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move fidls to dedicated folders, start implementation of enhp wamp
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it makes the api management more understandable and also the Franca
generation
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asanoaozora committed Apr 24, 2018
1 parent b2649d3 commit b91cad7
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81 changes: 81 additions & 0 deletions api/franca/enhancedpositionservice/CMakeLists.txt
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###########################################################################
# @licence app begin@
# SPDX-License-Identifier: MPL-2.0
#
# Component Name: franca enhanced position service generation
#
# Author: Philippe Colliot
#
# Copyright (C) 2018, PSA Groupe
#
# Note:
# The current file is an adaptation of the example file
# http://git.projects.genivi.org/?p=ipc/common-api-tools.git;a=blob;f=CommonAPI-Examples/E01HelloWorld/CMakeLists.txt
#
# 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@
###########################################################################

cmake_minimum_required (VERSION 2.8.1)

project(franca-enhancedpositionservice)

get_directory_property(hasParent PARENT_DIRECTORY)

if(hasParent)
set(COMMONAPI_GEN_DIR "${COMMONAPI_GEN_DIR}" PARENT_SCOPE)
else()
set(COMMONAPI_GEN_DIR "${CMAKE_CURRENT_BINARY_DIR}/src-gen")
endif()

option(COMMONAPI_TOOL_GENERATOR
"Absolute path to CommonAPI code generator" "")
option(COMMONAPI_DBUS_TOOL_GENERATOR
"Absolute path to CommonAPI-DBus code generator" "")
option(COMMONAPI_WAMP_TOOL_GENERATOR
"Absolute path to CommonAPI-Wamp code generator" "")
option(WITH_WAMP_GENERATION
"Generate Wamp files" OFF)

set(COMMONAPI_FIDL_DIR "${CMAKE_CURRENT_SOURCE_DIR}")

find_package(PkgConfig REQUIRED)

include(FindPkgConfig)

# generate code from fidl
if(NOT COMMONAPI_GEN_DIR)
message (FATAL_ERROR "Set the variable -DCOMMONAPI_GEN_DIR=<path>")
endif()

file(GLOB FIDL_FILES "${COMMONAPI_FIDL_DIR}/*.fidl")

if (COMMONAPI_TOOL_GENERATOR)
execute_process(WORKING_DIRECTORY ${COMMONAPI_FIDL_DIR}
COMMAND ${COMMONAPI_TOOL_GENERATOR} -sk -d ${COMMONAPI_GEN_DIR} ${FIDL_FILES})
else ()
message (FATAL_ERROR "Set the variable -DCOMMONAPI_TOOL_GENERATOR=<tool>")
endif ()

if (WITH_WAMP_GENERATION)
if (COMMONAPI_WAMP_TOOL_GENERATOR)
foreach(RAW_FILE ${FIDL_FILES})
execute_process(WORKING_DIRECTORY ${COMMONAPI_FIDL_DIR}
COMMAND java -jar ${COMMONAPI_WAMP_TOOL_GENERATOR} -f ${RAW_FILE} -d ${COMMONAPI_GEN_DIR} )
endforeach()
else ()
message (FATAL_ERROR "Set the variable -DCOMMONAPI_WAMP_TOOL_GENERATOR=<tool>")
endif ()
else()
if (COMMONAPI_DBUS_TOOL_GENERATOR)
execute_process(WORKING_DIRECTORY ${COMMONAPI_FIDL_DIR}
COMMAND ${COMMONAPI_DBUS_TOOL_GENERATOR} -d ${COMMONAPI_GEN_DIR} ${FIDL_FILES})
else ()
message (FATAL_ERROR "Set the variable -DCOMMONAPI_DBUS_TOOL_GENERATOR=<tool>")
endif ()
endif()

44 changes: 44 additions & 0 deletions api/franca/enhancedpositionservice/Configuration.fidl
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/* 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.enhancedpositionservice.EnhancedPositionServiceTypes.* from "EnhancedPositionServiceTypes.fidl"

<** @description : Configuration = This interface allows a client application to set and retrieve configuration options **>
interface Configuration {
version {
major 5
minor 0
}

<** @description : SatSystem = satellite system (GPS, GLONASS, ...) **>
attribute SatelliteSystem SatSystem

<** @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
}
}

<** @description : GetSupportedSatelliteSystems = This method returns a list of supported satellite systems **>
method GetSupportedSatelliteSystems {
out {
<** @description : satelliteSystems = list of supported satellite systems **>
SatelliteSystem[] satelliteSystems
}
}


}
78 changes: 78 additions & 0 deletions api/franca/enhancedpositionservice/EnhancedPosition.fidl
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/* 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.enhancedpositionservice.EnhancedPositionServiceTypes.* from "EnhancedPositionServiceTypes.fidl"

<** @description : EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle **>
interface EnhancedPosition {
version {
major 5
minor 0
}

<** @description : GetVersion = This method returns the API version implemented by the server application **>
method GetVersion {
out {
Version ^version
}
}

<** @description : GetPositionInfo = 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 GetPositionInfo {
in {
<** @description : valuesToReturn = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to the values to be returned **>
Bitmask valuesToReturn
}
out {
<** @description : timestamp = Timestamp of the acquisition of the position data [ms] **>
Timestamp timestamp
<** @description : data = Position data **>
PositionInfo data
}
}

<**
@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 {
<** @description : timestamp = Timestamp of the acquisition of the satellite detail data [ms] **>
Timestamp timestamp
<** @description : satelliteInfo = satellite information **>
SatelliteInfo satelliteInfo
}
}

<** @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 {
<** @description : timestamp = Timestamp of the acquisition of the UTC date/time [ms] **>
Timestamp timestamp
<** @description : time = UTC date/time **>
TimeInfo time
}
}

<** @description : PositionUpdate = This signal is called to notify a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz **>
broadcast PositionUpdate {
out {
<** @description : valuesToReturn = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to the values that changed **>
Bitmask changedValues
}
}

}
183 changes: 183 additions & 0 deletions api/franca/enhancedpositionservice/EnhancedPositionServiceTypes.fidl
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/* 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

typeCollection EnhancedPositionServiceTypes {

version {
major 5
minor 0
}

typedef Timestamp is UInt64

<** @description: bitmask obtained as a result of an OR operation on enum values of type PositionInfoKey **>
typedef Bitmask is UInt64

<** @description: version **>
struct Version {
<** @description : when the major changes, then backward compatibility with previous releases is not granted **>
UInt16 maj
<** @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 min
<** @description : when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications) **>
UInt16 mic
<** @description : release date (e.g. 21-06-2011) **>
String date
}

<** @description : Value = generic value (mapped to a dbus variant ('v') data type)**>
union Value {
UInt64 uInt64Value
Double doubleValue
Float floatValue
String stringValue
}

enumeration PositionInfoKey {
LATITUDE = 1
LONGITUDE = 2
ALTITUDE = 4
HEADING = 8
SPEED = 16
CLIMB = 32
ROLL_RATE = 64
PITCH_RATE = 128
YAW_RATE = 256
PDOP = 512
HDOP = 1024
VDOP = 2048
USED_SATELLITES = 4096
TRACKED_SATELLITES = 8192
VISIBLE_SATELLITES = 16384
SIGMA_HPOSITION = 32768
SIGMA_ALTITUDE = 65536
SIGMA_HEADING = 131072
SIGMA_SPEED = 262144
SIGMA_CLIMB = 524288
GNSS_FIX_STATUS = 1048576
DR_STATUS = 2097152
RELIABILTY_INDEX = 4194304
}

<** @description : PositionInfo = array of tuples (key,value)
key = enumeration PositionInfoKey
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 'Double', that expresses the altitude above the sea level of the current position in meters
key = HEADING, value = value of type 'Double', 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 'Double', that expresses the road gradient in degrees
key = ROLL_RATE, value = value of type 'Double', rotation rate around the X-axis in degrees/s. Range [-100:+100]
key = PITCH_RATE, value = value of type 'Double', rotation rate around the Y-axis in degrees/s. Range [-100:+100]
key = YAW_RATE, value = value of type 'Double', 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 = 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 = SIGMA_HPOSITION, value = value of type 'Double', that represents the standard deviation for the horizontal position 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
key = SIGMA_SPEED, value = value of type 'Double', that represents the standard error estimate of the speed in m/s</line>
key = SIGMA_CLIMB, value = value of type 'Double', that represents the standard error estimate of the climb in degrees</line>
key = GNSS_FIX_STATUS, value = value of type 'UInt16', that represents an enum(NO_FIX(0x01),TIME_FIX(0x01),2D_FIX(0x02),3D_FIX(0x03), ... )
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 PositionInfo {
PositionInfoKey to Value
}

enumeration SatelliteSystem {
GPS = 1
GLONASS = 2
GALILEO = 3
COMPASS = 4
}

<** @description : SatelliteInfo = array(struct(system,satelliteId,azimuth,elevation,cNo,inUse))
system = enum(GPS, GLONASS, GALILEO, COMPASS, ... )
satelliteId = satellite ID. This ID is unique within one satellite system
azimuth = satellite azimuth in degrees. Value range 0..359
elevation = satellite elevation in degrees. Value range 0..90
cNo = C/No (SNR) in dBHz. Range 0 to 99, 0 when not tracking
inUse = flag indicating if the satellite is used for the fix (inUse=true)
**>
struct SatelliteInfo {
SatelliteSystem system
UInt32 satellitId
UInt32 azimuth
UInt32 elevation
UInt32 cNo
Boolean inUse
}

<** @description: since the hexadecimal format is not supported by Franca yet
the bitmask below is expressed using numbers in decimal format.
Example: 0x01000000 = 16777216 **>
enumeration TimeInfoKey {
YEAR = 16777216
MONTH = 33554432
DAY = 67108864
HOUR = 134217728
MINUTE = 268435456
SECOND = 536870912
MS = 1073741824
}

<** @description : TimeInfo = array of tuples (key,value)
key = enumeration TimeInfoKey
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 {
TimeInfoKey to Value
}

enumeration PositionFeedbackKey {
LATITUDE = 1
LONGITUDE = 2
ALTITUDE = 4
HEADING = 8
SPEED = 16
CLIMB = 32
RELIABILTY_INDEX = 64
}

enumeration PositionFeedbackType {
MAP_MATCHED_FEEDBACK = 1
TEST_FEEDBACK = 2
}

<**
@description : PositionFeedback = array of tuples (key,value)</line>
key = enum(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 PositionFeedbackInfo {
PositionFeedbackType to Value
}

}


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