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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_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.
* The reference coordinate system including the sign of the angles are defined in ISO 8855:2011, section 7
*
* 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 mean steer angle of the front wheels [degree].
@ref ISO 8855:2011, section 7.1.3. */
float rear; /**< Returns the mean steer angle of the rear wheels [degree].
@ref ISO 8855:2011, section 7.1.3. */
float steeringWheel; /**< Returns the angle of the steering wheel [degree].
@ref ISO 8855:2011, section 7.1.8.
Must be used in combination with the steeringRatio @ref TSteeringAngleConfiguration. */
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 error estimate of the front steer angle in [degree]. -1 if invalid.*/
float sigmaSteeringWheelAngle; /**< Standard error estimate of the steering wheel angle in [degree]. -1 if invalid.*/
float steeringRatio; /**< Ratio between steering wheel angle change and front steer angle change.
@ref ISO 8855:2011, section 7.1.13.
Only valid when static. 0 if invalid. 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 */
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