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/*
* Copyright (C) 2019 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#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 android::hardware::gnss::ElapsedRealtime;
using android::hardware::gnss::GnssLocation;
using namespace measurement_corrections::V1_0;
using V1_0::GnssLocationFlags;
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;
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 (elapsedRealtime.flags & ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS) {
ASSERT_TRUE(elapsedRealtime.timeUncertaintyNs > 0);
}
}
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 Utils::getMockMeasurementCorrections() {
ReflectingPlane reflectingPlane = {
.latitudeDegrees = 37.4220039,
.longitudeDegrees = -122.0840991,
.altitudeMeters = 250.35,
.azimuthDegrees = 203.0,
};
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 = V1_0::GnssConstellationType::GPS,
.svid = 12,
.carrierFrequencyHz = 1.59975e+09,
.probSatIsLos = 0.50001,
.excessPathLengthMeters = 137.4802,
.excessPathLengthUncertaintyMeters = 25.5,
.reflectingPlane = reflectingPlane,
};
SingleSatCorrection singleSatCorrection2 = {
.singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY |
GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH |
GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC,
.constellation = V1_0::GnssConstellationType::GPS,
.svid = 9,
.carrierFrequencyHz = 1.59975e+09,
.probSatIsLos = 0.873,
.excessPathLengthMeters = 26.294,
.excessPathLengthUncertaintyMeters = 10.0,
};
hidl_vec<SingleSatCorrection> singleSatCorrections = {singleSatCorrection1,
singleSatCorrection2};
MeasurementCorrections mockCorrections = {
.latitudeDegrees = 37.4219999,
.longitudeDegrees = -122.0840575,
.altitudeMeters = 30.60062531,
.horizontalPositionUncertaintyMeters = 9.23542,
.verticalPositionUncertaintyMeters = 15.02341,
.toaGpsNanosecondsOfWeek = 2935633453L,
.satCorrections = singleSatCorrections,
};
return mockCorrections;
}
const measurement_corrections::V1_1::MeasurementCorrections
Utils::getMockMeasurementCorrections_1_1() {
MeasurementCorrections mockCorrections_1_0 = getMockMeasurementCorrections();
measurement_corrections::V1_1::SingleSatCorrection singleSatCorrection1 = {
.v1_0 = mockCorrections_1_0.satCorrections[0],
.constellation = V2_0::GnssConstellationType::IRNSS,
};
measurement_corrections::V1_1::SingleSatCorrection singleSatCorrection2 = {
.v1_0 = mockCorrections_1_0.satCorrections[1],
.constellation = V2_0::GnssConstellationType::IRNSS,
};
mockCorrections_1_0.satCorrections[0].constellation = V1_0::GnssConstellationType::UNKNOWN;
mockCorrections_1_0.satCorrections[1].constellation = V1_0::GnssConstellationType::UNKNOWN;
hidl_vec<measurement_corrections::V1_1::SingleSatCorrection> singleSatCorrections = {
singleSatCorrection1, singleSatCorrection2};
measurement_corrections::V1_1::MeasurementCorrections mockCorrections_1_1 = {
.v1_0 = mockCorrections_1_0,
.hasEnvironmentBearing = true,
.environmentBearingDegrees = 45.0,
.environmentBearingUncertaintyDegrees = 4.0,
.satCorrections = singleSatCorrections,
};
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
*/
V1_0::GnssConstellationType Utils::mapConstellationType(V2_0::GnssConstellationType constellation) {
switch (constellation) {
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 V1_0::GnssConstellationType::UNKNOWN;
}
}
bool Utils::isAutomotiveDevice() {
char buffer[PROPERTY_VALUE_MAX] = {0};
property_get("ro.hardware.type", buffer, "");
return strncmp(buffer, "automotive", PROPERTY_VALUE_MAX) == 0;
}
} // namespace common
} // namespace gnss
} // namespace hardware
} // namespace android
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