diff options
Diffstat (limited to 'gnss/GnssAdapter.cpp')
-rw-r--r-- | gnss/GnssAdapter.cpp | 192 |
1 files changed, 106 insertions, 86 deletions
diff --git a/gnss/GnssAdapter.cpp b/gnss/GnssAdapter.cpp index eaf8878..535f6de 100644 --- a/gnss/GnssAdapter.cpp +++ b/gnss/GnssAdapter.cpp @@ -714,90 +714,91 @@ GnssAdapter::setConfigCommand() loc_gps_cfg_s gpsConf = ContextBase::mGps_conf; loc_sap_cfg_s_type sapConf = ContextBase::mSap_conf; - mApi.sendMsg(new LocApiMsg( - [&adapter, gpsConf, sapConf, oldServerUrl, oldMoServerUrl] () { - //cache the injected configuration with GnssConfigRequested struct - GnssConfig gnssConfigRequested = {}; - gnssConfigRequested.flags |= GNSS_CONFIG_FLAGS_GPS_LOCK_VALID_BIT | - GNSS_CONFIG_FLAGS_LPPE_CONTROL_PLANE_VALID_BIT | - GNSS_CONFIG_FLAGS_LPPE_USER_PLANE_VALID_BIT | - GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT; - gnssConfigRequested.gpsLock = GNSS_CONFIG_GPS_LOCK_NONE; - if (0 == adapter.getAfwControlId() || NULL != adapter.mNfwCb) { - gnssConfigRequested.gpsLock = gpsConf.GPS_LOCK; - } - - if (gpsConf.AGPS_CONFIG_INJECT) { - gnssConfigRequested.flags |= GNSS_CONFIG_FLAGS_SET_ASSISTANCE_DATA_VALID_BIT | - GNSS_CONFIG_FLAGS_SUPL_VERSION_VALID_BIT | - GNSS_CONFIG_FLAGS_AGLONASS_POSITION_PROTOCOL_VALID_BIT | - GNSS_CONFIG_FLAGS_LPP_PROFILE_VALID_BIT; - gnssConfigRequested.suplVersion = - adapter.mLocApi->convertSuplVersion(gpsConf.SUPL_VER); - gnssConfigRequested.lppProfile = - adapter.mLocApi->convertLppProfile(gpsConf.LPP_PROFILE); - gnssConfigRequested.aGlonassPositionProtocolMask = - gpsConf.A_GLONASS_POS_PROTOCOL_SELECT; - } - gnssConfigRequested.lppeControlPlaneMask = - adapter.mLocApi->convertLppeCp(gpsConf.LPPE_CP_TECHNOLOGY); - gnssConfigRequested.lppeUserPlaneMask = - adapter.mLocApi->convertLppeUp(gpsConf.LPPE_UP_TECHNOLOGY); - gnssConfigRequested.blacklistedSvIds.assign(adapter.mBlacklistedSvIds.begin(), - adapter.mBlacklistedSvIds.end()); - adapter.gnssUpdateConfig(oldServerUrl, oldMoServerUrl, gnssConfigRequested, - gnssConfigRequested); - - // set nmea mask type - uint32_t mask = 0; - if (NMEA_PROVIDER_MP == gpsConf.NMEA_PROVIDER) { - mask |= LOC_NMEA_ALL_GENERAL_SUPPORTED_MASK; - } - if (ContextBase::isFeatureSupported(LOC_SUPPORTED_FEATURE_DEBUG_NMEA_V02)) { - mask |= LOC_NMEA_MASK_DEBUG_V02; - } - - if (mask != 0) { - adapter.mLocApi->setNMEATypesSync(mask); - } - - adapter.mLocApi->setXtraVersionCheckSync(gpsConf.XTRA_VERSION_CHECK); - - adapter.mLocApi->setConstrainedTuncMode( - gpsConf.CONSTRAINED_TIME_UNCERTAINTY_ENABLED == 1, - (float)gpsConf.CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD, - gpsConf.CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET); - adapter.mLocApi->setPositionAssistedClockEstimatorMode( - gpsConf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED == 1); - - if (sapConf.GYRO_BIAS_RANDOM_WALK_VALID || - sapConf.ACCEL_RANDOM_WALK_SPECTRAL_DENSITY_VALID || - sapConf.ANGLE_RANDOM_WALK_SPECTRAL_DENSITY_VALID || - sapConf.RATE_RANDOM_WALK_SPECTRAL_DENSITY_VALID || - sapConf.VELOCITY_RANDOM_WALK_SPECTRAL_DENSITY_VALID ) { - adapter.mLocApi->setSensorPropertiesSync( - sapConf.GYRO_BIAS_RANDOM_WALK_VALID, - sapConf.GYRO_BIAS_RANDOM_WALK, - sapConf.ACCEL_RANDOM_WALK_SPECTRAL_DENSITY_VALID, - sapConf.ACCEL_RANDOM_WALK_SPECTRAL_DENSITY, - sapConf.ANGLE_RANDOM_WALK_SPECTRAL_DENSITY_VALID, - sapConf.ANGLE_RANDOM_WALK_SPECTRAL_DENSITY, - sapConf.RATE_RANDOM_WALK_SPECTRAL_DENSITY_VALID, - sapConf.RATE_RANDOM_WALK_SPECTRAL_DENSITY, - sapConf.VELOCITY_RANDOM_WALK_SPECTRAL_DENSITY_VALID, - sapConf.VELOCITY_RANDOM_WALK_SPECTRAL_DENSITY); - } - adapter.mLocApi->setSensorPerfControlConfigSync( - sapConf.SENSOR_CONTROL_MODE, - sapConf.SENSOR_ACCEL_SAMPLES_PER_BATCH, - sapConf.SENSOR_ACCEL_BATCHES_PER_SEC, - sapConf.SENSOR_GYRO_SAMPLES_PER_BATCH, - sapConf.SENSOR_GYRO_BATCHES_PER_SEC, - sapConf.SENSOR_ACCEL_SAMPLES_PER_BATCH_HIGH, - sapConf.SENSOR_ACCEL_BATCHES_PER_SEC_HIGH, - sapConf.SENSOR_GYRO_SAMPLES_PER_BATCH_HIGH, - sapConf.SENSOR_GYRO_BATCHES_PER_SEC_HIGH, - sapConf.SENSOR_ALGORITHM_CONFIG_MASK); + //cache the injected configuration with GnssConfigRequested struct + GnssConfig gnssConfigRequested = {}; + gnssConfigRequested.flags |= GNSS_CONFIG_FLAGS_GPS_LOCK_VALID_BIT | + GNSS_CONFIG_FLAGS_LPPE_CONTROL_PLANE_VALID_BIT | + GNSS_CONFIG_FLAGS_LPPE_USER_PLANE_VALID_BIT | + GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT; + gnssConfigRequested.gpsLock = GNSS_CONFIG_GPS_LOCK_NONE; + if (0 == adapter.getAfwControlId() || NULL != adapter.mNfwCb) { + gnssConfigRequested.gpsLock = gpsConf.GPS_LOCK; + } + + if (gpsConf.AGPS_CONFIG_INJECT) { + gnssConfigRequested.flags |= GNSS_CONFIG_FLAGS_SET_ASSISTANCE_DATA_VALID_BIT | + GNSS_CONFIG_FLAGS_SUPL_VERSION_VALID_BIT | + GNSS_CONFIG_FLAGS_AGLONASS_POSITION_PROTOCOL_VALID_BIT | + GNSS_CONFIG_FLAGS_LPP_PROFILE_VALID_BIT; + gnssConfigRequested.suplVersion = + adapter.mLocApi->convertSuplVersion(gpsConf.SUPL_VER); + gnssConfigRequested.lppProfile = + adapter.mLocApi->convertLppProfile(gpsConf.LPP_PROFILE); + gnssConfigRequested.aGlonassPositionProtocolMask = + gpsConf.A_GLONASS_POS_PROTOCOL_SELECT; + } + gnssConfigRequested.lppeControlPlaneMask = + adapter.mLocApi->convertLppeCp(gpsConf.LPPE_CP_TECHNOLOGY); + gnssConfigRequested.lppeUserPlaneMask = + adapter.mLocApi->convertLppeUp(gpsConf.LPPE_UP_TECHNOLOGY); + gnssConfigRequested.blacklistedSvIds.assign(adapter.mBlacklistedSvIds.begin(), + adapter.mBlacklistedSvIds.end()); + mApi.sendMsg(new LocApiMsg( + [&adapter, gpsConf, sapConf, oldServerUrl, + oldMoServerUrl, gnssConfigRequested] () { + adapter.gnssUpdateConfig(oldServerUrl, oldMoServerUrl, gnssConfigRequested, + gnssConfigRequested); + + // set nmea mask type + uint32_t mask = 0; + if (NMEA_PROVIDER_MP == gpsConf.NMEA_PROVIDER) { + mask |= LOC_NMEA_ALL_GENERAL_SUPPORTED_MASK; + } + if (ContextBase::isFeatureSupported(LOC_SUPPORTED_FEATURE_DEBUG_NMEA_V02)) { + mask |= LOC_NMEA_MASK_DEBUG_V02; + } + + if (mask != 0) { + adapter.mLocApi->setNMEATypesSync(mask); + } + + adapter.mLocApi->setXtraVersionCheckSync(gpsConf.XTRA_VERSION_CHECK); + + adapter.mLocApi->setConstrainedTuncMode( + gpsConf.CONSTRAINED_TIME_UNCERTAINTY_ENABLED == 1, + (float)gpsConf.CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD, + gpsConf.CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET); + adapter.mLocApi->setPositionAssistedClockEstimatorMode( + gpsConf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED == 1); + + if (sapConf.GYRO_BIAS_RANDOM_WALK_VALID || + sapConf.ACCEL_RANDOM_WALK_SPECTRAL_DENSITY_VALID || + sapConf.ANGLE_RANDOM_WALK_SPECTRAL_DENSITY_VALID || + sapConf.RATE_RANDOM_WALK_SPECTRAL_DENSITY_VALID || + sapConf.VELOCITY_RANDOM_WALK_SPECTRAL_DENSITY_VALID ) { + adapter.mLocApi->setSensorPropertiesSync( + sapConf.GYRO_BIAS_RANDOM_WALK_VALID, + sapConf.GYRO_BIAS_RANDOM_WALK, + sapConf.ACCEL_RANDOM_WALK_SPECTRAL_DENSITY_VALID, + sapConf.ACCEL_RANDOM_WALK_SPECTRAL_DENSITY, + sapConf.ANGLE_RANDOM_WALK_SPECTRAL_DENSITY_VALID, + sapConf.ANGLE_RANDOM_WALK_SPECTRAL_DENSITY, + sapConf.RATE_RANDOM_WALK_SPECTRAL_DENSITY_VALID, + sapConf.RATE_RANDOM_WALK_SPECTRAL_DENSITY, + sapConf.VELOCITY_RANDOM_WALK_SPECTRAL_DENSITY_VALID, + sapConf.VELOCITY_RANDOM_WALK_SPECTRAL_DENSITY); + } + adapter.mLocApi->setSensorPerfControlConfigSync( + sapConf.SENSOR_CONTROL_MODE, + sapConf.SENSOR_ACCEL_SAMPLES_PER_BATCH, + sapConf.SENSOR_ACCEL_BATCHES_PER_SEC, + sapConf.SENSOR_GYRO_SAMPLES_PER_BATCH, + sapConf.SENSOR_GYRO_BATCHES_PER_SEC, + sapConf.SENSOR_ACCEL_SAMPLES_PER_BATCH_HIGH, + sapConf.SENSOR_ACCEL_BATCHES_PER_SEC_HIGH, + sapConf.SENSOR_GYRO_SAMPLES_PER_BATCH_HIGH, + sapConf.SENSOR_GYRO_BATCHES_PER_SEC_HIGH, + sapConf.SENSOR_ALGORITHM_CONFIG_MASK); } )); } }; @@ -1039,9 +1040,18 @@ GnssAdapter::gnssUpdateConfigCommand(GnssConfig config) mConfig(config), mCount(count), mIds(ids) {} + inline MsgGnssUpdateConfig(const MsgGnssUpdateConfig& obj) : + MsgGnssUpdateConfig(obj.mAdapter, obj.mApi, obj.mConfig, + new uint32_t[obj.mCount], obj.mCount) { + if (mIds != nullptr) { + for (int i = 0; i < mCount; ++i) { + mIds[i] = obj.mIds[i]; + } + } + } inline virtual ~MsgGnssUpdateConfig() { - delete [] mIds; + delete[] mIds; } inline virtual void proc() const { @@ -1066,7 +1076,7 @@ GnssAdapter::gnssUpdateConfigCommand(GnssConfig config) newGpsLock = GNSS_CONFIG_GPS_LOCK_MO; } if (newGpsLock == ContextBase::mGps_conf.GPS_LOCK || - 0 != mAdapter.getAfwControlId()) { + 0 != mAdapter.getAfwControlId() || NULL != adapter.mNfwCb) { gnssConfigNeedEngineUpdate.flags &= ~(GNSS_CONFIG_FLAGS_GPS_LOCK_VALID_BIT); } ContextBase::mGps_conf.GPS_LOCK = newGpsLock; @@ -1299,6 +1309,16 @@ GnssAdapter::gnssGetConfigCommand(GnssConfigFlagsMask configMask) { mConfigMask(configMask), mIds(ids), mCount(count) {} + + inline MsgGnssGetConfig(const MsgGnssGetConfig& obj) : + MsgGnssGetConfig(obj.mAdapter, obj.mApi, obj.mConfigMask, + new uint32_t[obj.mCount], obj.mCount) { + if (mIds != nullptr) { + for (int i = 0; i < mCount; ++i) { + mIds[i] = obj.mIds[i]; + } + } + } inline virtual ~MsgGnssGetConfig() { delete[] mIds; |