You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
322 lines
9.7 KiB
322 lines
9.7 KiB
/* 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_
|