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Merge "Update VTS tests for SatellitePvt and CorrelationVector" into sc-dev

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This commit is contained in:
TreeHugger Robot
2021-06-07 22:44:20 +00:00
committed by Android (Google) Code Review
parent b0bd8ad47e b8d98f0be3
commit caa53dc3bb
1 changed files with 174 additions and 90 deletions
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264
gnss/aidl/vts/gnss_hal_test_cases.cpp
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@@ -29,6 +29,7 @@ using android::sp;
using android::hardware::gnss::BlocklistedSource;
using android::hardware::gnss::ElapsedRealtime;
using android::hardware::gnss::GnssClock;
using android::hardware::gnss::GnssData;
using android::hardware::gnss::GnssMeasurement;
using android::hardware::gnss::GnssPowerStats;
using android::hardware::gnss::IGnss;
@@ -65,18 +66,158 @@ TEST_P(GnssHalTest, TestPsdsExtension) {
ASSERT_FALSE(status.isOk());
}
void CheckSatellitePvt(const SatellitePvt& satellitePvt) {
const double kMaxOrbitRadiusMeters = 43000000.0;
const double kMaxVelocityMps = 4000.0;
// The below values are determined using GPS ICD Table 20-1
const double kMinHardwareCodeBiasMeters = -17.869;
const double kMaxHardwareCodeBiasMeters = 17.729;
const double kMaxTimeCorrelationMeters = 3e6;
const double kMaxSatClkDriftMps = 1.117;
ASSERT_TRUE(satellitePvt.flags & SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO ||
satellitePvt.flags & SatellitePvt::HAS_IONO ||
satellitePvt.flags & SatellitePvt::HAS_TROPO);
if (satellitePvt.flags & SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO) {
ALOGD("Found HAS_POSITION_VELOCITY_CLOCK_INFO");
ASSERT_TRUE(satellitePvt.satPosEcef.posXMeters >= -kMaxOrbitRadiusMeters &&
satellitePvt.satPosEcef.posXMeters <= kMaxOrbitRadiusMeters);
ASSERT_TRUE(satellitePvt.satPosEcef.posYMeters >= -kMaxOrbitRadiusMeters &&
satellitePvt.satPosEcef.posYMeters <= kMaxOrbitRadiusMeters);
ASSERT_TRUE(satellitePvt.satPosEcef.posZMeters >= -kMaxOrbitRadiusMeters &&
satellitePvt.satPosEcef.posZMeters <= kMaxOrbitRadiusMeters);
ASSERT_TRUE(satellitePvt.satPosEcef.ureMeters > 0);
ASSERT_TRUE(satellitePvt.satVelEcef.velXMps >= -kMaxVelocityMps &&
satellitePvt.satVelEcef.velXMps <= kMaxVelocityMps);
ASSERT_TRUE(satellitePvt.satVelEcef.velYMps >= -kMaxVelocityMps &&
satellitePvt.satVelEcef.velYMps <= kMaxVelocityMps);
ASSERT_TRUE(satellitePvt.satVelEcef.velZMps >= -kMaxVelocityMps &&
satellitePvt.satVelEcef.velZMps <= kMaxVelocityMps);
ASSERT_TRUE(satellitePvt.satVelEcef.ureRateMps > 0);
ASSERT_TRUE(
satellitePvt.satClockInfo.satHardwareCodeBiasMeters > kMinHardwareCodeBiasMeters &&
satellitePvt.satClockInfo.satHardwareCodeBiasMeters < kMaxHardwareCodeBiasMeters);
ASSERT_TRUE(satellitePvt.satClockInfo.satTimeCorrectionMeters >
-kMaxTimeCorrelationMeters &&
satellitePvt.satClockInfo.satTimeCorrectionMeters < kMaxTimeCorrelationMeters);
ASSERT_TRUE(satellitePvt.satClockInfo.satClkDriftMps > -kMaxSatClkDriftMps &&
satellitePvt.satClockInfo.satClkDriftMps < kMaxSatClkDriftMps);
}
if (satellitePvt.flags & SatellitePvt::HAS_IONO) {
ALOGD("Found HAS_IONO");
ASSERT_TRUE(satellitePvt.ionoDelayMeters > 0 && satellitePvt.ionoDelayMeters < 100);
}
if (satellitePvt.flags & SatellitePvt::HAS_TROPO) {
ALOGD("Found HAS_TROPO");
ASSERT_TRUE(satellitePvt.tropoDelayMeters > 0 && satellitePvt.tropoDelayMeters < 100);
}
}
void CheckGnssMeasurementClockFields(const GnssData& measurement) {
ASSERT_TRUE(measurement.elapsedRealtime.flags >= 0 &&
measurement.elapsedRealtime.flags <= (ElapsedRealtime::HAS_TIMESTAMP_NS |
ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS));
if (measurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIMESTAMP_NS) {
ASSERT_TRUE(measurement.elapsedRealtime.timestampNs > 0);
}
if (measurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS) {
ASSERT_TRUE(measurement.elapsedRealtime.timeUncertaintyNs > 0);
}
ASSERT_TRUE(measurement.clock.gnssClockFlags >= 0 &&
measurement.clock.gnssClockFlags <=
(GnssClock::HAS_LEAP_SECOND | GnssClock::HAS_TIME_UNCERTAINTY |
GnssClock::HAS_FULL_BIAS | GnssClock::HAS_BIAS |
GnssClock::HAS_BIAS_UNCERTAINTY | GnssClock::HAS_DRIFT |
GnssClock::HAS_DRIFT_UNCERTAINTY));
}
void CheckGnssMeasurementFlags(const GnssMeasurement& measurement) {
ASSERT_TRUE(measurement.flags >= 0 &&
measurement.flags <=
(GnssMeasurement::HAS_SNR | GnssMeasurement::HAS_CARRIER_FREQUENCY |
GnssMeasurement::HAS_CARRIER_CYCLES | GnssMeasurement::HAS_CARRIER_PHASE |
GnssMeasurement::HAS_CARRIER_PHASE_UNCERTAINTY |
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_PVT |
GnssMeasurement::HAS_CORRELATION_VECTOR));
}
/*
* TestGnssMeasurementExtension:
* TestGnssMeasurementExtensionAndSatellitePvt:
* 1. Gets the GnssMeasurementExtension and verifies that it returns a non-null extension.
* 2. Sets a GnssMeasurementCallback, waits for a measurement, and verifies fields are valid.
* 2. Sets a GnssMeasurementCallback, waits for a measurement, and verifies mandatory fields are
* valid.
* 3. If SatellitePvt is supported, waits for a measurement with SatellitePvt, and verifies the
* fields are valid.
*/
TEST_P(GnssHalTest, TestGnssMeasurementExtension) {
TEST_P(GnssHalTest, TestGnssMeasurementExtensionAndSatellitePvt) {
const bool kIsSatellitePvtSupported =
aidl_gnss_cb_->last_capabilities_ & (int)GnssCallbackAidl::CAPABILITY_SATELLITE_PVT;
ALOGD("SatellitePvt supported: %s", kIsSatellitePvtSupported ? "true" : "false");
const int kFirstGnssMeasurementTimeoutSeconds = 10;
const int kNumMeasurementEvents = 75;
sp<IGnssMeasurementInterface> iGnssMeasurement;
auto status = aidl_gnss_hal_->getExtensionGnssMeasurement(&iGnssMeasurement);
ASSERT_TRUE(status.isOk());
ASSERT_TRUE(iGnssMeasurement != nullptr);
auto callback = sp<GnssMeasurementCallbackAidl>::make();
status = iGnssMeasurement->setCallback(callback, /* enableFullTracking= */ true,
/* enableCorrVecOutputs */ false);
ASSERT_TRUE(status.isOk());
bool satellitePvtFound = false;
for (int i = 0; i < kNumMeasurementEvents; i++) {
if (i > 0 && (!kIsSatellitePvtSupported || satellitePvtFound)) {
break;
}
GnssData lastMeasurement;
ASSERT_TRUE(callback->gnss_data_cbq_.retrieve(lastMeasurement,
kFirstGnssMeasurementTimeoutSeconds));
EXPECT_EQ(callback->gnss_data_cbq_.calledCount(), i + 1);
ASSERT_TRUE(lastMeasurement.measurements.size() > 0);
// Validity check GnssData fields
CheckGnssMeasurementClockFields(lastMeasurement);
for (const auto& measurement : lastMeasurement.measurements) {
CheckGnssMeasurementFlags(measurement);
if (measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT &&
kIsSatellitePvtSupported == true) {
ALOGD("Found a measurement with SatellitePvt");
satellitePvtFound = true;
CheckSatellitePvt(measurement.satellitePvt);
}
}
}
if (kIsSatellitePvtSupported) {
ASSERT_TRUE(satellitePvtFound);
}
status = iGnssMeasurement->close();
ASSERT_TRUE(status.isOk());
}
/*
* TestCorrelationVector:
* 1. Gets the GnssMeasurementExtension and verifies that it returns a non-null extension.
* 2. Sets a GnssMeasurementCallback, waits for GnssMeasurements with CorrelationVector, and
* verifies fields are valid.
*/
TEST_P(GnssHalTest, TestCorrelationVector) {
const bool kIsCorrelationVectorSupported = aidl_gnss_cb_->last_capabilities_ &
(int)GnssCallbackAidl::CAPABILITY_CORRELATION_VECTOR;
const int kNumMeasurementEvents = 75;
// Pass the test if CorrelationVector is not supported
if (!kIsCorrelationVectorSupported) {
return;
}
const int kFirstGnssMeasurementTimeoutSeconds = 10;
bool has_capability_satpvt = false;
sp<IGnssMeasurementInterface> iGnssMeasurement;
auto status = aidl_gnss_hal_->getExtensionGnssMeasurement(&iGnssMeasurement);
ASSERT_TRUE(status.isOk());
@@ -88,96 +229,39 @@ TEST_P(GnssHalTest, TestGnssMeasurementExtension) {
/* enableCorrVecOutputs */ kIsCorrelationVectorSupported);
ASSERT_TRUE(status.isOk());
android::hardware::gnss::GnssData lastMeasurement;
ASSERT_TRUE(callback->gnss_data_cbq_.retrieve(lastMeasurement,
kFirstGnssMeasurementTimeoutSeconds));
EXPECT_EQ(callback->gnss_data_cbq_.calledCount(), 1);
ASSERT_TRUE(lastMeasurement.measurements.size() > 0);
// Validity check GnssData fields
ASSERT_TRUE(
lastMeasurement.elapsedRealtime.flags >= 0 &&
lastMeasurement.elapsedRealtime.flags <=
(ElapsedRealtime::HAS_TIMESTAMP_NS | ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS));
if (lastMeasurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIMESTAMP_NS) {
ASSERT_TRUE(lastMeasurement.elapsedRealtime.timestampNs > 0);
}
if (lastMeasurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS) {
ASSERT_TRUE(lastMeasurement.elapsedRealtime.timeUncertaintyNs > 0);
}
ASSERT_TRUE(lastMeasurement.clock.gnssClockFlags >= 0 &&
lastMeasurement.clock.gnssClockFlags <=
(GnssClock::HAS_LEAP_SECOND | GnssClock::HAS_TIME_UNCERTAINTY |
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 &&
measurement.flags <=
(GnssMeasurement::HAS_SNR | GnssMeasurement::HAS_CARRIER_FREQUENCY |
GnssMeasurement::HAS_CARRIER_CYCLES | GnssMeasurement::HAS_CARRIER_PHASE |
GnssMeasurement::HAS_CARRIER_PHASE_UNCERTAINTY |
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_PVT |
GnssMeasurement::HAS_CORRELATION_VECTOR));
if (measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT &&
has_capability_satpvt == true) {
if (measurement.satellitePvt.flags & SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO) {
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);
ASSERT_TRUE(
measurement.satellitePvt.satClockInfo.satHardwareCodeBiasMeters > -17.869 &&
measurement.satellitePvt.satClockInfo.satHardwareCodeBiasMeters < 17.729);
ASSERT_TRUE(measurement.satellitePvt.satClockInfo.satTimeCorrectionMeters > -3e6 &&
measurement.satellitePvt.satClockInfo.satTimeCorrectionMeters < 3e6);
ASSERT_TRUE(measurement.satellitePvt.satClockInfo.satClkDriftMps > -1.117 &&
measurement.satellitePvt.satClockInfo.satClkDriftMps < 1.117);
}
if (measurement.satellitePvt.flags & SatellitePvt::HAS_IONO) {
ASSERT_TRUE(measurement.satellitePvt.ionoDelayMeters > 0 &&
measurement.satellitePvt.ionoDelayMeters < 100);
}
if (measurement.satellitePvt.flags & SatellitePvt::HAS_TROPO) {
ASSERT_TRUE(measurement.satellitePvt.tropoDelayMeters > 0 &&
measurement.satellitePvt.tropoDelayMeters < 100);
}
bool correlationVectorFound = false;
for (int i = 0; i < kNumMeasurementEvents; i++) {
// Pass the test if at least one CorrelationVector has been found.
if (correlationVectorFound) {
break;
}
GnssData lastMeasurement;
ASSERT_TRUE(callback->gnss_data_cbq_.retrieve(lastMeasurement,
kFirstGnssMeasurementTimeoutSeconds));
EXPECT_EQ(callback->gnss_data_cbq_.calledCount(), i + 1);
ASSERT_TRUE(lastMeasurement.measurements.size() > 0);
if (kIsCorrelationVectorSupported &&
measurement.flags & GnssMeasurement::HAS_CORRELATION_VECTOR) {
ASSERT_TRUE(measurement.correlationVectors.size() > 0);
for (const auto& correlationVector : measurement.correlationVectors) {
ASSERT_GE(correlationVector.frequencyOffsetMps, 0);
ASSERT_GT(correlationVector.samplingWidthM, 0);
ASSERT_GE(correlationVector.samplingStartM, 0);
ASSERT_TRUE(correlationVector.magnitude.size() > 0);
for (const auto& magnitude : correlationVector.magnitude) {
ASSERT_TRUE(magnitude >= -32768 && magnitude <= 32767);
// Validity check GnssData fields
CheckGnssMeasurementClockFields(lastMeasurement);
for (const auto& measurement : lastMeasurement.measurements) {
CheckGnssMeasurementFlags(measurement);
if (measurement.flags & GnssMeasurement::HAS_CORRELATION_VECTOR) {
correlationVectorFound = true;
ASSERT_TRUE(measurement.correlationVectors.size() > 0);
for (const auto& correlationVector : measurement.correlationVectors) {
ASSERT_GE(correlationVector.frequencyOffsetMps, 0);
ASSERT_GT(correlationVector.samplingWidthM, 0);
ASSERT_GE(correlationVector.samplingStartM, 0);
ASSERT_TRUE(correlationVector.magnitude.size() > 0);
for (const auto& magnitude : correlationVector.magnitude) {
ASSERT_TRUE(magnitude >= -32768 && magnitude <= 32767);
}
}
}
}
}
ASSERT_TRUE(correlationVectorFound);
status = iGnssMeasurement->close();
ASSERT_TRUE(status.isOk());