ele_str)>0:
+ ret["sat2_ele"] = int(sat2_ele_str)
+ #sat2_azi
+ sat2_azi_str = fields[10]
+ if len(sat2_azi_str)>0:
+ ret["sat2_azi"] = int(sat2_azi_str)
+ #sat2_snr
+ sat2_snr_str = fields[11]
+ if len(sat2_snr_str)>0:
+ ret["sat2_snr"] = int(sat2_snr_str)
+
+ if len(fields) >= 16:
+ #sat3_prn
+ sat3_prn_str = fields[12]
+ if len(sat3_prn_str)>0:
+ ret["sat3_prn"] = int(sat3_prn_str)
+ #sat3_ele
+ sat3_ele_str = fields[13]
+ if len(sat3_ele_str)>0:
+ ret["sat3_ele"] = int(sat3_ele_str)
+ #sat3_azi
+ sat3_azi_str = fields[14]
+ if len(sat3_azi_str)>0:
+ ret["sat3_azi"] = int(sat3_azi_str)
+ #sat3_snr
+ sat3_snr_str = fields[15]
+ if len(sat3_snr_str)>0:
+ ret["sat3_snr"] = int(sat3_snr_str)
+
+ if len(fields) >= 20:
+ #sat4_prn
+ sat4_prn_str = fields[16]
+ if len(sat4_prn_str)>0:
+ ret["sat4_prn"] = int(sat4_prn_str)
+ #sat4_ele
+ sat4_ele_str = fields[17]
+ if len(sat4_ele_str)>0:
+ ret["sat4_ele"] = int(sat4_ele_str)
+ #sat4_azi
+ sat4_azi_str = fields[18]
+ if len(sat4_azi_str)>0:
+ ret["sat4_azi"] = int(sat4_azi_str)
+ #sat4_snr
+ sat4_snr_str = fields[19]
+ if len(sat4_snr_str)>0:
+ ret["sat4_snr"] = int(sat4_snr_str)
+
+ return ret
+
+##################################################################
+# Function definitions to write GENIVI Positioning Log - GNSS part
+##################################################################
+
+#write GVGNSP - GNSS (simple) Position [take data from GGA sentence]
+def writeGVGNSP (file, gga, rmc, timestamp):
+ valid = 0
+ file.write("{0:09d},0$GVGNSP,{0:09d},".format(timestamp))
+ if gga["lat"] is not None:
+ valid |= 0x01
+ file.write("{0:.5f},".format(gga["lat"]))
+ elif rmc["lat"] is not None:
+ valid |= 0x01
+ file.write("{0:.5f},".format(rmc["lat"]))
+ else:
+ file.write("0,")
+ if gga["lon"] is not None:
+ valid |= 0x02
+ file.write("{0:.5f},".format(gga["lon"]))
+ elif rmc["lon"] is not None:
+ valid |= 0x02
+ file.write("{0:.5f},".format(rmc["lon"]))
+ else:
+ file.write("0,")
+ if gga["alt_msl"] is not None:
+ valid |= 0x04
+ file.write("{0:.1f},".format(gga["alt_msl"]))
+ else:
+ file.write("0,")
+ file.write("0X{0:02X}".format(valid))
+ file.write("\n")
+ return
+
+#write GVGNSC - GNSS (simple) Course [take data from RMC sentence]
+def writeGVGNSC (file, gga, rmc, timestamp):
+ valid = 0
+ file.write("{0:09d},0$GVGNSC,{0:09d},".format(timestamp))
+ if rmc["speed"] is not None:
+ valid |= 0x01
+ file.write("{0:.2f},".format(rmc["speed"]))
+ else:
+ file.write("0,")
+ #climb is not available
+ file.write("0,")
+ if rmc["course"] is not None:
+ valid |= 0x04
+ file.write("{0:.2f},".format(rmc["course"]))
+ else:
+ file.write("0,")
+ file.write("0X{0:02X}".format(valid))
+ file.write("\n")
+
+#write GVGNSAC - GNSS (extended) Accuracy [as first step take data from GGA sentence, later use GSA]
+def writeGVGNSAC (file, gga, rmc, timestamp):
+ valid = 0
+ file.write("{0:09d},0$GVGNSAC,{0:09d},".format(timestamp))
+ #pdop is not available
+ file.write("0,")
+ if gga["hdop"] is not None:
+ valid |= 0x02
+ file.write("{0:.1f},".format(gga["hdop"]))
+ else:
+ file.write("0,")
+ #vdop is not available
+ file.write("0,")
+ if gga["sat_used"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gga["sat_used"]))
+ else:
+ file.write("0,")
+ #trackedSatellites is not available
+ file.write("0,")
+ #visibleSatellites is not available
+ file.write("0,")
+ #sigmaLatitude is not available
+ file.write("0,")
+ #sigmaLongitude is not available
+ file.write("0,")
+ #sigmaAltitude is not available
+ file.write("0,")
+ #fix status
+ #HACK: set 3D fix if there is a valid position
+ if rmc["lat"] is not None:
+ valid |= 0x200
+ file.write("2,") #yes, the enum value 2 stands for a 3D fix
+ else:
+ file.write("0,")
+ #fix type
+ #HACK: set single frequency if there is a valid position
+ if rmc["lat"] is not None:
+ valid |= 0x400
+ file.write("0X{0:08X},".format(0x00000001))#GNSS_FIX_TYPE_SINGLE_FREQUENCY = 0x00000001
+ else:
+ file.write("0,")
+ file.write("0X{0:03X}".format(valid))
+ file.write("\n")
+
+#GVGNSSAT - GNSS (extended) Satellite details [take data from GSV and GSA sentence]
+# TODO: add support for status bits including extract list of used satellites from GSA
+# This is a nice example for buffered data
+def writeGVGNSSAT (file, gsv_arr, timestamp):
+ countdown = 0
+ if (gsv_arr[0]["sent_tot"] is not None) and (gsv_arr[0]["sent_num"] is not None) and (gsv_arr[0]["sat_view"] is not None) and \
+ (gsv_arr[0]["sent_tot"] > 0) and (gsv_arr[0]["sent_num"] > 0) and (gsv_arr[0]["sat_view"] > 0):
+ countdown = gsv_arr[0]["sat_view"]
+
+ #repeat the filellowing sequence for each satellite - ugly :-(
+ #gsv_arr[0], sat 1
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[0]["sat1_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[0]["sat1_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat1_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[0]["sat1_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat1_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[0]["sat1_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat1_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[0]["sat1_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[0], sat 2
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[0]["sat2_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[0]["sat2_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat2_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[0]["sat2_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat2_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[0]["sat2_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat2_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[0]["sat2_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[0], sat 3
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[0]["sat3_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[0]["sat3_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat3_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[0]["sat3_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat3_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[0]["sat3_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat3_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[0]["sat3_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[0], sat 4
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[0]["sat4_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[0]["sat4_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat4_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[0]["sat4_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat4_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[0]["sat4_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[0]["sat4_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[0]["sat4_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[1], sat 1
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[1]["sat1_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[1]["sat1_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat1_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[1]["sat1_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat1_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[1]["sat1_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat1_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[1]["sat1_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[1], sat 2
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[1]["sat2_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[1]["sat2_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat2_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[1]["sat2_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat2_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[1]["sat2_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat2_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[1]["sat2_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[1], sat 3
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[1]["sat3_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[1]["sat3_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat3_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[1]["sat3_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat3_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[1]["sat3_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat3_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[1]["sat3_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[1], sat 4
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[1]["sat4_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[1]["sat4_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat4_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[1]["sat4_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat4_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[1]["sat4_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[1]["sat4_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[1]["sat4_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[2], sat 1
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[2]["sat1_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[2]["sat1_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat1_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[2]["sat1_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat1_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[2]["sat1_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat1_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[2]["sat1_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[2], sat 2
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[2]["sat2_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[2]["sat2_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat2_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[2]["sat2_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat2_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[2]["sat2_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat2_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[2]["sat2_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[2], sat 3
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[2]["sat3_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[2]["sat3_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat3_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[2]["sat3_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat3_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[2]["sat3_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat3_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[2]["sat3_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+ #gsv_arr[2], sat 4
+ countdown = countdown-1
+ if countdown >= 0:
+ valid = 0x01
+ file.write("{0:09d},{1:02d}$GVGNSSAT,{0:09d},1,".format(timestamp,countdown))
+ if gsv_arr[2]["sat4_prn"] is not None:
+ valid |= 0x02
+ file.write("{0:02d},".format(gsv_arr[2]["sat4_prn"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat4_azi"] is not None:
+ valid |= 0x04
+ file.write("{0:03d},".format(gsv_arr[2]["sat4_azi"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat4_ele"] is not None:
+ valid |= 0x08
+ file.write("{0:02d},".format(gsv_arr[2]["sat4_ele"]))
+ else:
+ file.write("0,")
+ if gsv_arr[2]["sat4_snr"] is not None:
+ valid |= 0x10
+ file.write("{0:02d},".format(gsv_arr[2]["sat4_snr"]))
+ else:
+ file.write("0,")
+ #status bits not yet supported
+ file.write("0X00,0X{0:02X}".format(valid))
+ file.write("\n")
+
+##################################################################
+# Function definitions to write GENIVI Positioning Log - SNS part
+##################################################################
+
+#write GVSNSVEHSP: Vehicle Speed
+def writeGVSNSVEHSP (file, rmc, timestamp):
+ valid = 0
+ file.write("{0:09d},0$GVSNSVEHSP,{0:09d},".format(timestamp))
+ if rmc["speed"] is not None:
+ valid |= 0x01
+ file.write("{0:.2f},".format(rmc["speed"]))
+ else:
+ file.write("0,")
+ file.write("0X{0:02X}".format(valid))
+ file.write("\n")
+
+#write GVSNSGYRO: Gyroscope Data
+def writeGVSNSGYRO (file, rmc, prev_rmc, timestamp, prev_timestamp):
+ valid = 0
+ file.write("{0:09d},0$GVSNSGYRO,{0:09d},".format(timestamp))
+ #yaw rate is delta_heading / delta_time
+ if (rmc["course"] is not None) and (prev_rmc["course"] is not None) and (timestamp > prev_timestamp):
+ valid |= 0x01
+ delta_heading = - (rmc["course"] - prev_rmc["course"]) #course is clockwise, yaw rate is counter clock wise
+ # normalize to -180 ..180
+ delta_heading = delta_heading % 360.0 #normalizes to 0..359.9
+ if delta_heading > 180.0:
+ delta_heading = delta_heading - 360.0
+ delta_time = (timestamp - prev_timestamp) / 1000.0
+ file.write("{0:.2f},".format(delta_heading/delta_time))
+ else:
+ file.write("0,")
+ #pitchRate is not available
+ file.write("0,")
+ #rollRate is not available
+ file.write("0,")
+ #temperature is not available
+ file.write("0,")
+ file.write("0X{0:02X}".format(valid))
+ file.write("\n")
+
+#write GVSNSWHTK: Wheel tick data Data (omly rear right and left wheels)
+def writeGVSNSWHTK (file, rmc, prev_rmc, timestamp, prev_timestamp):
+ #this is the only sentence without valid bits
+ file.write("{0:09d},0$GVSNSWHTK,{0:09d},".format(timestamp))
+ #yaw rate is delta_heading / delta_time
+ if (rmc["speed"] is not None) and (rmc["course"] is not None) and (prev_rmc["course"] is not None) and (timestamp > prev_timestamp):
+ delta_heading = - (rmc["course"] - prev_rmc["course"]) #course is clockwise, yaw rate is counter clock wise
+ # normalize to -180 ..180
+ delta_heading = delta_heading % 360.0 #normalizes to 0..359.9
+ if delta_heading > 180.0:
+ delta_heading = delta_heading - 360.0
+ delta_time = (timestamp - prev_timestamp) / 1000.0
+ #wheel DR formulae:
+ #heading change = (ticks right - ticks left) * distance per pulse / track
+ #speed = (ticks right - ticks left)/2 *distance per pulse / delta time
+ delta_heading_rad = delta_heading * math.pi / 180 #heading change is needed in radians
+ DPP = c_wheel_circ / c_wheel_tick_rev #distance per pulse
+ avg_ticks = rmc["speed"] * delta_time / DPP
+ delta_ticks = delta_heading_rad * c_track / DPP #non-integer
+ ticks_left = avg_ticks - (delta_ticks / 2.0) #non-integer
+ ticks_right = avg_ticks + (delta_ticks / 2.0) #non-integer
+ ticks_left_int = int(ticks_left)
+ ticks_right_int = int(ticks_right)
+ #TODO: store the non-integer fractions for the next update
+ file.write("7,{0:03d},8,{1:03d},".format(ticks_left_int, ticks_right_int))
+ else:
+ file.write("0,")
+ #front left wheel is not available
+ file.write("0,0,")
+ #front right wheel is not available
+ file.write("0,0")
+ file.write("\n")
+ #debug
+ if c_debug and (rmc["speed"] is not None) and (rmc["course"] is not None) and (prev_rmc["course"] is not None) and (timestamp > prev_timestamp):
+ file.write("#writeGVSNSWHTK: delta_time:{0:f} delta_heading:{1:f} delta_heading_rad:{2:f} DPP:{3:f} avg_ticks:{4:f} delta_ticks:{5:f}\n".format(delta_time, delta_heading, delta_heading_rad, DPP, avg_ticks, delta_ticks))
+
+
+
+#####################################
+# Global variables
+#####################################
+
+#trigger flag for writing the genivi log
+#should be set to true when the NMEA sentence completing the cycle is sent
+#For the garmin geko301, it is the GPRTE sentence
+#For most SiRF GPS receivers this is the GPRMC sentence
+#For most u-blox receivers, GPRMC however is sent at the start of the cycle
+#So you have to adapt the moment when this flag is set to your actual NMEA log / GPS receiver
+g_write_genivi_log = False
+
+
+#Buffers for decoded NMEA messages
+g_rmc = empty_rmc.copy()
+g_prev_rmc = empty_rmc.copy()
+g_gga = empty_gga.copy()
+g_prev_gga = empty_gga.copy()
+g_gsv = empty_gsv.copy()
+g_gsv_arr = [empty_gsv.copy() for i in range(3)]
+
+#GENIVI timestamp - generated from NMEA UTC time
+g_timestamp = 0
+g_prev_timestamp = 0
+
+
+#####################################
+# Main program
+#####################################
+
+
+
+#
+# Process command line arguments
+#
+
+parser = argparse.ArgumentParser()
+parser.add_argument("nmea_log", help="name of the NMEA file which is read as input")
+parser.add_argument("genivi_log", help="name of the GENIVI positioning log file which is written as output")
+parser.add_argument("--receiver_type", default=c_receiver_type, help="GPS receiver type. Supported values: geko301 for Garmin Geko301 and z205 for Becker PND Z205")
+parser.add_argument("--track", default=c_track, type=float, help="(Rear) track width of the vehicle in m")
+parser.add_argument("--wheel_circ", default=c_wheel_circ, type=float, help="Wheel rolling radius in m")
+parser.add_argument("--wheel_tick_rev", default=c_wheel_tick_rev, type=int, help="Number of wheel ticks per revolution")
+parser.add_argument("--SNS", action='count', help="'derive' SNS data from NMEA")
+parser.add_argument("--debug", action='count', help="print additinal debug info to output file")
+args = parser.parse_args()
+
+if len(sys.argv)>2:
+ infile = args.nmea_log
+ outfile = args.genivi_log
+ c_receiver_type = args.receiver_type
+ c_SNS = args.SNS
+ c_track = args.track
+ c_wheel_circ = args.wheel_circ
+ c_wheel_tick_rev = args.wheel_tick_rev
+ c_debug = args.debug
+else:
+ parser.print_help()
+ sys.exit("")
+
+#print (infile)
+#print (outfile)
+
+try:
+ fi = open (infile, "r") #"r" is default, so it cout be left away
+except:
+ sys.exit("Error: Cannot open "+infile+" for reading")
+
+try:
+ fo = open (outfile, "w")
+except:
+ sys.exit("Error: Cannot open "+outfile+" for writing")
+
+fo.write("#Log file generated from the nmea2gvl.py converter\n")
+fo.write("#Original NMEA file: "+infile+"\n")
+fo.write("#Receiver type: "+c_receiver_type+"\n")
+if (c_SNS):
+ fo.write("#Rear track width: {0:.3f}m\n".format(c_track))
+ fo.write("#Wheel rolling cirumference: {0:.3f}m\n".format(c_wheel_circ))
+ fo.write("#Wheel ticks per revolution: {0:d}\n".format(c_wheel_tick_rev))
+fo.write("#By courtesy of Continental Automotive\n")
+fo.write("0,0$GVGNSVER,2,0,0\n")
+fo.write("0,0$GVSNSVER,2,0,0\n")
+
+
+#
+# iterate over NMEA input file
+#
+
+
+
+for line in fi:
+ line = line.rstrip() #remove \r\n at end of string
+ if not (isChecksumCorrect(line)):
+ print("Wrong checksum in "+line)
+ else:
+ #split by "," and "*", so a simple 'line.split(",")' wont't work
+ #fields = line.split(",")
+ fields = re.split('[,*]', line)
+ if (len(fields) > 12) and (fields[0] == "$GPRMC"):
+ g_rmc = readRMC (fields)
+ fo.write("#"+line+"\n")
+ #g_write_genivi_log = True
+ if (len(fields) > 14) and (fields[0] == "$GPGGA"):
+ g_gga = readGGA (fields)
+ fo.write("#"+line+"\n")
+ if (len(fields) > 3) and (fields[0] == "$GPGSV"):
+ g_gsv = readGSV (fields)
+ fo.write("#"+line+"\n")
+ if (g_gsv["sent_num"] is not None) and (g_gsv["sent_num"]<=3):
+ sent_idx=g_gsv["sent_num"]-1
+ g_gsv_arr[g_gsv["sent_num"]-1] = g_gsv.copy()
+ #Check when NMEA sequence is complete
+ if fields[0] == "$GPRTE" and c_receiver_type == "geko301":
+ #sequence is complete for Garmin geko301, so determine g_timestamp and set g_write_genivi_log to True
+ if (g_rmc["hour"] is not None) and (g_rmc["minute"] is not None) and (g_rmc["second"] is not None):
+ g_timestamp = 1000*(g_rmc["hour"]*3600+g_rmc["minute"]*60+g_rmc["second"])
+ elif g_timestamp > 0:
+ g_timestamp = g_timestamp + 2000 #if no UTC time, simply add 2 seconds (geko update interval)
+ if g_timestamp > 0:
+ g_write_genivi_log = True
+ if fields[0] == "$GPRMC" and c_receiver_type == "z205":
+ #sequence is complete for Becker Z205, so determine g_timestamp and set g_write_genivi_log to True
+ if (g_rmc["hour"] is not None) and (g_rmc["minute"] is not None) and (g_rmc["second"] is not None):
+ g_timestamp = 1000*(g_rmc["hour"]*3600+g_rmc["minute"]*60+g_rmc["second"])
+ elif g_timestamp > 0:
+ g_timestamp = g_timestamp + 1000 #if no UTC time, simply add 2 seconds (Z205 update interval)
+ if g_timestamp > 0:
+ g_write_genivi_log = True
+
+
+ if g_write_genivi_log:
+ g_write_genivi_log = False
+ writeGVGNSP (fo, g_gga, g_rmc, g_timestamp)
+ writeGVGNSC (fo, g_gga, g_rmc, g_timestamp)
+ writeGVGNSAC (fo, g_gga, g_rmc, g_timestamp)
+ writeGVGNSSAT(fo, g_gsv_arr, g_timestamp)
+ #write SNS data if requested
+ if c_SNS:
+ fo.write("#SNS 'derived' from GPS\n")
+ writeGVSNSVEHSP (fo, g_rmc, g_timestamp)
+ writeGVSNSGYRO (fo, g_rmc, g_prev_rmc, g_timestamp, g_prev_timestamp)
+ writeGVSNSWHTK (fo, g_rmc, g_prev_rmc, g_timestamp, g_prev_timestamp)
+
+ #clear buffers, but not g_timestamp
+ g_prev_rmc = g_rmc.copy()
+ g_prev_gga = g_gga.copy()
+ g_prev_timestamp = g_timestamp
+ g_rmc = empty_rmc.copy()
+ g_gga = empty_gga.copy()
+ g_gsv = empty_gsv.copy()
+ g_gsv_arr = [empty_gsv.copy() for i in range(3)]
+
+
+#end of the loop
+
+#
+# clean up: close files
+#
+
+fi.close()
+fo.close()
+
+ #fo.write("{0:02d}-{1:02d}-{2:02d}\n".format(rmc["year"],rmc["month"],rmc["day"]))
\ No newline at end of file diff --git a/log-replayer/src/CMakeLists.txt b/log-replayer/src/CMakeLists.txt new file mode 100644 index 0000000..7ba2aaf --- /dev/null +++ b/log-replayer/src/CMakeLists.txt @@ -0,0 +1,44 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: Replayer +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "LOG-REPLAYER") +message(STATUS "WITH_DLT = ${WITH_DLT}") +message(STATUS "WITH_TESTS = ${WITH_TESTS}") + +find_package(PkgConfig) + +set(LIB_SRCS ${CMAKE_SOURCE_DIR}/src/log-replayer.c) + +set(LIBRARIES pthread) + +if(WITH_DLT) + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}") + find_package(DLT REQUIRED) + add_definitions("-DDLT_ENABLED=1") + include_directories( ${DLT_INCLUDE_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +add_executable(log-replayer ${LIB_SRCS}) + +target_link_libraries(log-replayer ${LIBRARIES}) + +message(STATUS "---------------------------------------------------------") + + + diff --git a/log-replayer/src/log-replayer.c b/log-replayer/src/log-replayer.c new file mode 100644 index 0000000..bf24c60 --- /dev/null +++ b/log-replayer/src/log-replayer.c @@ -0,0 +1,211 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup LogReplayer +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdbool.h> +#include <sys/types.h> +#include <sys/socket.h> +#include <unistd.h> +#include <memory.h> + +#include "log.h" + +#define MSGIDLEN 20 +#define BUFLEN 256 +#define PORT1 9930 //port used for GNSS data +#define PORT2 9931 //port used for sensor data +#define IPADDR "127.0.0.1" + +DLT_DECLARE_CONTEXT(gContext); + +bool getStrToSend(FILE* file, char* line, int dim) +{ + static long unsigned int lastTimestamp = 0; + long unsigned int timestamp = 0; + long unsigned int delta = 0; + + if(dim <= 0) + { + LOG_ERROR_MSG(gContext,"dim <= 0"); + return false; + } + + char* ptrStr = fgets(line, dim, file); + + line[dim -1] = '\0'; + + //LOG_DEBUG(gContext, "read line %s", line); + + //TODO handle comments in log file + + if(ptrStr == NULL || feof(file)) + { + //error or end of file + return false; + } + + if(strchr(line, '#') != 0) + { + line[0] = '\0'; + return true; //skip comment line + } + + if (!sscanf(line, "%lu", ×tamp)) + { + line[0] = '\0'; + return true; //skip lines without timestamp + } + + if(!lastTimestamp) + { + delta = 0; + } + else + { + delta = timestamp - lastTimestamp; + } + + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + LOG_DEBUG(gContext,"Waiting %lu ms", delta); + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + + if(timestamp >= lastTimestamp) + { + usleep(delta*1000); // TODO time drift issues + } + else + { + LOG_WARNING(gContext,"timestamp steps backward at %ld, ignoring line", timestamp); + } + + lastTimestamp = timestamp; + + return true; +} + +int main(int argc, char* argv[]) +{ + struct sockaddr_in si_other; + socklen_t slen = sizeof(si_other); + int s; + FILE * logfile = 0; + char * filename = 0; + char buf[BUFLEN]; + char msgId[MSGIDLEN]; + + if(argc < 2) + { + LOG_ERROR_MSG(gContext,"missing input parameter: logfile"); + return EXIT_FAILURE; + } + + filename = argv[1]; + + DLT_REGISTER_APP("RPLY", "LOG-REPLAYER"); + DLT_REGISTER_CONTEXT(gContext,"RSRV", "Global Context"); + + LOG_INFO_MSG(gContext,"------------------------------------------------"); + LOG_INFO_MSG(gContext,"LOG REPLAYER STARTED"); + LOG_INFO_MSG(gContext,"------------------------------------------------"); + + if((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + return EXIT_FAILURE; + } + + memset((char *) &si_other, 0, sizeof(si_other)); + si_other.sin_family = AF_INET; + //si_other.sin_port = htons(<port number>); + if(inet_aton(IPADDR, &si_other.sin_addr) == 0) + { + LOG_ERROR_MSG(gContext,"inet_aton() failded!"); + return EXIT_FAILURE; + } + + logfile = fopen(filename, "r"); + + if(logfile == NULL) + { + LOG_ERROR(gContext,"error trying to open file %s",filename); + return EXIT_FAILURE; + } + + LOG_INFO(gContext,"Started reading log file %s",filename); + + while(1) + { + if(!getStrToSend(logfile,buf,BUFLEN)) + { + //error or end of file + return EXIT_FAILURE; + } + + if (strlen(buf) < 3) + { + //skip empty lines (includes comments) + continue; + } + + sscanf(buf, "%*[^'$']$%[^',']", msgId); + + //GNSS: list of supported message IDs + char* gnssstr = "GVGNSP,GVGNSC,GVGNSAC,GVGNSSAT"; + if(strstr(gnssstr, msgId) != NULL) + { + LOG_DEBUG(gContext,"Sending Packet to %s:%d",IPADDR,PORT1); + LOG_DEBUG(gContext,"MsgID:%s", msgId); + LOG_DEBUG(gContext,"Len:%d", (int)strlen(buf)); + LOG_DEBUG(gContext,"Data:%s", buf); + + si_other.sin_port = htons(PORT1); + if(sendto(s, buf, strlen(buf)+1, 0, (struct sockaddr *)&si_other, slen) == -1) + { + LOG_ERROR_MSG(gContext,"sendto() failed!"); + return EXIT_FAILURE; + } + } + + //SNS: list of supported message IDs + //char* snsstr = "GVVEHSP,GVGYRO,GVGYROCONF,GVDRVDIR,GVODO,GVWHTK,GVWHTKCONF"; + char* snsstr = "GVSNSVEHSP,GVSNSGYRO,GVSNSWHTK"; //subset currently supported for new log format + if(strstr(snsstr, msgId) != NULL) + { + LOG_DEBUG(gContext,"Sending Packet to %s:%d",IPADDR,PORT2); + LOG_DEBUG(gContext,"MsgID:%s", msgId); + LOG_DEBUG(gContext,"Len:%d", (int)strlen(buf)); + LOG_DEBUG(gContext,"Data:%s", buf); + + si_other.sin_port = htons(PORT2); + if(sendto(s, buf, strlen(buf)+1, 0, (struct sockaddr *)&si_other, slen) == -1) + { + LOG_ERROR_MSG(gContext,"sendto() failed!"); + return EXIT_FAILURE; + } + } + } + + close(s); + + return EXIT_SUCCESS; +} + + diff --git a/log-replayer/src/log.h b/log-replayer/src/log.h new file mode 100644 index 0000000..a683b6f --- /dev/null +++ b/log-replayer/src/log.h @@ -0,0 +1,137 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011 +* Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef INCLUDE_LOG +#define INCLUDE_LOG + +// turn-on via cmake define: +// $ cmake -DWITH_DLT=1 .. + +#if (!DLT_ENABLED) +/*****************************************************************************/ +// use printf +#include <stdio.h> + +// some type-name used instead of DLT context +typedef const char* NoDltContext; + +#define DLT_DECLARE_CONTEXT(CONTEXT) \ + NoDltContext CONTEXT; + +#define DLT_IMPORT_CONTEXT(CONTEXT) \ + extern NoDltContext CONTEXT; + +#define DLT_REGISTER_CONTEXT(CONTEXT, CONTEXT_ID, DESC) \ + CONTEXT = CONTEXT_ID; + +#define DLT_REGISTER_APP(CONTEXT, DESC) ; + +#define DLT_UNREGISTER_CONTEXT(CONTEXT) ; +#define DLT_UNREGISTER_APP() ; +#define dlt_free() ; + +// log calls +#define LOG_VERBOSE_MSG(context, msg) \ + fprintf(stderr, "[VERBO][%4s] " msg "\n", context) +#define LOG_VERBOSE(context, fmt, ...) \ + fprintf(stderr, "[VERBO][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_DEBUG_MSG(context, msg) \ + fprintf(stderr, "[DEBUG][%4s] " msg "\n", context) +#define LOG_DEBUG(context, fmt, ...) \ + fprintf(stderr, "[DEBUG][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_INFO_MSG(context, msg) \ + fprintf(stderr, "[INFO ][%4s] " msg "\n", context) +#define LOG_INFO(context, fmt, ...) \ + fprintf(stderr, "[INFO ][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_WARNING_MSG(context, msg) \ + fprintf(stderr, "[WARN ][%4s] " msg "\n", context) +#define LOG_WARNING(context, fmt, ...) \ + fprintf(stderr, "[WARN ][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_ERROR_MSG(context, msg) \ + fprintf(stderr, "[ERROR][%4s] " msg "\n", context) +#define LOG_ERROR(context, fmt, ...) \ + fprintf(stderr, "[ERROR][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_FATAL_MSG(context, msg) \ + fprintf(stderr, "[FATAL][%4s] " msg "\n", context) +#define LOG_FATAL(context, fmt, ...) \ + fprintf(stderr, "[FATAL][%4s] " fmt "\n", context, __VA_ARGS__) + +#else /* DLT_ENABLED */ +/*****************************************************************************/ +// use DLT +#include "dlt.h" + +typedef const char* Context; + +#define LOG_VERBOSE_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_VERBOSE, DLT_STRING(msg)); +#define LOG_VERBOSE(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_VERBOSE, DLT_STRING(logBuffer)); \ + } +#define LOG_DEBUG_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_DEBUG, DLT_STRING(msg)); +#define LOG_DEBUG(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_DEBUG, DLT_STRING(logBuffer)); \ + } +#define LOG_INFO_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_INFO, DLT_STRING(msg)); +#define LOG_INFO(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_INFO, DLT_STRING(logBuffer)); \ + } +#define LOG_WARNING_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_WARN, DLT_STRING(msg)); +#define LOG_WARNING(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_WARN, DLT_STRING(logBuffer)); \ + } +#define LOG_ERROR_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_ERROR, DLT_STRING(msg)); +#define LOG_ERROR(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_ERROR, DLT_STRING(logBuffer)); \ + } +#define LOG_FATAL_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_FATAL, DLT_STRING(msg)); +#define LOG_FATAL(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_FATAL, DLT_STRING(logBuffer)); \ + } + +#endif /* DLT_ENABLED */ + +#endif /* INCLUDE_LOG */ diff --git a/log-replayer/test/CMakeLists.txt b/log-replayer/test/CMakeLists.txt new file mode 100644 index 0000000..eab70a9 --- /dev/null +++ b/log-replayer/test/CMakeLists.txt @@ -0,0 +1,42 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: Replayer +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "TEST-LOG-REPLAYER") +message(STATUS "WITH_DLT = ${WITH_DLT}") + +include_directories("${PROJECT_SOURCE_DIR}/src") + +find_package(PkgConfig) + +set(SRCS ${CMAKE_SOURCE_DIR}/test/test-log-replayer.c) +add_executable(test-log-replayer ${SRCS}) +set(LIBRARIES pthread) + +if(WITH_DLT) + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}") + find_package(DLT REQUIRED) + add_definitions("-DDLT_ENABLED=1") + include_directories( ${DLT_INCLUDE_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +target_link_libraries(test-log-replayer ${LIBRARIES}) + + + + diff --git a/log-replayer/test/test-log-replayer.c b/log-replayer/test/test-log-replayer.c new file mode 100644 index 0000000..07d9600 --- /dev/null +++ b/log-replayer/test/test-log-replayer.c @@ -0,0 +1,89 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup LogReplayer +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <stdio.h> +#include <stdlib.h> +#include <sys/types.h> +#include <sys/socket.h> +#include <unistd.h> +#include <memory.h> + +#define BUFLEN 256 +//#define PORT 9930 + +#include "log.h" + +DLT_DECLARE_CONTEXT(gContext); + +int main(int argc, char* argv[]) +{ + struct sockaddr_in si_me, si_other; + int s; + socklen_t slen = sizeof(si_other); + char buf[BUFLEN]; + int port = 0; + + DLT_REGISTER_APP("RPLY", "REPLAYER"); + DLT_REGISTER_CONTEXT(gContext,"RCLT","Global Context"); + + if(argc < 2) + { + LOG_ERROR_MSG(gContext,"missing input parameter: port"); + return EXIT_FAILURE; + } + + port = atoi(argv[1]); + + if((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))==-1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + return EXIT_FAILURE; + } + + memset((char *) &si_me, 0, sizeof(si_me)); + si_me.sin_family = AF_INET; + + si_me.sin_port = htons(port); + si_me.sin_addr.s_addr = htonl(INADDR_ANY); + if (bind(s, (struct sockaddr *) &si_me, sizeof(si_me))==-1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + return EXIT_FAILURE; + } + + while(1) + { + if(recvfrom(s, buf, BUFLEN, 0, (struct sockaddr *) &si_other, &slen)==-1) + { + LOG_ERROR_MSG(gContext,"recvfrom() failed!"); + return EXIT_FAILURE; + } + + LOG_INFO(gContext,"Received packet from %s:%d", + inet_ntoa(si_other.sin_addr), + ntohs(si_other.sin_port)); + + LOG_INFO(gContext,"Data: %s", buf); + } + + close(s); + + return EXIT_SUCCESS; +} diff --git a/run-test.sh b/run-test.sh new file mode 100755 index 0000000..9dc3ab5 --- /dev/null +++ b/run-test.sh @@ -0,0 +1,102 @@ +#!/bin/bash + +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: Positioning poC +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +usage() { + echo "Usage: ./run-test.sh [service]" + echo + echo "service:" + echo " gnss Test GNSSService" + echo " sns Test SensorsService" + echo " enhpos Test EnhancedPositionService" + echo " repl Test LogReplayer" + echo " help Print Help" + echo +} + +testGnssService() +{ + build/gnss-service/test/gnss-service-client & + sleep 3 + echo 'starting log replayer...' + build/log-replayer/src/log-replayer log-replayer/logs/20100411_Geko_Regensburg_short.log > /dev/null 2>&1 & + #build/log-replayer/src/log-replayer log-replayer/logs/testlog-gnss.gvsl > /dev/null 2>&1 & + sleep 10 + echo 'stopping test...' + killall log-replayer + killall gnss-service-client +} + +testSensorsService() +{ + build/sensors-service/test/sensors-service-client & + sleep 3 + echo 'starting log replayer...' + build/log-replayer/src/log-replayer log-replayer/logs/20100411_Geko_Regensburg_short.log > /dev/null 2>&1 & + #build/log-replayer/src/log-replayer log-replayer/logs/testlog-whtk.gvsl > /dev/null 2>&1 & + sleep 10 + echo 'stopping test...' + killall log-replayer + killall sensors-service-client +} + +testEnhancedPositionService() +{ + build/enhanced-position-service/src/position-daemon > /dev/null 2>&1 & + sleep 3 + build/enhanced-position-service/test/test-client & + sleep 3 + echo 'starting log replayer...' + build/log-replayer/src/log-replayer log-replayer/logs/geneve-cologny.log > /dev/null 2>&1 & + sleep 10 + echo 'stopping test...' + killall log-replayer + killall test-client + killall position-daemon +} + +testLogReplayer() +{ + build/log-replayer/test/test-log-replayer 9931 & + sleep 3 + echo 'starting log replayer...' + build/log-replayer/src/log-replayer log-replayer/logs/20100411_Geko_Regensburg_short.log > /dev/null 2>&1 & + #build/log-replayer/src/log-replayer log-replayer/logs/testlog-whtk.gvsl > /dev/null 2>&1 & + sleep 10 + echo 'stopping test...' + killall log-replayer + killall test-log-replayer +} + +if [ $# -eq 1 ]; then + if [ $1 = help ]; then + usage + elif [ $1 = gnss ]; then + testGnssService + elif [ $1 = sns ]; then + testSensorsService + elif [ $1 = enhpos ]; then + testEnhancedPositionService + elif [ $1 = repl ]; then + testLogReplayer + else + usage + fi +else + usage +fi diff --git a/sensors-service/CMakeLists.txt b/sensors-service/CMakeLists.txt new file mode 100644 index 0000000..07a7ba9 --- /dev/null +++ b/sensors-service/CMakeLists.txt @@ -0,0 +1,48 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: SensorsService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +project(sensors-service) +cmake_minimum_required(VERSION 2.6.0) + +SET(CMAKE_INSTALL_RPATH "") +#SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE) + +option(WITH_DLT + "Enable DLT logging" OFF) + +option(WITH_REPLAYER + "Use REPLAYER as source of sensors data" ON) + +option(WITH_IPHONE + "Use IPHONE as source of sensors data" OFF) + +option(WITH_TESTS + "Compile test applications" OFF) + +message(STATUS) +message(STATUS "---------------------------------------------------------") + +add_subdirectory(src) +message(STATUS "---------------------------------------------------------") + +if(WITH_TESTS) +add_subdirectory(test) +message(STATUS "---------------------------------------------------------") +endif() + +message(STATUS) diff --git a/sensors-service/FindDLT.cmake b/sensors-service/FindDLT.cmake new file mode 100644 index 0000000..032eeff --- /dev/null +++ b/sensors-service/FindDLT.cmake @@ -0,0 +1,12 @@ +set(DLT_INCLUDE_DIRS /usr/include/dlt) +set(DLT_LIBRARIES dlt) +set(DLT_LIBRARY_DIRS /usr/lib) + +find_package(PkgConfig) +pkg_check_modules(DLT REQUIRED automotive-dlt) + +if(${DLT_FOUND}) + #message(STATUS "found and use automotive-dlt: version ${DLT_VERSION}") +else() + message("missing DLT - check with 'pkg-config automotive-dlt --cflags-only-I'") +endif() diff --git a/sensors-service/LICENSE b/sensors-service/LICENSE new file mode 100644 index 0000000..14e2f77 --- /dev/null +++ b/sensors-service/LICENSE @@ -0,0 +1,373 @@ +Mozilla Public License Version 2.0 +================================== + +1. Definitions +-------------- + +1.1. "Contributor" + means each individual or legal entity that creates, contributes to + the creation of, or owns Covered Software. + +1.2. "Contributor Version" + means the combination of the Contributions of others (if any) used + by a Contributor and that particular Contributor's Contribution. + +1.3. "Contribution" + means Covered Software of a particular Contributor. + +1.4. "Covered Software" + means Source Code Form to which the initial Contributor has attached + the notice in Exhibit A, the Executable Form of such Source Code + Form, and Modifications of such Source Code Form, in each case + including portions thereof. + +1.5. "Incompatible With Secondary Licenses" + means + + (a) that the initial Contributor has attached the notice described + in Exhibit B to the Covered Software; or + + (b) that the Covered Software was made available under the terms of + version 1.1 or earlier of the License, but not also under the + terms of a Secondary License. + +1.6. "Executable Form" + means any form of the work other than Source Code Form. + +1.7. "Larger Work" + means a work that combines Covered Software with other material, in + a separate file or files, that is not Covered Software. + +1.8. "License" + means this document. + +1.9. "Licensable" + means having the right to grant, to the maximum extent possible, + whether at the time of the initial grant or subsequently, any and + all of the rights conveyed by this License. + +1.10. "Modifications" + means any of the following: + + (a) any file in Source Code Form that results from an addition to, + deletion from, or modification of the contents of Covered + Software; or + + (b) any new file in Source Code Form that contains any Covered + Software. + +1.11. "Patent Claims" of a Contributor + means any patent claim(s), including without limitation, method, + process, and apparatus claims, in any patent Licensable by such + Contributor that would be infringed, but for the grant of the + License, by the making, using, selling, offering for sale, having + made, import, or transfer of either its Contributions or its + Contributor Version. + +1.12. "Secondary License" + means either the GNU General Public License, Version 2.0, the GNU + Lesser General Public License, Version 2.1, the GNU Affero General + Public License, Version 3.0, or any later versions of those + licenses. + +1.13. "Source Code Form" + means the form of the work preferred for making modifications. + +1.14. "You" (or "Your") + means an individual or a legal entity exercising rights under this + License. For legal entities, "You" includes any entity that + controls, is controlled by, or is under common control with You. For + purposes of this definition, "control" means (a) the power, direct + or indirect, to cause the direction or management of such entity, + whether by contract or otherwise, or (b) ownership of more than + fifty percent (50%) of the outstanding shares or beneficial + ownership of such entity. + +2. License Grants and Conditions +-------------------------------- + +2.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, +non-exclusive license: + +(a) under intellectual property rights (other than patent or trademark) + Licensable by such Contributor to use, reproduce, make available, + modify, display, perform, distribute, and otherwise exploit its + Contributions, either on an unmodified basis, with Modifications, or + as part of a Larger Work; and + +(b) under Patent Claims of such Contributor to make, use, sell, offer + for sale, have made, import, and otherwise transfer either its + Contributions or its Contributor Version. + +2.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution +become effective for each Contribution on the date the Contributor first +distributes such Contribution. + +2.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under +this License. No additional rights or licenses will be implied from the +distribution or licensing of Covered Software under this License. +Notwithstanding Section 2.1(b) above, no patent license is granted by a +Contributor: + +(a) for any code that a Contributor has removed from Covered Software; + or + +(b) for infringements caused by: (i) Your and any other third party's + modifications of Covered Software, or (ii) the combination of its + Contributions with other software (except as part of its Contributor + Version); or + +(c) under Patent Claims infringed by Covered Software in the absence of + its Contributions. + +This License does not grant any rights in the trademarks, service marks, +or logos of any Contributor (except as may be necessary to comply with +the notice requirements in Section 3.4). + +2.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to +distribute the Covered Software under a subsequent version of this +License (see Section 10.2) or under the terms of a Secondary License (if +permitted under the terms of Section 3.3). + +2.5. Representation + +Each Contributor represents that the Contributor believes its +Contributions are its original creation(s) or it has sufficient rights +to grant the rights to its Contributions conveyed by this License. + +2.6. Fair Use + +This License is not intended to limit any rights You have under +applicable copyright doctrines of fair use, fair dealing, or other +equivalents. + +2.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted +in Section 2.1. + +3. Responsibilities +------------------- + +3.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any +Modifications that You create or to which You contribute, must be under +the terms of this License. You must inform recipients that the Source +Code Form of the Covered Software is governed by the terms of this +License, and how they can obtain a copy of this License. You may not +attempt to alter or restrict the recipients' rights in the Source Code +Form. + +3.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + +(a) such Covered Software must also be made available in Source Code + Form, as described in Section 3.1, and You must inform recipients of + the Executable Form how they can obtain a copy of such Source Code + Form by reasonable means in a timely manner, at a charge no more + than the cost of distribution to the recipient; and + +(b) You may distribute such Executable Form under the terms of this + License, or sublicense it under different terms, provided that the + license for the Executable Form does not attempt to limit or alter + the recipients' rights in the Source Code Form under this License. + +3.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, +provided that You also comply with the requirements of this License for +the Covered Software. If the Larger Work is a combination of Covered +Software with a work governed by one or more Secondary Licenses, and the +Covered Software is not Incompatible With Secondary Licenses, this +License permits You to additionally distribute such Covered Software +under the terms of such Secondary License(s), so that the recipient of +the Larger Work may, at their option, further distribute the Covered +Software under the terms of either this License or such Secondary +License(s). + +3.4. Notices + +You may not remove or alter the substance of any license notices +(including copyright notices, patent notices, disclaimers of warranty, +or limitations of liability) contained within the Source Code Form of +the Covered Software, except that You may alter any license notices to +the extent required to remedy known factual inaccuracies. + +3.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, +indemnity or liability obligations to one or more recipients of Covered +Software. However, You may do so only on Your own behalf, and not on +behalf of any Contributor. You must make it absolutely clear that any +such warranty, support, indemnity, or liability obligation is offered by +You alone, and You hereby agree to indemnify every Contributor for any +liability incurred by such Contributor as a result of warranty, support, +indemnity or liability terms You offer. You may include additional +disclaimers of warranty and limitations of liability specific to any +jurisdiction. + +4. Inability to Comply Due to Statute or Regulation +--------------------------------------------------- + +If it is impossible for You to comply with any of the terms of this +License with respect to some or all of the Covered Software due to +statute, judicial order, or regulation then You must: (a) comply with +the terms of this License to the maximum extent possible; and (b) +describe the limitations and the code they affect. Such description must +be placed in a text file included with all distributions of the Covered +Software under this License. Except to the extent prohibited by statute +or regulation, such description must be sufficiently detailed for a +recipient of ordinary skill to be able to understand it. + +5. Termination +-------------- + +5.1. The rights granted under this License will terminate automatically +if You fail to comply with any of its terms. However, if You become +compliant, then the rights granted under this License from a particular +Contributor are reinstated (a) provisionally, unless and until such +Contributor explicitly and finally terminates Your grants, and (b) on an +ongoing basis, if such Contributor fails to notify You of the +non-compliance by some reasonable means prior to 60 days after You have +come back into compliance. Moreover, Your grants from a particular +Contributor are reinstated on an ongoing basis if such Contributor +notifies You of the non-compliance by some reasonable means, this is the +first time You have received notice of non-compliance with this License +from such Contributor, and You become compliant prior to 30 days after +Your receipt of the notice. + +5.2. If You initiate litigation against any entity by asserting a patent +infringement claim (excluding declaratory judgment actions, +counter-claims, and cross-claims) alleging that a Contributor Version +directly or indirectly infringes any patent, then the rights granted to +You by any and all Contributors for the Covered Software under Section +2.1 of this License shall terminate. + +5.3. In the event of termination under Sections 5.1 or 5.2 above, all +end user license agreements (excluding distributors and resellers) which +have been validly granted by You or Your distributors under this License +prior to termination shall survive termination. + +************************************************************************ +* * +* 6. Disclaimer of Warranty * +* ------------------------- * +* * +* Covered Software is provided under this License on an "as is" * +* basis, without warranty of any kind, either expressed, implied, or * +* statutory, including, without limitation, warranties that the * +* Covered Software is free of defects, merchantable, fit for a * +* particular purpose or non-infringing. The entire risk as to the * +* quality and performance of the Covered Software is with You. * +* Should any Covered Software prove defective in any respect, You * +* (not any Contributor) assume the cost of any necessary servicing, * +* repair, or correction. This disclaimer of warranty constitutes an * +* essential part of this License. No use of any Covered Software is * +* authorized under this License except under this disclaimer. * +* * +************************************************************************ + +************************************************************************ +* * +* 7. Limitation of Liability * +* -------------------------- * +* * +* Under no circumstances and under no legal theory, whether tort * +* (including negligence), contract, or otherwise, shall any * +* Contributor, or anyone who distributes Covered Software as * +* permitted above, be liable to You for any direct, indirect, * +* special, incidental, or consequential damages of any character * +* including, without limitation, damages for lost profits, loss of * +* goodwill, work stoppage, computer failure or malfunction, or any * +* and all other commercial damages or losses, even if such party * +* shall have been informed of the possibility of such damages. This * +* limitation of liability shall not apply to liability for death or * +* personal injury resulting from such party's negligence to the * +* extent applicable law prohibits such limitation. Some * +* jurisdictions do not allow the exclusion or limitation of * +* incidental or consequential damages, so this exclusion and * +* limitation may not apply to You. * +* * +************************************************************************ + +8. Litigation +------------- + +Any litigation relating to this License may be brought only in the +courts of a jurisdiction where the defendant maintains its principal +place of business and such litigation shall be governed by laws of that +jurisdiction, without reference to its conflict-of-law provisions. +Nothing in this Section shall prevent a party's ability to bring +cross-claims or counter-claims. + +9. Miscellaneous +---------------- + +This License represents the complete agreement concerning the subject +matter hereof. If any provision of this License is held to be +unenforceable, such provision shall be reformed only to the extent +necessary to make it enforceable. Any law or regulation which provides +that the language of a contract shall be construed against the drafter +shall not be used to construe this License against a Contributor. + +10. Versions of the License +--------------------------- + +10.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section +10.3, no one other than the license steward has the right to modify or +publish new versions of this License. Each version will be given a +distinguishing version number. + +10.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version +of the License under which You originally received the Covered Software, +or under the terms of any subsequent version published by the license +steward. + +10.3. Modified Versions + +If you create software not governed by this License, and you want to +create a new license for such software, you may create and use a +modified version of this License if you rename the license and remove +any references to the name of the license steward (except to note that +such modified license differs from this License). + +10.4. Distributing Source Code Form that is Incompatible With Secondary +Licenses + +If You choose to distribute Source Code Form that is Incompatible With +Secondary Licenses under the terms of this version of the License, the +notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice +------------------------------------------- + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular +file, then You may include the notice in a location (such as a LICENSE +file in a relevant directory) where a recipient would be likely to look +for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - "Incompatible With Secondary Licenses" Notice +--------------------------------------------------------- + + This Source Code Form is "Incompatible With Secondary Licenses", as + defined by the Mozilla Public License, v. 2.0. diff --git a/sensors-service/api/acceleration.h b/sensors-service/api/acceleration.h new file mode 100644 index 0000000..db040ac --- /dev/null +++ b/sensors-service/api/acceleration.h @@ -0,0 +1,224 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDED_GENIVI_ACCELERATION +#define INCLUDED_GENIVI_ACCELERATION + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TAccelerationConfiguration::validityBits provides information about the currently valid signals of the acceleration configuration data. + * It is a or'ed bitmask of the EAccelerationConfigValidityBits values. + */ +typedef enum { + ACCELERATION_CONFIG_DISTX_VALID = 0x00000001, /**< Validity bit for field TAccelerationConfiguration::dist2RefPointX. */ + ACCELERATION_CONFIG_DISTY_VALID = 0x00000002, /**< Validity bit for field TAccelerationConfiguration::dist2RefPointY. */ + ACCELERATION_CONFIG_DISTZ_VALID = 0x00000004, /**< Validity bit for field TAccelerationConfiguration::dist2RefPointZ. */ + ACCELERATION_CONFIG_ANGLEYAW_VALID = 0x00000008, /**< Validity bit for field TAccelerationConfiguration::angleYaw. */ + ACCELERATION_CONFIG_ANGLEPITCH_VALID= 0x00000010, /**< Validity bit for field TAccelerationConfiguration::anglePitch. */ + ACCELERATION_CONFIG_ANGLEROLL_VALID = 0x00000020, /**< Validity bit for field TAccelerationConfiguration::angleRoll. */ + ACCELERATION_CONFIG_SIGMAX_VALID = 0x00000040, /**< Validity bit for field TAccelerationConfiguration::sigmaX. */ + ACCELERATION_CONFIG_SIGMAY_VALID = 0x00000080, /**< Validity bit for field TAccelerationConfiguration::sigmaX. */ + ACCELERATION_CONFIG_SIGMAZ_VALID = 0x00000100, /**< Validity bit for field TAccelerationConfiguration::sigmaZ. */ + ACCELERATION_CONFIG_TYPE_VALID = 0x00000200 /**< Validity bit for field TAccelerationConfiguration::typeBits. */ +} EAccelerationConfigValidityBits; + + +/** + * Accelerometer type + * TAccelerationConfiguration::typeBits provides information about the type of the accelerometer and the interpretation of the signals. + * It is a or'ed bitmask of the EGyroscopeTypeBits values. + */ +typedef enum { + ACCELERATION_X_PROVIDED = 0x00000001, /**< An acceleration measurement for the x-axis is provided */ + ACCELERATION_Y_PROVIDED = 0x00000002, /**< An acceleration measurement for the y-axis is provided */ + ACCELERATION_Z_PROVIDED = 0x00000004, /**< An acceleration measurement for the z-axis is provided */ + ACCELERATION_TEMPERATURE_PROVIDED = 0x00000008 /**< A measurement for the temperature is provided */ +} EAccelerationTypeBits; + + +/** + * Static configuration data for the acceleration sensor service. + * + * BEGIN Explanation of the angleYaw, anglePitch angleRoll parameters + * The orientation of the accelerometer hardware (Xa, Ya, Za) + * with respect to the vehicle axis system (Xv, Yv, Zv) + * can be described using the angles (angleYaw, anglePitch, angleRoll) + * following the approach defined in ISO 8855:2011, section 5.2, table 1 + * Apply 3 rotations on the vehicle axis system until it matches the accelerometer axis system + * The rotation sequence is as follows + * - first rotate by angleYaw about the Zv axis + * - second rotate by anglePitch about the new (intermediate) Y axis + * - third rotate by angleRoll about the new X axis + * Notes + * - the angles are frequently called "Euler angles" and the rotations "Euler rotations" + * - a different order of the rotations would lead to a different orientation + * - as the vehicle axis system is right-handed, also the accelerometer axis system must be right-handed + * + * The vehicle axis system as defined in ISO 8855:2011(E). + * In this system, the axes (Xv, Yv, Zv) are oriented as follows + * - Xv is in the horizontal plane, pointing forwards + * - Yv is in the horizontal plane, pointing to the left + * - Zv is perpendicular to the horizontal plane, pointing upwards + * For an illustration, see https://collab.genivi.org/wiki/display/genivi/LBSSensorServiceRequirementsBorg#LBSSensorServiceRequirementsBorg-ReferenceSystem + * + * When the accelerometer axes are not aligned with the vehicle axes, i.e. + * if any of the angles (angleYaw, anglePitch, angleRoll) is not zero + * then the raw measurement values of the accelerometer X, Y, Z axes may have to be be transformed + * to the vehicle axis system by the client of this interface, depending on the type of application. + * Raw measurements are provided in @TAccelerationData instead of already transformed values, because + * - for accelerometers with less than 3 axes, the transformation is mathematically not well-defined + * - some types of calibration operations are better performed on raw data + * + * Implementors hint: The mathematics of this kind of transformation, + * like the derivation of the rotation matrixes is described in literature on strapdown navigation + * E.g. "Strapdown Inertial Navigation Technology", 2nd Edition by David Titterton and John Weston, section 3.6 + * END Explanation of the angleYaw, anglePitch angleRoll parameters */ +typedef struct { + float dist2RefPointX; /**< Distance of acceleration sensor from vehicle reference point (x-coordinate) [m]. */ + float dist2RefPointY; /**< Distance of acceleration sensor from vehicle reference point (y-coordinate) [m]. */ + float dist2RefPointZ; /**< Distance of acceleration sensor from vehicle reference point (z-coordinate) [m]. */ + float angleYaw; /**< Euler angle of first rotation, around yaw axis, to describe acceleration sensor orientation [degree]. For details, see above. */ + float anglePitch; /**< Euler angle of second rotation, around pitch axis, to describe acceleration sensor orientation [degree]. For details, see above. */ + float angleRoll; /**< Euler angle of third rotation, around roll axis, to describe acceleration sensor orientation [degree]. For details, see above. */ + float sigmaX; /**< Standard error estimate of the x-acceleration [m/s^2]. */ + float sigmaY; /**< Standard error estimate of the y-acceleration [m/s^2]. */ + float sigmaZ; /**< Standard error estimate of the z-acceleration [m/s^2]. */ + EAccelerationTypeBits typeBits;/**< Bit mask indicating the type of the used gyroscope. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EAccelerationConfigValidityBits values]. + Must be checked before usage. */ +} TAccelerationConfiguration; + +/** + * TAccelerationData::validityBits provides information about the currently valid signals of the acceleration data. + * It is a or'ed bitmask of the EAccelerationValidityBits values. + * Note: + * - The general availability of the signals is provided per TAccelerationConfiguration::typeBits. + * - If a signal is generally provided but temporarily not available, then the corresponding typeBit will be set but not the validityBit + */ +typedef enum { + ACCELERATION_X_VALID = 0x00000001, /**< Validity bit for field TAccelerationData::x. */ + ACCELERATION_Y_VALID = 0x00000002, /**< Validity bit for field TAccelerationData::y. */ + ACCELERATION_Z_VALID = 0x00000004, /**< Validity bit for field TAccelerationData::z. */ + ACCELERATION_TEMPERATURE_VALID = 0x00000008 /**< Validity bit for field TAccelerationData::temperature. */ +} EAccelerationValidityBits; + +/** + * The AccelerationData delivers the sensor values of the accelerometer. + * The coordinate system is the axis system of the accelerometer sensor, + * i.e. the x, y, z values are raw measurements + * without any conversion except probably averaging of multiple + * sensor readings over the measurement interval. + * + * @see TAccelerationConfiguration for an explanation how to convert these values to the vehicle axis system + * + * It is possible that not all values are populated, e.g. when only a 1-axis accelerometer is used. + * You must check the valid bits before usage. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the accelerometer signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + float x; /**< The acceleration in direction of the X-axis of the accelerometer sensor [m/s^2].*/ + float y; /**< The acceleration in direction of the Y-axis of the accelerometer sensor [m/s^2].*/ + float z; /**< The acceleration in direction of the Z-axis of the accelerometer sensor [m/s^2]. */ + float temperature; /**< Temperature reading of the accelerometer sensor. + If available it can be used for temperature compensation. + The measurement unit is unspecified. + Degrees celsius are preferred but any value linearly dependent on the temperature is fine.*/ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EAccelerationValidityBits values]. + Must be checked before usage. */ +} TAccelerationData; + +/** + * Callback type for acceleration sensor service. + * Use this type of callback if you want to register for acceleration data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param accelerationData pointer to an array of TAccelerationData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*AccelerationCallback)(const TAccelerationData accelerationData[], uint16_t numElements); + +/** + * Initialization of the acceleration sensor service. + * Must be called before using the acceleration sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsAccelerationInit(); + +/** + * Destroy the acceleration sensor service. + * Must be called after using the acceleration sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsAccelerationDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsAccelerationGetMetaData(TSensorMetaData *data); + +/** + * Accessing static configuration information about the acceleration sensor. + * @param config After calling the method the currently available acceleration configuration data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsAccelerationGetAccelerationConfiguration(TAccelerationConfiguration* config); + +/** + * Method to get the acceleration data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param accelerationData After calling the method the currently available acceleration data is written into accelerationData. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsAccelerationGetAccelerationData(TAccelerationData* accelerationData); + +/** + * Register acceleration callback. + * This is the recommended method for continuously accessing the acceleration data. + * The callback will be invoked when new acceleration data is available. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsAccelerationRegisterCallback(AccelerationCallback callback); + +/** + * Deregister acceleration callback. + * After calling this method no new acceleration data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsAccelerationDeregisterCallback(AccelerationCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDED_GENIVI_ACCELERATION */ diff --git a/sensors-service/api/gyroscope.h b/sensors-service/api/gyroscope.h new file mode 100644 index 0000000..404a896 --- /dev/null +++ b/sensors-service/api/gyroscope.h @@ -0,0 +1,226 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_GYROSCOPE +#define INCLUDE_GENIVI_GYROSCOPE + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TGyroscopeConfiguration::validityBits provides information about the currently valid signals of the gyroscope configuration data. + * It is a or'ed bitmask of the EGyroscopeConfigValidityBits values. + */ +typedef enum { + GYROSCOPE_CONFIG_ANGLEYAW_VALID = 0x00000001, /**< Validity bit for field TGyroscopeConfiguration::angleYaw. */ + GYROSCOPE_CONFIG_ANGLEPITCH_VALID = 0x00000002, /**< Validity bit for field TGyroscopeConfiguration::anglePitch. */ + GYROSCOPE_CONFIG_ANGLEROLL_VALID = 0x00000004, /**< Validity bit for field TGyroscopeConfiguration::angleRoll. */ + GYROSCOPE_CONFIG_MOMENTYAW_VALID = 0x00000008, /**< Validity bit for field TGyroscopeConfiguration::momentOfYawInertia. */ + GYROSCOPE_CONFIG_SIGMAGYROSCOPE_VALID = 0x00000010, /**< Validity bit for field TGyroscopeConfiguration::sigmaGyroscope. */ + GYROSCOPE_CONFIG_TYPE_VALID = 0x00000020 /**< Validity bit for field TGyroscopeConfiguration::typeBits. */ +} EGyroscopeConfigValidityBits; + +/** + * Gyroscope type + * TGyroscopeConfiguration::typeBits provides information about the type of the gyroscope and the interpretation of the signals. + * It is a or'ed bitmask of the EGyroscopeTypeBits values. + */ +typedef enum { + GYROSCOPE_TEMPERATURE_COMPENSATED = 0x00000001, /**< Temperature bias compensation already applied to gyroscope signals. */ + GYROSCOPE_YAWRATE_PROVIDED = 0x00000002, /**< A measurement for the z/yaw-axis is provided */ + GYROSCOPE_PITCHRATE_PROVIDED = 0x00000004, /**< A measurement for the y/pitch-axis is provided */ + GYROSCOPE_ROLLRATE_PROVIDED = 0x00000008, /**< A measurement for the x/roll-axis is provided */ + GYROSCOPE_TEMPERATURE_PROVIDED = 0x00000010 /**< A measurement for the temperature is provided */ +} EGyroscopeTypeBits; + +/** + * Static configuration data for the gyroscope sensor service. + * + * BEGIN Explanation of the angleYaw, anglePitch angleRoll parameters + * The orientation of the gyroscope hardware (Xg, Yg, Zg) + * with respect to the vehicle axis system (Xv, Yv, Zv) + * can be described using the angles (angleYaw, anglePitch, angleRoll) + * following the approach defined in ISO 8855:2011, section 5.2, table 1 + * Apply 3 rotations on the vehicle axis system until it matches the gyroscope axis system + * The rotation sequence is as follows + * - first rotate by angleYaw about the Zv axis + * - second rotate by anglePitch about the new (intermediate) Y axis + * - third rotate by angleRoll about the new X axis + * Notes + * - the angles are frequently called "Euler angles" and the rotations "Euler rotations" + * - a different order of the rotations would lead to a different orientation + * - as the vehicle axis system is right-handed, also the gyroscope axis system must be right-handed + * + * The vehicle axis system as defined in ISO 8855:2011(E). + * In this system, the axes (Xv, Yv, Zv) are oriented as follows + * - Xv is in the horizontal plane, pointing forwards + * - Yv is in the horizontal plane, pointing to the left + * - Zv is perpendicular to the horizontal plane, pointing upwards + * For an illustration, see https://collab.genivi.org/wiki/display/genivi/LBSSensorServiceRequirementsBorg#LBSSensorServiceRequirementsBorg-ReferenceSystem + * + * When the gyroscope axes are not aligned with the vehicle axes, i.e. + * if any of the angles (angleYaw, anglePitch, angleRoll) is not zero + * then the raw measurement values of the gyroscope Z, Y, X axes may have to be be transformed + * to the vehicle axis system by the client of this interface, depending on the type of application. + * Raw measurements are provided in @TGyroscopeData instead of already transformed values, because + * - for gyroscopes with less than 3 axes, the transformation is mathematically not well-defined + * - some types of calibration operations are better performed on raw data + * + * Implementors hint: The mathematics of this kind of transformation, + * like the derivation of the rotation matrixes is described in literature on strapdown navigation + * E.g. "Strapdown Inertial Navigation Technology", 2nd Edition by David Titterton and John Weston, section 3.6 + * END Explanation of the angleYaw, anglePitch angleRoll parameters + * + */ +typedef struct { + float angleYaw; /**< Euler angle of first rotation, around yaw axis, to describe gyroscope orientation [degree]. For details, see above. */ + float anglePitch; /**< Euler angle of second rotation, around pitch axis, to describe gyroscope orientation [degree]. For details, see above. */ + float angleRoll; /**< Euler angle of third rotation, around roll axis, to describe gyroscope orientation [degree]. For details, see above. */ + float momentOfYawInertia; /**< Moment of yaw inertia. The pitch and roll inertia moments are not provided as they are not relevant for positioning. [kg*m^2] */ + float sigmaGyroscope; /**< Standard error estimate of the gyroscope for all directions. [degree/s] */ + EGyroscopeTypeBits typeBits;/**< Bit mask indicating the type of the used gyroscope. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGyroscopeConfigValidityBits values]. + Must be checked before usage. */ +} TGyroscopeConfiguration; + +/** + * TGyroscopeData::validityBits provides information which fields in TGyroscopeData contain valid measurement data. + * It is a or'ed bitmask of the EGyroscopeValidityBits values. + * Note: + * - The general availability of the signals is provided per TGyroscopeConfiguration::typeBits. + * - If a signal is generally provided but temporarily not available, then the corresponding typeBit will be set but not the validityBit + */ +typedef enum { + GYROSCOPE_YAWRATE_VALID = 0x00000001, /**< Validity bit for field TGyroscopeData::yawRate. */ + GYROSCOPE_PITCHRATE_VALID = 0x00000002, /**< Validity bit for field TGyroscopeData::pitchRate. */ + GYROSCOPE_ROLLRATE_VALID = 0x00000004, /**< Validity bit for field TGyroscopeData::rollRate. */ + GYROSCOPE_TEMPERATURE_VALID = 0x00000008 /**< Validity bit for field TGyroscopeData::temperature. */ +} EGyroscopeValidityBits; + +/** + * The GyroscopeData delivers the sensor values of the gyroscope. + * The coordinate system is the axis system of the gyroscope sensor, + * i.e. the yawRate, pitchRate, rollRate values are raw measurements + * without any conversion except probably averaging of multiple + * sensor readings over the measurement interval. + * + * @see TGyroscopeConfiguration for an explanation how to convert these values to the vehicle axis system + * + * It is possible that not all values are populated, e.g. when only a 1-axis gyroscope is used. + * You must check the valid bits before usage. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the gyroscope signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + float yawRate; /**< Current angular rate measurement around the z/yaw-axis of the gyroscope sensor [degree/s]. + Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz. + A rotation to the left is indicated by a positive sign. */ + float pitchRate; /**< Current angular rate measurement around the y/pitch-axis of the gyroscope sensor [degree/s]. + Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz. + A rotation front down is indicated by a positive sign. */ + float rollRate; /**< Current angular rate measurement around the x/roll-axis of the gyroscope sensor [degree/s]. + Value range -100 / +100 degree/s. Frequency of at least 5Hz. Preferrably 50Hz. + A rotation right down is indicated by a positive sign. */ + float temperature; /**< Temperature reading of the gyroscope sensor. + If available it can be used for temperature compensation. + The measurement unit is unspecified. + Degrees celsius are preferred but any value linearly dependent on the temperature is fine.*/ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EGyroscopeValidityBits values]. + Must be checked before usage. */ +} TGyroscopeData; + +/** + * Callback type for gyroscope sensor service. + * Use this type of callback if you want to register for gyroscope data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param gyroData pointer to an array of TGyroscopeData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*GyroscopeCallback)(const TGyroscopeData gyroData[], uint16_t numElements); + +/** + * Initialization of the gyroscope sensor service. + * Must be called before using the gyroscope sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsGyroscopeInit(); + +/** + * Destroy the gyroscope sensor service. + * Must be called after using the gyroscope sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsGyroscopeDestroy(); + +/** + * Provide meta information about sensor service. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsGyroscopeGetMetaData(TSensorMetaData *data); + +/** + * Accessing static configuration information about the gyroscope sensor. + * @param gyroConfig After calling the method the currently available gyroscope configuration data is written into gyroConfig. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsGyroscopeGetConfiguration(TGyroscopeConfiguration* gyroConfig); + +/** + * Method to get the gyroscope data at a specific point in time. + * Be careful when using this method to read data often enough as gyro data are rotation rates per second. + * The recommended usage for the gyroscope data is the callback interface. + * The get method is provided for consistency reasons of the sensor service API and might be used + * for determining the rotation rate in certain situations. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param gyroData After calling the method the currently available gyroscope data is written into gyroData. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsGyroscopeGetGyroscopeData(TGyroscopeData* gyroData); + +/** + * Register gyroscope callback. + * This is the recommended method for continuously accessing the gyroscope data, i.e. rotation rates. + * The callback will be invoked when new gyroscope data is available. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsGyroscopeRegisterCallback(GyroscopeCallback callback); + +/** + * Deregister gyroscope callback. + * After calling this method no new gyroscope data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsGyroscopeDeregisterCallback(GyroscopeCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_GYROSCOPE */ diff --git a/sensors-service/api/inclination.h b/sensors-service/api/inclination.h new file mode 100644 index 0000000..d89cbe2 --- /dev/null +++ b/sensors-service/api/inclination.h @@ -0,0 +1,127 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDED_GENIVI_INCLINATION +#define INCLUDED_GENIVI_INCLINATION + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Current status of the inclination sensors signals. + */ +typedef enum { + INCLINATION_INITIALIZING, /**< System is currently in the initialization phase. */ + INCLINATION_SENSOR_BASED, /**< Signals are available and are based on sensors. */ + INCLINATION_UNSTABLE_DRIVING_CONDITION, /**< Unstable driving conditions (limited accuracy). */ + INCLINATION_MODEL_BASED, /**< Signals are available and are based on a model. */ + INCLINATION_NOT_AVAILABLE /**< Signals are not available. */ +} EInclinationSensorStatus; + +/** + * TInclinationData::validityBits provides information about the currently valid signals of the inclination data. + * It is a or'ed bitmask of the EInclinationValidityBits values. + */ +typedef enum { + INCLINATION_LONGITUDINAL_VALID = 0x00000001, /**< Validity bit for field TInclinationData::longitudinalGradientRoadway. */ + INCLINATION_TRAVERSE_VALID = 0x00000002, /**< Validity bit for field TInclinationData::traverseGradientRoadway. */ + INCLINATION_STATUS_VALID = 0x00000004 /**< Validity bit for field TInclinationData::status. */ +} EInclinationValidityBits; + +/** + * Inclination sensor service provides the inclination values. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the inclination signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + float longitudinalGradientRoadway; /**< The inclination of the road in longitudinal direction, i.e. in the direction of movement [degree]. In instable driving situations this value might not be available. */ + float traverseGradientRoadway; /**< Estimated gradient of the road in transverse direction [degree]. In instable driving situations this value might not be available. */ + EInclinationSensorStatus status; /**< Status of the signals. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EInclinationValidityBits values]. + Must be checked before usage. */ +} TInclinationData; + +/** + * Callback type for inclination sensor service. + * Use this type of callback if you want to register for inclination data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param inclinationData pointer to an array of TInclinationData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*InclinationCallback)(const TInclinationData inclinationData[], uint16_t numElements); + +/** + * Initialization of the inclination sensor service. + * Must be called before using the inclination sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsInclinationInit(); + +/** + * Destroy the inclination sensor service. + * Must be called after using the inclination sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsInclinationDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsInclinationGetMetaData(TSensorMetaData *data); + +/** + * Method to get the inclination data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param inclination After calling the method the currently available inclination data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsInclinationGetInclinationData(TInclinationData* inclination); + +/** + * Register inclination callback. + * This is the recommended method for continuously accessing the inclination data. + * The callback will be invoked when new inclination data is available. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsInclinationRegisterCallback(InclinationCallback callback); + +/** + * Deregister inclination callback. + * After calling this method no new inclination data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsInclinationDeregisterCallback(InclinationCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDED_GENIVI_INCLINATION */ diff --git a/sensors-service/api/odometer.h b/sensors-service/api/odometer.h new file mode 100644 index 0000000..b504af8 --- /dev/null +++ b/sensors-service/api/odometer.h @@ -0,0 +1,121 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_ODOMETER +#define INCLUDE_GENIVI_ODOMETER + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TOdometerData::validityBits provides information about the currently valid signals of the odometer data. + * It is a or'ed bitmask of the EOdometerValidityBits values. + */ +typedef enum { + ODOMETER_TRAVELLEDDISTANCE_VALID = 0x00000001 /**< Validity bit for field TOdometerData::travelledDistance. */ +} EOdometerValidityBits; + +/** + * Odometer sensor service provides the travelled distance. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the odometer signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + uint16_t travelledDistance; /**< Distance in [cm] with at least 5Hz. Implemented as a running counter + with overflow to support multiple clients and getter methods. + As the representation of this value is done using 16 Bits the value can provide + distances up 32767cm or 327.67m before overflowing. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EOdometerValidityBits values]. + Must be checked before usage. */ +} TOdometerData; + +/** + * Callback type for odometer sensor service. + * Use this type of callback if you want to register for odometer data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param odometerData pointer to an array of TOdometerData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*OdometerCallback)(const TOdometerData odometerData[], uint16_t numElements); + +/** + * Initialization of the odometer sensor service. + * Must be called before using the odometer sensor service to set up the service. + * @return True if initialization has been successfull. + * */ +bool snsOdometerInit(); + +/** + * Destroy the odometer sensor service. + * Must be called after using the odometer sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsOdometerDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsOdometerGetMetaData(TSensorMetaData *data); + +/** + * Method to get the odometer data at a specific point in time. + * Be careful when using this method to read data often enough to avoid missing an overflow. + * With reasonable car speeds it should be enough to read the data every 3s. + * The recommended usage for the odometer data is the callback interface. + * The get method is provided for consistency reasons of the sensor service API and might be used + * for determining the distance between a few points in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param odometer After calling the method the currently available odometer data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsOdometerGetOdometerData(TOdometerData* odometer); + +/** + * Register odometer callback. + * This is the recommended method for continuously accessing the odometer data. + * The callback will be invoked when new odometer data is available. + * Overflow handling must be done by the caller. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsOdometerRegisterCallback(OdometerCallback callback); + +/** + * Deregister odometer callback. + * After calling this method no new odometer data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsOdometerDeregisterCallback(OdometerCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_ODOMETER */ diff --git a/sensors-service/api/reverse-gear.h b/sensors-service/api/reverse-gear.h new file mode 100644 index 0000000..63f3c16 --- /dev/null +++ b/sensors-service/api/reverse-gear.h @@ -0,0 +1,113 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDED_GENIVI_REVERSEGEAR +#define INCLUDED_GENIVI_REVERSEGEAR + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TReverseGearData::validityBits provides information about the currently valid signals of the reverse gear data. + * It is a or'ed bitmask of the EReverseGearValidityBits values. + */ +typedef enum { + REVERSEGEAR_REVERSEGEAR_VALID = 0x00000001 /**< Validity bit for field TReverseGearData::isReverseGear. */ +} EReverseGearValidityBits; + +/** + * Reverse gear sensor service provides the current status of the reverse gear of the vehicle. + * This information is explicitly restricted to provide only the information if the reverse gear is engaged. + * The direction of movement is provided by the direction of the vehicle speed. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the reverse gear signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + bool isReverseGear; /**< True if the reverse gear is currently used. False otherwise. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EReverseGearValidityBits values]. + Must be checked before usage. */ +} TReverseGearData; + +/** + * Callback type for reverse gear sensor service. + * Use this type of callback if you want to register for reverse gear data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param reverseGearData pointer to an array of TReverseGearData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*ReverseGearCallback)(const TReverseGearData reverseGearData[], uint16_t numElements); + +/** + * Initialization of the reverse gear sensor service. + * Must be called before using the reverse gear sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsReverseGearInit(); + +/** + * Destroy the ReverseGear sensor service. + * Must be called after using the ReverseGear sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsReverseGearDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsReverseGearGetMetaData(TSensorMetaData *data); + +/** + * Method to get the reverse gear data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param reverseGear After calling the method the currently available reverse gear data is written into reverseGear. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsReverseGearGetReverseGearData(TReverseGearData* reverseGear); + +/** + * Register reverse gear callback. + * The callback will be invoked when new reverse gear data is available. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsReverseGearRegisterCallback(ReverseGearCallback callback); + +/** + * Deregister reverse gear callback. + * After calling this method no new reverse gear data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsReverseGearDeregisterCallback(ReverseGearCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDED_GENIVI_REVERSEGEAR */ diff --git a/sensors-service/api/slip-angle.h b/sensors-service/api/slip-angle.h new file mode 100644 index 0000000..9262568 --- /dev/null +++ b/sensors-service/api/slip-angle.h @@ -0,0 +1,116 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_SLIP_ANGLE +#define INCLUDE_GENIVI_SLIP_ANGLE + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TSlipAngleData::validityBits provides information about the currently valid signals of the slip angle data. + * It is a or'ed bitmask of the ESlipAngleValidityBits values. + */ +typedef enum { + SLIPANGLE_SLIPANGLE_VALID = 0x00000001 /**< Validity bit for field TSlipAngleData::slipAngle. */ +} ESlipAngleValidityBits; + +/** + * Slip angle sensor service provides the slip angle value. + * The reference coordinate system for the slip angle is defined here: + * https://collab.genivi.org/wiki/display/genivi/LBSSensorServiceRequirementsBorg#LBSSensorServiceRequirementsBorg-ReferenceSystem + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the slip angle signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + float slipAngle; /**< Delivers the value slip angle in [degrees]. + It is defined as the angle between the fixed car axis (direction of driving) and the real direction of vehicle movement. + The direction and sign is defined equal to the yaw rate. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref ESlipAngleValidityBits values]. + Must be checked before usage. */ +} TSlipAngleData; + +/** + * Callback type for slip angle sensor service. + * Use this type of callback if you want to register for slip angle data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param slipAngleData pointer to an array of TSlipAngleData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*SlipAngleCallback)(const TSlipAngleData slipAngleData[], uint16_t numElements); + +/** + * Initialization of the slip angle sensor service. + * Must be called before using the slip angle sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsSlipAngleInit(); + +/** + * Destroy the SlipAngle sensor service. + * Must be called after using the SlipAngle sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsSlipAngleDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsSlipAngleGetMetaData(TSensorMetaData *data); + +/** + * Method to get the slip angle data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param data After calling the method the currently available inclination data is written into this parameter. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsSlipAngleGetSlipAngleData(TSlipAngleData* data); + +/** + * Register slip angle callback. + * This is the recommended method for continuously accessing the slip angle data. + * The callback will be invoked when new slip angle data is available. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsSlipAngleRegisterCallback(SlipAngleCallback callback); + +/** + * Deregister slip angle callback. + * After calling this method no new slip angle data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsSlipAngleDeregisterCallback(SlipAngleCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_SLIP_ANGLE */ diff --git a/sensors-service/api/sns-meta-data.h b/sensors-service/api/sns-meta-data.h new file mode 100644 index 0000000..a91e301 --- /dev/null +++ b/sensors-service/api/sns-meta-data.h @@ -0,0 +1,82 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_SNS_METADATA +#define INCLUDE_SNS_METADATA + +#include <stdint.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * The sensor category introduces the concept that sensor information can also be derived information + * computed by combining several signals. + */ +typedef enum { + SENSOR_CATEGORY_UNKNOWN, /**< Unknown category. Should not be used. */ + SENSOR_CATEGORY_LOGICAL, /**< A logical sensor can combine signals of several sensors. */ + SENSOR_CATEGORY_PHYSICAL /**< A physical sensor provides signals from physically available sensors. */ +} ESensorCategory; + +/** + * The sensor type identifies which physical quantity is measured. + * For each sensor type, there is a corresponding API header with data structures, callback notifications and getter functions defined + * Note that for all 3 wheel sensor types there is a combined API header. + * + */ +typedef enum { + SENSOR_TYPE_UNKNOWN, /**< Unknown sensor type. Should not be used. */ + SENSOR_TYPE_ACCELERATION, /**< Acceleration sensor*/ + SENSOR_TYPE_GYROSCOPE, /**< Gyroscope sensor*/ + SENSOR_TYPE_INCLINATION, /**< Inclination sensor*/ + SENSOR_TYPE_ODOMETER, /**< Odometer sensor*/ + SENSOR_TYPE_REVERSE_GEAR, /**< Reverse gear sensor*/ + SENSOR_TYPE_SLIP_ANGLE, /**< Slip angle sensor*/ + SENSOR_TYPE_STEERING_ANGLE, /**< Steering angle sensor*/ + SENSOR_TYPE_VEHICLE_SPEED, /**< Vehicle speed sensor*/ + SENSOR_TYPE_VEHICLE_STATE, /**< Vehicle state sensor*/ + SENSOR_TYPE_WHEELTICK, /**< Wheel tick sensor*/ + SENSOR_TYPE_WHEELSPEEDANGULAR, /**< Wheel speed angular sensor*/ + SENSOR_TYPE_WHEELSPEED, /**< Wheel speed sensor*/ +} ESensorType; + +/** + * The software platform provides the following information about the Sensor and the related output Signals. + * Sensor clients need the meta data information in order to correctly handle data provided by sensor service and + * to adapt to the variation in the signal data delivery. + */ +typedef struct { + uint32_t version; /**< Version of the sensor service. */ + ESensorCategory category; /**< Sensor Category (Physical/Logical). */ + ESensorType type; /**< Sensor Type (Odometer, Gyroscope, etc.). */ + uint32_t cycleTime; /**< Sensor cycle time (update interval) in ms. 0 for irregular updates */ +} TSensorMetaData; + +/** + * Retrieve the metadata of all available sensors. + * @param metadata returns a a pointer an array of TSensorMetaData (maybe NULL if no metadata is available) + * @return number of elements in the array of TSensorMetaData + */ +int32_t getSensorMetaDataList(const TSensorMetaData** metadata); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_SNS_METADATA */ diff --git a/sensors-service/api/sns.h b/sensors-service/api/sns.h new file mode 100644 index 0000000..026d6ed --- /dev/null +++ b/sensors-service/api/sns.h @@ -0,0 +1,58 @@ +/************************************************************************** + * Component Name: SensorsService + * Compliance Level: Abstract Component + * Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * License: + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_SNS +#define INCLUDE_GENIVI_SNS + +// API Version +#define GENIVI_SNS_API_MAJOR 2 +#define GENIVI_SNS_API_MINOR 0 +#define GENIVI_SNS_API_MICRO 0 + +#include <stdint.h> +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Initialization of the sensor service system infrastructure. + * Must be called before using any of the sensor services to set up general structures and connections + * to the sensors or signal providers. + * If not called before a sensor init the system behaviour is not defined. + * @return True if initialization has been successful. + */ +bool snsInit(); + +/** + * Destroy the sensor services. + * Must be called after using the sensor services for shut down. + * After this call no sensor will be able to receive sensor data. + * The individual sensors must be shut down before this call. Otherwise system behaviour is not defined. + * @return True if shutdown has been successful. + */ +bool snsDestroy(); + +/** + * Sensor services version information. + * This information is for the sensor services system structure. + * The version information for each sensor can be obtained via the metadata. + * @param major Major version number. Changes in this number are used for incompatible API change. + * @param minor Minor version number. Changes in this number are used for compatible API change. + * @param micro Micro version number. Changes in this number are used for minor changes. + */ +void snsGetVersion(int *major, int *minor, int *micro); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_SNS */ diff --git a/sensors-service/api/steering-angle.h b/sensors-service/api/steering-angle.h new file mode 100644 index 0000000..fab2007 --- /dev/null +++ b/sensors-service/api/steering-angle.h @@ -0,0 +1,134 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_STEERINGANGLE +#define INCLUDE_GENIVI_STEERINGANGLE + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TSteeringAngleData::validityBits provides information about the currently valid signals of the steering angle data. + * It is a or'ed bitmask of the ESteeringAngleValidityBits values. + */ +typedef enum { + STEERINGANGLE_FRONT_VALID = 0x00000001, /**< Validity bit for field TSteeringAngleData::front. */ + STEERINGANGLE_REAR_VALID = 0x00000002, /**< Validity bit for field TSteeringAngleData::rear. */ + STEERINGANGLE_STEERINGWHEEL_VALID = 0x00000004 /**< Validity bit for field TSteeringAngleData::steeringWheel. */ +} ESteeringAngleValidityBits; + +/** + * The SteeringAngle delivers the sensor values of the steering angle. + * You must check the valid bits before usage. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the steering angle signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + float front; /**< Returns the steering angle of the front wheels [degree]. */ + float rear; /**< Returns the steering angle of the rear wheels [degree]. This is only useful for vehicles with a steerable rear axis. */ + float steeringWheel; /**< Returns the angle of the steering wheel [degree]. Useful for vehicles where the wheel angles are not available. + Must be used in combination with the steeringRatio. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref ESteeringAngleValidityBits values]. + Must be checked before usage. */ +} TSteeringAngleData; + +/** + * The SteeringAngleConfiguration delivers the static configuration values of the steering wheel sensor service. + */ +typedef struct { + float sigmaSteeringAngle; /**< Standard deviation of the steering front angle in [degree]. */ + float sigmaSteeringWheelAngle; /**< Standard deviation of the steering wheel angle in [degree]. */ + float steeringRatio; /**< Steering ratio between steering wheel and wheels. Only valid when static: Unit: [-] */ +} TSteeringAngleConfiguration; + +/** + * Callback type for steering angle sensor service. + * Use this type of callback if you want to register for steering angle data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param steeringAngleData pointer to an array of TSteeringAngleData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*SteeringAngleCallback)(const TSteeringAngleData steeringAngleData[], uint16_t numElements); + +/** + * Initialization of the steering angle sensor service. + * Must be called before using the steering angle sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsSteeringAngleInit(); + +/** + * Destroy the SteeringAngle sensor service. + * Must be called after using the SteeringAngle sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsSteeringAngleDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsSteeringAngleGetMetaData(TSensorMetaData *data); + +/** + * Method to get the steering angle data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param angleData After calling the method the currently available steering angle data is written into angleData. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsSteeringAngleGetSteeringAngleData(TSteeringAngleData* angleData); + +/** + * Accessing static configuration information about the steering angle sensor. + * @param config After calling the method the currently available static steering angle configuration data is written into config. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsSteeringAngleGetConfiguration(TSteeringAngleConfiguration* config); + +/** + * Register steering angle callback. + * This is the recommended method for continuously accessing the steering angle data. + * The callback will be invoked when new steering angle data is available. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsSteeringAngleRegisterCallback(SteeringAngleCallback callback); + +/** + * Deregister steering angle callback. + * After calling this method no new steering angle data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsSteeringAngleDeregisterCallback(SteeringAngleCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_STEERINGANGLE */ diff --git a/sensors-service/api/vehicle-data.h b/sensors-service/api/vehicle-data.h new file mode 100644 index 0000000..df6149c --- /dev/null +++ b/sensors-service/api/vehicle-data.h @@ -0,0 +1,143 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_VEHICLE_DATA +#define INCLUDE_GENIVI_VEHICLE_DATA + +#ifdef __cplusplus +extern "C" { +#endif + +#include <stdint.h> +#include <stdbool.h> + +/** + * Description of driven axles. This is currently restricted to passenger cars. + */ +typedef enum { + SNS_AXLE_UNKNOWN = 0, /**< It is not known which axles are driven. */ + SNS_AXLE_FRONT = 1, /**< Only the front axle is driven. */ + SNS_AXLE_REAR = 2, /**< Only the rear axle is driven. */ + SNS_AXLE_BOTH = 3 /**< Both axles are driven (4 wheel drive). */ +} EAxleType; + +/** + * Description of the vehicle type. This is for future extensions. + * Currently the specification is based mostly on cars. Other vehicle types are just referenced for future extensions. + */ +typedef enum { + SNS_CAR = 0, /**< Passenger car with 4 wheels. */ + SNS_TRUCK = 1, /**< Truck */ + SNS_MOTORBIKE = 2, /**< Motorbike with 2 wheels. */ + SNS_BUS = 3 /**< Passenger bus. */ +} EVehicleType; + +/** + * 3 dimensional distance used for description of geometric descriptions within the vehicle reference system. + */ +typedef struct { + float x; /**< Distance in x direction in [m] according to the reference coordinate system. */ + float y; /**< Distance in y direction in [m] according to the reference coordinate system. */ + float z; /**< Distance in z direction in [m] according to the reference coordinate system. */ +} TDistance3D; + + +/** + * Type of the vehicle. This is a static configuration. + * @param type The vehicle type is written to this parameter as a result as defined in the enumeration. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetVehicleType(EVehicleType* type); + +/** + * Type of the driven axles of the vehicle as provided in the official documents. This is a static configuration. + * @param axles The driven axles type is written to this parameter as a result as defined in the enumeration. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetDrivenAxles(EAxleType* axles); + +/** + * Number of seats of the vehicle as provided in the official documents. This is a static configuration. + * @param seatCount The number of seats is written to this parameter as a result. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetSeatCount(uint8_t* seatCount); + +/** + * Track width of the vehicle as provided in the official documents. This is a static configuration. Unit: [m]. + * If the vehicle has different track widths at the front and rear axles, the rear axle track is referred to. + * @param width The vehicle track width in m is written to this parameter as a result. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetTrackWidth(float* width); + +/** + * Front axle track width of the vehicle as provided in the official documents. This is a static configuration. Unit: [m]. + * @param width The vehicle track width of the front axle in m is written to this parameter as a result. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetFrontAxleTrackWidth(float* width); + +/** + * Wheel base of the vehicle as provided in the official documents. This is a static configuration. Unit: [m]. + * The wheel base is basically the distance between the front axle and the rear axle. + * For an exact definition, see ISO 8855. + * @param width The wheel base in m is written to this parameter as a result. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetWheelBase(float* wheelbase); + +/** + * Mass of the vehicle as provided in the official documents. This is a static configuration value and does not include the current load. Unit: [kg]. + * @param mass The vehicle mass in kg is written to this parameter as a result. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetVehicleMass(float* mass); + +/** + * Width of the vehicle as provided in the official documents. This is a static configuration. Unit: [m]. + * @param width The vehicle width in m is written to this parameter as a result. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetVehicleWidth(float* width); + +/** + * Distance of the center of gravity to the reference point in 3 dimensions. Unit: [m]. + * @param dist The distance result in 3 dimensions is written to this parameter. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetDistCoG2RefPoint(TDistance3D *dist); + +/** + * Distance of front axle to the reference point in 3 dimensions. Unit: [m]. + * @param dist The distance result in 3 dimensions is written to this parameter. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetDistFrontAxle2RefPoint(TDistance3D *dist); + +/** + * Distance of rear axle to the reference point in 3 dimensions. Unit: [m]. + * @param dist The distance result in 3 dimensions is written to this parameter. + * @return True if the configuration value is available. If false no value could be provided. + */ +bool vehicleDataGetDistRearAxle2RefPoint(TDistance3D *dist); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_VEHICLE_DATA */ diff --git a/sensors-service/api/vehicle-speed.h b/sensors-service/api/vehicle-speed.h new file mode 100644 index 0000000..ade85d9 --- /dev/null +++ b/sensors-service/api/vehicle-speed.h @@ -0,0 +1,109 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDED_GENIVI_VEHICLESPEED +#define INCLUDED_GENIVI_VEHICLESPEED + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TVehicleSpeedData::validityBits provides information about the currently valid signals of the vehicle speed data. + * It is a or'ed bitmask of the EVehicleSpeedValidityBits values. + */ +typedef enum { + VEHICLESPEED_VEHICLESPEED_VALID = 0x00000001 /**< Validity bit for field TVehicleSpeedData::vehicleSpeed. */ +} EVehicleSpeedValidityBits; + +/** + * Vehicle speed sensor service provides the current speed of the vehicle. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the vehicle speed signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + float vehicleSpeed; /**< Filtered vehicle speed in [m/s] with a frequency of at least 5Hz. Direction is given by the sign of this value.*/ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EVehicleSpeedValidityBits values]. + Must be checked before usage. */ +} TVehicleSpeedData; + +/** + * Callback type for vehicle speed sensor service. + * Use this type of callback if you want to register for vehicle speed data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param vehicleSpeedData pointer to an array of TVehicleSpeedData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*VehicleSpeedCallback)(const TVehicleSpeedData vehicleSpeedData[], uint16_t numElements); + +/** + * Initialization of the vehicle speed sensor service. + * Must be called before using the vehicle speed sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsVehicleSpeedInit(); + +/** + * Destroy the VehicleSpeed sensor service. + * Must be called after using the VehicleSpeed sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsVehicleSpeedDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsVehicleSpeedGetMetaData(TSensorMetaData *data); + +/** + * Method to get the vehicle speed data at a specific point in time. + * @param vehicleSpeed After calling the method the currently available vehicle speed data is written into vehicleSpeed. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsVehicleSpeedGetVehicleSpeedData(TVehicleSpeedData* vehicleSpeed); + +/** + * Register vehicle speed callback. + * The callback will be invoked when new vehicle speed data is available. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsVehicleSpeedRegisterCallback(VehicleSpeedCallback callback); + +/** + * Deregister vehicle speed callback. + * After calling this method no new vehicle speed data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsVehicleSpeedDeregisterCallback(VehicleSpeedCallback callback); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDED_GENIVI_VEHICLESPEED */ diff --git a/sensors-service/api/vehicle-state.h b/sensors-service/api/vehicle-state.h new file mode 100644 index 0000000..3b9f984 --- /dev/null +++ b/sensors-service/api/vehicle-state.h @@ -0,0 +1,118 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDED_GENIVI_VEHICLESTATE +#define INCLUDED_GENIVI_VEHICLESTATE + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * TVehicleStateData::validityBits provides information about the currently valid signals of the vehicle state data. + * It is a or'ed bitmask of the EVehicleStateValidityBits values. + */ +typedef enum { + VEHICLESTATE_ANTILOCKBRAKESYSTEMACTIVE_VALID = 0x00000001, /**< Validity bit for field antiLockBrakeSystemActive::antiLockBrakeSystemActive. */ + VEHICLESTATE_BRAKEACTIVE_VALID = 0x00000002, /**< Validity bit for field antiLockBrakeSystemActive::brakeActive. */ + VEHICLESTATE_ELECTRONICSTABILITYPROGRAMACTIVE_VALID = 0x00000004, /**< Validity bit for field antiLockBrakeSystemActive::electronicStabilityProgramActive. */ + VEHICLESTATE_TRACTIONCONTROLACTIVE_VALID = 0x00000008, /**< Validity bit for field antiLockBrakeSystemActive::tractionControlActive. */ +} EVehicleStateValidityBits; + +/** + * The VehicleStateData delivers the sensor values of the vehicle state. + * You must check the valid bits before usage. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of the accelerometer signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + bool antiLockBrakeSystemActive; /**< If true and signal is valid the ABS is currently engaged. */ + bool brakeActive; /**< If true and signal is valid the brakes are currently engaged. */ + bool electronicStabilityProgramActive; /**< If true and signal is valid the electronic stability system (ESP or DSC) is currently engaged. */ + bool tractionControlActive; /**< If true and signal is valid the traction control (ASR) is currently engaged. */ + uint32_t validityBits; /**< Bit mask indicating the validity of each corresponding value. + [bitwise or'ed @ref EVehicleStateValidityBits values]. + Must be checked before usage. */ +} TVehicleStateData; + +/** + * Callback type for vehicle state sensor service. + * Use this type of callback if you want to register for vehicle state data. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param vehicleSpeedData pointer to an array of TVehicleStateData with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*VehicleStateCallback)(const TVehicleStateData vehicleState[], uint16_t numElements); + +/** + * Initialization of the vehicle state sensor service. + * Must be called before using the vehicle state sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsVehicleStateInit(); + +/** + * Destroy the VehicleState sensor service. + * Must be called after using the VehicleState sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsVehicleStateDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsVehicleStateGetMetaData(TSensorMetaData *data); + +/** + * Method to get the vehicle state data at a specific point in time. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param vehicleState After calling the method the currently available vehicle state data is written into vehicleState. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsVehicleStateGetVehicleStateData(TVehicleStateData* vehicleState); + +/** + * Register vehicle state callback. + * This is the recommended method for continuously accessing the vehicle state data. + * The callback will be invoked when new vehicle state data is available. + * All valid flags are updated. The data is only guaranteed to be updated when the valid flags are true. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsVehicleStateRegisterCallback(VehicleStateCallback callback); + +/** + * Deregister vehicle state callback. + * After calling this method no new vehicle state data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsVehicleStateDeregisterCallback(VehicleStateCallback callback); + +#ifdef __cplusplus +} +#endif +#endif /* INCLUDED_GENIVI_VEHICLESTATE */ diff --git a/sensors-service/api/wheel.h b/sensors-service/api/wheel.h new file mode 100644 index 0000000..b40c879 --- /dev/null +++ b/sensors-service/api/wheel.h @@ -0,0 +1,322 @@ +/************************************************************************** + * @licence app begin@ + * + * SPDX-License-Identifier: MPL-2.0 + * + * \ingroup SensorsService + * \brief Compliance Level: Abstract Component + * \copyright Copyright (C) 2012, BMW Car IT GmbH, Continental Automotive GmbH, PCA Peugeot Citroën, XS Embedded GmbH + * + * \license + * This Source Code Form is subject to the terms of the + * Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with + * this file, You can obtain one at http://mozilla.org/MPL/2.0/. + * + * @licence end@ + **************************************************************************/ + +#ifndef INCLUDE_GENIVI_WHEELTICK +#define INCLUDE_GENIVI_WHEELTICK + +#include "sns-meta-data.h" +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * Defines the type for which the wheel tick information is provided. + * Usually wheel ticks are either provided for the non-driven axle or for each wheel individually. + */ +typedef enum { + WHEEL_INVALID = 0, /**< Wheel tick data is invalid / the field is unused. */ + WHEEL_UNKNOWN = 1, /**< No information available where the wheel tick data is from. */ + WHEEL_AXLE_NONDRIVEN = 2, /**< Wheel tick data is an average from the non driven axle. Can be front or rear depending on the type of drivetrain. */ + WHEEL_AXLE_FRONT = 3, /**< Wheel tick data is an average from the front axle. */ + WHEEL_AXLE_REAR = 4, /**< Wheel tick data is an average from the rear axle. */ + WHEEL_LEFT_FRONT = 5, /**< Wheel tick data is from the left front wheel. */ + WHEEL_RIGHT_FRONT = 6, /**< Wheel tick data is from the right front wheel. */ + WHEEL_LEFT_REAR = 7, /**< Wheel tick data is from the left rear wheel. */ + WHEEL_RIGHT_REAR = 8 /**< Wheel tick data is from the right rear wheel. */ +} EWheelId; + +/** + * Maximum number of wheel elements per structure. + * A fix value is used because a flat data structure has advantages like simple copying, indexed access. + */ +#define WHEEL_NUM_ELEMENTS 4 + +/** + * A single wheel tick information. + * No valid flags are provided for the wheel ticks as this information is transferred as an array. + * If data is not valid the data is simply omitted from transfer. + */ +typedef struct { + EWheelId wheeltickIdentifier; /**< Type for which this tick information is provided. */ + uint32_t wheeltickCounter; /**< The actual wheel tick counter which provides the ticks for the type + specified in wheeltickIdentifier. + This is a running counter which overflows only at a vehicle specific threshold. + This must be tracked by the client. + The threshold value can be determined by calling snsWheeltickGetWheelticksCountMax() */ +} TWheeltickDetail; + +/** + * Wheel tick information for multiple wheels. + * Container with timestamp as used by callback and get function. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of this wheel tick signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + TWheeltickDetail elements[WHEEL_NUM_ELEMENTS]; /**< The array of wheeltick elements. */ +} TWheelticks; + +/** + * Callback type for wheel tick sensor service. + * Use this type of callback if you want to register for wheel tick data. + * Wheel tick data can be provided for multiple WheelIds. E.g. data can be provided for all 4 wheels. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param ticks pointer to an array of TWheelticks with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*WheeltickCallback)(const TWheelticks ticks[], uint16_t numElements); + +/** + * Initialization of the wheel tick sensor service. + * Must be called before using the wheel tick sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsWheeltickInit(); + +/** + * Destroy the wheel tick sensor service. + * Must be called after using the wheel tick sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsWheeltickDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsWheelTickGetMetaData(TSensorMetaData *data); + +/** + * Wheel ticks per revolution + * Static configuration value that specifies how many wheel ticks there are per a single revolution of one wheel. + * @param ticks The number of ticks for a single revolution of one wheel + * @return True if configuration data is available. + */ +bool snsWheeltickGetWheelticksPerRevolution(uint16_t* ticks); + +/** + * Maximum value of vehicle specific wheel tick rolling counters + * Static configuration value that specifies _after_ which value the wheel tick counter will roll over. + * Some examples + * if full 15bit are used for the vehicle specifc rolling wheel counters, the maximum value would be 0x7FFF = 32767 + * if 15bit are used but the last value 0x7FFF is reserved as SNA then the maximum value would be 0x7FFE = 32766 + * @param max_count The maximum value of wheel tick rolling counters + * @return True if configuration data is available. If false no value could be provided and an overflow only at the uint32 size shall be assumed. + */ +bool snsWheeltickGetWheelticksCountMax(uint32_t* max_count); + +/** + * Method to get the wheel tick data at a specific point in time. + * @param ticks After calling the method the currently available wheel tick data is written into the array. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsWheeltickGetWheelticks(TWheelticks *ticks); + +/** + * Register callback for multiple wheel tick information. + * This is the recommended method for continuously accessing the wheel tick data. + * The callback will be invoked when new wheel tick data is available. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsWheeltickRegisterCallback(WheeltickCallback callback); + +/** + * Deregister multiple wheel tick callback. + * After calling this method no new wheel tick data will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsWheeltickDeregisterCallback(WheeltickCallback callback); + +/** + * A single angular wheel speed information. + * No valid flags are provided for the angular wheel speeds as this information is transferred as an array. + * If data is not valid the data is simply omitted from transfer. + */ +typedef struct { + EWheelId id; + float rotations; /**< unit is [1/s] rotation per seconds */ +} TWheelspeedAngularDetail; + +/** + * Angular wheel speed information for multiple wheels. + * Container with timestamp as used by callback and get function. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of this angular wheel speed signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + TWheelspeedAngularDetail elements[WHEEL_NUM_ELEMENTS]; /**< The array of angular wheel speed elements. */ +} TWheelspeedAngular; + +/** + * Callback type for angular wheel speed sensor service. + * Use this type of callback if you want to register for angular wheel speed data. + * Wheel tick data can be provided for multiple WheelIds. E.g. data can be provided for all 4 wheels. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param ticks pointer to an array of TWheelspeedAngular with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*WheelspeedAngularCallback)(const TWheelspeedAngular rotations[], uint16_t numElements); + +/** + * Initialization of the angular wheel speed sensor service. + * Must be called before using the angular wheel speed sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsWheelspeedAngularInit(); + +/** + * Destroy the angular wheel speed sensor service. + * Must be called after using the angular wheel speed sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsWheelspeedAngularDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsWheelspeedAngularGetMetaData(TSensorMetaData *data); + +/** + * Method to get the angular wheel speed data at a specific point in time. + * @param wsa After calling the method the currently available angular wheel speed data is written into the array. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsWheelspeedAngularGet(TWheelspeedAngular* wsa); + +/** + * Register callback for multiple angular wheel speed information. + * This is the recommended method for continuously accessing the angular wheel speed data. + * The callback will be invoked when new angular wheel speed data is available. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsWheelspeedAngularRegisterCallback(WheelspeedAngularCallback callback); + +/** + * Deregister multiple angular wheel speed callback. + * After calling this method no new angular wheel speed will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsWheelspeedAngularDeregisterCallback(WheelspeedAngularCallback callback); + +/** + * A single wheel speed information. + * No valid flags are provided for the wheel speeds as this information is transferred as an array. + * If data is not valid the data is simply omitted from transfer. + */ +typedef struct { + EWheelId id; + float speedOfWheel; /**< [m/s] */ +} TWheelspeedDetail; +/** + * Wheel speed information for multiple wheels. + * Container with timestamp as used by callback and get function. + */ +typedef struct { + uint64_t timestamp; /**< Timestamp of the acquisition of this wheel speed signal [ms]. + All sensor/GNSS timestamps must be based on the same time source. */ + TWheelspeedDetail elements[WHEEL_NUM_ELEMENTS]; /**< The array of wheel speed elements. */ +} TWheelspeed; + +/** + * Callback type for wheel speed sensor service. + * Use this type of callback if you want to register for wheel speed data. + * Wheel tick data can be provided for multiple WheelIds. E.g. data can be provided for all 4 wheels. + * This callback may return buffered data (numElements >1) for different reasons + * for (large) portions of data buffered at startup + * for data buffered during regular operation e.g. for performance optimization (reduction of callback invocation frequency) + * If the array contains (numElements >1), the elements will be ordered with rising timestamps + * @param wheelspeed pointer to an array of TWheelspeed with size numElements + * @param numElements: allowed range: >=1. If numElements >1, buffered data are provided. + */ +typedef void (*WheelspeedCallback)(const TWheelspeed wheelspeed[], uint16_t numElements); + +/** + * Initialization of the wheel speed sensor service. + * Must be called before using the wheel tick sensor service to set up the service. + * @return True if initialization has been successfull. + */ +bool snsWheelspeedInit(); + +/** + * Destroy the wheel tick sensor service. + * Must be called after using the wheel speed sensor service to shut down the service. + * @return True if shutdown has been successfull. + */ +bool snsWheelspeedDestroy(); + +/** + * Provide meta information about sensor service. + * The meta data of a sensor service provides information about it's name, version, type, subtype, sampling frequency etc. + * @param data Meta data content about the sensor service. + * @return True if meta data is available. + */ +bool snsWheelspeedGetMetaData(TSensorMetaData *data); + +/** + * Method to get the wheel speed data at a specific point in time. + * @param wheelspeed After calling the method the currently available wheel speed data is written into the array. + * @return Is true if data can be provided and false otherwise, e.g. missing initialization + */ +bool snsWheelspeedGet(TWheelspeed* wheelspeed); + +/** + * Register callback for multiple wheel speed information. + * This is the recommended method for continuously accessing the wheel speed data. + * The callback will be invoked when new angular wheel speed data is available. + * @param callback The callback which should be registered. + * @return True if callback has been registered successfully. + */ +bool snsWheelspeedRegisterCallback(WheelspeedCallback callback); + +/** + * Deregister multiple wheel speed callback. + * After calling this method no new wheel speed will be delivered to the client. + * @param callback The callback which should be deregistered. + * @return True if callback has been deregistered successfully. + */ +bool snsWheelspeedDeregisterCallback(WheelspeedCallback callback); + +/** + * Tire rolling circumference as provided in the official documents. This is a static configuration. Unit: [m]. + * Static configuration value that specifies the distance travelled on the ground per a single revolution of one wheel. + * This may be useful for calculations based on wheel ticks or angular wheel speeds + * @param circumference The tire rolling circumference in m is written to this parameter as a result. + * @return True if configuration data is available. If false no value could be provided. + */ +bool snsWheelGetTireRollingCircumference(float* circumference); + +#ifdef __cplusplus +} +#endif + +#endif /* INCLUDE_GENIVI_WHEELTICK */ diff --git a/sensors-service/doc/SensorsServiceAPI.pdf b/sensors-service/doc/SensorsServiceAPI.pdf Binary files differnew file mode 100644 index 0000000..dfa41a8 --- /dev/null +++ b/sensors-service/doc/SensorsServiceAPI.pdf diff --git a/sensors-service/doc/TestPlan.txt b/sensors-service/doc/TestPlan.txt new file mode 100644 index 0000000..eeedfbd --- /dev/null +++ b/sensors-service/doc/TestPlan.txt @@ -0,0 +1,21 @@ +/************************************************************************** + * Component Name: SensorsService + * Compliance Level: Abstract Component + * File: TestPlan.txt + * This document describes how to test the Abstract Component SensorsService. + * It is an artifact required by the GENIVI release process + * and is a prerequisite for the standardization of GENIVI interfaces + **************************************************************************/ + +In order to test the SensorsService you just need to run the test script +'run-test.sh' with the parameter 'sns' and then wait 10 s until the test is completed. + +The script starts the sensors-service-client application followed by the log-replayer +application: + +Example: + +run-test.sh sns + + + diff --git a/sensors-service/doc/tools/Doxyfile b/sensors-service/doc/tools/Doxyfile new file mode 100644 index 0000000..b69d0ec --- /dev/null +++ b/sensors-service/doc/tools/Doxyfile @@ -0,0 +1,1630 @@ +# Doxyfile 1.7.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = "SensorsService" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = ./generated + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = NO + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen to replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penality. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will rougly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols + +SYMBOL_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespace are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command <command> <input-file>, where <command> is the value of +# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = ../../api . + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 + +FILE_PATTERNS = *.h + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = *.c + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command <filter> <input-file>, where <filter> +# is the value of the INPUT_FILTER tag, and <input-file> is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the stylesheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters"> +# Qt Help Project / Custom Filters</a>. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes"> +# Qt Help Project / Filter Attributes</a>. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvances is that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = YES + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = YES + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = YES + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. 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+{\fbiminor\f31583\fbidi \froman\fcharset177\fprq2 Times New Roman (Hebrew);}{\fbiminor\f31584\fbidi \froman\fcharset178\fprq2 Times New Roman (Arabic);}{\fbiminor\f31585\fbidi \froman\fcharset186\fprq2 Times New Roman Baltic;}
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+\s9\ql \fi-1584\li1584\ri0\sb240\sa60\nowidctlpar\wrapdefault\faauto\ls1\ilvl8\outlinelevel8\rin0\lin1584\itap0 \rtlch\fcs1 \af1\afs22\alang1025 \ltrch\fcs0 \fs22\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031
+\sbasedon0 \snext0 \slink23 \sqformat heading 9;}{\*\cs10 \additive Default Paragraph Font;}{\*
+\ts11\tsrowd\trftsWidthB3\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind0\tblindtype3\tscellwidthfts0\tsvertalt\tsbrdrt\tsbrdrl\tsbrdrb\tsbrdrr\tsbrdrdgl\tsbrdrdgr\tsbrdrh\tsbrdrv \ql \li0\ri0\sa200\sl276\slmult1
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+\snext11 \ssemihidden \sunhideused \sqformat Normal Table;}{\*\cs15 \additive \rtlch\fcs1 \ab\af36\afs32 \ltrch\fcs0 \b\f36\fs32 \sbasedon10 \slink1 \slocked \'dcberschrift 1 Zchn;}{\*\cs16 \additive \rtlch\fcs1 \ab\ai\af36\afs28 \ltrch\fcs0
+\b\i\f36\fs28 \sbasedon10 \slink2 \slocked \'dcberschrift 2 Zchn;}{\*\cs17 \additive \rtlch\fcs1 \ab\af36\afs26 \ltrch\fcs0 \b\f36\fs26 \sbasedon10 \slink3 \slocked \'dcberschrift 3 Zchn;}{\*\cs18 \additive \rtlch\fcs1 \ab\af0\afs28 \ltrch\fcs0 \b\fs28
+\sbasedon10 \slink4 \slocked \'dcberschrift 4 Zchn;}{\*\cs19 \additive \rtlch\fcs1 \ab\ai\af0\afs26 \ltrch\fcs0 \b\i\fs26 \sbasedon10 \slink5 \slocked \'dcberschrift 5 Zchn;}{\*\cs20 \additive \rtlch\fcs1 \ab\af0 \ltrch\fcs0 \b
+\sbasedon10 \slink6 \slocked \'dcberschrift 6 Zchn;}{\*\cs21 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink7 \slocked \'dcberschrift 7 Zchn;}{\*\cs22 \additive \rtlch\fcs1 \ai\af0 \ltrch\fcs0 \i \sbasedon10 \slink8 \slocked
+\'dcberschrift 8 Zchn;}{\*\cs23 \additive \rtlch\fcs1 \af36 \ltrch\fcs0 \f36 \sbasedon10 \slink9 \slocked \'dcberschrift 9 Zchn;}{\*\cs24 \additive \f3 WW8Num1z0;}{\*\cs25 \additive \f2 WW8Num1z2;}{\*\cs26 \additive \f10 WW8Num1z3;}{\*\cs27 \additive \f3
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+\cs35 \additive \f3 WW8Num9z0;}{\*\cs36 \additive \f1 WW8Num9z1;}{\*\cs37 \additive \f3 WW8Num10z0;}{\*\cs38 \additive \f1 WW8Num10z1;}{\*\cs39 \additive \f3 WW8Num11z0;}{\*\cs40 \additive \f1 WW8Num11z1;}{\*\cs41 \additive \f3 WW8Num12z0;}{\*\cs42
+\additive \f1 WW8Num12z1;}{\*\cs43 \additive \f10 WW8Num12z2;}{\*\cs44 \additive \f3 WW8Num13z0;}{\*\cs45 \additive \f2 WW8Num13z1;}{\*\cs46 \additive \f10 WW8Num13z2;}{\*\cs47 \additive \f3 WW8Num14z0;}{\*\cs48 \additive \f2 WW8Num14z1;}{\*\cs49
+\additive \f10 WW8Num14z2;}{\*\cs50 \additive \f3 WW8Num17z0;}{\*\cs51 \additive \f2 WW8Num17z1;}{\*\cs52 \additive \f10 WW8Num17z2;}{\*\cs53 \additive \f3 WW8Num18z0;}{\*\cs54 \additive \f2 WW8Num18z1;}{\*\cs55 \additive \f10 WW8Num18z2;}{\*\cs56
+\additive \f3 WW8Num20z0;}{\*\cs57 \additive \f2 WW8Num20z1;}{\*\cs58 \additive \f10 WW8Num20z2;}{\*\cs59 \additive \f3 WW8Num21z0;}{\*\cs60 \additive \f2 WW8Num21z1;}{\*\cs61 \additive \f10 WW8Num21z2;}{\*\cs62 \additive \f3 WW8Num22z0;}{\*\cs63
+\additive \f2 WW8Num22z1;}{\*\cs64 \additive \f10 WW8Num22z2;}{\*\cs65 \additive \f3 WW8Num23z0;}{\*\cs66 \additive \f2 WW8Num23z1;}{\*\cs67 \additive \f10 WW8Num23z2;}{\*\cs68 \additive \f3 WW8Num3z0;}{\*\cs69 \additive \f1 WW8Num3z1;}{\*\cs70 \additive
+\f3 WW8Num7z0;}{\*\cs71 \additive \f1 WW8Num7z1;}{\*\cs72 \additive Absatz-Standardschriftart1;}{\*\cs73 \additive WW-Absatz-Standardschriftart;}{\*\cs74 \additive WW-Absatz-Standardschriftart1;}{\*\cs75 \additive WW-Absatz-Standardschriftart11;}{\*\cs76
+\additive WW-Absatz-Standardschriftart111;}{\*\cs77 \additive WW-Absatz-Standardschriftart1111;}{\*\cs78 \additive Numbering Symbols;}{\*\cs79 \additive \rtlch\fcs1 \ab\af0\afs20 \ltrch\fcs0 \b\fs20\cf1 \sbasedon10 \sqformat Strong;}{\*\cs80 \additive
+\f1 Bullets;}{\*\cs81 \additive \rtlch\fcs1 \af0\afs20 \ltrch\fcs0 \fs20\ul\cf2 \sbasedon10 Hyperlink;}{\*\cs82 \additive \f38\fs14 Char1;}{\*\cs83 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 line number;}{\*\cs84 \additive \b\f1\fs40 Char;}{\*
+\cs85 \additive emphasis;}{\s86\ql \li0\ri0\sb240\sa120\keepn\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs28\alang1025 \ltrch\fcs0 \fs28\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext87
+Heading;}{\s87\ql \li0\ri0\sa120\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext87 \slink88 Body Text;}{\*
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+\fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext92 \slink93 footer;}{\*\cs93 \additive \rtlch\fcs1 \af0 \ltrch\fcs0 \sbasedon10 \slink92 \slocked Fu\'dfzeile Zchn;}{
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+\s104\ql \li0\ri0\sa240\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext104 Title Page Text;}{
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+Title;}{\*\cs106 \additive \rtlch\fcs1 \ab\af36\afs32 \ltrch\fcs0 \b\f36\fs32 \sbasedon10 \slink105 \slocked Titel Zchn;}{\s107\qc \li0\ri0\sb240\sa120\keepn\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \ai\af1\afs28\alang1025 \ltrch\fcs0
+\i\fs28\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext87 \slink108 \sqformat Subtitle;}{\*\cs108 \additive \rtlch\fcs1 \af36 \ltrch\fcs0 \f36 \sbasedon10 \slink107 \slocked Untertitel Zchn;}{
+\s109\ql \li0\ri0\nowidctlpar\brdrt\brdrs\brdrw30\brdrcf1 \wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs16\alang1025 \ltrch\fcs0 \fs16\lang1031\langfe1031\loch\f1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext109 Copyright;}{
+\s110\ql \li566\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin566\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext110 \spriority39 toc 3;}{
+\s111\ql \li849\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin849\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext111 toc 4;}{
+\s112\ql \li1132\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1132\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext112 toc 5;}{
+\s113\ql \li1415\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1415\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext113 toc 6;}{
+\s114\ql \li1698\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1698\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext114 toc 7;}{
+\s115\ql \li1981\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin1981\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext115 toc 8;}{
+\s116\ql \li2264\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin2264\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \sbasedon0 \snext116 toc 9;}{
+\s117\ql \li2547\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin2547\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext117 Contents 10;}{\*\cs118 \additive
+\rtlch\fcs1 \af0 \ltrch\fcs0 \ul\cf12 \sbasedon10 FollowedHyperlink;}{\*\cs119 \additive \b\f39\fs16\cf1\chshdng0\chcfpat0\chcbpat17 SSBookmark;}{\s120\ql \fi-360\li360\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 \rtlch\fcs1 \af0\afs20\alang1025
+\ltrch\fcs0 \fs20\cf1\lang1031\langfe1031\loch\f0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 \snext0 Numbered List;}{\s121\ql \fi-360\li360\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin360\itap0 \rtlch\fcs1 \af0\afs20\alang1025 \ltrch\fcs0
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+\par
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+\hich\af2\dbch\af31505\loch\f2 Continental Automotive GmbH, P\hich\af2\dbch\af31505\loch\f2 C}{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid13596631\charrsid13596631 \hich\af2\dbch\af31505\loch\f2 \hich\f2 A Peugeot Citro\'eb
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+\par }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 This work is licensed under the Creative Commons Attribution-ShareAlike 3.0}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 Unported License.}{
+\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5441583
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583
+\par }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 To view a copy of this}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
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+license, visit http://creativecommons.org/licenses/by-sa/3.0/}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583
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+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af2 \ltrch\fcs0 \f2\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583 \hich\af2\dbch\af31505\loch\f2 Castro Street, Su
+\hich\af2\dbch\af31505\loch\f2 ite 900, Mountain View, California, 94041, USA.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5441583\charrsid5441583
+\par }\pard\plain \ltrpar\s103\qc \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24
+\ltrch\fcs0 \b0\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \page }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs60\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+Table of Contents
+\par }\pard\plain \ltrpar\qc \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par }\pard\plain \ltrpar\s100\ql \li0\ri0\nowidctlpar\tx566\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031
+{\field\fldedit{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 TOC \\o "1-9"}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 1.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1
+\af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 Change History}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }
+{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986713 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332
+{\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f006300330038003200390038003600370031003300000000000000}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 4}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 2.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 Introduction}{\rtlch\fcs1
+\af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0
+ PAGEREF _Toc382986714 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f006300330038003200390038003600370031003400000000000010}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 5}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 3.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 Terminology}{\rtlch\fcs1
+\af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0
+ PAGEREF _Toc382986715 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f006300330038003200390038003600370031003500000000803f00}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 6}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 4.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Requirements\tab }
+{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986716 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332
+{\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f006300330038003200390038003600370031003600000000000000}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 7}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }\pard\plain \ltrpar\s101\ql \li240\ri0\nowidctlpar\tx849\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin240\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 1.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Requirements Diagram}{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986717 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700310037000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 7}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }\pard\plain \ltrpar\s110\ql \li566\ri0\nowidctlpar\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin566\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 AGPS Support}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }
+{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986718 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332
+{\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700310038000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 Forward a Set of Sensor Values}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986719 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700310039000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Provides Data via IPC}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986720 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320030000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 Support of different Global Navigation Satellite Systems (GNSS) to calculate the current position.}{\rtlch\fcs1
+\af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0
+ PAGEREF _Toc382986721 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320031000000ffffffff}}}{\fldrslt {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Accelerator Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986722 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320032000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 9}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Access to Sensor Services}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986723 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320033000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 10}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Car Configuration Data}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986724 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320034000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 10}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 Data Latency for GNSS and DR Signals}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986725 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320035000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 10}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Enhanced Position}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986726 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320036000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 11}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Extended Acceleration Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986727 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320037000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 11}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Extended GNSS Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986728 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320038000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 11}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Extended Gyroscope Sensor Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986729 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700320039000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 12}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 GNSS Service}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986730 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330030000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 12}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PPS Signal}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab
+}{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986731 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332
+{\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330031000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 12}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Inclination Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986732 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330032000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Odometer Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986733 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330033000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 ReverseGear Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986734 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330034000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Sensor Directory}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986735 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330035000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 13}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Sensor Meta-Data}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986736 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330036000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 14}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Sensor Signal Timestamp}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986737 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330037000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 14}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Signal Measurement Units}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986738 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330038000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 14}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Signal Values Type Compatibility}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986739 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700330039000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 15}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Simple Gyroscope Sensor Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986740 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340030000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 15}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Slip Angle Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986741 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340031000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 15}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 SteeringAngle Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986742 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340032000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 15}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Vehicle State Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986743 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340033000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 16}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 VehicleSpeed Sensor}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986744 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340034000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 16}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf18\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 Wheel Tick/Speed Sensor Service}{\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986745 \\h
+}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield 08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340035000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 16}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }\pard\plain \ltrpar\s100\ql \li0\ri0\nowidctlpar\tx566\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1
+\af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid11014775 \hich\af0\dbch\af31505\loch\f0 5.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Architecture\tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986746 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340036000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 17}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }\pard\plain \ltrpar\s101\ql \li240\ri0\nowidctlpar\tx849\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin240\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\ulc1\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 1.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \f36\cf1\lang1024\langfe1024\noproof\langnp1033\ulc1\insrsid3699769\charrsid3699769 \hich\af36\dbch\af31505\loch\f36 SensorsService}{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986747 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340037000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 17}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 2.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 SensorsService Diagram}{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986748 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340038000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 17}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 3.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0
+\f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \hich\af0\dbch\af31505\loch\f0 Traceability Diagram}{
+\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986749 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700340039000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\hich\af0\dbch\af31505\loch\f0 18}}}\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\langnp1033\insrsid3699769\charrsid3699769
+\par }\pard\plain \ltrpar\s110\ql \li566\ri0\nowidctlpar\tx1132\tqr\tldot\tx9962\wrapdefault\faauto\rin0\lin566\itap0 \rtlch\fcs1 \af0\afs24\alang1025 \ltrch\fcs0 \fs24\lang1031\langfe1031\loch\af0\hich\af0\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\dbch\af0\noproof\ulc1\insrsid3699769\charrsid11014775 1.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\insrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\i\f36\cf1\lang1024\langfe1024\noproof\ulc1\insrsid3699769\charrsid11014775 \hich\af36\dbch\af31505\loch\f36 Context}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\insrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986750 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700350030000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid3699769 \hich\af0\dbch\af31505\loch\f0 19}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\insrsid3699769
+\par }{\rtlch\fcs1 \af0 \ltrch\fcs0 \cf1\lang1024\langfe1024\dbch\af0\noproof\insrsid3699769\charrsid11014775 2.}{\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\insrsid3699769 \tab }{\rtlch\fcs1 \af0 \ltrch\fcs0
+\cf1\lang1024\langfe1024\dbch\af0\noproof\insrsid3699769\charrsid11014775 Context Diagram}{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid3699769 \tab }{\field{\*\fldinst {\rtlch\fcs1 \af0 \ltrch\fcs0
+\lang1024\langfe1024\noproof\insrsid3699769 \hich\af0\dbch\af31505\loch\f0 PAGEREF _Toc382986751 \\h }{\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid1771332 {\*\datafield
+08d0c9ea79f9bace118c8200aa004ba90b02000000080000000e0000005f0054006f0063003300380032003900380036003700350031000000ffffffff}}}{\fldrslt {\rtlch\fcs1 \af0 \ltrch\fcs0 \lang1024\langfe1024\noproof\insrsid3699769 \hich\af0\dbch\af31505\loch\f0 19}}}
+\sectd \ltrsect\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \af31507\afs22 \ltrch\fcs0 \f31506\fs22\lang1024\langfe1024\noproof\insrsid3699769
+\par }\pard\plain \ltrpar\s103\qc \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 }}\pard\plain \ltrpar
+\s103\qc \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 \sectd \ltrsect
+\linex0\headery1134\footery1134\titlepg\sectdefaultcl\sftnbj {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par }\pard\plain \ltrpar\s1\ql \li0\ri0\sa240\keepn\pagebb\nowidctlpar\tx442\wrapdefault\faauto\outlinelevel0\rin0\lin0\itap0\pararsid12016917 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0
+\b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \page }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart _Toc382986713}\hich\af0\dbch\af31505\loch\f0 Change History{\*\bkmkend _Toc382986713}
+\par }\pard\plain \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrs\brdrw20\brdrcf1 \clbrdrb
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+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1800\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx3218\clvertalt\clbrdrt\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb
+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1800\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx5019\clvertalt\clbrdrt\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb
+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrs\brdrw20\brdrcf1 \clcbpat1\cltxlrtb\clftsWidth3\clwWidth5300\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx10316\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs24\cf8\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Version\cell \hich\af0\dbch\af31505\loch\f0 Date\cell
+\hich\af0\dbch\af31505\loch\f0 Author\cell \hich\af0\dbch\af31505\loch\f0 Change\cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow0\irowband0\ltrrow\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt
+\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrs\brdrw20\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1308\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx1417\clvertalt
+\clbrdrt\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1800\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx3218\clvertalt\clbrdrt
+\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \clcbpat1\cltxlrtb\clftsWidth3\clwWidth1800\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx5019\clvertalt\clbrdrt
+\brdrs\brdrw20\brdrcf1 \clbrdrl\brdrnone \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrs\brdrw20\brdrcf1 \clcbpat1\cltxlrtb\clftsWidth3\clwWidth5300\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw1 \cellx10316\row \ltrrow
+}\trowd \irow1\irowband1\ltrrow\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb
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+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone \cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb
+\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 0.1}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 27.08.2013}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid656115 \hich\af0\dbch\af31505\loch\f0 MResidori}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528
+\cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Document Created\cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid656115 \hich\af0\dbch\af31505\loch\f0 0.2}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid656115 \hich\af0\dbch\af31505\loch\f0 18.11.2013}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\insrsid656115 \hich\af0\dbch\af31505\loch\f0 MResidori}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid656115 \hich\af0\dbch\af31505\loch\f0 Document generated from the Entrprise Architect Model}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow2\irowband2\ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5441583 0.3}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5441583 \hich\af0\dbch\af31505\loch\f0 27.03.2014}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5441583 \hich\af0\dbch\af31505\loch\f0 MResidori}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5441583 \hich\af0\dbch\af31505\loch\f0 Added copyright notes}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow3\irowband3\ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow4\irowband4\lastrow \ltrrow
+\ts11\trleft108\trftsWidth3\trwWidth10208\trpaddl108\trpaddr108\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind216\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1309\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx1417\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx3218\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth1802\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx5019\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf1 \clbrdrl\brdrs\brdrw10\brdrcf1 \clbrdrb\brdrs\brdrw10\brdrcf1 \clbrdrr
+\brdrs\brdrw10\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth5295\clpadl0\clpadt108\clpadb0\clpadr108\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10316\row }\pard\plain \ltrpar\s103\ql \li10\ri0\widctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1
+\ab\af1\afs20\alang1025 \ltrch\fcs0 \b\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par
+\par }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \b0\f0\cf1\lang2057\langfe1031\langnp2057\insrsid5916528
+\par {\*\bkmkstart _Toc382986714}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 1.\tab}}\pard\plain \ltrpar
+\s1\ql \fi-431\li441\ri0\sa240\keepn\pagebb\nowidctlpar\tx442\wrapdefault\faauto\ls1\outlinelevel0\rin0\lin441\itap0 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0 \b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Introduction{\*\bkmkend _Toc382986714}
+\par }\pard\plain \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 This document describes the}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\hich\af0\dbch\af31505\loch\f0 API of the}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 SensorsService component}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528 .}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par
+\par
+\par
+\par
+\par {\*\bkmkstart _Toc382986715}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 2.\tab}}\pard\plain \ltrpar
+\s1\ql \fi-431\li441\ri0\sa240\keepn\pagebb\nowidctlpar\tx442\wrapdefault\faauto\ls1\outlinelevel0\rin0\lin441\itap0 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0 \b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {
+\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Terminology{\*\bkmkend _Toc382986715}
+\par }\pard\plain \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb
+\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone \cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb
+\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0
+{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\i\f0\fs24\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Term\cell \hich\af0\dbch\af31505\loch\f0 Description\cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow0\irowband0\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrs\brdrw5\brdrcf1 \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr
+\brdrs\brdrw5\brdrcf1 \cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\dbch\af0\insrsid5916528 GNSS}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\dbch\af0\insrsid5916528 Global Navigation}{\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \fs24\dbch\af0\insrsid5916528 Satellite System}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow2\irowband2\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow3\irowband3\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow4\irowband4\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow5\irowband5\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow6\irowband6\ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row \ltrrow}\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528 \trowd \irow7\irowband7\lastrow \ltrrow
+\ts11\trleft120\trftsWidth1\trpaddl55\trpaddt55\trpaddb55\trpaddr55\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind175\tblindtype3 \clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2550\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2670\clvertalt\clbrdrt\brdrnone \clbrdrl\brdrs\brdrw5\brdrcf1 \clbrdrb\brdrs\brdrw5\brdrcf1 \clbrdrr\brdrs\brdrw5\brdrcf1
+\cltxlrtb\clftsWidth3\clwWidth7434\clpadl55\clpadt55\clpadb55\clpadr55\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx10104\row }\pard \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\fs24\cf1\lang1033\langfe1031\dbch\af0\langnp1033\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid5916528
+\par
+\par
+\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid656115 \page }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid5916528 \hich\af0\dbch\af31505\loch\f0
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528
+\par {\*\bkmkstart _Toc382986716}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 3.\tab}}\pard\plain \ltrpar
+\s1\ql \fi-431\li431\ri0\sa240\keepn\nowidctlpar\wrapdefault\faauto\ls1\outlinelevel0\rin0\lin431\itap0\pararsid656115 \rtlch\fcs1 \ab\af1\afs32\alang1025 \ltrch\fcs0
+\b\fs32\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Requirements}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 {\*\bkmkstart POSITIONING}{\*\bkmkstart BKM_A679085C_2D8E_47C4_8FA6_FF234C4B6C7A}{\*\bkmkstart BKM_2C51CE04_6942_4400_8CB7_9743E9FB06F3}{\*\bkmkend POSITIONING}
+{\*\bkmkend BKM_A679085C_2D8E_47C4_8FA6_FF234C4B6C7A}{\*\bkmkend BKM_2C51CE04_6942_4400_8CB7_9743E9FB06F3}{\*\bkmkend _Toc382986716}
+\par {\*\bkmkstart _Toc382986717}{\listtext\pard\plain\ltrpar \s2 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\i\fs28\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 1.\tab}}\pard\plain \ltrpar
+\s2\ql \fi-576\li576\ri0\sb480\sa240\keepn\nowidctlpar\wrapdefault\faauto\ls1\ilvl1\outlinelevel1\rin0\lin576\itap0 \rtlch\fcs1 \ab\ai\af1\afs28\alang1025 \ltrch\fcs0
+\b\i\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\ai0\af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Requirements Diagram{\*\bkmkend _Toc382986717}
+\par }\pard\plain \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid656115 \hich\af0\dbch\af31505\loch\f0 This diagram}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+ shows an overview of all requirements in the area of positioning.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 The requirements are organized i\hich\af0\dbch\af31505\loch\f0 n four groups:
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \insrsid5916528 \hich\af0\dbch\af31505\loch\f0 1.\tab}}\pard \ltrpar\ql \fi-360\li360\ri0\nowidctlpar\wrapdefault\faauto\ls2\rin0\lin360\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 SW-POS: general requirements
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 2.\tab}}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 SW-GNSS: requirements related to the GNSS receiver
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 3.\tab}\hich\af0\dbch\af31505\loch\f0 SW-SNS: requirements related to the vehicle sensors
+\par {\listtext\pard\plain\ltrpar \rtlch\fcs1 \af0 \ltrch\fcs0 \lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 4.\tab}\hich\af0\dbch\af31505\loch\f0 SW-ENP: requirements related to enhanced positioning
+\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang3081\langfe1031\langnp3081\insrsid5916528
+\par }\pard \ltrpar\qc \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid1771332 {\*\shppict{\pict{\*\picprop\shplid1026{\sp{\sn shapeType}{\sv 75}}{\sp{\sn fFlipH}{\sv 0}}
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+\picw33719\pich35200\picwgoal19116\pichgoal19956\emfblip\bliptag-1613826555{\*\blipuid 9fcef605361f7d98ed1e43bec9d4f738}010000006c000000ffffffffffffffffbd030000e70300000000000000000000ac8300008789000020454d460000010018ea0200931f00000500000000000000
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+\f0\cf1\lang3081\langfe1031\langnp3081\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \i\f0\cf1\lang3081\langfe1031\langnp3081\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Figure: }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \i\f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 1}{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\fs24\cf1\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\insrsid5916528 \hich\af0\dbch\af31505\loch\f0
+\par }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid656115 \page }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\cf1\insrsid5916528
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_5D246AA2_D0D3_45DD_95EA_997285CF6240}{\*\bkmkend BKM_5D246AA2_D0D3_45DD_95EA_997285CF6240}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986718}\hich\af0\dbch\af31505\loch\f0 AGPS Support}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986718}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides the possibility to inject AGPS "Assisted GPS" data to the GPS device.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rationale:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This allows to speed up the time to get a valid (fixed) GPS position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_BEE73F84_D2F1_488E_8814_FB5C8D8D8314}{\*\bkmkend BKM_BEE73F84_D2F1_488E_8814_FB5C8D8D8314}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 {\*\bkmkstart _Toc382986719}\hich\af0\dbch\af31505\loch\f0 Forward a Set of Sensor Values}{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986719}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The Enhanced Position contains in addition to the Position and Course values as well a set of sensor data.
+\par \hich\af0\dbch\af31505\loch\f0 - yawRate in degrees per second
+\par \hich\af0\dbch\af31505\loch\f0 - filter status
+\par \hich\af0\dbch\af31505\loch\f0 - accuracy information in form of sigma values for every direction [m] and the covariance between lat\hich\af0\dbch\af31505\loch\f0 itude and longitude in m^2.
+\par \hich\af0\dbch\af31505\loch\f0 - number of used, tracked and visible satellites.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Some clients (e.g. Map Matcher) needs the basic DR filtered position specific sensor values as additional input for the decision algorithm.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_7B545194_1ADA_4A5C_88D5_F61B742CBADF}{\*\bkmkend BKM_7B545194_1ADA_4A5C_88D5_F61B742CBADF}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986720}\hich\af0\dbch\af31505\loch\f0 Provides Data via IPC}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986720}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The enhanced position is accessible for multiple clients on th\hich\af0\dbch\af31505\loch\f0 e platform at the same time.
+\par \hich\af0\dbch\af31505\loch\f0 An IPC is used to deliver to the clients the Enhanced Position data fields.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Several SW components in the system are clients for the result of the filtered position and need to access the data.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_7A1CA548_5445_4FA6_B5AC_AA9850280A0E}{\*\bkmkend BKM_7A1CA548_5445_4FA6_B5AC_AA9850280A0E}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 {\*\bkmkstart _Toc382986721}\hich\af0\dbch\af31505\loch\f0
+Support of different Global Navigation Satellite Systems (GNSS) to calculate the current position.}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986721}
+\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0
+\fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow0\irowband0\ltrrow
+\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 \hich\f0 The interfaces are defined in such a way that client applications don\'b4\loch\f0
+t need to know the details of the GNSS in use (e.g. GPS, Galileo, GLONASS, Compass).}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_CF466440_7A77_4953_B1CA_B7B69CC0937F}{\*\bkmkend BKM_CF466440_7A77_4953_B1CA_B7B69CC0937F}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986722}\hich\af0\dbch\af31505\loch\f0 Accelerator Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986722}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform pr\hich\af0\dbch\af31505\loch\f0
+ovides a sensor, which delivers the vehicle acceleration in the driving direction (x Axis, see reference system). The sensor value is delivered in m/s^2. Sensor value of temperature near the sensor is optional.
+\par \hich\af0\dbch\af31505\loch\f0 Configuration data\hich\af0\dbch\af31505\loch\f0 about placement and orientation of the sensor can be provided optionally.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Used for optimizing the dead reckoning solution.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_E6811D2E_B770_44CE_A48C_551D2F489BD3}{\*\bkmkend BKM_E6811D2E_B770_44CE_A48C_551D2F489BD3}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986723}\hich\af0\dbch\af31505\loch\f0 Access to Sensor Servi\hich\af0\dbch\af31505\loch\f0 ces}{\rtlch\fcs1 \ab0\af0\afs24
+\ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986723}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform delivers signals to multiple client applications concurrently by the Sensor Service.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This allows for\hich\af0\dbch\af31505\loch\f0 multiple Client Applications to share a single Sensor.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_9DD1FD36_53B6_4ADC_BC80_28147CE6BA97}{\*\bkmkend BKM_9DD1FD36_53B6_4ADC_BC80_28147CE6BA97}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986724}\hich\af0\dbch\af31505\loch\f0 Car Configuration Data}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986724}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides car configuration data, that contains general vehicle details (e.g. physical dimensions of car, distance of axis, driven axis, etc).
+\par \hich\af0\dbch\af31505\loch\f0 Sensor related configuration data depends on the specific sensor requirements (e.g. positio\hich\af0\dbch\af31505\loch\f0 n of sensor) and is included with the specific sensors.
+\par \hich\af0\dbch\af31505\loch\f0 - Position of center of gravity
+\par \hich\af0\dbch\af31505\loch\f0 - Position of front and rear axle
+\par \hich\af0\dbch\af31505\loch\f0 - driven axles
+\par \hich\af0\dbch\af31505\loch\f0 - seat count
+\par \hich\af0\dbch\af31505\loch\f0 - vehicle mass
+\par \hich\af0\dbch\af31505\loch\f0 - vehicle width
+\par \hich\af0\dbch\af31505\loch\f0 - track width
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 DR module needs the detailed information f\hich\af0\dbch\af31505\loch\f0 or more accurate calculations.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_16719EE2_F45E_4EB4_BACA_A698BE38946D}{\*\bkmkend BKM_16719EE2_F45E_4EB4_BACA_A698BE38946D}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 {\*\bkmkstart _Toc382986725}\hich\af0\dbch\af31505\loch\f0 Data Latency for GNSS and DR Signals}{
+\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986725}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GNonFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides the signals of the GNSS, Extended GNSS and enhanced position in less than 300 ms after acquisition.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This guarantees that the tracked current position does not deviate much from the actual position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_996DC7E9_0411_4828_B17E_E0762D139CB8}{\*\bkmkend BKM_996DC7E9_0411_4828_B17E_E0762D139CB8}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986726}\hich\af0\dbch\af31505\loch\f0 Enhanced Position}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986726}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform delivers the filtered (i.e. combined\hich\af0\dbch\af31505\loch\f0
+ GNSS and vehicle sensor) position as the Enhanced Position, which is the result of the dead reckoning calculation. The Enhanced Position contains:
+\par \hich\af0\dbch\af31505\loch\f0 - Position expressed as WGS 84 longitude and latitude (unit is tenth of microdegree (degree x 10^-7^))
+\par \hich\af0\dbch\af31505\loch\f0 - t\hich\af0\dbch\af31505\loch\f0 he Altitude 'above mean sea level' in meters (corrected by GeoID)
+\par \hich\af0\dbch\af31505\loch\f0 - Heading in degrees relative to the true north
+\par \hich\af0\dbch\af31505\loch\f0 - Climb
+\par \hich\af0\dbch\af31505\loch\f0 - Speed in meters per seconds, positive in the forward direction
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Other SW-components on the same platform want to access\hich\af0\dbch\af31505\loch\f0 the improved GNSS position, which is calculated by a dead reckoning algorithm.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_3A038C1F_8D20_4F79_9A03_4EE2F499A576}{\*\bkmkend BKM_3A038C1F_8D20_4F79_9A03_4EE2F499A576}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986727}\hich\af0\dbch\af31505\loch\f0 Extended Acceleration Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986727}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides a sensor, which provides the acceleration on the additional axis y (left-side) and z (up).
+\par \hich\af0\dbch\af31505\loch\f0
+The position of the sensor in 3D space in relation to the reference point is given. The angles of the sensor can be specified in the car configuration data. The standard deviations for the sensors can be specified for each axis.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Used for optimi\hich\af0\dbch\af31505\loch\f0 zing the dead reckoning solution. }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_7860A370_907B_471E_B6AE_824BC0B33612}{\*\bkmkend BKM_7860A370_907B_471E_B6AE_824BC0B33612}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986728}\hich\af0\dbch\af31505\loch\f0 Extended GNSS Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986728}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software \hich\af0\dbch\af31505\loch\f0 platform provides an extension to the GNSS Service with optional information.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Accuracy:
+\par \hich\af0\dbch\af31505\loch\f0 - fixStatus
+\par \hich\af0\dbch\af31505\loch\f0 - hdop, pdop, vdop
+\par \hich\af0\dbch\af31505\loch\f0 - numberOfSatellites
+\par \hich\af0\dbch\af31505\loch\f0 - sigmaLatitude, sigmaLongitude, sigmaAltitude
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Satellite Details:
+\par \hich\af0\dbch\af31505\loch\f0 - Information per satellite: azimuth, elev\hich\af0\dbch\af31505\loch\f0 ation, inUse, SatelliteId, signalNoiseRatio
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Course Details:
+\par \hich\af0\dbch\af31505\loch\f0 - speed for 3-axis
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Antenna:
+\par \hich\af0\dbch\af31505\loch\f0 - Antenna Position in 3D coordinates in relation to the reference point (see reference system).
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Updated at least with 1Hz frequency additi\hich\af0\dbch\af31505\loch\f0 onally to the Signals provided by GNSS-Only Service.
+\par \hich\af0\dbch\af31505\loch\f0 The GNSS Service should provide the capability to switch between different GNSS-Devices (e.g. Galileo, GPS, etc)
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 These data are used for improved positioning based on GNSS.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_5701AE97_B90C_4E04_B6BE_FD9B4E0B5AE8}{\*\bkmkend BKM_5701AE97_B90C_4E04_B6BE_FD9B4E0B5AE8}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986729}\hich\af0\dbch\af31505\loch\f0 Extended Gyroscope Sensor Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986729}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes the sensor that delivers
+\par \hich\af0\dbch\af31505\loch\f0 - pitch rate
+\par \hich\af0\dbch\af31505\loch\f0 - roll rate
+\par
+\par \hich\af0\dbch\af31505\loch\f0 This sensor values extend the simple gyroscope sensor.
+\par \hich\af0\dbch\af31505\loch\f0 Sign of is defined by rule of right hand (thumb direction: left and front, see reference system).
+\par \hich\af0\dbch\af31505\loch\f0 Car configuration data need to provide position angles according to vehicle r\hich\af0\dbch\af31505\loch\f0 eference system.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor Service is used in Dead Reckoning calculations of the vehicle position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_8239AA50_795C_44AA_AE72_3C93DBD7156F}{\*\bkmkend BKM_8239AA50_795C_44AA_AE72_3C93DBD7156F}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986730}\hich\af0\dbch\af31505\loch\f0 GNSS Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986730}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\hich\af0\dbch\af31505\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a service that provides the following GNSS Signals updated at least with 1Hz frequency:
+\par \hich\af0\dbch\af31505\loch\f0 Position:
+\par \hich\af0\dbch\af31505\loch\f0 - position expressed as WGS 84 altitude, longitude and latitude in tenth of microdegree (degree x 10^-7^)
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Course:
+\par \hich\af0\dbch\af31505\loch\f0 - speed in meters per second
+\par \hich\af0\dbch\af31505\loch\f0 - climb
+\par \hich\af0\dbch\af31505\loch\f0 - heading relative to true north expressed in degrees
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Timestamp and date as UTC.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 These\hich\af0\dbch\af31505\loch\f0 data are contained in NMEA 0183 $GPGGA and $GPRMC messages and provide the minimum information required for GNSS-only vehicle positioning.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_45EB2F3D_AB1F_4FAB_A760_2864498C0089}{\*\bkmkend BKM_45EB2F3D_AB1F_4FAB_A760_2864498C0089}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986731}\hich\af0\dbch\af31505\loch\f0 PPS Signal}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986731}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 1) For accurate timing the 1 PPS (pulse per second) signal from the GPS receiver is provided within the positioning framework.
+\par \hich\af0\dbch\af31505\loch\f0 The PPS is a hardware signal which is a U\hich\af0\dbch\af31505\loch\f0 TC synchronized pulse.
+\par \hich\af0\dbch\af31505\loch\f0 The duration between the pulses is 1s +/- 40ns and the duration of the pulse isconfigurable (e.g. it could be 100ms or 200ms).
+\par \hich\af0\dbch\af31505\loch\f0 The pulses occur exactly at the UTC full second timeslots.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 2) One option is to provide this signal in the\hich\af0\dbch\af31505\loch\f0
+ positioning framework as an interrupt service routine and the difference to the system time can be accessed by a getter. This provides a synchronization of the system time to UTC.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rationale:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Used for synchronizing the timing of the ECU.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_A9E81885_5A72_4468_9D44_FAFFB36B8386}{\*\bkmkend BKM_A9E81885_5A72_4468_9D44_FAFFB36B8386}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986732}\hich\af0\dbch\af31505\loch\f0 Inclination Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986732}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 \hich\f0 The software platform provides the inclination of the road in longitudinal direction, i.e. in the direction of movement [\'b0\loch\f0 \hich\f0 ]. Estimated gradient of the road in transverse direction [\'b0\loch\f0
+]. In unstable driving situations this value might not be available.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor is used for optimizations in Dead Reckoning calculations of the vehicle position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_47A9E8ED_849B_4767_8D4E_962C4DA31ED6}{\*\bkmkend BKM_47A9E8ED_849B_4767_8D4E_962C4DA31ED6}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986733}\hich\af0\dbch\af31505\loch\f0 Odometer Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986733}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 GFunctionalRequireme\hich\af0\dbch\af31505\loch\f0 \hich\f0 nt\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1
+\af0\afs24 \ltrch\fcs0 \i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{
+\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a Sensor that delivers the traveled distance.
+\par \hich\af0\dbch\af31505\loch\f0 Distance in [cm] with at least 5Hz as a running counter with overflow to support multiple clients.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Odomete\hich\af0\dbch\af31505\loch\f0 r is sometimes the only speed related Signal available to the head unit. }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_8C51AAAC_C15D_4373_A239_1ECC6BD0CC6F}{\*\bkmkend BKM_8C51AAAC_C15D_4373_A239_1ECC6BD0CC6F}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986734}\hich\af0\dbch\af31505\loch\f0 ReverseGear Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986734}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a Sensor that delivers the information if the reverse gear is enabled or not.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 The direction of movement is included in the vehicle speed. This information is only used to detect reverse gear or not.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_12C297B7_F3DC_4AAF_88A1_19A950C5A5AF}{\*\bkmkend BKM_12C297B7_F3DC_4AAF_88A1_19A950C5A5AF}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986735}\hich\af0\dbch\af31505\loch\f0 Sensor Directory}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986735}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 Client Applications are able to query what Sensors are currently available.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This allows for development of flexible applications that do not know what sensor data are available in the vehicle a priori. Client shall checks first this directory to\hich\af0\dbch\af31505\loch\f0
+ find out which ones are available; use meta-data to choose one of interest and use provided data to connect to necessary services.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_2B05801A_57D8_4F40_B21A_3A5ABDA0D723}{\*\bkmkend BKM_2B05801A_57D8_4F40_B21A_3A5ABDA0D723}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986736}\hich\af0\dbch\af31505\loch\f0 Sensor Meta-Data{\*\bkmkend _Toc382986736}\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides the following information about the Sensor and the related output Signals:
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Identifier that is unique within the system
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Category (Physical/Logical)
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Type (GPS, Odometer, Map Matching, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Sensor Sub-Type (ordinary GPS, differential GPS, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Output Signals (Longitude, Latitude, Course, Speed, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Output Signal Sampling Frequency (1 Hz, 10 Hz, irr\hich\af0\dbch\af31505\loch\f0 egular, etc.)
+\par \hich\af0\dbch\af31505\loch\f0 - Output Signal Measurement Units (kilometers per hour; meters per second; etc.)
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Sensor clients need that information in order to correctly handle data provided by sensor service and to adapt to the variation in the signal data del\hich\af0\dbch\af31505\loch\f0 ivery.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5
+\clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar
+\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_EC3B43EB_48CD_4655_B0E5_ECD6FCC27D22}{\*\bkmkend BKM_EC3B43EB_48CD_4655_B0E5_ECD6FCC27D22}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986737}\hich\af0\dbch\af31505\loch\f0 Sensor Signal Timestamp}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986737}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0
+The software platform provides for each sample returned by the Sensor Service the timestamp, when it is accompanied. The timestamp corresponds to the time point of the sample acquisition or calculation. Timestamps are derived from the same clock that is a
+\hich\af0\dbch\af31505\loch\f0 c\hich\af0\dbch\af31505\loch\f0 cessible to the Client Applications.
+\par \hich\af0\dbch\af31505\loch\f0 Timestamp is delivered with a accuracy of milliseconds.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Measurement timestamps are important for proper functioning of most processing algorithms. For instance, algorithms for sensor calibration and dead rec\hich\af0\dbch\af31505\loch\f0
+koning typically use data from multiple sensors in conjunction, e.g. logical sensor.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_42D1E2B2_3C60_4111_937C_4E623943E76B}{\*\bkmkend BKM_42D1E2B2_3C60_4111_937C_4E623943E76B}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986738}\hich\af0\dbch\af31505\loch\f0 Signal Measurement Units}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986738}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 High}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform delivers signal values in universal, implementation independent units. It's preferred to use SI-units.
+\par \hich\af0\dbch\af31505\loch\f0 For example, a gyroscope signal should be measured in millidegrees per second ins\hich\af0\dbch\af31505\loch\f0 tead of A/D converter counts.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This decouples the client applications from the implementation details of individual sensor devices.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_4D1BDDB2_08F9_46CB_8F8E_D5C66B58F665}{\*\bkmkend BKM_4D1BDDB2_08F9_46CB_8F8E_D5C66B58F665}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986739}\hich\af0\dbch\af31505\loch\f0 Signal Values Type Compatibility}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986739}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 All Sensor Services that provide Signals referring to the same physical quantity deliver their data in the same format (including API\hich\af0\dbch\af31505\loch\f0
+ signatures, data type and measurement units). However, sampling frequency, accuracy etc. can differ.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Sensor service clients are able to use multiple Sensor Services without changes in the interfaces.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_E5A2FF62_488F_4070_B583_2D991A38AAB5}{\*\bkmkend BKM_E5A2FF62_488F_4070_B583_2D991A38AAB5}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986740}\hich\af0\dbch\af31505\loch\f0 Simple Gyroscope Sensor Service}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986740}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes the Sensor that delivers
+\par \hich\af0\dbch\af31505\loch\f0 - yaw rate: the rate of the vehicle heading change
+\par \hich\af0\dbch\af31505\loch\f0 -temperature
+\par \hich\af0\dbch\af31505\loch\f0 - status:(temperature compensated or not, etc)
+\par \hich\af0\dbch\af31505\loch\f0 at the frequency of at least 5Hz. Unit of yaw rate is "degrees per second".
+\par
+\par \hich\af0\dbch\af31505\loch\f0 Sign of yaw rate is defined by rule of right hand (thumb directio\hich\af0\dbch\af31505\loch\f0 n: up)
+\par \hich\af0\dbch\af31505\loch\f0 (see reference system)
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor Service is used in Dead Reckoning calculations of the vehicle position.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar
+\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_01180058_26E7_4C88_ABEB_C374DF0A79A6}{\*\bkmkend BKM_01180058_26E7_4C88_ABEB_C374DF0A79A6}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986741}\hich\af0\dbch\af31505\loch\f0 Slip Angle Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986741}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 \hich\f0 Platform provides a sensor, which delivers the value slip angle in degrees [\'b0\loch\f0 ]. It is defined as the angle bet\hich\af0\dbch\af31505\loch\f0
+ween the fixed car axis (direction of driving) and the real direction of vehicle movement. The direction and sign is defined equal to the yaw rate (See reference system).
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor is used for optimizations in Dead Reckoning calculations of th\hich\af0\dbch\af31505\loch\f0 e vehicle position. }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_E3EDACA8_EA6E_40F0_99EB_C0DD135BCD4B}{\*\bkmkend BKM_E3EDACA8_EA6E_40F0_99EB_C0DD135BCD4B}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986742}\hich\af0\dbch\af31505\loch\f0 SteeringAngle Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986742}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 This sensor provides the angles of the front and rear wheels and the steering wheel in degrees.
+\par \hich\af0\dbch\af31505\loch\f0 Configuration values can be provided for sigmas and steering ratio.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Is used as additional element for plausibilisation of the yaw rate in the dead re\hich\af0\dbch\af31505\loch\f0 ckoning module.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_AB1F2BD2_1F0A_460B_845C_3AD99D76CBFB}{\*\bkmkend BKM_AB1F2BD2_1F0A_460B_845C_3AD99D76CBFB}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986743}\hich\af0\dbch\af31505\loch\f0 Vehicle State Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986743}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Low}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides a sensor, giving the state of certain vehicle systems:
+\par \hich\af0\dbch\af31505\loch\f0 ABS: on/off
+\par \hich\af0\dbch\af31505\loch\f0 ESP: on/off
+\par \hich\af0\dbch\af31505\loch\f0 ASC: on/off (stability control)
+\par \hich\af0\dbch\af31505\loch\f0 breaks: on/off
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor is used for optimizations in Dead Reckoning calculations of the vehicle p\hich\af0\dbch\af31505\loch\f0 osition.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_8FD20BA2_EBFF_4E93_AE79_AE599EB55993}{\*\bkmkend BKM_8FD20BA2_EBFF_4E93_AE79_AE599EB55993}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\insrsid5916528 {\*\bkmkstart _Toc382986744}\hich\af0\dbch\af31505\loch\f0 VehicleSpeed Sensor}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0
+\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986744}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0
+\rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform includes a Sensor that delivers the vehicle speed. Filtered vehicle speed in [m/s] with a frequency of at least 5Hz. Direction is given by the sign of this value.
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 Vehicle speed is sometimes the only speed related signal ava\hich\af0\dbch\af31505\loch\f0 ilable to the head unit.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell
+}\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\trowd \irow2\irowband2\lastrow \ltrrow\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr
+\brdrs\brdrw5 \cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row }\pard \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkstart BKM_2578FC62_52D4_4A9E_A175_4B075D1022F6}{\*\bkmkend BKM_2578FC62_52D4_4A9E_A175_4B075D1022F6}
+\par \ltrrow}\trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5
+\clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\pard\plain \ltrpar\s3\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\outlinelevel2\rin0\lin0 \rtlch\fcs1
+\ab\af1\afs28\alang1025 \ltrch\fcs0 \b\fs28\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528
+\hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 {\*\bkmkstart _Toc382986745}\hich\af0\dbch\af31505\loch\f0 Wheel Tick/Speed Sensor Service}{\rtlch\fcs1
+\ab0\af0\afs24 \ltrch\fcs0 \f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986745}\hich\af0\dbch\af31505\loch\f0 \cell }\pard\plain \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \ab\af0\afs24 \ltrch\fcs0
+\b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow0\irowband0\ltrrow\ts11\trgaph1\trrh314\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl
+\brdrs\brdrw5 \clbrdrb\brdrnone \clbrdrr\brdrs\brdrw5 \clcbpat22\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clcbpatraw22 \cellx8552\row \ltrrow}\trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\fs18\cf18\insrsid5916528 \loch\af0\dbch\af31505\hich\f0 \'ab\loch\f0 \hich\f0 GFunctionalRequirement\'bb}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\i\f0\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Priority:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 }{\rtlch\fcs1 \af0\afs24
+\ltrch\fcs0 \f0\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Medium}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1
+\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\fs26\cf18\lang1033\langfe1031\langnp1033\insrsid5916528 \trowd \irow1\irowband1\ltrrow
+\ts11\trgaph1\trrh235\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrnone
+\cltxlrtb\clftsWidth3\clwWidth2340\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx2342\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth4050\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx6392\clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth2160\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\row \ltrrow}\trowd \irow2\irowband2\lastrow \ltrrow
+\ts11\trgaph1\trrh285\trleft2\trftsWidth1\trpaddl1\trpaddr1\trpaddfl3\trpaddft3\trpaddfb3\trpaddfr3\tblind5\tblindtype3 \clvertalt\clbrdrt\brdrs\brdrw5 \clbrdrl\brdrs\brdrw5 \clbrdrb\brdrs\brdrw5 \clbrdrr\brdrs\brdrw5
+\cltxlrtb\clftsWidth3\clwWidth8546\clpadl1\clpadt0\clpadb0\clpadr1\clpadfl3\clpadft3\clpadfb3\clpadfr3\clshdrawnil \cellx8552\pard \ltrpar\ql \li0\ri0\nowidctlpar\intbl\wrapdefault\faauto\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Description:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+\par \hich\af0\dbch\af31505\loch\f0 The software platform provides a Sensor that delivers the running counter of partial wheel revolutions at the frequency of at least 5Hz or the already calculated wheelspeed (speed in [m/s] or angular speed).
+\par
+\par \hich\af0\dbch\af31505\loch\f0 The resolution of a single wheel revolution (i.\hich\af0\dbch\af31505\loch\f0 e. the number of ticks per revolution) is included with the Sensor Service meta-data.
+\par
+\par \hich\af0\dbch\af31505\loch\f0 This identifiers specify the wheel of measurement:
+\par \hich\af0\dbch\af31505\loch\f0 0: Average of non driven axle
+\par \hich\af0\dbch\af31505\loch\f0 1: Left front wheel
+\par \hich\af0\dbch\af31505\loch\f0 2: Right front wheel
+\par \hich\af0\dbch\af31505\loch\f0 3: Left rear wheel
+\par \hich\af0\dbch\af31505\loch\f0 4: Right rear wheel
+\par \hich\af0\dbch\af31505\loch\f0 Uni\hich\af0\dbch\af31505\loch\f0 t: [ticks].
+\par
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \b\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115 \hich\af0\dbch\af31505\loch\f0 Rational:}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528\charrsid656115
+
+\par \hich\af0\dbch\af31505\loch\f0 This Sensor typically registers \hich\f0 \lquote \loch\f0 ticks\hich\f0 \rquote \loch\f0 from a wheel, adds them up and sends to the vehicle bus with a certain interval. The number of \hich\f0 \lquote \loch\f0 ticks
+\hich\f0 \rquote \loch\f0 per complete wheel revolution is known in a\hich\af0\dbch\af31505\loch\f0
+dvance. In some cases, the data from multiple wheels are averaged. Other implementations send the already precalculated speed per wheel or axle, which is a valid replacement for most use cases.}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
+\f0\cf1\lang1033\langfe1031\langnp1033\insrsid5916528 \cell }\pard \ltrpar\ql \li0\ri0\sa200\sl276\slmult1\widctlpar\intbl\wrapdefault\aspalpha\aspnum\faauto\adjustright\rin0\lin0 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
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+\par \hich\af0\dbch\af31505\loch\f0
+\par }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid5916528
+\par
+\par
+\par
+\par {\*\bkmkstart _Toc382986746}{\listtext\pard\plain\ltrpar \s1 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\fs32\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 4.\tab}}\pard\plain \ltrpar
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+\ab0\af0\afs24 \ltrch\fcs0 \f0\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 Architecture}{\rtlch\fcs1 \ab0\af0\afs24 \ltrch\fcs0 \f0\lang1033\langfe1031\langnp1033\insrsid5916528 {\*\bkmkend _Toc382986746}
+\par {\*\bkmkstart SENSORSSERVICE}{\*\bkmkstart BKM_485CD258_F338_4670_9832_51673BF850E7}{\*\bkmkstart _Toc382986747}{\*\bkmkend SENSORSSERVICE}{\*\bkmkend BKM_485CD258_F338_4670_9832_51673BF850E7}{\listtext\pard\plain\ltrpar \s2 \rtlch\fcs1 \af0 \ltrch\fcs0
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+SensorsService}{\rtlch\fcs1 \ab0\ai0\af0\afs24 \ltrch\fcs0 \f0\cf1\ulc1\insrsid5916528 {\*\bkmkend _Toc382986747}
+\par }\pard\plain \ltrpar\ql \li0\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin0\itap0 \rtlch\fcs1 \af1\afs20\alang1025 \ltrch\fcs0 \fs20\lang1031\langfe1031\loch\af1\hich\af1\dbch\af31505\cgrid\langnp1031\langfenp1031 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0
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+\par }\pard \ltrpar\ql \li0\ri0\widctlpar\wrapdefault\faauto\rin0\lin0\itap0\pararsid656115 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid656115\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+The SensorsService is a component that is responsible for retrieving data from the available vehicle se\hich\af0\dbch\af31505\loch\f0 nsors and making them available to other client applications. It hides dependencies to hardware and IPC mechanism.
+
+\par
+\par }\pard \ltrpar\ql \li10\ri0\nowidctlpar\wrapdefault\faauto\rin0\lin10\itap0\pararsid656115 {\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid656115\charrsid656115 \hich\af0\dbch\af31505\loch\f0
+In systems that implement the EnhancedPositionService component, the GNSSService is typic}{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid656115 \hich\af0\dbch\af31505\loch\f0
+ally implemented as a C library that is dynamically linked by the }{\rtlch\fcs1 \af0\afs24 \ltrch\fcs0 \f0\fs24\lang1033\langfe1031\langnp1033\insrsid656115\charrsid1460691 \hich\af0\dbch\af31505\loch\f0 EnhancedPositionService}{\rtlch\fcs1 \af0\afs24
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+{\*\bkmkend BKM_4F033523_AD7E_44EA_A989_CAA63CBC9807}
+\par
+\par {\*\bkmkstart _Toc382986748}{\listtext\pard\plain\ltrpar \s2 \rtlch\fcs1 \af0 \ltrch\fcs0 \b\i\fs28\cf1\insrsid5916528 \hich\af0\dbch\af31505\loch\f0 2.\tab}}\pard\plain \ltrpar
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\ No newline at end of file diff --git a/sensors-service/doc/tools/generate-doc.sh b/sensors-service/doc/tools/generate-doc.sh new file mode 100755 index 0000000..8507703 --- /dev/null +++ b/sensors-service/doc/tools/generate-doc.sh @@ -0,0 +1,26 @@ +#! /bin/bash +OUTPUT_DIR=.. + +OUTPUT_FILE=SensorsServiceAPI.pdf +FILE1=SensorsServiceAPI-part1.pdf +FILE2=SensorsServiceAPI-part2.pdf + +doxygen Doxyfile generated/latex +pushd generated/latex +make +popd + +if [ -f generated/latex/refman.pdf ]; + then + #copy the file containing the doxygen documentation + cp generated/latex/refman.pdf $FILE2 + #concatenate pdf files + pdftk $FILE1 $FILE2 cat output $OUTPUT_DIR/$OUTPUT_FILE + #show output file + evince $OUTPUT_DIR/$OUTPUT_FILE & + else + echo "Error generating pdf file" +fi + + + diff --git a/sensors-service/src/CMakeLists.txt b/sensors-service/src/CMakeLists.txt new file mode 100644 index 0000000..9656133 --- /dev/null +++ b/sensors-service/src/CMakeLists.txt @@ -0,0 +1,76 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: SensorsService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "LIB-SENSORS-SERVICE") +message(STATUS "WITH_DLT = ${WITH_DLT}") +message(STATUS "WITH_IPHONE = ${WITH_IPHONE}") +message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}") +message(STATUS "WITH_TESTS = ${WITH_TESTS}") + +include_directories("${PROJECT_SOURCE_DIR}/api") + +find_package(PkgConfig) + +set(LIBRARIES pthread) + +if(WITH_DLT) + add_definitions("-DDLT_ENABLED=1") + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}") + find_package(DLT REQUIRED) + include_directories( ${DLT_INCLUDE_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +if(WITH_REPLAYER) + #generate library using replayer as input + set(LIB_SRC_USE_REPLAYER ${CMAKE_SOURCE_DIR}/src/sns-use-replayer.c + ${CMAKE_SOURCE_DIR}/src/wheeltick.c + ${CMAKE_SOURCE_DIR}/src/gyroscope.c + ${CMAKE_SOURCE_DIR}/src/vehicle-speed.c + ${CMAKE_SOURCE_DIR}/src/sns-meta-data.c) + + add_library(sensors-service-use-replayer SHARED ${LIB_SRC_USE_REPLAYER}) + target_link_libraries(sensors-service-use-replayer ${LIBRARIES}) +elseif(WITH_IPHONE) + #generate library using iphone as input + set(LIB_SRC_USE_IPHONE ${CMAKE_SOURCE_DIR}/src/sns-use-iphone.c + ${CMAKE_SOURCE_DIR}/src/wheeltick.c + ${CMAKE_SOURCE_DIR}/src/gyroscope.c + ${CMAKE_SOURCE_DIR}/src/vehicle-speed.c + ${CMAKE_SOURCE_DIR}/src/sns-meta-data.c) + + add_library(sensors-service-use-iphone SHARED ${LIB_SRC_USE_IPHONE}) + target_link_libraries(sensors-service-use-iphone ${LIBRARIES}) +else() + message(STATUS "Invalid cmake option!") +endif() + + + + + + + + + + + + + + + diff --git a/sensors-service/src/globals.h b/sensors-service/src/globals.h new file mode 100644 index 0000000..67cadce --- /dev/null +++ b/sensors-service/src/globals.h @@ -0,0 +1,44 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef GLOBALS_H +#define GLOBALS_H + +#include <stdbool.h> +#include <pthread.h> +#include <time.h> + +#include "sns.h" +#include "wheel.h" +#include "gyroscope.h" +#include "vehicle-speed.h" +#include "sns-meta-data.h" + +extern pthread_mutex_t mutexCb; +extern pthread_mutex_t mutexData; + +extern TGyroscopeData gGyroscopeData; +extern TWheelticks gWheelticks; +TVehicleSpeedData gVehicleSpeedData; +extern const TSensorMetaData gSensorsMetaData[]; + +extern WheeltickCallback cbWheelticks; +extern GyroscopeCallback cbGyroscope; +VehicleSpeedCallback cbVehicleSpeed; + +#endif /* GLOBALS_H */ diff --git a/sensors-service/src/gyroscope.c b/sensors-service/src/gyroscope.c new file mode 100644 index 0000000..ac51e49 --- /dev/null +++ b/sensors-service/src/gyroscope.c @@ -0,0 +1,106 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "globals.h" +#include "gyroscope.h" +#include "sns-meta-data.h" + +GyroscopeCallback cbGyroscope = 0; +TGyroscopeData gGyroscopeData; +TGyroscopeConfiguration gGyroscopeConfiguration; + +bool snsGyroscopeInit() +{ + cbGyroscope = 0; + + return true; +} + +bool snsGyroscopeDestroy() +{ + cbGyroscope = 0; + + return true; +} + +bool snsGyroscopeGetGyroscopeData(TGyroscopeData * gyroData) +{ + if(!gyroData) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *gyroData = gGyroscopeData; + pthread_mutex_unlock(&mutexData); + + return true; +} + +bool snsGyroscopeRegisterCallback(GyroscopeCallback callback) +{ + //printf("snsGyroscopeRegisterCallback\n"); + if(cbGyroscope != 0) + { + return false; + } + + pthread_mutex_lock(&mutexCb); + cbGyroscope = callback; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool snsGyroscopeDeregisterCallback(GyroscopeCallback callback) +{ + //printf("snsGyroscopeDeregisterCallback\n"); + if(cbGyroscope == callback && callback != 0) + { + pthread_mutex_lock(&mutexCb); + cbGyroscope = 0; + pthread_mutex_unlock(&mutexCb); + + return true; + } + + return false; +} + +bool snsGyroscopeGetMetaData(TSensorMetaData *data) +{ + if(data != 0) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *data = gSensorsMetaData[1]; + pthread_mutex_unlock(&mutexData); + + return true; +} + +bool snsGyroscopeGetConfiguration(TGyroscopeConfiguration* gyroConfig) +{ + return true; +} + + + + diff --git a/sensors-service/src/log.h b/sensors-service/src/log.h new file mode 100644 index 0000000..a683b6f --- /dev/null +++ b/sensors-service/src/log.h @@ -0,0 +1,137 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* +* \copyright Copyright (C) BMW Car IT GmbH 2011 +* Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#ifndef INCLUDE_LOG +#define INCLUDE_LOG + +// turn-on via cmake define: +// $ cmake -DWITH_DLT=1 .. + +#if (!DLT_ENABLED) +/*****************************************************************************/ +// use printf +#include <stdio.h> + +// some type-name used instead of DLT context +typedef const char* NoDltContext; + +#define DLT_DECLARE_CONTEXT(CONTEXT) \ + NoDltContext CONTEXT; + +#define DLT_IMPORT_CONTEXT(CONTEXT) \ + extern NoDltContext CONTEXT; + +#define DLT_REGISTER_CONTEXT(CONTEXT, CONTEXT_ID, DESC) \ + CONTEXT = CONTEXT_ID; + +#define DLT_REGISTER_APP(CONTEXT, DESC) ; + +#define DLT_UNREGISTER_CONTEXT(CONTEXT) ; +#define DLT_UNREGISTER_APP() ; +#define dlt_free() ; + +// log calls +#define LOG_VERBOSE_MSG(context, msg) \ + fprintf(stderr, "[VERBO][%4s] " msg "\n", context) +#define LOG_VERBOSE(context, fmt, ...) \ + fprintf(stderr, "[VERBO][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_DEBUG_MSG(context, msg) \ + fprintf(stderr, "[DEBUG][%4s] " msg "\n", context) +#define LOG_DEBUG(context, fmt, ...) \ + fprintf(stderr, "[DEBUG][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_INFO_MSG(context, msg) \ + fprintf(stderr, "[INFO ][%4s] " msg "\n", context) +#define LOG_INFO(context, fmt, ...) \ + fprintf(stderr, "[INFO ][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_WARNING_MSG(context, msg) \ + fprintf(stderr, "[WARN ][%4s] " msg "\n", context) +#define LOG_WARNING(context, fmt, ...) \ + fprintf(stderr, "[WARN ][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_ERROR_MSG(context, msg) \ + fprintf(stderr, "[ERROR][%4s] " msg "\n", context) +#define LOG_ERROR(context, fmt, ...) \ + fprintf(stderr, "[ERROR][%4s] " fmt "\n", context, __VA_ARGS__) + +#define LOG_FATAL_MSG(context, msg) \ + fprintf(stderr, "[FATAL][%4s] " msg "\n", context) +#define LOG_FATAL(context, fmt, ...) \ + fprintf(stderr, "[FATAL][%4s] " fmt "\n", context, __VA_ARGS__) + +#else /* DLT_ENABLED */ +/*****************************************************************************/ +// use DLT +#include "dlt.h" + +typedef const char* Context; + +#define LOG_VERBOSE_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_VERBOSE, DLT_STRING(msg)); +#define LOG_VERBOSE(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_VERBOSE, DLT_STRING(logBuffer)); \ + } +#define LOG_DEBUG_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_DEBUG, DLT_STRING(msg)); +#define LOG_DEBUG(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_DEBUG, DLT_STRING(logBuffer)); \ + } +#define LOG_INFO_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_INFO, DLT_STRING(msg)); +#define LOG_INFO(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_INFO, DLT_STRING(logBuffer)); \ + } +#define LOG_WARNING_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_WARN, DLT_STRING(msg)); +#define LOG_WARNING(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_WARN, DLT_STRING(logBuffer)); \ + } +#define LOG_ERROR_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_ERROR, DLT_STRING(msg)); +#define LOG_ERROR(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_ERROR, DLT_STRING(logBuffer)); \ + } +#define LOG_FATAL_MSG(context, msg) \ + DLT_LOG(context, DLT_LOG_FATAL, DLT_STRING(msg)); +#define LOG_FATAL(context, fmt, ...) \ + { \ + char logBuffer[256]; \ + sprintf(logBuffer, fmt, __VA_ARGS__); \ + DLT_LOG(context, DLT_LOG_FATAL, DLT_STRING(logBuffer)); \ + } + +#endif /* DLT_ENABLED */ + +#endif /* INCLUDE_LOG */ diff --git a/sensors-service/src/sns-meta-data.c b/sensors-service/src/sns-meta-data.c new file mode 100644 index 0000000..b65f956 --- /dev/null +++ b/sensors-service/src/sns-meta-data.c @@ -0,0 +1,44 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "globals.h" +#include "sns-meta-data.h" + +#define NUM_SENSORS 3 + +const TSensorMetaData gSensorsMetaData[NUM_SENSORS] = { + {GENIVI_SNS_API_MAJOR, //version + SENSOR_CATEGORY_PHYSICAL, //category + SENSOR_TYPE_WHEELTICK, //type + 100}, //cycleTime in ms + {GENIVI_SNS_API_MAJOR, //version + SENSOR_CATEGORY_PHYSICAL, //category + SENSOR_TYPE_GYROSCOPE, //type + 100}, //cycleTime in ms + {GENIVI_SNS_API_MAJOR, //version + SENSOR_CATEGORY_PHYSICAL, //category + SENSOR_TYPE_VEHICLE_SPEED, //type + 100} //cycleTime in ms +}; + +int32_t getSensorMetaDataList(const TSensorMetaData** metadata) +{ + *metadata = gSensorsMetaData; + + return NUM_SENSORS; +} diff --git a/sensors-service/src/sns-use-iphone.c b/sensors-service/src/sns-use-iphone.c new file mode 100644 index 0000000..6201f39 --- /dev/null +++ b/sensors-service/src/sns-use-iphone.c @@ -0,0 +1,216 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <stdbool.h> +#include <time.h> +#include <errno.h> +#include <pthread.h> +#include <assert.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/types.h> +#include <sys/socket.h> +#include <unistd.h> +#include <memory.h> + +#include "globals.h" +#include "sns.h" +#include "log.h" + +#define BUFLEN 256 +#define MSGIDLEN 20 +#define PORT 5555 + +//Sensors IDs used by the SensorLogger App +#define GPS_SENSOR 1 +#define ACC_SENSOR 2 +#define COMPASS 3 +#define GYRO 4 + +DLT_DECLARE_CONTEXT(gContext); + +pthread_t listenerThread; +pthread_mutex_t mutexCb; +pthread_mutex_t mutexData; +bool isRunning = true; + +void *listenForMessages( void *ptr ); + +bool snsInit() +{ + isRunning = true; + + if(pthread_create( &listenerThread, NULL, listenForMessages, NULL) != 0) + { + isRunning = false; + + return false; + } + + return true; +} + +bool snsDestroy() +{ + isRunning = false; + + if(listenerThread) + { + pthread_join( listenerThread, NULL); + } + + return true; +} + +void snsGetVersion(int *major, int *minor, int *micro) +{ + if(major) + { + *major = GENIVI_SNS_API_MAJOR; + } + + if(minor) + { + *minor = GENIVI_SNS_API_MINOR; + } + + if(micro) + { + *micro = GENIVI_SNS_API_MICRO; + } +} + +static bool processGVGYRO(char* data, TGyroscopeData* pGyroscopeData) +{ + long unsigned int timestamp = 0; + float yawRate; + float pitchRate; + float rollRate; + int32_t sensorId; + uint32_t n = 0; + + if(!data || !pGyroscopeData) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%lu,%d,%f,%f,%f", ×tamp, &sensorId, &yawRate, &pitchRate, &rollRate); + + if(n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVGYRO failed!"); + return false; + } + + pGyroscopeData->timestamp = timestamp; + + //LOG_INFO(gContext,"timestamp:%lu",timestamp); + + //angleYaw + pGyroscopeData->yawRate = yawRate; + pGyroscopeData->validityBits |= GYROSCOPE_CONFIG_ANGLEYAW_VALID; + LOG_INFO(gContext,"yawRate: %lf", pGyroscopeData->yawRate); + + //anglePitch + pGyroscopeData->pitchRate = pitchRate; + pGyroscopeData->validityBits |= GYROSCOPE_CONFIG_ANGLEPITCH_VALID; + LOG_INFO(gContext,"pitchRate: %lf", pGyroscopeData->pitchRate); + + //angleRoll + pGyroscopeData->rollRate = rollRate; + pGyroscopeData->validityBits |= GYROSCOPE_CONFIG_ANGLEROLL_VALID; + LOG_INFO(gContext,"rollRate: %f", pGyroscopeData->rollRate); + + if(cbGyroscope != 0) + { + cbGyroscope(pGyroscopeData,1); + } + + return true; +} + +void *listenForMessages( void *ptr ) +{ + struct sockaddr_in si_me; + struct sockaddr_in si_other; + long unsigned int timestamp = 0; + int s; + socklen_t slen = sizeof(si_other); + char buf[BUFLEN]; + int msgId; + int port = PORT; + + DLT_REGISTER_APP("SNSS", "SENSORS-SERVICE"); + DLT_REGISTER_CONTEXT(gContext,"SSRV", "Global Context"); + + LOG_INFO(gContext,"Listening on port %d...",port); + + if((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))==-1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + exit(EXIT_FAILURE); + } + + memset((char *) &si_me, 0, sizeof(si_me)); + si_me.sin_family = AF_INET; + + si_me.sin_port = htons(port); + si_me.sin_addr.s_addr = htonl(INADDR_ANY); + if(bind(s, (struct sockaddr *)&si_me, sizeof(si_me)) == -1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + exit(EXIT_FAILURE); + } + + while(isRunning == true) + { + if(recvfrom(s, buf, BUFLEN, 0, (struct sockaddr *)&si_other, &slen) == -1) + { + LOG_ERROR_MSG(gContext,"recvfrom() failed!"); + exit(EXIT_FAILURE); + } + + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + + LOG_DEBUG(gContext,"Received Packet from %s:%d", + inet_ntoa(si_other.sin_addr), ntohs(si_other.sin_port)); + + sscanf(buf,"%lu,%d,",×tamp, &msgId); + + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + LOG_DEBUG(gContext,"msgID:%d",msgId); + + pthread_mutex_lock(&mutexData); + + if(msgId == GYRO) + { + processGVGYRO(buf, &gGyroscopeData); + } + + pthread_mutex_unlock(&mutexData); + } + + close(s); + + return EXIT_SUCCESS; +} diff --git a/sensors-service/src/sns-use-replayer.c b/sensors-service/src/sns-use-replayer.c new file mode 100644 index 0000000..c78132c --- /dev/null +++ b/sensors-service/src/sns-use-replayer.c @@ -0,0 +1,380 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <stdio.h> +#include <stdlib.h> +#include <stdint.h> +#include <stdbool.h> +#include <time.h> +#include <errno.h> +#include <pthread.h> +#include <assert.h> + +#include <arpa/inet.h> +#include <netinet/in.h> +#include <sys/types.h> +#include <sys/socket.h> +#include <unistd.h> +#include <memory.h> + +#include "globals.h" +#include "sns.h" +#include "log.h" + +#define BUFLEN 256 +#define MSGIDLEN 20 +#define PORT 9931 + +#define MAX_BUF_MSG 16 + +DLT_DECLARE_CONTEXT(gContext); + +pthread_t listenerThread; +pthread_mutex_t mutexCb; +pthread_mutex_t mutexData; +bool isRunning = false; + +void *listenForMessages( void *ptr ); + +bool snsInit() +{ + isRunning = true; + + if(pthread_create( &listenerThread, NULL, listenForMessages, NULL) != 0) + { + isRunning = false; + return false; + } + + return true; +} + +bool snsDestroy() +{ + isRunning = false; + + if(listenerThread) + { + pthread_join( listenerThread, NULL); + } + + return true; +} + +void snsGetVersion(int *major, int *minor, int *micro) +{ + if(major) + { + *major = GENIVI_SNS_API_MAJOR; + } + + if(minor) + { + *minor = GENIVI_SNS_API_MINOR; + } + + if(micro) + { + *micro = GENIVI_SNS_API_MICRO; + } +} + +bool processGVSNSWHTK(char* data, TWheelticks* pWheelticks) +{ + //parse data like: 061076000,0$GVSNSWHTK,061076000,7,266,8,185,0,0,0,0 + + //storage for buffered data + static TWheelticks buf_whtk[MAX_BUF_MSG]; + static uint16_t buf_size = 0; + static uint16_t last_countdown = 0; + + uint64_t timestamp; + uint16_t countdown; + TWheelticks whtk = { 0 }; + uint32_t n = 0; + + if(!data || !pWheelticks) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%llu,%hu$GVSNSWHTK,%llu,%u,%u,%u,%u,%u,%u,%u,%u", ×tamp, &countdown, &whtk.timestamp + ,&whtk.elements[0].wheeltickIdentifier, &whtk.elements[0].wheeltickCounter + ,&whtk.elements[1].wheeltickIdentifier, &whtk.elements[1].wheeltickCounter + ,&whtk.elements[2].wheeltickIdentifier, &whtk.elements[2].wheeltickCounter + ,&whtk.elements[3].wheeltickIdentifier, &whtk.elements[3].wheeltickCounter + ); + + if (n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVSNSWHTK failed!"); + return false; + } + + *pWheelticks = whtk; + + //buffered data handling + if (countdown < MAX_BUF_MSG) //enough space in buffer? + { + if (buf_size == 0) //a new sequence starts + { + buf_size = countdown+1; + last_countdown = countdown; + buf_whtk[buf_size-countdown-1] = whtk; + } + else if ((last_countdown-countdown) == 1) //sequence continued + { + last_countdown = countdown; + buf_whtk[buf_size-countdown-1] = whtk; + } + else //sequence interrupted: clear buffer + { + buf_size = 0; + last_countdown = 0; + } + } + else //clear buffer + { + buf_size = 0; + last_countdown = 0; + } + + if((cbWheelticks != 0) && (countdown == 0) && (buf_size >0) ) + { + cbWheelticks(buf_whtk,buf_size); + buf_size = 0; + last_countdown = 0; + } + + return true; +} + +static bool processGVSNSGYRO(char* data, TGyroscopeData* pGyroscopeData) +{ + //parse data like: 061074000,0$GVSNSGYRO,061074000,-38.75,0,0,0,0X01 + + //storage for buffered data + static TGyroscopeData buf_gyro[MAX_BUF_MSG]; + static uint16_t buf_size = 0; + static uint16_t last_countdown = 0; + + uint64_t timestamp; + uint16_t countdown; + TGyroscopeData gyro = { 0 }; + uint32_t n = 0; + + if(!data || !pGyroscopeData) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%llu,%hu$GVSNSGYRO,%llu,%f,%f,%f,%f,%x", ×tamp, &countdown, &gyro.timestamp, &gyro.yawRate, &gyro.pitchRate, &gyro.rollRate, &gyro.temperature, &gyro.validityBits); + + if (n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVSNSGYRO failed!"); + return false; + } + + *pGyroscopeData = gyro; + + //buffered data handling + if (countdown < MAX_BUF_MSG) //enough space in buffer? + { + if (buf_size == 0) //a new sequence starts + { + buf_size = countdown+1; + last_countdown = countdown; + buf_gyro[buf_size-countdown-1] = gyro; + } + else if ((last_countdown-countdown) == 1) //sequence continued + { + last_countdown = countdown; + buf_gyro[buf_size-countdown-1] = gyro; + } + else //sequence interrupted: clear buffer + { + buf_size = 0; + last_countdown = 0; + } + } + else //clear buffer + { + buf_size = 0; + last_countdown = 0; + } + + if((cbGyroscope != 0) && (countdown == 0) && (buf_size >0) ) + { + cbGyroscope(buf_gyro,buf_size); + buf_size = 0; + last_countdown = 0; + } + + return true; +} + + + +static bool processGVSNSVEHSP(char* data, TVehicleSpeedData* pVehicleSpeedData) +{ + //parse data like: 061074000,0$GVSNSVEHSP,061074000,0.51,0X01 + + //storage for buffered data + static TVehicleSpeedData buf_vehsp[MAX_BUF_MSG]; + static uint16_t buf_size = 0; + static uint16_t last_countdown = 0; + + uint64_t timestamp; + uint16_t countdown; + TVehicleSpeedData vehsp = { 0 }; + uint32_t n = 0; + + if(!data || !pVehicleSpeedData) + { + LOG_ERROR_MSG(gContext,"wrong parameter!"); + return false; + } + + n = sscanf(data, "%llu,%hu$GVSNSVEHSP,%llu,%f,%x", ×tamp, &countdown, &vehsp.timestamp, &vehsp.vehicleSpeed, &vehsp.validityBits); + + if (n <= 0) + { + LOG_ERROR_MSG(gContext,"replayer: processGVSNSVEHSP failed!"); + return false; + } + + *pVehicleSpeedData = vehsp; + + //buffered data handling + if (countdown < MAX_BUF_MSG) //enough space in buffer? + { + if (buf_size == 0) //a new sequence starts + { + buf_size = countdown+1; + last_countdown = countdown; + buf_vehsp[buf_size-countdown-1] = vehsp; + } + else if ((last_countdown-countdown) == 1) //sequence continued + { + last_countdown = countdown; + buf_vehsp[buf_size-countdown-1] = vehsp; + } + else //sequence interrupted: clear buffer + { + buf_size = 0; + last_countdown = 0; + } + } + else //clear buffer + { + buf_size = 0; + last_countdown = 0; + } + + if((cbVehicleSpeed != 0) && (countdown == 0) && (buf_size >0) ) + { + cbVehicleSpeed(buf_vehsp,buf_size); + buf_size = 0; + last_countdown = 0; + } + + return true; +} + +void *listenForMessages( void *ptr ) +{ + struct sockaddr_in si_me; + struct sockaddr_in si_other; + int s; + socklen_t slen = sizeof(si_other); + char buf[BUFLEN]; + char msgId[MSGIDLEN]; + int port = PORT; + + DLT_REGISTER_APP("SNSS", "SENSOSRS-SERVICE"); + DLT_REGISTER_CONTEXT(gContext,"SSRV", "Global Context"); + + LOG_INFO(gContext,"SensorsService listening on port %d...",port); + + if((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))==-1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + exit(EXIT_FAILURE); + } + + memset((char *) &si_me, 0, sizeof(si_me)); + si_me.sin_family = AF_INET; + + si_me.sin_port = htons(port); + si_me.sin_addr.s_addr = htonl(INADDR_ANY); + if(bind(s, (struct sockaddr *)&si_me, sizeof(si_me)) == -1) + { + LOG_ERROR_MSG(gContext,"socket() failed!"); + exit(EXIT_FAILURE); + } + + while(isRunning == true) + { + if(recvfrom(s, buf, BUFLEN, 0, (struct sockaddr *)&si_other, &slen) == -1) + { + LOG_ERROR_MSG(gContext,"recvfrom() failed!"); + exit(EXIT_FAILURE); + } + + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + + LOG_DEBUG(gContext,"Received Packet from %s:%d", + inet_ntoa(si_other.sin_addr), ntohs(si_other.sin_port)); + + sscanf(buf, "%*[^'$']$%[^',']", msgId); + + LOG_DEBUG(gContext,"MsgID:%s",msgId); + LOG_DEBUG(gContext,"Len:%d",(int)strlen(buf)); + LOG_INFO(gContext,"Data:%s",buf); + + LOG_DEBUG_MSG(gContext,"------------------------------------------------"); + + pthread_mutex_lock(&mutexData); + + if(strcmp("GVSNSGYRO", msgId) == 0) + { + processGVSNSGYRO(buf, &gGyroscopeData); + } + else if(strcmp("GVSNSWHTK", msgId) == 0) + { + processGVSNSWHTK(buf, &gWheelticks); + } + else if(strcmp("GVSNSVEHSP", msgId) == 0) + { + processGVSNSVEHSP(buf, &gVehicleSpeedData); + } + + pthread_mutex_unlock(&mutexData); + } + + close(s); + + return EXIT_SUCCESS; +} + + + + diff --git a/sensors-service/src/vehicle-speed.c b/sensors-service/src/vehicle-speed.c new file mode 100644 index 0000000..5a624b5 --- /dev/null +++ b/sensors-service/src/vehicle-speed.c @@ -0,0 +1,95 @@ +/************************************************************************** +* Component Name: SensorsService +* Author: Marco Residori <marco.residori@xse.de> +* +* Copyright (C) 2013, XS Embedded GmbH +* +* License: +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +**************************************************************************/ + +#include "globals.h" +#include "vehicle-speed.h" +#include "sns-meta-data.h" + +VehicleSpeedCallback cbVehicleSpeed = 0; +TVehicleSpeedData gVehicleSpeedData; + +bool snsVehicleSpeedInit() +{ + cbVehicleSpeed = 0; + + return true; +} + +bool snsVehicleSpeedDestroy() +{ + cbVehicleSpeed = 0; + + return true; +} + +bool snsVehicleSpeedGetVehicleSpeedData(TVehicleSpeedData* vehicleSpeed) +{ + if(!vehicleSpeed) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *vehicleSpeed = gVehicleSpeedData; + pthread_mutex_unlock(&mutexData); + + return true; +} + +bool snsVehicleSpeedRegisterCallback(VehicleSpeedCallback callback) +{ + //printf("snsVehicleSpeedRegisterCallback\n"); + if(cbVehicleSpeed != 0) + { + return false; + } + + pthread_mutex_lock(&mutexCb); + cbVehicleSpeed = callback; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool snsVehicleSpeedDeregisterCallback(VehicleSpeedCallback callback) +{ + //printf("snsGyroscopeDeregisterCallback\n"); + if(cbVehicleSpeed == callback && callback != 0) + { + pthread_mutex_lock(&mutexCb); + cbVehicleSpeed = 0; + pthread_mutex_unlock(&mutexCb); + + return true; + } + + return false; +} + +bool snsVehicleSpeedGetMetaData(TSensorMetaData *data) +{ + if(data != 0) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *data = gSensorsMetaData[2]; + pthread_mutex_unlock(&mutexData); + + return true; +} + + + + diff --git a/sensors-service/src/wheeltick.c b/sensors-service/src/wheeltick.c new file mode 100644 index 0000000..5a2962c --- /dev/null +++ b/sensors-service/src/wheeltick.c @@ -0,0 +1,89 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include "globals.h" +#include "wheel.h" + +WheeltickCallback cbWheelticks = 0; +TWheelticks gWheelticks; + +bool snsWheeltickInit() +{ + int i; + + for(i = 0; i < WHEEL_NUM_ELEMENTS; i++) + { + gWheelticks.elements[i].wheeltickCounter = 0; + gWheelticks.elements[i].wheeltickIdentifier = WHEEL_INVALID; + } + + cbWheelticks = 0; + + return true; +} + +bool snsWheeltickDestroy() +{ + cbWheelticks = 0; + + return true; +} + +bool snsWheeltickGetWheelticks(TWheelticks * ticks) +{ + if(!ticks) + { + return false; + } + + pthread_mutex_lock(&mutexData); + *ticks = gWheelticks; + pthread_mutex_unlock(&mutexData); + + return true; +} + +bool snsWheeltickRegisterCallback(WheeltickCallback callback) +{ + //printf("snsWheeltickRegisterCallback\n"); + if(cbWheelticks != 0) + { + return false; + } + + pthread_mutex_lock(&mutexCb); + cbWheelticks = callback; + pthread_mutex_unlock(&mutexCb); + + return true; +} + +bool snsWheeltickDeregisterCallback(WheeltickCallback callback) +{ + //printf("snsWheeltickDeregisterCallback\n"); + if(cbWheelticks == callback && callback != 0) + { + pthread_mutex_lock(&mutexCb); + cbWheelticks = 0; + pthread_mutex_unlock(&mutexCb); + + return true; + } + + return false; +} diff --git a/sensors-service/test/CMakeLists.txt b/sensors-service/test/CMakeLists.txt new file mode 100644 index 0000000..7b8f05e --- /dev/null +++ b/sensors-service/test/CMakeLists.txt @@ -0,0 +1,50 @@ +########################################################################### +# @licence app begin@ +# SPDX-License-Identifier: MPL-2.0 +# +# Component Name: SensorsService +# +# Author: Marco Residori +# +# Copyright (C) 2013, XS Embedded GmbH +# +# License: +# This Source Code Form is subject to the terms of the +# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +# this file, You can obtain one at http://mozilla.org/MPL/2.0/. +# +# @licence end@ +########################################################################### + +message(STATUS "SENSORS-SERVICE-CLIENT") +message(STATUS "WITH_DLT = ${WITH_DLT}") +message(STATUS "WITH_IPHONE = ${WITH_IPHONE}") +message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}") + +include_directories("${PROJECT_SOURCE_DIR}/api") +include_directories("${PROJECT_SOURCE_DIR}/src") + +find_package(PkgConfig) + +if(WITH_REPLAYER) + set(LIBRARIES sensors-service-use-replayer) +elseif(WITH_IPHONE) + set(LIBRARIES sensors-service-use-iphone) +else() + message(STATUS "Invalid cmake option!") +endif() + +if(WITH_DLT) + add_definitions("-DDLT_ENABLED=1") + set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}") + find_package(DLT REQUIRED) + include_directories( ${DLT_INCLUDE_DIRS} ) + link_directories ( ${DLT_LIBRARY_DIRS} ) + set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES}) +endif() + +set(SRCS ${CMAKE_SOURCE_DIR}/test/sensors-service-client.c) +add_executable(sensors-service-client ${SRCS}) +target_link_libraries(sensors-service-client ${LIBRARIES}) + + diff --git a/sensors-service/test/sensors-service-client.c b/sensors-service/test/sensors-service-client.c new file mode 100644 index 0000000..e2dc43c --- /dev/null +++ b/sensors-service/test/sensors-service-client.c @@ -0,0 +1,162 @@ +/************************************************************************** +* @licence app begin@ +* +* SPDX-License-Identifier: MPL-2.0 +* +* \ingroup SensorsService +* \author Marco Residori <marco.residori@xse.de> +* +* \copyright Copyright (C) 2013, XS Embedded GmbH +* +* \license +* This Source Code Form is subject to the terms of the +* Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with +* this file, You can obtain one at http://mozilla.org/MPL/2.0/. +* +* @licence end@ +**************************************************************************/ + +#include <stdlib.h> +#include <stdio.h> +#include <assert.h> +#include <stdbool.h> +#include <unistd.h> + +//include all sns header files here even if they are not yet used. +//this helps us to find syntax error during compilation +#include "sns.h" +#include "acceleration.h" +#include "gyroscope.h" +#include "inclination.h" +#include "odometer.h" +#include "reverse-gear.h" +#include "slip-angle.h" +#include "steering-angle.h" +#include "vehicle-data.h" +#include "vehicle-speed.h" +#include "vehicle-state.h" +#include "wheel.h" +#include "log.h" + +DLT_DECLARE_CONTEXT(gCtx); + +static void cbGyroscope(const TGyroscopeData gyroData[], uint16_t numElements) +{ + if(gyroData == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"error: cbGyroscope failed!"); + return; + } + + LOG_INFO_MSG(gCtx,"Gyroscope Update"); + + LOG_INFO(gCtx,"yawRate=%f", gyroData[0].yawRate); + LOG_INFO(gCtx,"pitchRate=%f", gyroData[0].pitchRate); + LOG_INFO(gCtx,"rollRate=%f", gyroData[0].rollRate); +} + +static void cbWheelticks(const TWheelticks ticks[], uint16_t numElements) +{ + char* wheelIDs[] = + {"WHEEL_INVALID" + ,"WHEEL_UNKNOWN" + ,"WHEEL_AXLE_NONDRIVEN" + ,"WHEEL_AXLE_FRONT" + ,"WHEEL_AXLE_REAR" + ,"WHEEL_LEFT_FRONT" + ,"WHEEL_RIGHT_FRONT" + ,"WHEEL_LEFT_REAR" + ,"WHEEL_RIGHT_REAR"}; + int i=0; + + if(ticks == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"error: cbWheelticks failed!"); + return; + } + + LOG_INFO_MSG(gCtx,"Wheelticks Update"); + + for (i=0; i<WHEEL_NUM_ELEMENTS; i++) + { + LOG_INFO(gCtx,"ticks[0].elements[%d]: %s = %d", i, + wheelIDs[ticks[0].elements[i].wheeltickIdentifier], + ticks[0].elements[i].wheeltickCounter); + } + +} + +static void cbVehicleSpeed(const TVehicleSpeedData vehSpeed[], uint16_t numElements) +{ + if(vehSpeed == NULL || numElements < 1) + { + LOG_ERROR_MSG(gCtx,"error: cbVehicleSpeed failed!"); + return; + } + + LOG_INFO_MSG(gCtx,"VehicleSpeed Update"); + + LOG_INFO(gCtx,"vehicleSpeed=%f", vehSpeed[0].vehicleSpeed); +} + +bool checkMajorVersion(int expectedMajor) +{ + int major = -1; + + snsGetVersion(&major, 0, 0); + + if(major != expectedMajor) + { + LOG_ERROR(gCtx,"wrong API version: snsGetVersion returned unexpected value %d != %d", + major, expectedMajor); + return false; + } + + return true; +} + +void init() +{ + if(!checkMajorVersion(2)) + { + exit(EXIT_FAILURE); + } + + assert( snsInit() ); + assert( snsGyroscopeInit() ); + assert( snsWheeltickInit() ); + assert( snsVehicleSpeedInit() ); +} + +int main() +{ + init(); + + DLT_REGISTER_APP("SNSS", "SENSORS-SERVICE"); + DLT_REGISTER_CONTEXT(gCtx,"SCLT", "Global Context"); + + LOG_INFO_MSG(gCtx,"Starting sensors-service-client..."); + + //register + snsWheeltickRegisterCallback(&cbWheelticks); + snsGyroscopeRegisterCallback(&cbGyroscope); + snsVehicleSpeedRegisterCallback(&cbVehicleSpeed); + + //enter endless loop + while(1) + { + sleep(1); + } + + //deregister + snsWheeltickDeregisterCallback(&cbWheelticks); + snsGyroscopeDeregisterCallback(&cbGyroscope); + snsVehicleSpeedDeregisterCallback(&cbVehicleSpeed); + + snsGyroscopeDestroy(); + snsWheeltickDestroy(); + snsVehicleSpeedDestroy(); + snsDestroy(); + + return EXIT_SUCCESS; +} |
