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-rw-r--r--gnss/common/utils/vts/Utils.cpp272
1 files changed, 176 insertions, 96 deletions
diff --git a/gnss/common/utils/vts/Utils.cpp b/gnss/common/utils/vts/Utils.cpp
index 9c84e806f8..69e2b346b0 100644
--- a/gnss/common/utils/vts/Utils.cpp
+++ b/gnss/common/utils/vts/Utils.cpp
@@ -15,88 +15,86 @@
*/
#include <Utils.h>
+#include <android/hardware/gnss/BnGnss.h>
+#include <android/hardware/gnss/IGnss.h>
#include "gtest/gtest.h"
#include <cutils/properties.h>
+#include <utils/SystemClock.h>
namespace android {
namespace hardware {
namespace gnss {
namespace common {
-using GnssConstellationType_V1_0 = V1_0::GnssConstellationType;
-using GnssConstellationType_V2_0 = V2_0::GnssConstellationType;
+using android::hardware::gnss::ElapsedRealtime;
+using android::hardware::gnss::GnssLocation;
+using namespace measurement_corrections::V1_0;
using V1_0::GnssLocationFlags;
-void Utils::checkLocation(const GnssLocation& location, bool check_speed,
- bool check_more_accuracies) {
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG);
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE);
- if (check_speed) {
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED);
- }
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
- // New uncertainties available in O must be provided,
- // at least when paired with modern hardware (2017+)
- if (check_more_accuracies) {
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY);
- if (check_speed) {
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY);
- if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY);
- }
- }
- }
- EXPECT_GE(location.latitudeDegrees, -90.0);
- EXPECT_LE(location.latitudeDegrees, 90.0);
- EXPECT_GE(location.longitudeDegrees, -180.0);
- EXPECT_LE(location.longitudeDegrees, 180.0);
- EXPECT_GE(location.altitudeMeters, -1000.0);
- EXPECT_LE(location.altitudeMeters, 30000.0);
- if (check_speed) {
- EXPECT_GE(location.speedMetersPerSec, 0.0);
- EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary.
-
- // Non-zero speeds must be reported with an associated bearing
- if (location.speedMetersPerSec > 0.0) {
- EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING);
- }
- }
+using MeasurementCorrectionsAidl =
+ android::hardware::gnss::measurement_corrections::MeasurementCorrections;
+using ReflectingPlaneAidl = android::hardware::gnss::measurement_corrections::ReflectingPlane;
+using SingleSatCorrectionAidl =
+ android::hardware::gnss::measurement_corrections::SingleSatCorrection;
+using ExcessPathInfo = SingleSatCorrectionAidl::ExcessPathInfo;
- /*
- * Tolerating some especially high values for accuracy estimate, in case of
- * first fix with especially poor geometry (happens occasionally)
- */
- EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
- EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
-
- /*
- * Some devices may define bearing as -180 to +180, others as 0 to 360.
- * Both are okay & understandable.
- */
- if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
- EXPECT_GE(location.bearingDegrees, -180.0);
- EXPECT_LE(location.bearingDegrees, 360.0);
- }
- if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
- EXPECT_GT(location.verticalAccuracyMeters, 0.0);
- EXPECT_LE(location.verticalAccuracyMeters, 500.0);
- }
- if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
- EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
- EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
+template <>
+int64_t Utils::getLocationTimestampMillis(const android::hardware::gnss::GnssLocation& location) {
+ return location.timestampMillis;
+}
+
+template <>
+int64_t Utils::getLocationTimestampMillis(const V1_0::GnssLocation& location) {
+ return location.timestamp;
+}
+
+template <>
+void Utils::checkLocationElapsedRealtime(const V1_0::GnssLocation&) {}
+
+template <>
+void Utils::checkLocationElapsedRealtime(const android::hardware::gnss::GnssLocation& location) {
+ checkElapsedRealtime(location.elapsedRealtime);
+}
+
+void Utils::checkElapsedRealtime(const ElapsedRealtime& elapsedRealtime) {
+ ASSERT_TRUE(elapsedRealtime.flags >= 0 &&
+ elapsedRealtime.flags <= (ElapsedRealtime::HAS_TIMESTAMP_NS |
+ ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS));
+ if (elapsedRealtime.flags & ElapsedRealtime::HAS_TIMESTAMP_NS) {
+ ASSERT_TRUE(elapsedRealtime.timestampNs > 0);
}
- if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
- EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
- EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
+ if (elapsedRealtime.flags & ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS) {
+ ASSERT_TRUE(elapsedRealtime.timeUncertaintyNs > 0);
}
+}
- // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
- EXPECT_GT(location.timestamp, 1.48e12);
+const GnssLocation Utils::getMockLocation(double latitudeDegrees, double longitudeDegrees,
+ double horizontalAccuracyMeters) {
+ ElapsedRealtime elapsedRealtime;
+ elapsedRealtime.flags =
+ ElapsedRealtime::HAS_TIMESTAMP_NS | ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS;
+ elapsedRealtime.timestampNs = ::android::elapsedRealtimeNano();
+ elapsedRealtime.timeUncertaintyNs = 1000;
+ GnssLocation location;
+ location.gnssLocationFlags = 0xFF;
+ location.latitudeDegrees = latitudeDegrees;
+ location.longitudeDegrees = longitudeDegrees;
+ location.altitudeMeters = 500.0;
+ location.speedMetersPerSec = 0.0;
+ location.bearingDegrees = 0.0;
+ location.horizontalAccuracyMeters = horizontalAccuracyMeters;
+ location.verticalAccuracyMeters = 1000.0;
+ location.speedAccuracyMetersPerSecond = 1000.0;
+ location.bearingAccuracyDegrees = 90.0;
+ location.timestampMillis =
+ static_cast<int64_t>(kMockTimestamp + ::android::elapsedRealtimeNano() * 1e-6);
+ location.elapsedRealtime = elapsedRealtime;
+ return location;
}
-const MeasurementCorrections_1_0 Utils::getMockMeasurementCorrections() {
+const MeasurementCorrections Utils::getMockMeasurementCorrections() {
ReflectingPlane reflectingPlane = {
.latitudeDegrees = 37.4220039,
.longitudeDegrees = -122.0840991,
@@ -104,12 +102,12 @@ const MeasurementCorrections_1_0 Utils::getMockMeasurementCorrections() {
.azimuthDegrees = 203.0,
};
- SingleSatCorrection_V1_0 singleSatCorrection1 = {
+ SingleSatCorrection singleSatCorrection1 = {
.singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY |
GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH |
GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC |
GnssSingleSatCorrectionFlags::HAS_REFLECTING_PLANE,
- .constellation = GnssConstellationType_V1_0::GPS,
+ .constellation = V1_0::GnssConstellationType::GPS,
.svid = 12,
.carrierFrequencyHz = 1.59975e+09,
.probSatIsLos = 0.50001,
@@ -117,11 +115,12 @@ const MeasurementCorrections_1_0 Utils::getMockMeasurementCorrections() {
.excessPathLengthUncertaintyMeters = 25.5,
.reflectingPlane = reflectingPlane,
};
- SingleSatCorrection_V1_0 singleSatCorrection2 = {
+ SingleSatCorrection singleSatCorrection2 = {
.singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY |
GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH |
GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC,
- .constellation = GnssConstellationType_V1_0::GPS,
+
+ .constellation = V1_0::GnssConstellationType::GPS,
.svid = 9,
.carrierFrequencyHz = 1.59975e+09,
.probSatIsLos = 0.873,
@@ -129,9 +128,9 @@ const MeasurementCorrections_1_0 Utils::getMockMeasurementCorrections() {
.excessPathLengthUncertaintyMeters = 10.0,
};
- hidl_vec<SingleSatCorrection_V1_0> singleSatCorrections = {singleSatCorrection1,
- singleSatCorrection2};
- MeasurementCorrections_1_0 mockCorrections = {
+ hidl_vec<SingleSatCorrection> singleSatCorrections = {singleSatCorrection1,
+ singleSatCorrection2};
+ MeasurementCorrections mockCorrections = {
.latitudeDegrees = 37.4219999,
.longitudeDegrees = -122.0840575,
.altitudeMeters = 30.60062531,
@@ -143,25 +142,26 @@ const MeasurementCorrections_1_0 Utils::getMockMeasurementCorrections() {
return mockCorrections;
}
-const MeasurementCorrections_1_1 Utils::getMockMeasurementCorrections_1_1() {
- MeasurementCorrections_1_0 mockCorrections_1_0 = getMockMeasurementCorrections();
+const measurement_corrections::V1_1::MeasurementCorrections
+Utils::getMockMeasurementCorrections_1_1() {
+ MeasurementCorrections mockCorrections_1_0 = getMockMeasurementCorrections();
- SingleSatCorrection_V1_1 singleSatCorrection1 = {
+ measurement_corrections::V1_1::SingleSatCorrection singleSatCorrection1 = {
.v1_0 = mockCorrections_1_0.satCorrections[0],
- .constellation = GnssConstellationType_V2_0::IRNSS,
+ .constellation = V2_0::GnssConstellationType::IRNSS,
};
- SingleSatCorrection_V1_1 singleSatCorrection2 = {
+ measurement_corrections::V1_1::SingleSatCorrection singleSatCorrection2 = {
.v1_0 = mockCorrections_1_0.satCorrections[1],
- .constellation = GnssConstellationType_V2_0::IRNSS,
+ .constellation = V2_0::GnssConstellationType::IRNSS,
};
- mockCorrections_1_0.satCorrections[0].constellation = GnssConstellationType_V1_0::UNKNOWN;
- mockCorrections_1_0.satCorrections[1].constellation = GnssConstellationType_V1_0::UNKNOWN;
+ mockCorrections_1_0.satCorrections[0].constellation = V1_0::GnssConstellationType::UNKNOWN;
+ mockCorrections_1_0.satCorrections[1].constellation = V1_0::GnssConstellationType::UNKNOWN;
- hidl_vec<SingleSatCorrection_V1_1> singleSatCorrections = {singleSatCorrection1,
- singleSatCorrection2};
+ hidl_vec<measurement_corrections::V1_1::SingleSatCorrection> singleSatCorrections = {
+ singleSatCorrection1, singleSatCorrection2};
- MeasurementCorrections_1_1 mockCorrections_1_1 = {
+ measurement_corrections::V1_1::MeasurementCorrections mockCorrections_1_1 = {
.v1_0 = mockCorrections_1_0,
.hasEnvironmentBearing = true,
.environmentBearingDegrees = 45.0,
@@ -171,28 +171,108 @@ const MeasurementCorrections_1_1 Utils::getMockMeasurementCorrections_1_1() {
return mockCorrections_1_1;
}
+namespace {
+const ExcessPathInfo createExcessPathInfo(float excessPathLengthMeters,
+ float excessPathLengthUncertaintyMeters,
+ const ReflectingPlaneAidl* reflectingPlane,
+ float attenuationDb) {
+ ExcessPathInfo excessPathInfo;
+ excessPathInfo.excessPathInfoFlags =
+ ExcessPathInfo::EXCESS_PATH_INFO_HAS_EXCESS_PATH_LENGTH |
+ ExcessPathInfo::EXCESS_PATH_INFO_HAS_EXCESS_PATH_LENGTH_UNC |
+ ExcessPathInfo::EXCESS_PATH_INFO_HAS_ATTENUATION |
+ (reflectingPlane == nullptr ? 0
+ : ExcessPathInfo::EXCESS_PATH_INFO_HAS_REFLECTING_PLANE);
+ excessPathInfo.excessPathLengthMeters = excessPathLengthMeters;
+ excessPathInfo.excessPathLengthUncertaintyMeters = excessPathLengthUncertaintyMeters;
+ if (reflectingPlane != nullptr) {
+ excessPathInfo.reflectingPlane = *reflectingPlane;
+ }
+ excessPathInfo.attenuationDb = attenuationDb;
+ return excessPathInfo;
+}
+} // anonymous namespace
+
+const MeasurementCorrectionsAidl Utils::getMockMeasurementCorrections_aidl() {
+ ReflectingPlaneAidl reflectingPlane;
+ reflectingPlane.latitudeDegrees = 37.4220039;
+ reflectingPlane.longitudeDegrees = -122.0840991;
+ reflectingPlane.altitudeMeters = 250.35;
+ reflectingPlane.reflectingPlaneAzimuthDegrees = 203.0;
+
+ SingleSatCorrectionAidl singleSatCorrection1;
+ singleSatCorrection1.singleSatCorrectionFlags =
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_SAT_IS_LOS_PROBABILITY |
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_COMBINED_EXCESS_PATH_LENGTH |
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_COMBINED_EXCESS_PATH_LENGTH_UNC |
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_COMBINED_ATTENUATION;
+ singleSatCorrection1.constellation = android::hardware::gnss::GnssConstellationType::GPS;
+ singleSatCorrection1.svid = 12;
+ singleSatCorrection1.carrierFrequencyHz = 1.59975e+09;
+ singleSatCorrection1.probSatIsLos = 0.50001;
+ singleSatCorrection1.combinedExcessPathLengthMeters = 203.5;
+ singleSatCorrection1.combinedExcessPathLengthUncertaintyMeters = 59.1;
+ singleSatCorrection1.combinedAttenuationDb = -4.3;
+ singleSatCorrection1.excessPathInfos.push_back(
+ createExcessPathInfo(137.4, 25.5, &reflectingPlane, -3.5));
+ singleSatCorrection1.excessPathInfos.push_back(
+ createExcessPathInfo(296.3, 87.2, &reflectingPlane, -5.1));
+
+ SingleSatCorrectionAidl singleSatCorrection2;
+ singleSatCorrection2.singleSatCorrectionFlags =
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_SAT_IS_LOS_PROBABILITY |
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_COMBINED_EXCESS_PATH_LENGTH |
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_COMBINED_EXCESS_PATH_LENGTH_UNC |
+ SingleSatCorrectionAidl::SINGLE_SAT_CORRECTION_HAS_COMBINED_ATTENUATION;
+ singleSatCorrection2.constellation = GnssConstellationType::GPS;
+ singleSatCorrection2.svid = 9;
+ singleSatCorrection2.carrierFrequencyHz = 1.59975e+09;
+ singleSatCorrection2.probSatIsLos = 0.873;
+ singleSatCorrection2.combinedExcessPathLengthMeters = 26.294;
+ singleSatCorrection2.combinedExcessPathLengthUncertaintyMeters = 10.0;
+ singleSatCorrection2.combinedAttenuationDb = -0.5;
+ singleSatCorrection2.excessPathInfos.push_back(
+ createExcessPathInfo(26.294, 10.0, nullptr, -0.5));
+
+ std::vector<SingleSatCorrectionAidl> singleSatCorrections = {singleSatCorrection1,
+ singleSatCorrection2};
+ MeasurementCorrectionsAidl mockCorrections;
+ mockCorrections.latitudeDegrees = 37.4219999;
+ mockCorrections.longitudeDegrees = -122.0840575;
+ mockCorrections.altitudeMeters = 30.60062531;
+ mockCorrections.horizontalPositionUncertaintyMeters = 9.23542;
+ mockCorrections.verticalPositionUncertaintyMeters = 15.02341;
+ mockCorrections.toaGpsNanosecondsOfWeek = 2935633453L;
+ mockCorrections.hasEnvironmentBearing = true;
+ mockCorrections.environmentBearingDegrees = 45.0;
+ mockCorrections.environmentBearingUncertaintyDegrees = 4.0;
+ mockCorrections.satCorrections = singleSatCorrections;
+
+ return mockCorrections;
+}
+
/*
* MapConstellationType:
* Given a GnssConstellationType_2_0 type constellation, maps to its equivalent
* GnssConstellationType_1_0 type constellation. For constellations that do not have
* an equivalent value, maps to GnssConstellationType_1_0::UNKNOWN
*/
-GnssConstellationType_1_0 Utils::mapConstellationType(GnssConstellationType_2_0 constellation) {
+V1_0::GnssConstellationType Utils::mapConstellationType(V2_0::GnssConstellationType constellation) {
switch (constellation) {
- case GnssConstellationType_2_0::GPS:
- return GnssConstellationType_1_0::GPS;
- case GnssConstellationType_2_0::SBAS:
- return GnssConstellationType_1_0::SBAS;
- case GnssConstellationType_2_0::GLONASS:
- return GnssConstellationType_1_0::GLONASS;
- case GnssConstellationType_2_0::QZSS:
- return GnssConstellationType_1_0::QZSS;
- case GnssConstellationType_2_0::BEIDOU:
- return GnssConstellationType_1_0::BEIDOU;
- case GnssConstellationType_2_0::GALILEO:
- return GnssConstellationType_1_0::GALILEO;
+ case V2_0::GnssConstellationType::GPS:
+ return V1_0::GnssConstellationType::GPS;
+ case V2_0::GnssConstellationType::SBAS:
+ return V1_0::GnssConstellationType::SBAS;
+ case V2_0::GnssConstellationType::GLONASS:
+ return V1_0::GnssConstellationType::GLONASS;
+ case V2_0::GnssConstellationType::QZSS:
+ return V1_0::GnssConstellationType::QZSS;
+ case V2_0::GnssConstellationType::BEIDOU:
+ return V1_0::GnssConstellationType::BEIDOU;
+ case V2_0::GnssConstellationType::GALILEO:
+ return V1_0::GnssConstellationType::GALILEO;
default:
- return GnssConstellationType_1_0::UNKNOWN;
+ return V1_0::GnssConstellationType::UNKNOWN;
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-03 11:17:32 +0000