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/**************************************************************************
* @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 */
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