1 /* Copyright (c) 2014, 2020 The Linux Foundation. All rights reserved.
2 *
3 * Redistribution and use in source and binary forms, with or without
4 * modification, are permitted provided that the following conditions are
5 * met:
6 * * Redistributions of source code must retain the above copyright
7 * notice, this list of conditions and the following disclaimer.
8 * * Redistributions in binary form must reproduce the above
9 * copyright notice, this list of conditions and the following
10 * disclaimer in the documentation and/or other materials provided
11 * with the distribution.
12 * * Neither the name of The Linux Foundation, nor the names of its
13 * contributors may be used to endorse or promote products derived
14 * from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
17 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
19 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
20 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
21 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
22 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
23 * BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
24 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
25 * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
26 * IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 *
28 */
29 #ifndef _LOC_MISC_UTILS_H_
30 #define _LOC_MISC_UTILS_H_
31 #include <stdint.h>
32 #include <ios>
33 #include <string>
34 #include <sstream>
35
36 #ifdef __cplusplus
37 extern "C" {
38 #endif
39 #include <stddef.h>
40 #include <stdint.h>
41 /*===========================================================================
42 FUNCTION loc_split_string
43
44 DESCRIPTION:
45 This function is used to split a delimiter separated string into
46 sub-strings. This function does not allocate new memory to store the split
47 strings. Instead, it places '\0' in places of delimiters and assings the
48 starting address of the substring within the raw string as the string address
49 The input raw_string no longer remains to be a collection of sub-strings
50 after this function is executed.
51 Please make a copy of the input string before calling this function if
52 necessary
53
54 PARAMETERS:
55 char *raw_string: is the original string with delimiter separated substrings
56 char **split_strings_ptr: is the arraw of pointers which will hold the addresses
57 of individual substrings
58 int max_num_substrings: is the maximum number of substrings that are expected
59 by the caller. The array of pointers in the above parameter
60 is usually this long
61 char delimiter: is the delimiter that separates the substrings. Examples: ' ', ';'
62
63 DEPENDENCIES
64 N/A
65
66 RETURN VALUE
67 int Number of split strings
68
69 SIDE EFFECTS
70 The input raw_string no longer remains a delimiter separated single string.
71
72 EXAMPLE
73 delimiter = ' ' //space
74 raw_string = "hello new user" //delimiter is space ' '
75 addresses = 0123456789abcd
76 split_strings_ptr[0] = &raw_string[0]; //split_strings_ptr[0] contains "hello"
77 split_strings_ptr[1] = &raw_string[6]; //split_strings_ptr[1] contains "new"
78 split_strings_ptr[2] = &raw_string[a]; //split_strings_ptr[2] contains "user"
79
80 ===========================================================================*/
81 int loc_util_split_string(char *raw_string, char **split_strings_ptr, int max_num_substrings,
82 char delimiter);
83
84 /*===========================================================================
85 FUNCTION trim_space
86
87 DESCRIPTION
88 Removes leading and trailing spaces of the string
89
90 DEPENDENCIES
91 N/A
92
93 RETURN VALUE
94 None
95
96 SIDE EFFECTS
97 N/A
98 ===========================================================================*/
99 void loc_util_trim_space(char *org_string);
100
101 /*===========================================================================
102 FUNCTION dlGetSymFromLib
103
104 DESCRIPTION
105 Handy function to get a pointer to a symbol from a library.
106
107 If libHandle is not null, it will be used as the handle to the library. In
108 that case libName wll not be used;
109 libHandle is an in / out parameter.
110 If libHandle is null, libName will be used to dlopen.
111 Either libHandle or libName must not be nullptr.
112 symName must not be null.
113
114 DEPENDENCIES
115 N/A
116
117 RETURN VALUE
118 pointer to symName. Could be nullptr if
119 Parameters are incorrect; or
120 libName can not be opened; or
121 symName can not be found.
122
123 SIDE EFFECTS
124 N/A
125 ===========================================================================*/
126 void* dlGetSymFromLib(void*& libHandle, const char* libName, const char* symName);
127
128 /*===========================================================================
129 FUNCTION getQTimerTickCount
130
131 DESCRIPTION
132 This function is used to read the QTimer ticks count. This value is globally maintained and
133 must be the same across all processors on a target.
134
135 DEPENDENCIES
136 N/A
137
138 RETURN VALUE
139 uint64_t QTimer tick count
140
141 SIDE EFFECTS
142 N/A
143 ===========================================================================*/
144 uint64_t getQTimerTickCount();
145
146 /*===========================================================================
147 FUNCTION getQTimerDeltaNanos
148
149 DESCRIPTION
150 This function is used to read the the difference in nanoseconds between
151 Qtimer on AP side and Qtimer on MP side for dual-SoC architectures such as Kona
152
153 DEPENDENCIES
154 N/A
155
156 RETURN VALUE
157 uint64_t QTimer difference in nanoseconds
158
159 SIDE EFFECTS
160 N/A
161 ===========================================================================*/
162 uint64_t getQTimerDeltaNanos();
163
164 /*===========================================================================
165 FUNCTION getQTimerFreq
166
167 DESCRIPTION
168 This function is used to read the QTimer frequency in hz. This value is globally maintained and
169 must be the same across all processors on a target.
170
171 DEPENDENCIES
172 N/A
173
174 RETURN VALUE
175 uint64_t QTimer frequency
176
177 SIDE EFFECTS
178 N/A
179 ===========================================================================*/
180 uint64_t getQTimerFreq();
181
182 /*===========================================================================
183 FUNCTION getBootTimeMilliSec
184
185 DESCRIPTION
186 This function is used to get boot time in milliseconds.
187
188 DEPENDENCIES
189 N/A
190
191 RETURN VALUE
192 uint64_t boot time in milliseconds
193
194 SIDE EFFECTS
195 N/A
196 ===========================================================================*/
197 uint64_t getBootTimeMilliSec();
198
199 #ifdef __cplusplus
200 }
201 #endif
202
203 using std::hex;
204 using std::string;
205 using std::stringstream;
206
207 /*===========================================================================
208 FUNCTION to_string_hex
209
210 DESCRIPTION
211 This function works similar to std::to_string, but puts only in hex format.
212
213 DEPENDENCIES
214 N/A
215
216 RETURN VALUE
217 string, of input val in hex format
218
219 SIDE EFFECTS
220 N/A
221 ===========================================================================*/
222 template <typename T>
to_string_hex(T val)223 string to_string_hex(T val) {
224 stringstream ss;
225 if (val < 0) {
226 val = -val;
227 ss << "-";
228 }
229 ss << hex << "0x" << val;
230 return ss.str();
231 }
232
233 /*===========================================================================
234 FUNCTION loc_prim_arr_to_string
235
236 DESCRIPTION
237 This function puts out primitive array in DEC or EHX format.
238
239 DEPENDENCIES
240 N/A
241
242 RETURN VALUE
243 string, space separated string of values in the input array, either
244 in decimal or hex format, depending on the value of decIfTrue
245
246 SIDE EFFECTS
247 N/A
248 ===========================================================================*/
249 template <typename T>
250 static string loc_prim_arr_to_string(T* arr, uint32_t size, bool decIfTrue = true) {
251 stringstream ss;
252 for (uint32_t i = 0; i < size; i++) {
253 ss << (decIfTrue ? to_string(arr[i]) : to_string_hex(arr[i]));
254 if (i != size - 1) {
255 ss << " ";
256 }
257 }
258 return ss.str();
259 }
260
261 /*===========================================================================
262 FUNCTION qTimerTicksToNanos
263
264 DESCRIPTION
265 Transform from ticks to nanoseconds, clock is 19.2 MHz
266 so the formula would be qtimer(ns) = (ticks * 1000000000) / 19200000
267 or simplified qtimer(ns) = (ticks * 10000) / 192.
268
269 DEPENDENCIES
270 N/A
271
272 RETURN VALUE
273 Qtimer value in nanoseconds
274
275 SIDE EFFECTS
276 N/A
277 ===========================================================================*/
qTimerTicksToNanos(double qTimer)278 inline uint64_t qTimerTicksToNanos(double qTimer) {
279 return (uint64_t((qTimer * double(10000ull)) / (double)192ull));
280 }
281
282 /*===========================================================================
283 FUNCTION loc_convert_lla_gnss_to_vrp
284
285 DESCRIPTION
286 This function converts lat/long/altitude from GNSS antenna based
287 to vehicle reference point based.
288
289 DEPENDENCIES
290 N/A
291
292 RETURN VALUE
293 The converted lat/long/altitude will be stored in the parameter of llaInfo.
294
295 SIDE EFFECTS
296 N/A
297 ===========================================================================*/
298 void loc_convert_lla_gnss_to_vrp(double lla[3], float rollPitchYaw[3],
299 float leverArm[3]);
300
301 /*===========================================================================
302 FUNCTION loc_convert_velocity_gnss_to_vrp
303
304 DESCRIPTION
305 This function converts east/north/up velocity from GNSS antenna based
306 to vehicle reference point based.
307
308 DEPENDENCIES
309 N/A
310
311 RETURN VALUE
312 The converted east/north/up velocity will be stored in the parameter of
313 enuVelocity.
314
315 SIDE EFFECTS
316 N/A
317 ===========================================================================*/
318 void loc_convert_velocity_gnss_to_vrp(float enuVelocity[3], float rollPitchYaw[3],
319 float rollPitchYawRate[3], float leverArm[3]);
320
321 #endif //_LOC_MISC_UTILS_H_
322