diff options
| -rwxr-xr-x | api/system-current.txt | 5 | ||||
| -rw-r--r-- | location/java/android/location/GnssMeasurementCorrections.java | 100 | ||||
| -rw-r--r-- | services/core/jni/com_android_server_location_GnssLocationProvider.cpp | 102 |
3 files changed, 182 insertions, 25 deletions
diff --git a/api/system-current.txt b/api/system-current.txt index 11cc389e2049..0c598fd0d440 100755 --- a/api/system-current.txt +++ b/api/system-current.txt @@ -3787,12 +3787,15 @@ package android.location { public final class GnssMeasurementCorrections implements android.os.Parcelable { method public int describeContents(); method @FloatRange(from=-1000.0F, to=10000.0f) public double getAltitudeMeters(); + method @FloatRange(from=0.0f, to=360.0f) public float getEnvironmentBearingDegrees(); + method @FloatRange(from=0.0f, to=180.0f) public float getEnvironmentBearingUncertaintyDegrees(); method @FloatRange(from=0.0f) public double getHorizontalPositionUncertaintyMeters(); method @FloatRange(from=-90.0F, to=90.0f) public double getLatitudeDegrees(); method @FloatRange(from=-180.0F, to=180.0f) public double getLongitudeDegrees(); method @NonNull public java.util.List<android.location.GnssSingleSatCorrection> getSingleSatelliteCorrectionList(); method @IntRange(from=0) public long getToaGpsNanosecondsOfWeek(); method @FloatRange(from=0.0f) public double getVerticalPositionUncertaintyMeters(); + method public boolean hasEnvironmentBearing(); method public void writeToParcel(@NonNull android.os.Parcel, int); field public static final android.os.Parcelable.Creator<android.location.GnssMeasurementCorrections> CREATOR; } @@ -3801,6 +3804,8 @@ package android.location { ctor public GnssMeasurementCorrections.Builder(); method @NonNull public android.location.GnssMeasurementCorrections build(); method @NonNull public android.location.GnssMeasurementCorrections.Builder setAltitudeMeters(@FloatRange(from=-1000.0F, to=10000.0f) double); + method @NonNull public android.location.GnssMeasurementCorrections.Builder setEnvironmentBearingDegrees(@FloatRange(from=0.0f, to=360.0f) float); + method @NonNull public android.location.GnssMeasurementCorrections.Builder setEnvironmentBearingUncertaintyDegrees(@FloatRange(from=0.0f, to=180.0f) float); method @NonNull public android.location.GnssMeasurementCorrections.Builder setHorizontalPositionUncertaintyMeters(@FloatRange(from=0.0f) double); method @NonNull public android.location.GnssMeasurementCorrections.Builder setLatitudeDegrees(@FloatRange(from=-90.0F, to=90.0f) double); method @NonNull public android.location.GnssMeasurementCorrections.Builder setLongitudeDegrees(@FloatRange(from=-180.0F, to=180.0f) double); diff --git a/location/java/android/location/GnssMeasurementCorrections.java b/location/java/android/location/GnssMeasurementCorrections.java index a23213ff260c..19c3992ebed3 100644 --- a/location/java/android/location/GnssMeasurementCorrections.java +++ b/location/java/android/location/GnssMeasurementCorrections.java @@ -79,6 +79,25 @@ public final class GnssMeasurementCorrections implements Parcelable { @NonNull private final List<GnssSingleSatCorrection> mSingleSatCorrectionList; + /** + * Indicates whether the environment bearing is available. + */ + private final boolean mHasEnvironmentBearing; + + /** + * Environment bearing in degrees clockwise from true north, in the direction of user motion. + * Environment bearing is provided when it is known with high probability that velocity is + * aligned with an environment feature (such as edge of a building, or road). + */ + @FloatRange(from = 0.0f, to = 360.0f) + private final float mEnvironmentBearingDegrees; + + /** + * Environment bearing uncertainty in degrees. + */ + @FloatRange(from = 0.0f, to = 180.0f) + private final float mEnvironmentBearingUncertaintyDegrees; + private GnssMeasurementCorrections(Builder builder) { mLatitudeDegrees = builder.mLatitudeDegrees; mLongitudeDegrees = builder.mLongitudeDegrees; @@ -89,6 +108,10 @@ public final class GnssMeasurementCorrections implements Parcelable { final List<GnssSingleSatCorrection> singleSatCorrList = builder.mSingleSatCorrectionList; Preconditions.checkArgument(singleSatCorrList != null && !singleSatCorrList.isEmpty()); mSingleSatCorrectionList = Collections.unmodifiableList(new ArrayList<>(singleSatCorrList)); + mHasEnvironmentBearing = builder.mEnvironmentBearingIsSet + && builder.mEnvironmentBearingUncertaintyIsSet; + mEnvironmentBearingDegrees = builder.mEnvironmentBearingDegrees; + mEnvironmentBearingUncertaintyDegrees = builder.mEnvironmentBearingUncertaintyDegrees; } /** Gets the latitude in degrees at which the corrections are computed. */ @@ -145,6 +168,31 @@ public final class GnssMeasurementCorrections implements Parcelable { return mSingleSatCorrectionList; } + /** + * If true, environment bearing will be available. + */ + public boolean hasEnvironmentBearing() { + return mHasEnvironmentBearing; + } + + /** + * Gets the environment bearing in degrees clockwise from true north, in the direction of user + * motion. Environment bearing is provided when it is known with high probability that + * velocity is aligned with an environment feature (such as edge of a building, or road). + */ + @FloatRange(from = 0.0f, to = 360.0f) + public float getEnvironmentBearingDegrees() { + return mEnvironmentBearingDegrees; + } + + /** + * Gets the environment bearing uncertainty in degrees. + */ + @FloatRange(from = 0.0f, to = 180.0f) + public float getEnvironmentBearingUncertaintyDegrees() { + return mEnvironmentBearingUncertaintyDegrees; + } + @Override public int describeContents() { return 0; @@ -167,6 +215,12 @@ public final class GnssMeasurementCorrections implements Parcelable { parcel.readTypedList(singleSatCorrectionList, GnssSingleSatCorrection.CREATOR); gnssMeasurementCorrectons.setSingleSatelliteCorrectionList( singleSatCorrectionList); + boolean hasEnvironmentBearing = parcel.readBoolean(); + if (hasEnvironmentBearing) { + gnssMeasurementCorrectons.setEnvironmentBearingDegrees(parcel.readFloat()); + gnssMeasurementCorrectons.setEnvironmentBearingUncertaintyDegrees( + parcel.readFloat()); + } return gnssMeasurementCorrectons.build(); } @@ -192,6 +246,14 @@ public final class GnssMeasurementCorrections implements Parcelable { String.format(format, "ToaGpsNanosecondsOfWeek = ", mToaGpsNanosecondsOfWeek)); builder.append( String.format(format, "mSingleSatCorrectionList = ", mSingleSatCorrectionList)); + builder.append( + String.format(format, "HasEnvironmentBearing = ", mHasEnvironmentBearing)); + builder.append( + String.format(format, "EnvironmentBearingDegrees = ", + mEnvironmentBearingDegrees)); + builder.append( + String.format(format, "EnvironmentBearingUncertaintyDegrees = ", + mEnvironmentBearingUncertaintyDegrees)); return builder.toString(); } @@ -204,6 +266,11 @@ public final class GnssMeasurementCorrections implements Parcelable { parcel.writeDouble(mVerticalPositionUncertaintyMeters); parcel.writeLong(mToaGpsNanosecondsOfWeek); parcel.writeTypedList(mSingleSatCorrectionList); + parcel.writeBoolean(mHasEnvironmentBearing); + if (mHasEnvironmentBearing) { + parcel.writeFloat(mEnvironmentBearingDegrees); + parcel.writeFloat(mEnvironmentBearingUncertaintyDegrees); + } } /** Builder for {@link GnssMeasurementCorrections} */ @@ -219,6 +286,10 @@ public final class GnssMeasurementCorrections implements Parcelable { private double mVerticalPositionUncertaintyMeters; private long mToaGpsNanosecondsOfWeek; @Nullable private List<GnssSingleSatCorrection> mSingleSatCorrectionList; + private float mEnvironmentBearingDegrees; + private boolean mEnvironmentBearingIsSet = false; + private float mEnvironmentBearingUncertaintyDegrees; + private boolean mEnvironmentBearingUncertaintyIsSet = false; /** Sets the latitude in degrees at which the corrections are computed. */ @NonNull public Builder setLatitudeDegrees( @@ -282,8 +353,37 @@ public final class GnssMeasurementCorrections implements Parcelable { return this; } + /** + * Sets the environment bearing in degrees clockwise from true north, in the direction of + * user motion. Environment bearing is provided when it is known with high probability + * that velocity is aligned with an environment feature (such as edge of a building, or + * road). + */ + @NonNull public Builder setEnvironmentBearingDegrees( + @FloatRange(from = 0.0f, to = 360.0f) + float environmentBearingDegrees) { + mEnvironmentBearingDegrees = environmentBearingDegrees; + mEnvironmentBearingIsSet = true; + return this; + } + + /** + * Sets the environment bearing uncertainty in degrees. + */ + @NonNull public Builder setEnvironmentBearingUncertaintyDegrees( + @FloatRange(from = 0.0f, to = 180.0f) + float environmentBearingUncertaintyDegrees) { + mEnvironmentBearingUncertaintyDegrees = environmentBearingUncertaintyDegrees; + mEnvironmentBearingUncertaintyIsSet = true; + return this; + } + /** Builds a {@link GnssMeasurementCorrections} instance as specified by this builder. */ @NonNull public GnssMeasurementCorrections build() { + if (mEnvironmentBearingIsSet ^ mEnvironmentBearingUncertaintyIsSet) { + throw new IllegalStateException("Both environment bearing and environment bearing " + + "uncertainty must be set."); + } return new GnssMeasurementCorrections(this); } } diff --git a/services/core/jni/com_android_server_location_GnssLocationProvider.cpp b/services/core/jni/com_android_server_location_GnssLocationProvider.cpp index 00436bb8ca70..7dcf1818f95f 100644 --- a/services/core/jni/com_android_server_location_GnssLocationProvider.cpp +++ b/services/core/jni/com_android_server_location_GnssLocationProvider.cpp @@ -28,6 +28,7 @@ #include <android/hardware/gnss/2.0/IGnssMeasurement.h> #include <android/hardware/gnss/2.1/IGnssMeasurement.h> #include <android/hardware/gnss/measurement_corrections/1.0/IMeasurementCorrections.h> +#include <android/hardware/gnss/measurement_corrections/1.1/IMeasurementCorrections.h> #include <android/hardware/gnss/visibility_control/1.0/IGnssVisibilityControl.h> #include <nativehelper/JNIHelp.h> #include "jni.h" @@ -88,6 +89,9 @@ static jmethodID method_correctionsGetHorPosUncMeters; static jmethodID method_correctionsGetVerPosUncMeters; static jmethodID method_correctionsGetToaGpsNanosecondsOfWeek; static jmethodID method_correctionsGetSingleSatCorrectionList; +static jmethodID method_correctionsHasEnvironmentBearing; +static jmethodID method_correctionsGetEnvironmentBearingDegrees; +static jmethodID method_correctionsGetEnvironmentBearingUncertaintyDegrees; static jmethodID method_listSize; static jmethodID method_correctionListGet; static jmethodID method_correctionSatFlags; @@ -142,7 +146,9 @@ using android::hardware::gnss::V1_0::IGnssXtraCallback; using android::hardware::gnss::V2_0::ElapsedRealtimeFlags; -using android::hardware::gnss::measurement_corrections::V1_0::MeasurementCorrections; +using MeasurementCorrections_V1_0 = android::hardware::gnss::measurement_corrections::V1_0::MeasurementCorrections; +using MeasurementCorrections_V1_1 = android::hardware::gnss::measurement_corrections::V1_1::MeasurementCorrections; + using android::hardware::gnss::measurement_corrections::V1_0::SingleSatCorrection; using android::hardware::gnss::measurement_corrections::V1_0::ReflectingPlane; @@ -184,7 +190,8 @@ using IGnssBatching_V2_0 = android::hardware::gnss::V2_0::IGnssBatching; using IGnssBatchingCallback_V1_0 = android::hardware::gnss::V1_0::IGnssBatchingCallback; using IGnssBatchingCallback_V2_0 = android::hardware::gnss::V2_0::IGnssBatchingCallback; -using android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrections; +using IMeasurementCorrections_V1_0 = android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrections; +using IMeasurementCorrections_V1_1 = android::hardware::gnss::measurement_corrections::V1_1::IMeasurementCorrections; using android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrectionsCallback; using android::hardware::gnss::measurement_corrections::V1_0::GnssSingleSatCorrectionFlags; @@ -231,7 +238,8 @@ sp<IGnssMeasurement_V1_1> gnssMeasurementIface_V1_1 = nullptr; sp<IGnssMeasurement_V2_0> gnssMeasurementIface_V2_0 = nullptr; sp<IGnssMeasurement_V2_1> gnssMeasurementIface_V2_1 = nullptr; sp<IGnssNavigationMessage> gnssNavigationMessageIface = nullptr; -sp<IMeasurementCorrections> gnssCorrectionsIface = nullptr; +sp<IMeasurementCorrections_V1_0> gnssCorrectionsIface_V1_0 = nullptr; +sp<IMeasurementCorrections_V1_1> gnssCorrectionsIface_V1_1 = nullptr; sp<IGnssVisibilityControl> gnssVisibilityControlIface = nullptr; #define WAKE_LOCK_NAME "GPS" @@ -1692,6 +1700,13 @@ static void android_location_GnssLocationProvider_class_init_native(JNIEnv* env, method_correctionsGetSingleSatCorrectionList = env->GetMethodID( measCorrClass, "getSingleSatelliteCorrectionList", "()Ljava/util/List;"); + method_correctionsHasEnvironmentBearing = env->GetMethodID( + measCorrClass, "hasEnvironmentBearing", "()Z"); + method_correctionsGetEnvironmentBearingDegrees = env->GetMethodID( + measCorrClass, "getEnvironmentBearingDegrees", "()F"); + method_correctionsGetEnvironmentBearingUncertaintyDegrees = env->GetMethodID( + measCorrClass, "getEnvironmentBearingUncertaintyDegrees", "()F"); + jclass corrListClass = env->FindClass("java/util/List"); method_listSize = env->GetMethodID(corrListClass, "size", "()I"); method_correctionListGet = env->GetMethodID(corrListClass, "get", "(I)Ljava/lang/Object;"); @@ -1874,12 +1889,20 @@ static void android_location_GnssLocationProvider_init_once(JNIEnv* env, jclass } } - if (gnssHal_V2_0 != nullptr) { + if (gnssHal_V2_1 != nullptr) { + auto gnssCorrections = gnssHal_V2_1->getExtensionMeasurementCorrections_1_1(); + if (!gnssCorrections.isOk()) { + ALOGD("Unable to get a handle to GnssMeasurementCorrections 1.1 interface"); + } else { + gnssCorrectionsIface_V1_1 = gnssCorrections; + gnssCorrectionsIface_V1_0 = gnssCorrectionsIface_V1_1; + } + } else if (gnssHal_V2_0 != nullptr) { auto gnssCorrections = gnssHal_V2_0->getExtensionMeasurementCorrections(); if (!gnssCorrections.isOk()) { ALOGD("Unable to get a handle to GnssMeasurementCorrections interface"); } else { - gnssCorrectionsIface = gnssCorrections; + gnssCorrectionsIface_V1_0 = gnssCorrections; } } @@ -2110,11 +2133,18 @@ static jboolean android_location_GnssLocationProvider_init(JNIEnv* env, jobject } // Set IMeasurementCorrections.hal callback. - if (gnssCorrectionsIface != nullptr) { + if (gnssCorrectionsIface_V1_1 != nullptr) { + sp<IMeasurementCorrectionsCallback> gnssCorrectionsIfaceCbIface = + new MeasurementCorrectionsCallback(); + result = gnssCorrectionsIface_V1_1->setCallback(gnssCorrectionsIfaceCbIface); + checkHidlReturn(result, "IMeasurementCorrections 1.1 setCallback() failed."); + } else if (gnssCorrectionsIface_V1_0 != nullptr) { sp<IMeasurementCorrectionsCallback> gnssCorrectionsIfaceCbIface = new MeasurementCorrectionsCallback(); - result = gnssCorrectionsIface->setCallback(gnssCorrectionsIfaceCbIface); - checkHidlReturn(result, "IMeasurementCorrections setCallback() failed."); + result = gnssCorrectionsIface_V1_0->setCallback(gnssCorrectionsIfaceCbIface); + checkHidlReturn(result, "IMeasurementCorrections 1.0 setCallback() failed."); + } else { + ALOGI("Unable to find IMeasurementCorrections."); } return JNI_TRUE; @@ -2717,7 +2747,7 @@ static jboolean android_location_GnssMeasurementsProvider_stop_measurement_colle static jboolean android_location_GnssMeasurementCorrectionsProvider_is_measurement_corrections_supported( JNIEnv* env, jclass clazz) { - if (gnssCorrectionsIface != nullptr) { + if (gnssCorrectionsIface_V1_0 != nullptr || gnssCorrectionsIface_V1_1 != nullptr) { return JNI_TRUE; } @@ -2730,24 +2760,12 @@ static jboolean jobject obj /* clazz*/, jobject correctionsObj) { - if (gnssCorrectionsIface == nullptr) { + if (gnssCorrectionsIface_V1_0 == nullptr && gnssCorrectionsIface_V1_1 == nullptr) { ALOGW("Trying to inject GNSS measurement corrections on a chipset that does not" " support them."); return JNI_FALSE; } - jdouble latitudeDegreesCorr = env->CallDoubleMethod( - correctionsObj, method_correctionsGetLatitudeDegrees); - jdouble longitudeDegreesCorr = env->CallDoubleMethod( - correctionsObj, method_correctionsGetLongitudeDegrees); - jdouble altitudeDegreesCorr = env->CallDoubleMethod( - correctionsObj, method_correctionsGetAltitudeMeters); - jdouble horizontalPositionUncertaintyMeters = env->CallDoubleMethod( - correctionsObj, method_correctionsGetHorPosUncMeters); - jdouble verticalPositionUncertaintyMeters = env->CallDoubleMethod( - correctionsObj, method_correctionsGetVerPosUncMeters); - jlong toaGpsNanosOfWeek = env->CallLongMethod( - correctionsObj, method_correctionsGetToaGpsNanosecondsOfWeek); jobject singleSatCorrectionList = env->CallObjectMethod(correctionsObj, method_correctionsGetSingleSatCorrectionList); @@ -2816,7 +2834,21 @@ static jboolean }; list[i] = singleSatCorrection; } - MeasurementCorrections measurementCorrections = { + + jdouble latitudeDegreesCorr = env->CallDoubleMethod( + correctionsObj, method_correctionsGetLatitudeDegrees); + jdouble longitudeDegreesCorr = env->CallDoubleMethod( + correctionsObj, method_correctionsGetLongitudeDegrees); + jdouble altitudeDegreesCorr = env->CallDoubleMethod( + correctionsObj, method_correctionsGetAltitudeMeters); + jdouble horizontalPositionUncertaintyMeters = env->CallDoubleMethod( + correctionsObj, method_correctionsGetHorPosUncMeters); + jdouble verticalPositionUncertaintyMeters = env->CallDoubleMethod( + correctionsObj, method_correctionsGetVerPosUncMeters); + jlong toaGpsNanosOfWeek = env->CallLongMethod( + correctionsObj, method_correctionsGetToaGpsNanosecondsOfWeek); + + MeasurementCorrections_V1_0 measurementCorrections_1_0 = { .latitudeDegrees = latitudeDegreesCorr, .longitudeDegrees = longitudeDegreesCorr, .altitudeMeters = altitudeDegreesCorr, @@ -2826,8 +2858,28 @@ static jboolean .satCorrections = list, }; - auto result = gnssCorrectionsIface->setCorrections(measurementCorrections); - return checkHidlReturn(result, "IMeasurementCorrections setCorrections() failed."); + if (gnssCorrectionsIface_V1_1 != nullptr) { + + jboolean hasEnvironmentBearingCorr = env->CallBooleanMethod( + correctionsObj, method_correctionsHasEnvironmentBearing); + jfloat environmentBearingDegreesCorr = env->CallFloatMethod( + correctionsObj, method_correctionsGetEnvironmentBearingDegrees); + jfloat environmentBearingUncertaintyDegreesCorr = env->CallFloatMethod( + correctionsObj, method_correctionsGetEnvironmentBearingUncertaintyDegrees); + + MeasurementCorrections_V1_1 measurementCorrections_1_1 = { + .v1_0 = measurementCorrections_1_0, + .hasEnvironmentBearing = static_cast<bool>(hasEnvironmentBearingCorr), + .environmentBearingDegrees = environmentBearingDegreesCorr, + .environmentBearingUncertaintyDegrees = environmentBearingUncertaintyDegreesCorr, + }; + + auto result = gnssCorrectionsIface_V1_1->setCorrections_1_1(measurementCorrections_1_1); + return checkHidlReturn(result, "IMeasurementCorrections 1.1 setCorrections() failed."); + } + + auto result = gnssCorrectionsIface_V1_0->setCorrections(measurementCorrections_1_0); + return checkHidlReturn(result, "IMeasurementCorrections 1.0 setCorrections() failed."); } static jboolean android_location_GnssNavigationMessageProvider_is_navigation_message_supported( |