diff options
Diffstat (limited to 'gnss/common/utils/default/Utils.cpp')
| -rw-r--r-- | gnss/common/utils/default/Utils.cpp | 158 |
1 files changed, 123 insertions, 35 deletions
diff --git a/gnss/common/utils/default/Utils.cpp b/gnss/common/utils/default/Utils.cpp index 23e39b26ec..4de49f376c 100644 --- a/gnss/common/utils/default/Utils.cpp +++ b/gnss/common/utils/default/Utils.cpp @@ -27,13 +27,19 @@ namespace common { using aidl::android::hardware::gnss::ElapsedRealtime; using aidl::android::hardware::gnss::GnssClock; +using aidl::android::hardware::gnss::GnssConstellationType; using aidl::android::hardware::gnss::GnssData; +using aidl::android::hardware::gnss::GnssLocation; using aidl::android::hardware::gnss::GnssMeasurement; using aidl::android::hardware::gnss::IGnss; +using aidl::android::hardware::gnss::IGnssDebug; using aidl::android::hardware::gnss::IGnssMeasurementCallback; using aidl::android::hardware::gnss::SatellitePvt; +using GnssSvInfo = aidl::android::hardware::gnss::IGnssCallback::GnssSvInfo; +using GnssSvFlags = aidl::android::hardware::gnss::IGnssCallback::GnssSvFlags; -using GnssSvFlags = V1_0::IGnssCallback::GnssSvFlags; +using GnssSvFlagsV1_0 = V1_0::IGnssCallback::GnssSvFlags; +using GnssAgc = aidl::android::hardware::gnss::GnssData::GnssAgc; using GnssMeasurementFlagsV1_0 = V1_0::IGnssMeasurementCallback::GnssMeasurementFlags; using GnssMeasurementFlagsV2_1 = V2_1::IGnssMeasurementCallback::GnssMeasurementFlags; using GnssMeasurementStateV2_0 = V2_0::IGnssMeasurementCallback::GnssMeasurementState; @@ -143,7 +149,7 @@ GnssDataV2_0 Utils::getMockMeasurementV2_0() { GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs) { aidl::android::hardware::gnss::GnssSignalType signalType = { - .constellation = aidl::android::hardware::gnss::GnssConstellationType::GLONASS, + .constellation = GnssConstellationType::GLONASS, .carrierFrequencyHz = 1.59975e+09, .codeType = aidl::android::hardware::gnss::GnssSignalType::CODE_TYPE_C, }; @@ -176,33 +182,43 @@ GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs) { .fullInterSignalBiasUncertaintyNs = 792.0, .satelliteInterSignalBiasNs = 233.9, .satelliteInterSignalBiasUncertaintyNs = 921.2, - .satellitePvt = {.flags = SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO | - SatellitePvt::HAS_IONO | SatellitePvt::HAS_TROPO, - .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}, + .satellitePvt = + { + .flags = SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO | + SatellitePvt::HAS_IONO | SatellitePvt::HAS_TROPO, + .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, + .ephemerisSource = + SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM, + .timeOfClockSeconds = 12345, + .issueOfDataClock = 143, + .timeOfEphemerisSeconds = 9876, + .issueOfDataEphemeris = 48, + }, .correlationVectors = {}}; GnssClock clock = {.gnssClockFlags = GnssClock::HAS_FULL_BIAS | GnssClock::HAS_BIAS | GnssClock::HAS_BIAS_UNCERTAINTY | GnssClock::HAS_DRIFT | GnssClock::HAS_DRIFT_UNCERTAINTY, - .timeNs = 35854545000000, - .fullBiasNs = -234621900521857520, - .biasNs = 0.2352389998626708984, - .biasUncertaintyNs = 274.989972114563, - .driftNsps = -124.3742360, - .driftUncertaintyNsps = 239.6234285828, - .hwClockDiscontinuityCount = 999}; + .timeNs = 2713545000000, + .fullBiasNs = -1226701900521857520, + .biasNs = 0.59689998626708984, + .biasUncertaintyNs = 47514.989972114563, + .driftNsps = -51.757811607455452, + .driftUncertaintyNsps = 310.64968328491528, + .hwClockDiscontinuityCount = 1, + .referenceSignalTypeForIsb = signalType}; ElapsedRealtime timestamp = { .flags = ElapsedRealtime::HAS_TIMESTAMP_NS | ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS, @@ -227,11 +243,49 @@ GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs) { measurement.flags |= GnssMeasurement::HAS_CORRELATION_VECTOR; } - GnssData gnssData = { - .measurements = {measurement}, .clock = clock, .elapsedRealtime = timestamp}; + GnssAgc gnssAgc1 = { + .agcLevelDb = 3.5, + .constellation = GnssConstellationType::GLONASS, + .carrierFrequencyHz = (int64_t)kGloG1FreqHz, + }; + + GnssAgc gnssAgc2 = { + .agcLevelDb = -5.1, + .constellation = GnssConstellationType::GPS, + .carrierFrequencyHz = (int64_t)kGpsL1FreqHz, + }; + + GnssData gnssData = {.measurements = {measurement}, + .clock = clock, + .elapsedRealtime = timestamp, + .gnssAgcs = std::vector({gnssAgc1, gnssAgc2})}; return gnssData; } +GnssLocation Utils::getMockLocation() { + ElapsedRealtime elapsedRealtime = { + .flags = ElapsedRealtime::HAS_TIMESTAMP_NS | ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS, + .timestampNs = ::android::elapsedRealtimeNano(), + // This is an hardcoded value indicating a 1ms of uncertainty between the two clocks. + // In an actual implementation provide an estimate of the synchronization uncertainty + // or don't set the field. + .timeUncertaintyNs = 1020400}; + GnssLocation location = {.gnssLocationFlags = 0xFF, + .latitudeDegrees = gMockLatitudeDegrees, + .longitudeDegrees = gMockLongitudeDegrees, + .altitudeMeters = gMockAltitudeMeters, + .speedMetersPerSec = gMockSpeedMetersPerSec, + .bearingDegrees = gMockBearingDegrees, + .horizontalAccuracyMeters = kMockHorizontalAccuracyMeters, + .verticalAccuracyMeters = kMockVerticalAccuracyMeters, + .speedAccuracyMetersPerSecond = kMockSpeedAccuracyMetersPerSecond, + .bearingAccuracyDegrees = kMockBearingAccuracyDegrees, + .timestampMillis = static_cast<int64_t>( + kMockTimestamp + ::android::elapsedRealtimeNano() / 1e6), + .elapsedRealtime = elapsedRealtime}; + return location; +} + V2_0::GnssLocation Utils::getMockLocationV2_0() { const V2_0::ElapsedRealtime timestamp = { .flags = V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS | @@ -264,6 +318,40 @@ V1_0::GnssLocation Utils::getMockLocationV1_0() { return location; } +namespace { +GnssSvInfo getMockSvInfo(int svid, GnssConstellationType type, float cN0DbHz, float basebandCN0DbHz, + float elevationDegrees, float azimuthDegrees, long carrierFrequencyHz) { + GnssSvInfo svInfo = { + .svid = svid, + .constellation = type, + .cN0Dbhz = cN0DbHz, + .basebandCN0DbHz = basebandCN0DbHz, + .elevationDegrees = elevationDegrees, + .azimuthDegrees = azimuthDegrees, + .carrierFrequencyHz = carrierFrequencyHz, + .svFlag = (int)GnssSvFlags::USED_IN_FIX | (int)GnssSvFlags::HAS_EPHEMERIS_DATA | + (int)GnssSvFlags::HAS_ALMANAC_DATA | (int)GnssSvFlags::HAS_CARRIER_FREQUENCY}; + return svInfo; +} +} // anonymous namespace + +std::vector<GnssSvInfo> Utils::getMockSvInfoList() { + std::vector<GnssSvInfo> gnssSvInfoList = { + getMockSvInfo(3, GnssConstellationType::GPS, 32.5, 27.5, 59.1, 166.5, kGpsL1FreqHz), + getMockSvInfo(5, GnssConstellationType::GPS, 27.0, 22.0, 29.0, 56.5, kGpsL1FreqHz), + getMockSvInfo(17, GnssConstellationType::GPS, 30.5, 25.5, 71.0, 77.0, kGpsL5FreqHz), + getMockSvInfo(26, GnssConstellationType::GPS, 24.1, 19.1, 28.0, 253.0, kGpsL5FreqHz), + getMockSvInfo(5, GnssConstellationType::GLONASS, 20.5, 15.5, 11.5, 116.0, kGloG1FreqHz), + getMockSvInfo(17, GnssConstellationType::GLONASS, 21.5, 16.5, 28.5, 186.0, + kGloG1FreqHz), + getMockSvInfo(18, GnssConstellationType::GLONASS, 28.3, 25.3, 38.8, 69.0, kGloG1FreqHz), + getMockSvInfo(10, GnssConstellationType::GLONASS, 25.0, 20.0, 66.0, 247.0, + kGloG1FreqHz), + getMockSvInfo(3, GnssConstellationType::IRNSS, 22.0, 19.7, 35.0, 112.0, kIrnssL5FreqHz), + }; + return gnssSvInfoList; +} + hidl_vec<GnssSvInfoV2_1> Utils::getMockSvInfoListV2_1() { GnssSvInfoV1_0 gnssSvInfoV1_0 = Utils::getMockSvInfoV1_0(3, V1_0::GnssConstellationType::GPS, 32.5, 59.1, 166.5, kGpsL1FreqHz); @@ -335,15 +423,15 @@ GnssSvInfoV2_0 Utils::getMockSvInfoV2_0(GnssSvInfoV1_0 gnssSvInfoV1_0, GnssSvInfoV1_0 Utils::getMockSvInfoV1_0(int16_t svid, V1_0::GnssConstellationType type, float cN0DbHz, float elevationDegrees, float azimuthDegrees, float carrierFrequencyHz) { - GnssSvInfoV1_0 svInfo = {.svid = svid, - .constellation = type, - .cN0Dbhz = cN0DbHz, - .elevationDegrees = elevationDegrees, - .azimuthDegrees = azimuthDegrees, - .carrierFrequencyHz = carrierFrequencyHz, - .svFlag = GnssSvFlags::USED_IN_FIX | GnssSvFlags::HAS_EPHEMERIS_DATA | - GnssSvFlags::HAS_ALMANAC_DATA | - GnssSvFlags::HAS_CARRIER_FREQUENCY}; + GnssSvInfoV1_0 svInfo = { + .svid = svid, + .constellation = type, + .cN0Dbhz = cN0DbHz, + .elevationDegrees = elevationDegrees, + .azimuthDegrees = azimuthDegrees, + .carrierFrequencyHz = carrierFrequencyHz, + .svFlag = GnssSvFlagsV1_0::USED_IN_FIX | GnssSvFlagsV1_0::HAS_EPHEMERIS_DATA | + GnssSvFlagsV1_0::HAS_ALMANAC_DATA | GnssSvFlagsV1_0::HAS_CARRIER_FREQUENCY}; return svInfo; } |