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https://github.com/Evolution-X/hardware_interfaces
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c06b536662
Bug: 136136192 Bug: 141758837 Test: atest VtsHalGnssV2_1TargetTest Change-Id: I8e6d52695c8ab0aeacacb0107a6c0c8271983ed3
216 lines
10 KiB
C++
216 lines
10 KiB
C++
/*
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* Copyright (C) 2019 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <Constants.h>
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#include <Utils.h>
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#include <utils/SystemClock.h>
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namespace android {
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namespace hardware {
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namespace gnss {
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namespace common {
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using GnssSvFlags = V1_0::IGnssCallback::GnssSvFlags;
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using GnssMeasurementFlags = V1_0::IGnssMeasurementCallback::GnssMeasurementFlags;
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using GnssMeasurementStateV2_0 = V2_0::IGnssMeasurementCallback::GnssMeasurementState;
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using ElapsedRealtime = V2_0::ElapsedRealtime;
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using ElapsedRealtimeFlags = V2_0::ElapsedRealtimeFlags;
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using GnssConstellationTypeV2_0 = V2_0::GnssConstellationType;
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using IGnssMeasurementCallbackV2_0 = V2_0::IGnssMeasurementCallback;
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GnssDataV2_1 Utils::getMockMeasurementV2_1() {
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GnssDataV2_0 gnssDataV2_0 = Utils::getMockMeasurementV2_0();
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V2_1::IGnssMeasurementCallback::GnssMeasurement gnssMeasurementV2_1 = {
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.v2_0 = gnssDataV2_0.measurements[0],
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.basebandCN0DbHz = 25.0,
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};
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hidl_vec<V2_1::IGnssMeasurementCallback::GnssMeasurement> measurements(1);
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measurements[0] = gnssMeasurementV2_1;
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GnssDataV2_1 gnssDataV2_1 = {
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.measurements = measurements,
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.clock = gnssDataV2_0.clock,
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.elapsedRealtime = gnssDataV2_0.elapsedRealtime,
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};
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return gnssDataV2_1;
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}
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GnssDataV2_0 Utils::getMockMeasurementV2_0() {
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V1_0::IGnssMeasurementCallback::GnssMeasurement measurement_1_0 = {
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.flags = (uint32_t)GnssMeasurementFlags::HAS_CARRIER_FREQUENCY,
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.svid = (int16_t)6,
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.constellation = V1_0::GnssConstellationType::UNKNOWN,
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.timeOffsetNs = 0.0,
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.receivedSvTimeInNs = 8195997131077,
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.receivedSvTimeUncertaintyInNs = 15,
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.cN0DbHz = 30.0,
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.pseudorangeRateMps = -484.13739013671875,
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.pseudorangeRateUncertaintyMps = 1.0379999876022339,
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.accumulatedDeltaRangeState = (uint32_t)V1_0::IGnssMeasurementCallback::
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GnssAccumulatedDeltaRangeState::ADR_STATE_UNKNOWN,
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.accumulatedDeltaRangeM = 0.0,
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.accumulatedDeltaRangeUncertaintyM = 0.0,
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.carrierFrequencyHz = 1.59975e+09,
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.multipathIndicator =
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V1_0::IGnssMeasurementCallback::GnssMultipathIndicator::INDICATOR_UNKNOWN};
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V1_1::IGnssMeasurementCallback::GnssMeasurement measurement_1_1 = {.v1_0 = measurement_1_0};
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V2_0::IGnssMeasurementCallback::GnssMeasurement measurement_2_0 = {
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.v1_1 = measurement_1_1,
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.codeType = "C",
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.state = GnssMeasurementStateV2_0::STATE_CODE_LOCK |
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GnssMeasurementStateV2_0::STATE_BIT_SYNC |
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GnssMeasurementStateV2_0::STATE_SUBFRAME_SYNC |
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GnssMeasurementStateV2_0::STATE_TOW_DECODED |
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GnssMeasurementStateV2_0::STATE_GLO_STRING_SYNC |
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GnssMeasurementStateV2_0::STATE_GLO_TOD_DECODED,
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.constellation = GnssConstellationTypeV2_0::GLONASS,
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};
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hidl_vec<IGnssMeasurementCallbackV2_0::GnssMeasurement> measurements(1);
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measurements[0] = measurement_2_0;
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V1_0::IGnssMeasurementCallback::GnssClock clock = {.timeNs = 2713545000000,
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.fullBiasNs = -1226701900521857520,
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.biasNs = 0.59689998626708984,
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.biasUncertaintyNs = 47514.989972114563,
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.driftNsps = -51.757811607455452,
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.driftUncertaintyNsps = 310.64968328491528,
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.hwClockDiscontinuityCount = 1};
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ElapsedRealtime timestamp = {
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.flags = ElapsedRealtimeFlags::HAS_TIMESTAMP_NS |
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ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS,
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.timestampNs = static_cast<uint64_t>(::android::elapsedRealtimeNano()),
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// This is an hardcoded value indicating a 1ms of uncertainty between the two clocks.
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// In an actual implementation provide an estimate of the synchronization uncertainty
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// or don't set the field.
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.timeUncertaintyNs = 1000000};
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GnssDataV2_0 gnssData = {
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.measurements = measurements, .clock = clock, .elapsedRealtime = timestamp};
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return gnssData;
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}
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V2_0::GnssLocation Utils::getMockLocationV2_0() {
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const V2_0::ElapsedRealtime timestamp = {
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.flags = V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS |
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V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS,
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.timestampNs = static_cast<uint64_t>(::android::elapsedRealtimeNano()),
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// This is an hardcoded value indicating a 1ms of uncertainty between the two clocks.
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// In an actual implementation provide an estimate of the synchronization uncertainty
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// or don't set the field.
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.timeUncertaintyNs = 1000000};
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V2_0::GnssLocation location = {.v1_0 = Utils::getMockLocationV1_0(),
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.elapsedRealtime = timestamp};
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return location;
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}
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V1_0::GnssLocation Utils::getMockLocationV1_0() {
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V1_0::GnssLocation location = {
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.gnssLocationFlags = 0xFF,
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.latitudeDegrees = kMockLatitudeDegrees,
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.longitudeDegrees = kMockLongitudeDegrees,
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.altitudeMeters = kMockAltitudeMeters,
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.speedMetersPerSec = kMockSpeedMetersPerSec,
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.bearingDegrees = kMockBearingDegrees,
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.horizontalAccuracyMeters = kMockHorizontalAccuracyMeters,
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.verticalAccuracyMeters = kMockVerticalAccuracyMeters,
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.speedAccuracyMetersPerSecond = kMockSpeedAccuracyMetersPerSecond,
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.bearingAccuracyDegrees = kMockBearingAccuracyDegrees,
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.timestamp = kMockTimestamp};
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return location;
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}
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hidl_vec<GnssSvInfoV2_1> Utils::getMockSvInfoListV2_1() {
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GnssSvInfoV1_0 gnssSvInfoV1_0 =
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Utils::getMockSvInfoV1_0(3, V1_0::GnssConstellationType::GPS, 32.5, 59.1, 166.5);
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GnssSvInfoV2_0 gnssSvInfoV2_0 =
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Utils::getMockSvInfoV2_0(gnssSvInfoV1_0, V2_0::GnssConstellationType::GPS);
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hidl_vec<GnssSvInfoV2_1> gnssSvInfoList = {
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Utils::getMockSvInfoV2_1(gnssSvInfoV2_0, 27.5),
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getMockSvInfoV2_1(
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getMockSvInfoV2_0(getMockSvInfoV1_0(5, V1_0::GnssConstellationType::GPS, 27.0,
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29.0, 56.5),
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V2_0::GnssConstellationType::GPS),
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22.0),
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getMockSvInfoV2_1(
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getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GPS, 30.5,
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71.0, 77.0),
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V2_0::GnssConstellationType::GPS),
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25.5),
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getMockSvInfoV2_1(
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getMockSvInfoV2_0(getMockSvInfoV1_0(26, V1_0::GnssConstellationType::GPS, 24.1,
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28.0, 253.0),
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V2_0::GnssConstellationType::GPS),
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19.1),
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getMockSvInfoV2_1(
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getMockSvInfoV2_0(getMockSvInfoV1_0(5, V1_0::GnssConstellationType::GLONASS,
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20.5, 11.5, 116.0),
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V2_0::GnssConstellationType::GLONASS),
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15.5),
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getMockSvInfoV2_1(
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getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GLONASS,
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21.5, 28.5, 186.0),
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V2_0::GnssConstellationType::GLONASS),
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16.5),
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getMockSvInfoV2_1(
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getMockSvInfoV2_0(getMockSvInfoV1_0(18, V1_0::GnssConstellationType::GLONASS,
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28.3, 38.8, 69.0),
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V2_0::GnssConstellationType::GLONASS),
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25.3),
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getMockSvInfoV2_1(
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getMockSvInfoV2_0(getMockSvInfoV1_0(10, V1_0::GnssConstellationType::GLONASS,
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25.0, 66.0, 247.0),
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V2_0::GnssConstellationType::GLONASS),
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20.0),
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};
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return gnssSvInfoList;
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}
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GnssSvInfoV2_1 Utils::getMockSvInfoV2_1(GnssSvInfoV2_0 gnssSvInfoV2_0, float basebandCN0DbHz) {
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GnssSvInfoV2_1 gnssSvInfoV2_1 = {
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.v2_0 = gnssSvInfoV2_0,
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.basebandCN0DbHz = basebandCN0DbHz,
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};
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return gnssSvInfoV2_1;
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}
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GnssSvInfoV2_0 Utils::getMockSvInfoV2_0(GnssSvInfoV1_0 gnssSvInfoV1_0,
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V2_0::GnssConstellationType type) {
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GnssSvInfoV2_0 gnssSvInfoV2_0 = {
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.v1_0 = gnssSvInfoV1_0,
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.constellation = type,
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};
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return gnssSvInfoV2_0;
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}
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GnssSvInfoV1_0 Utils::getMockSvInfoV1_0(int16_t svid, V1_0::GnssConstellationType type,
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float cN0DbHz, float elevationDegrees,
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float azimuthDegrees) {
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GnssSvInfoV1_0 svInfo = {.svid = svid,
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.constellation = type,
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.cN0Dbhz = cN0DbHz,
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.elevationDegrees = elevationDegrees,
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.azimuthDegrees = azimuthDegrees,
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.svFlag = GnssSvFlags::USED_IN_FIX | GnssSvFlags::HAS_EPHEMERIS_DATA |
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GnssSvFlags::HAS_ALMANAC_DATA};
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return svInfo;
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}
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} // namespace common
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} // namespace gnss
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} // namespace hardware
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} // namespace android
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