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