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-rw-r--r--gnss/common/utils/default/Utils.cpp158
1 files changed, 135 insertions, 23 deletions
diff --git a/gnss/common/utils/default/Utils.cpp b/gnss/common/utils/default/Utils.cpp
index 386090e486..d136448ed9 100644
--- a/gnss/common/utils/default/Utils.cpp
+++ b/gnss/common/utils/default/Utils.cpp
@@ -15,7 +15,9 @@
*/
#include <Constants.h>
+#include <MockLocation.h>
#include <Utils.h>
+#include <aidl/android/hardware/gnss/BnGnss.h>
#include <utils/SystemClock.h>
namespace android {
@@ -23,16 +25,32 @@ namespace hardware {
namespace gnss {
namespace common {
+using aidl::android::hardware::gnss::ElapsedRealtime;
+using aidl::android::hardware::gnss::GnssClock;
+using aidl::android::hardware::gnss::GnssData;
+using aidl::android::hardware::gnss::GnssMeasurement;
+using aidl::android::hardware::gnss::IGnss;
+using aidl::android::hardware::gnss::IGnssMeasurementCallback;
+using aidl::android::hardware::gnss::SatellitePvt;
+
using GnssSvFlags = V1_0::IGnssCallback::GnssSvFlags;
using GnssMeasurementFlagsV1_0 = V1_0::IGnssMeasurementCallback::GnssMeasurementFlags;
using GnssMeasurementFlagsV2_1 = V2_1::IGnssMeasurementCallback::GnssMeasurementFlags;
using GnssMeasurementStateV2_0 = V2_0::IGnssMeasurementCallback::GnssMeasurementState;
-using ElapsedRealtime = V2_0::ElapsedRealtime;
using ElapsedRealtimeFlags = V2_0::ElapsedRealtimeFlags;
using GnssConstellationTypeV2_0 = V2_0::GnssConstellationType;
using IGnssMeasurementCallbackV2_0 = V2_0::IGnssMeasurementCallback;
using GnssSignalType = V2_1::GnssSignalType;
+using GnssDataV2_0 = V2_0::IGnssMeasurementCallback::GnssData;
+using GnssDataV2_1 = V2_1::IGnssMeasurementCallback::GnssData;
+using GnssSvInfoV1_0 = V1_0::IGnssCallback::GnssSvInfo;
+using GnssSvInfoV2_0 = V2_0::IGnssCallback::GnssSvInfo;
+using GnssSvInfoV2_1 = V2_1::IGnssCallback::GnssSvInfo;
+using GnssAntennaInfo = ::android::hardware::gnss::V2_1::IGnssAntennaInfoCallback::GnssAntennaInfo;
+using Row = V2_1::IGnssAntennaInfoCallback::Row;
+using Coord = V2_1::IGnssAntennaInfoCallback::Coord;
+
GnssDataV2_1 Utils::getMockMeasurementV2_1() {
GnssDataV2_0 gnssDataV2_0 = Utils::getMockMeasurementV2_0();
V2_1::IGnssMeasurementCallback::GnssMeasurement gnssMeasurementV2_1 = {
@@ -109,7 +127,7 @@ GnssDataV2_0 Utils::getMockMeasurementV2_0() {
.driftUncertaintyNsps = 310.64968328491528,
.hwClockDiscontinuityCount = 1};
- ElapsedRealtime timestamp = {
+ V2_0::ElapsedRealtime timestamp = {
.flags = ElapsedRealtimeFlags::HAS_TIMESTAMP_NS |
ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS,
.timestampNs = static_cast<uint64_t>(::android::elapsedRealtimeNano()),
@@ -123,6 +141,97 @@ GnssDataV2_0 Utils::getMockMeasurementV2_0() {
return gnssData;
}
+GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs) {
+ aidl::android::hardware::gnss::GnssSignalType signalType = {
+ .constellation = aidl::android::hardware::gnss::GnssConstellationType::GLONASS,
+ .carrierFrequencyHz = 1.59975e+09,
+ .codeType = aidl::android::hardware::gnss::GnssSignalType::CODE_TYPE_C,
+ };
+ GnssMeasurement measurement = {
+ .flags = GnssMeasurement::HAS_AUTOMATIC_GAIN_CONTROL |
+ GnssMeasurement::HAS_CARRIER_FREQUENCY | GnssMeasurement::HAS_CARRIER_PHASE |
+ 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_PVT,
+ .svid = 13,
+ .signalType = signalType,
+ .receivedSvTimeInNs = 8195997131077,
+ .receivedSvTimeUncertaintyInNs = 15,
+ .antennaCN0DbHz = 30.0,
+ .basebandCN0DbHz = 26.5,
+ .agcLevelDb = 2.3,
+ .pseudorangeRateMps = -484.13739013671875,
+ .pseudorangeRateUncertaintyMps = 1.0379999876022339,
+ .accumulatedDeltaRangeState = GnssMeasurement::ADR_STATE_UNKNOWN,
+ .accumulatedDeltaRangeM = 1.52,
+ .accumulatedDeltaRangeUncertaintyM = 2.43,
+ .multipathIndicator = aidl::android::hardware::gnss::GnssMultipathIndicator::UNKNOWN,
+ .state = GnssMeasurement::STATE_CODE_LOCK | GnssMeasurement::STATE_BIT_SYNC |
+ GnssMeasurement::STATE_SUBFRAME_SYNC | GnssMeasurement::STATE_TOW_DECODED |
+ GnssMeasurement::STATE_GLO_STRING_SYNC |
+ GnssMeasurement::STATE_GLO_TOD_DECODED,
+ .fullInterSignalBiasNs = 21.5,
+ .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},
+ .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};
+
+ ElapsedRealtime timestamp = {
+ .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};
+
+ if (enableCorrVecOutputs) {
+ aidl::android::hardware::gnss::CorrelationVector correlationVector1 = {
+ .frequencyOffsetMps = 10,
+ .samplingWidthM = 30,
+ .samplingStartM = 0,
+ .magnitude = {0, 5000, 10000, 5000, 0, 0, 3000, 0}};
+ aidl::android::hardware::gnss::CorrelationVector correlationVector2 = {
+ .frequencyOffsetMps = 20,
+ .samplingWidthM = 30,
+ .samplingStartM = 0,
+ .magnitude = {0, 3000, 5000, 3000, 0, 0, 1000, 0}};
+ measurement.correlationVectors = {correlationVector1, correlationVector2};
+ measurement.flags |= GnssMeasurement::HAS_CORRELATION_VECTOR;
+ }
+
+ GnssData gnssData = {
+ .measurements = {measurement}, .clock = clock, .elapsedRealtime = timestamp};
+ return gnssData;
+}
+
V2_0::GnssLocation Utils::getMockLocationV2_0() {
const V2_0::ElapsedRealtime timestamp = {
.flags = V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS |
@@ -141,64 +250,65 @@ V2_0::GnssLocation Utils::getMockLocationV2_0() {
V1_0::GnssLocation Utils::getMockLocationV1_0() {
V1_0::GnssLocation location = {
.gnssLocationFlags = 0xFF,
- .latitudeDegrees = kMockLatitudeDegrees,
- .longitudeDegrees = kMockLongitudeDegrees,
- .altitudeMeters = kMockAltitudeMeters,
- .speedMetersPerSec = kMockSpeedMetersPerSec,
- .bearingDegrees = kMockBearingDegrees,
+ .latitudeDegrees = gMockLatitudeDegrees,
+ .longitudeDegrees = gMockLongitudeDegrees,
+ .altitudeMeters = gMockAltitudeMeters,
+ .speedMetersPerSec = gMockSpeedMetersPerSec,
+ .bearingDegrees = gMockBearingDegrees,
.horizontalAccuracyMeters = kMockHorizontalAccuracyMeters,
.verticalAccuracyMeters = kMockVerticalAccuracyMeters,
.speedAccuracyMetersPerSecond = kMockSpeedAccuracyMetersPerSecond,
.bearingAccuracyDegrees = kMockBearingAccuracyDegrees,
- .timestamp = kMockTimestamp};
+ .timestamp =
+ static_cast<int64_t>(kMockTimestamp + ::android::elapsedRealtimeNano() / 1e6)};
return location;
}
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);
+ GnssSvInfoV1_0 gnssSvInfoV1_0 = Utils::getMockSvInfoV1_0(3, V1_0::GnssConstellationType::GPS,
+ 32.5, 59.1, 166.5, kGpsL1FreqHz);
GnssSvInfoV2_0 gnssSvInfoV2_0 =
Utils::getMockSvInfoV2_0(gnssSvInfoV1_0, V2_0::GnssConstellationType::GPS);
hidl_vec<GnssSvInfoV2_1> gnssSvInfoList = {
Utils::getMockSvInfoV2_1(gnssSvInfoV2_0, 27.5),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(5, V1_0::GnssConstellationType::GPS, 27.0,
- 29.0, 56.5),
+ 29.0, 56.5, kGpsL1FreqHz),
V2_0::GnssConstellationType::GPS),
22.0),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GPS, 30.5,
- 71.0, 77.0),
+ 71.0, 77.0, kGpsL5FreqHz),
V2_0::GnssConstellationType::GPS),
25.5),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(26, V1_0::GnssConstellationType::GPS, 24.1,
- 28.0, 253.0),
+ 28.0, 253.0, kGpsL5FreqHz),
V2_0::GnssConstellationType::GPS),
19.1),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(5, V1_0::GnssConstellationType::GLONASS,
- 20.5, 11.5, 116.0),
+ 20.5, 11.5, 116.0, kGloG1FreqHz),
V2_0::GnssConstellationType::GLONASS),
15.5),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GLONASS,
- 21.5, 28.5, 186.0),
+ 21.5, 28.5, 186.0, kGloG1FreqHz),
V2_0::GnssConstellationType::GLONASS),
16.5),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(18, V1_0::GnssConstellationType::GLONASS,
- 28.3, 38.8, 69.0),
+ 28.3, 38.8, 69.0, kGloG1FreqHz),
V2_0::GnssConstellationType::GLONASS),
25.3),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(10, V1_0::GnssConstellationType::GLONASS,
- 25.0, 66.0, 247.0),
+ 25.0, 66.0, 247.0, kGloG1FreqHz),
V2_0::GnssConstellationType::GLONASS),
20.0),
getMockSvInfoV2_1(
getMockSvInfoV2_0(getMockSvInfoV1_0(3, V1_0::GnssConstellationType::UNKNOWN,
- 22.0, 35.0, 112.0),
+ 22.0, 35.0, 112.0, kIrnssL5FreqHz),
V2_0::GnssConstellationType::IRNSS),
19.7),
};
@@ -223,21 +333,23 @@ 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 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_ALMANAC_DATA |
+ GnssSvFlags::HAS_CARRIER_FREQUENCY};
return svInfo;
}
hidl_vec<GnssAntennaInfo> Utils::getMockAntennaInfos() {
GnssAntennaInfo mockAntennaInfo_1 = {
- .carrierFrequencyMHz = 123412.12,
+ .carrierFrequencyMHz = kGpsL1FreqHz * 1e-6,
.phaseCenterOffsetCoordinateMillimeters = Coord{.x = 1,
.xUncertainty = 0.1,
.y = 2,
@@ -271,7 +383,7 @@ hidl_vec<GnssAntennaInfo> Utils::getMockAntennaInfos() {
};
GnssAntennaInfo mockAntennaInfo_2 = {
- .carrierFrequencyMHz = 532324.23,
+ .carrierFrequencyMHz = kGpsL5FreqHz * 1e-6,
.phaseCenterOffsetCoordinateMillimeters = Coord{.x = 5,
.xUncertainty = 0.1,
.y = 6,
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-03 13:43:38 +0000