diff options
Diffstat (limited to 'gps/utils/loc_misc_utils.h')
| -rw-r--r-- | gps/utils/loc_misc_utils.h | 321 |
1 files changed, 321 insertions, 0 deletions
diff --git a/gps/utils/loc_misc_utils.h b/gps/utils/loc_misc_utils.h new file mode 100644 index 0000000..2335e57 --- /dev/null +++ b/gps/utils/loc_misc_utils.h @@ -0,0 +1,321 @@ +/* Copyright (c) 2014, 2020 The Linux Foundation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of The Linux Foundation, nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS + * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR + * BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE + * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN + * IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ +#ifndef _LOC_MISC_UTILS_H_ +#define _LOC_MISC_UTILS_H_ +#include <stdint.h> +#include <ios> +#include <string> +#include <sstream> + +#ifdef __cplusplus +extern "C" { +#endif +#include <stddef.h> +#include <stdint.h> +/*=========================================================================== +FUNCTION loc_split_string + +DESCRIPTION: + This function is used to split a delimiter separated string into + sub-strings. This function does not allocate new memory to store the split + strings. Instead, it places '\0' in places of delimiters and assings the + starting address of the substring within the raw string as the string address + The input raw_string no longer remains to be a collection of sub-strings + after this function is executed. + Please make a copy of the input string before calling this function if + necessary + +PARAMETERS: + char *raw_string: is the original string with delimiter separated substrings + char **split_strings_ptr: is the arraw of pointers which will hold the addresses + of individual substrings + int max_num_substrings: is the maximum number of substrings that are expected + by the caller. The array of pointers in the above parameter + is usually this long + char delimiter: is the delimiter that separates the substrings. Examples: ' ', ';' + +DEPENDENCIES + N/A + +RETURN VALUE + int Number of split strings + +SIDE EFFECTS + The input raw_string no longer remains a delimiter separated single string. + +EXAMPLE + delimiter = ' ' //space + raw_string = "hello new user" //delimiter is space ' ' + addresses = 0123456789abcd + split_strings_ptr[0] = &raw_string[0]; //split_strings_ptr[0] contains "hello" + split_strings_ptr[1] = &raw_string[6]; //split_strings_ptr[1] contains "new" + split_strings_ptr[2] = &raw_string[a]; //split_strings_ptr[2] contains "user" + +===========================================================================*/ +int loc_util_split_string(char *raw_string, char **split_strings_ptr, int max_num_substrings, + char delimiter); + +/*=========================================================================== +FUNCTION trim_space + +DESCRIPTION + Removes leading and trailing spaces of the string + +DEPENDENCIES + N/A + +RETURN VALUE + None + +SIDE EFFECTS + N/A +===========================================================================*/ +void loc_util_trim_space(char *org_string); + +/*=========================================================================== +FUNCTION dlGetSymFromLib + +DESCRIPTION + Handy function to get a pointer to a symbol from a library. + + If libHandle is not null, it will be used as the handle to the library. In + that case libName wll not be used; + libHandle is an in / out parameter. + If libHandle is null, libName will be used to dlopen. + Either libHandle or libName must not be nullptr. + symName must not be null. + +DEPENDENCIES + N/A + +RETURN VALUE + pointer to symName. Could be nullptr if + Parameters are incorrect; or + libName can not be opened; or + symName can not be found. + +SIDE EFFECTS + N/A +===========================================================================*/ +void* dlGetSymFromLib(void*& libHandle, const char* libName, const char* symName); + +/*=========================================================================== +FUNCTION getQTimerTickCount + +DESCRIPTION + This function is used to read the QTimer ticks count. This value is globally maintained and + must be the same across all processors on a target. + +DEPENDENCIES + N/A + +RETURN VALUE + uint64_t QTimer tick count + +SIDE EFFECTS + N/A +===========================================================================*/ +uint64_t getQTimerTickCount(); + +/*=========================================================================== +FUNCTION getQTimerDeltaNanos + +DESCRIPTION +This function is used to read the the difference in nanoseconds between +Qtimer on AP side and Qtimer on MP side for dual-SoC architectures such as Kona + +DEPENDENCIES +N/A + +RETURN VALUE +uint64_t QTimer difference in nanoseconds + +SIDE EFFECTS +N/A +===========================================================================*/ +uint64_t getQTimerDeltaNanos(); + +/*=========================================================================== +FUNCTION getQTimerFreq + +DESCRIPTION + This function is used to read the QTimer frequency in hz. This value is globally maintained and + must be the same across all processors on a target. + +DEPENDENCIES + N/A + +RETURN VALUE + uint64_t QTimer frequency + +SIDE EFFECTS + N/A +===========================================================================*/ +uint64_t getQTimerFreq(); + +/*=========================================================================== +FUNCTION getBootTimeMilliSec + +DESCRIPTION + This function is used to get boot time in milliseconds. + +DEPENDENCIES + N/A + +RETURN VALUE + uint64_t boot time in milliseconds + +SIDE EFFECTS + N/A +===========================================================================*/ +uint64_t getBootTimeMilliSec(); + +#ifdef __cplusplus +} +#endif + +using std::hex; +using std::string; +using std::stringstream; + +/*=========================================================================== +FUNCTION to_string_hex + +DESCRIPTION + This function works similar to std::to_string, but puts only in hex format. + +DEPENDENCIES + N/A + +RETURN VALUE + string, of input val in hex format + +SIDE EFFECTS + N/A +===========================================================================*/ +template <typename T> +string to_string_hex(T val) { + stringstream ss; + if (val < 0) { + val = -val; + ss << "-"; + } + ss << hex << "0x" << val; + return ss.str(); +} + +/*=========================================================================== +FUNCTION loc_prim_arr_to_string + +DESCRIPTION + This function puts out primitive array in DEC or EHX format. + +DEPENDENCIES + N/A + +RETURN VALUE + string, space separated string of values in the input array, either + in decimal or hex format, depending on the value of decIfTrue + +SIDE EFFECTS + N/A +===========================================================================*/ +template <typename T> +static string loc_prim_arr_to_string(T* arr, uint32_t size, bool decIfTrue = true) { + stringstream ss; + for (uint32_t i = 0; i < size; i++) { + ss << (decIfTrue ? to_string(arr[i]) : to_string_hex(arr[i])); + if (i != size - 1) { + ss << " "; + } + } + return ss.str(); +} + +/*=========================================================================== +FUNCTION qTimerTicksToNanos + +DESCRIPTION + Transform from ticks to nanoseconds, clock is 19.2 MHz + so the formula would be qtimer(ns) = (ticks * 1000000000) / 19200000 + or simplified qtimer(ns) = (ticks * 10000) / 192. + +DEPENDENCIES + N/A + +RETURN VALUE + Qtimer value in nanoseconds + +SIDE EFFECTS + N/A +===========================================================================*/ +inline uint64_t qTimerTicksToNanos(double qTimer) { + return (uint64_t((qTimer * double(10000ull)) / (double)192ull)); +} + +/*=========================================================================== +FUNCTION loc_convert_lla_gnss_to_vrp + +DESCRIPTION + This function converts lat/long/altitude from GNSS antenna based + to vehicle reference point based. + +DEPENDENCIES + N/A + +RETURN VALUE + The converted lat/long/altitude will be stored in the parameter of llaInfo. + +SIDE EFFECTS + N/A +===========================================================================*/ +void loc_convert_lla_gnss_to_vrp(double lla[3], float rollPitchYaw[3], + float leverArm[3]); + +/*=========================================================================== +FUNCTION loc_convert_velocity_gnss_to_vrp + +DESCRIPTION + This function converts east/north/up velocity from GNSS antenna based + to vehicle reference point based. + +DEPENDENCIES + N/A + +RETURN VALUE + The converted east/north/up velocity will be stored in the parameter of + enuVelocity. + +SIDE EFFECTS + N/A +===========================================================================*/ +void loc_convert_velocity_gnss_to_vrp(float enuVelocity[3], float rollPitchYaw[3], + float rollPitchYawRate[3], float leverArm[3]); + +#endif //_LOC_MISC_UTILS_H_ |