Add Satellite PVT AIDL HAL

Bug: 171537015
Test: atest VtsHalGnssTargetTest
Change-Id: Icc1f915801d8d3f15757c43abe19f8c264347e22

gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/GnssMeasurement.aidl

@@ -2,13 +2,14 @@
 // THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
 ///////////////////////////////////////////////////////////////////////////////
 
-// This file is a snapshot of an AIDL interface (or parcelable). Do not try to
-// edit this file. It looks like you are doing that because you have modified
-// an AIDL interface in a backward-incompatible way, e.g., deleting a function
-// from an interface or a field from a parcelable and it broke the build. That
-// breakage is intended.
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
 //
-// You must not make a backward incompatible changes to the AIDL files built
+// You must not make a backward incompatible change to any AIDL file built
 // with the aidl_interface module type with versions property set. The module
 // type is used to build AIDL files in a way that they can be used across
 // independently updatable components of the system. If a device is shipped
@@ -42,6 +43,7 @@ parcelable GnssMeasurement {
   double fullInterSignalBiasUncertaintyNs;
   double satelliteInterSignalBiasNs;
   double satelliteInterSignalBiasUncertaintyNs;
+  android.hardware.gnss.SatellitePvt satellitePvt;
   const int HAS_SNR = 1;
   const int HAS_CARRIER_FREQUENCY = 512;
   const int HAS_CARRIER_CYCLES = 1024;
@@ -52,6 +54,7 @@ parcelable GnssMeasurement {
   const int HAS_FULL_ISB_UNCERTAINTY = 131072;
   const int HAS_SATELLITE_ISB = 262144;
   const int HAS_SATELLITE_ISB_UNCERTAINTY = 524288;
+  const int HAS_SATELLITE_PVT = 1048576;
   const int STATE_UNKNOWN = 0;
   const int STATE_CODE_LOCK = 1;
   const int STATE_BIT_SYNC = 2;

gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/IGnssCallback.aidl

@@ -2,13 +2,14 @@
 // THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
 ///////////////////////////////////////////////////////////////////////////////
 
-// This file is a snapshot of an AIDL interface (or parcelable). Do not try to
-// edit this file. It looks like you are doing that because you have modified
-// an AIDL interface in a backward-incompatible way, e.g., deleting a function
-// from an interface or a field from a parcelable and it broke the build. That
-// breakage is intended.
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
 //
-// You must not make a backward incompatible changes to the AIDL files built
+// You must not make a backward incompatible change to any AIDL file built
 // with the aidl_interface module type with versions property set. The module
 // type is used to build AIDL files in a way that they can be used across
 // independently updatable components of the system. If a device is shipped
@@ -20,4 +21,5 @@ package android.hardware.gnss;
 interface IGnssCallback {
   void gnssSetCapabilitiesCb(in int capabilities);
   const int CAPABILITY_SATELLITE_BLOCKLIST = 1;
+  const int CAPABILITY_SATELLITE_PVT = 8192;
 }

gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatelliteClockInfo.aidl

@@ -0,0 +1,25 @@
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.gnss;
+@VintfStability
+parcelable SatelliteClockInfo {
+  double satHardwareCodeBiasMeters;
+  double satTimeCorrectionMeters;
+  double satClkDriftMps;
+}

gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePositionEcef.aidl

@@ -0,0 +1,26 @@
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.gnss;
+@VintfStability
+parcelable SatellitePositionEcef {
+  double posXMeters;
+  double posYMeters;
+  double posZMeters;
+  double ureMeters;
+}

gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl

@@ -0,0 +1,27 @@
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.gnss;
+@VintfStability
+parcelable SatellitePvt {
+  android.hardware.gnss.SatellitePositionEcef satPosEcef;
+  android.hardware.gnss.SatelliteVelocityEcef satVelEcef;
+  android.hardware.gnss.SatelliteClockInfo satClockInfo;
+  double ionoDelayMeters;
+  double tropoDelayMeters;
+}

gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatelliteVelocityEcef.aidl

@@ -0,0 +1,26 @@
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.gnss;
+@VintfStability
+parcelable SatelliteVelocityEcef {
+  double velXMps;
+  double velYMps;
+  double velZMps;
+  double ureRateMps;
+}

gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl

@@ -18,6 +18,7 @@ package android.hardware.gnss;
 
 import android.hardware.gnss.GnssSignalType;
 import android.hardware.gnss.GnssMultipathIndicator;
+import android.hardware.gnss.SatellitePvt;
 
 /**
  * Represents a GNSS Measurement, it contains raw and computed information.
@@ -57,6 +58,10 @@ parcelable GnssMeasurement {
      * GnssMeasurement.
      */
     const int HAS_SATELLITE_ISB_UNCERTAINTY  = 1 << 19;
+    /**
+     * Bit mask indicating a valid satellite PVT is stored in the GnssMeasurement.
+     */
+    const int HAS_SATELLITE_PVT              = 1 << 20;
 
     /**
      * A bitfield of flags indicating the validity of the fields in this GnssMeasurement. The bit
@@ -612,4 +617,12 @@ parcelable GnssMeasurement {
      * 1-sigma uncertainty associated with the satellite inter-signal bias in nanoseconds.
      */
     double satelliteInterSignalBiasUncertaintyNs;
+
+    /**
+     * The GNSS satellite position, velocity and time information at the signal transmission time
+     * receivedSvTimeInNs.
+     *
+     * If the data is available, gnssMeasurementFlags must contain HAS_SATELLITE_PVT.
+     */
+    SatellitePvt satellitePvt;
 }

gnss/aidl/android/hardware/gnss/IGnssCallback.aidl

@@ -30,6 +30,9 @@ interface IGnssCallback {
     /** Capability bit mask indicating GNSS supports blocklisting satellites */
     const int CAPABILITY_SATELLITE_BLOCKLIST = 1 << 0;
 
+    /** Capability bit mask indicating that GNSS supports satellite PVT */
+    const int CAPABILITY_SATELLITE_PVT       = 1 << 13;
+
     /**
      * Callback to inform framework of the GNSS HAL implementation's capabilities.
      *

gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl

@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.gnss;
+
+/**
+ * Contains estimates of the satellite clock info.
+ */
+@VintfStability
+parcelable SatelliteClockInfo {
+    /**
+     * Satellite hardware code bias of the reported code type w.r.t
+     * ionosphere-free measurement in meters.
+     */
+    double satHardwareCodeBiasMeters;
+
+    /**
+     * Satellite time correction for ionospheric-free signal measurement
+     * (meters). The satellite clock correction for the given signal type
+     * = satTimeCorrectionMeters - satHardwareCodeBiasMeters.
+     */
+    double satTimeCorrectionMeters;
+
+    /** Satellite clock drift (meters per second). */
+    double satClkDriftMps;
+}

gnss/aidl/android/hardware/gnss/SatellitePositionEcef.aidl

@@ -0,0 +1,39 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.gnss;
+
+/**
+ * Contains estimates of the satellite position fields in ECEF coordinate frame.
+ */
+@VintfStability
+parcelable SatellitePositionEcef {
+    /** Satellite position X in WGS84 ECEF (meters). */
+    double posXMeters;
+
+    /** Satellite position Y in WGS84 ECEF (meters). */
+    double posYMeters;
+
+    /** Satellite position Z in WGS84 ECEF (meters). */
+    double posZMeters;
+
+    /**
+     * The Signal in Space User Range Error (URE) (meters).
+     *
+     * It covers satellite position and clock errors projected to the pseudorange measurements.
+     */
+    double ureMeters;
+}

gnss/aidl/android/hardware/gnss/SatellitePvt.aidl

@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.gnss;
+
+import android.hardware.gnss.SatellitePositionEcef;
+import android.hardware.gnss.SatelliteVelocityEcef;
+import android.hardware.gnss.SatelliteClockInfo;
+
+/**
+ * Contains estimates of the satellite position, velocity and time in the
+ * ECEF coordinate frame.
+ */
+@VintfStability
+parcelable SatellitePvt {
+    /**
+     * Satellite position in WGS84 ECEF. See comments of
+     * SatellitePositionEcef for units.
+     */
+    SatellitePositionEcef satPosEcef;
+
+    /**
+     * Satellite velocity in WGS84 ECEF. See comments of
+     * SatelliteVelocityEcef for units.
+     */
+    SatelliteVelocityEcef satVelEcef;
+
+    /** Satellite clock bias and drift info. */
+    SatelliteClockInfo satClockInfo;
+
+    /** Ionospheric delay in meters. */
+    double ionoDelayMeters;
+
+    /** Tropospheric delay in meters. */
+    double tropoDelayMeters;
+}

gnss/aidl/android/hardware/gnss/SatelliteVelocityEcef.aidl

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.gnss;
+
+/**
+ * Contains estimates of the satellite velocity fields in the ECEF coordinate frame.
+ */
+@VintfStability
+parcelable SatelliteVelocityEcef {
+    /** Satellite velocity X in WGS84 ECEF (meters per second). */
+    double velXMps;
+
+    /** Satellite velocity Y in WGS84 ECEF (meters per second). */
+    double velYMps;
+
+    /** Satellite velocity Z in WGS84 ECEF (meters per second). */
+    double velZMps;
+
+    /**
+     * The Signal in Space User Range Error Rate (URE Rate) (meters per second).
+     *
+     * It covers satellite velocity error and Satellite clock drift
+     * projected to the pseudorange rate measurements.
+     */
+    double ureRateMps;
+}

gnss/aidl/default/Gnss.cpp

@@ -36,7 +36,8 @@ ndk::ScopedAStatus Gnss::setCallback(const std::shared_ptr<IGnssCallback>& callb
 
     sGnssCallback = callback;
 
-    int capabilities = (int)IGnssCallback::CAPABILITY_SATELLITE_BLOCKLIST;
+    int capabilities = (int)(IGnssCallback::CAPABILITY_SATELLITE_BLOCKLIST |
+                             IGnssCallback::CAPABILITY_SATELLITE_PVT);
     auto status = sGnssCallback->gnssSetCapabilitiesCb(capabilities);
     if (!status.isOk()) {
         ALOGE("%s: Unable to invoke callback.gnssSetCapabilities", __func__);

gnss/aidl/vts/gnss_hal_test_cases.cpp

@@ -70,6 +70,7 @@ TEST_P(GnssHalTest, TestPsdsExtension) {
  */
 TEST_P(GnssHalTest, TestGnssMeasurementExtension) {
     const int kFirstGnssMeasurementTimeoutSeconds = 10;
+    bool has_capability_satpvt = false;
     sp<IGnssMeasurementInterface> iGnssMeasurement;
     auto status = aidl_gnss_hal_->getExtensionGnssMeasurement(&iGnssMeasurement);
     ASSERT_TRUE(status.isOk());
@@ -102,6 +103,10 @@ TEST_P(GnssHalTest, TestGnssMeasurementExtension) {
                          GnssClock::HAS_FULL_BIAS | GnssClock::HAS_BIAS |
                          GnssClock::HAS_BIAS_UNCERTAINTY | GnssClock::HAS_DRIFT |
                          GnssClock::HAS_DRIFT_UNCERTAINTY));
+
+    if (aidl_gnss_cb_->last_capabilities_ & (int)GnssCallbackAidl::CAPABILITY_SATELLITE_PVT) {
+        has_capability_satpvt = true;
+    }
     for (const auto& measurement : lastMeasurement.measurements) {
         ASSERT_TRUE(
                 measurement.flags >= 0 &&
@@ -112,7 +117,25 @@ TEST_P(GnssHalTest, TestGnssMeasurementExtension) {
                          GnssMeasurement::HAS_AUTOMATIC_GAIN_CONTROL |
                          GnssMeasurement::HAS_FULL_ISB | GnssMeasurement::HAS_FULL_ISB_UNCERTAINTY |
                          GnssMeasurement::HAS_SATELLITE_ISB |
-                         GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY));
+                         GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY |
+                         GnssMeasurement::HAS_SATELLITE_PVT));
+        if ((measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT) &&
+            (has_capability_satpvt == true)) {
+            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posXMeters >= -43000000 &&
+                        measurement.satellitePvt.satPosEcef.posXMeters <= 43000000);
+            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posYMeters >= -43000000 &&
+                        measurement.satellitePvt.satPosEcef.posYMeters <= 43000000);
+            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posZMeters >= -43000000 &&
+                        measurement.satellitePvt.satPosEcef.posZMeters <= 43000000);
+            ASSERT_TRUE(measurement.satellitePvt.satPosEcef.ureMeters > 0);
+            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velXMps >= -4000 &&
+                        measurement.satellitePvt.satVelEcef.velXMps <= 4000);
+            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velYMps >= -4000 &&
+                        measurement.satellitePvt.satVelEcef.velYMps <= 4000);
+            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velZMps >= -4000 &&
+                        measurement.satellitePvt.satVelEcef.velZMps <= 4000);
+            ASSERT_TRUE(measurement.satellitePvt.satVelEcef.ureRateMps > 0);
+        }
     }
 
     status = iGnssMeasurement->close();

gnss/common/utils/default/Utils.cpp

@@ -152,10 +152,10 @@ GnssData Utils::getMockMeasurement() {
                      GnssMeasurement::HAS_CARRIER_PHASE_UNCERTAINTY |
                      GnssMeasurement::HAS_FULL_ISB | GnssMeasurement::HAS_FULL_ISB_UNCERTAINTY |
                      GnssMeasurement::HAS_SATELLITE_ISB |
-                     GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY,
+                     GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY |
+                     GnssMeasurement::HAS_SATELLITE_PVT,
             .svid = 13,
             .signalType = signalType,
-            .timeOffsetNs = 0.0,
             .receivedSvTimeInNs = 8195997131077,
             .receivedSvTimeUncertaintyInNs = 15,
             .antennaCN0DbHz = 30.0,
@@ -175,7 +175,19 @@ GnssData Utils::getMockMeasurement() {
             .fullInterSignalBiasUncertaintyNs = 792.0,
             .satelliteInterSignalBiasNs = 233.9,
             .satelliteInterSignalBiasUncertaintyNs = 921.2,
-    };
+            .satellitePvt = {.satPosEcef = {.posXMeters = 10442993.1153328,
+                                            .posYMeters = -19926932.8051666,
+                                            .posZMeters = -12034295.0216203,
+                                            .ureMeters = 1000.2345678},
+                             .satVelEcef = {.velXMps = -478.667183715732,
+                                            .velYMps = 1580.68371984114,
+                                            .velZMps = -3030.52994449997,
+                                            .ureRateMps = 10.2345678},
+                             .satClockInfo = {.satHardwareCodeBiasMeters = 1.396983861923e-09,
+                                              .satTimeCorrectionMeters = -7113.08964331,
+                                              .satClkDriftMps = 0},
+                             .ionoDelayMeters = 3.069949602639317e-08,
+                             .tropoDelayMeters = 3.882265204404031}};
 
     GnssClock clock = {.gnssClockFlags = GnssClock::HAS_FULL_BIAS | GnssClock::HAS_FULL_BIAS |
                                          GnssClock::HAS_BIAS_UNCERTAINTY | GnssClock::HAS_DRIFT |