Add navigation methods to IGnss AIDL HAL (hardware/interfaces)
Bug: 205185251
Test: atest VtsHalGnssTargetTest
Change-Id: Ib412aeb0b302952d13e236554f00690206b98253
diff --git a/gnss/aidl/default/Gnss.cpp b/gnss/aidl/default/Gnss.cpp
index afb7b95..e296351 100644
--- a/gnss/aidl/default/Gnss.cpp
+++ b/gnss/aidl/default/Gnss.cpp
@@ -17,6 +17,7 @@
#define LOG_TAG "GnssAidl"
#include "Gnss.h"
+#include <inttypes.h>
#include <log/log.h>
#include "AGnss.h"
#include "GnssBatching.h"
@@ -27,16 +28,24 @@
#include "GnssNavigationMessageInterface.h"
#include "GnssPsds.h"
#include "GnssVisibilityControl.h"
+#include "Utils.h"
namespace aidl::android::hardware::gnss {
+using ::android::hardware::gnss::common::Utils;
+using ndk::ScopedAStatus;
+using GnssSvInfo = IGnssCallback::GnssSvInfo;
+
+constexpr int TTFF_MILLIS = 2200;
std::shared_ptr<IGnssCallback> Gnss::sGnssCallback = nullptr;
-ndk::ScopedAStatus Gnss::setCallback(const std::shared_ptr<IGnssCallback>& callback) {
- ALOGD("Gnss::setCallback");
+Gnss::Gnss() : mMinIntervalMs(1000), mFirstFixReceived(false) {}
+
+ScopedAStatus Gnss::setCallback(const std::shared_ptr<IGnssCallback>& callback) {
+ ALOGD("setCallback");
if (callback == nullptr) {
ALOGE("%s: Null callback ignored", __func__);
- return ndk::ScopedAStatus::fromExceptionCode(STATUS_INVALID_OPERATION);
+ return ScopedAStatus::fromExceptionCode(STATUS_INVALID_OPERATION);
}
sGnssCallback = callback;
@@ -50,13 +59,99 @@
ALOGE("%s: Unable to invoke callback.gnssSetCapabilities", __func__);
}
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::close() {
- ALOGD("Gnss::close");
+ScopedAStatus Gnss::start() {
+ ALOGD("start()");
+ if (mIsActive) {
+ ALOGW("Gnss has started. Restarting...");
+ stop();
+ }
+
+ mIsActive = true;
+ this->reportGnssStatusValue(IGnssCallback::GnssStatusValue::SESSION_BEGIN);
+ mThread = std::thread([this]() {
+ auto svStatus = filterBlocklistedSatellites(Utils::getMockSvInfoList());
+ this->reportSvStatus(svStatus);
+ if (!mFirstFixReceived) {
+ std::this_thread::sleep_for(std::chrono::milliseconds(TTFF_MILLIS));
+ mFirstFixReceived = true;
+ }
+ while (mIsActive == true) {
+ auto svStatus = filterBlocklistedSatellites(Utils::getMockSvInfoList());
+ this->reportSvStatus(svStatus);
+
+ mGnssPowerIndication->notePowerConsumption();
+ const auto location = Utils::getMockLocation();
+ this->reportLocation(location);
+ std::this_thread::sleep_for(std::chrono::milliseconds(mMinIntervalMs));
+ }
+ });
+ return ScopedAStatus::ok();
+}
+
+void Gnss::reportLocation(const GnssLocation& location) const {
+ std::unique_lock<std::mutex> lock(mMutex);
+ if (sGnssCallback == nullptr) {
+ ALOGE("%s: GnssCallback is null.", __func__);
+ return;
+ }
+ auto status = sGnssCallback->gnssLocationCb(location);
+ if (!status.isOk()) {
+ ALOGE("%s: Unable to invoke gnssLocationCb", __func__);
+ }
+ return;
+}
+
+void Gnss::reportSvStatus(const std::vector<GnssSvInfo>& svInfoList) const {
+ std::unique_lock<std::mutex> lock(mMutex);
+ if (sGnssCallback == nullptr) {
+ ALOGE("%s: sGnssCallback is null.", __func__);
+ return;
+ }
+ auto status = sGnssCallback->gnssSvStatusCb(svInfoList);
+ if (!status.isOk()) {
+ ALOGE("%s: Unable to invoke callback", __func__);
+ }
+}
+
+std::vector<GnssSvInfo> Gnss::filterBlocklistedSatellites(std::vector<GnssSvInfo> gnssSvInfoList) {
+ ALOGD("filterBlocklistedSatellites");
+ for (uint32_t i = 0; i < gnssSvInfoList.size(); i++) {
+ if (mGnssConfiguration->isBlocklisted(gnssSvInfoList[i])) {
+ gnssSvInfoList[i].svFlag &= ~(uint32_t)IGnssCallback::GnssSvFlags::USED_IN_FIX;
+ }
+ }
+ return gnssSvInfoList;
+}
+
+void Gnss::reportGnssStatusValue(const IGnssCallback::GnssStatusValue gnssStatusValue) const {
+ std::unique_lock<std::mutex> lock(mMutex);
+ if (sGnssCallback == nullptr) {
+ ALOGE("%s: sGnssCallback is null.", __func__);
+ return;
+ }
+ auto status = sGnssCallback->gnssStatusCb(gnssStatusValue);
+ if (!status.isOk()) {
+ ALOGE("%s: Unable to invoke gnssStatusCb", __func__);
+ }
+}
+
+ScopedAStatus Gnss::stop() {
+ ALOGD("stop");
+ mIsActive = false;
+ this->reportGnssStatusValue(IGnssCallback::GnssStatusValue::SESSION_END);
+ if (mThread.joinable()) {
+ mThread.join();
+ }
+ return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::close() {
+ ALOGD("close");
sGnssCallback = nullptr;
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
ndk::ScopedAStatus Gnss::getExtensionAGnss(std::shared_ptr<IAGnss>* iAGnss) {
@@ -65,61 +160,93 @@
return ndk::ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::getExtensionPsds(std::shared_ptr<IGnssPsds>* iGnssPsds) {
- ALOGD("Gnss::getExtensionPsds");
- *iGnssPsds = SharedRefBase::make<GnssPsds>();
- return ndk::ScopedAStatus::ok();
+ScopedAStatus Gnss::injectTime(int64_t timeMs, int64_t timeReferenceMs, int uncertaintyMs) {
+ ALOGD("injectTime. timeMs:%" PRId64 ", timeReferenceMs:%" PRId64 ", uncertaintyMs:%d", timeMs,
+ timeReferenceMs, uncertaintyMs);
+ return ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::getExtensionGnssConfiguration(
+ScopedAStatus Gnss::injectLocation(const GnssLocation& location) {
+ ALOGD("injectLocation. lat:%lf, lng:%lf, acc:%f", location.latitudeDegrees,
+ location.longitudeDegrees, location.horizontalAccuracyMeters);
+ return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::injectBestLocation(const GnssLocation& location) {
+ ALOGD("injectBestLocation. lat:%lf, lng:%lf, acc:%f", location.latitudeDegrees,
+ location.longitudeDegrees, location.horizontalAccuracyMeters);
+ return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::deleteAidingData(GnssAidingData aidingDataFlags) {
+ ALOGD("deleteAidingData. flags:%d", (int)aidingDataFlags);
+ mFirstFixReceived = false;
+ return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::setPositionMode(GnssPositionMode, GnssPositionRecurrence, int minIntervalMs,
+ int /* preferredAccuracyMeters */, int /* preferredTimeMs */,
+ bool lowPowerMode) {
+ ALOGD("setPositionMode. minIntervalMs:%d, lowPowerMode:%d", minIntervalMs, (int)lowPowerMode);
+ mMinIntervalMs = minIntervalMs;
+ return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::getExtensionPsds(std::shared_ptr<IGnssPsds>* iGnssPsds) {
+ ALOGD("getExtensionPsds");
+ *iGnssPsds = SharedRefBase::make<GnssPsds>();
+ return ScopedAStatus::ok();
+}
+
+ScopedAStatus Gnss::getExtensionGnssConfiguration(
std::shared_ptr<IGnssConfiguration>* iGnssConfiguration) {
- ALOGD("Gnss::getExtensionGnssConfiguration");
+ ALOGD("getExtensionGnssConfiguration");
if (mGnssConfiguration == nullptr) {
mGnssConfiguration = SharedRefBase::make<GnssConfiguration>();
}
*iGnssConfiguration = mGnssConfiguration;
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::getExtensionGnssPowerIndication(
+ScopedAStatus Gnss::getExtensionGnssPowerIndication(
std::shared_ptr<IGnssPowerIndication>* iGnssPowerIndication) {
- ALOGD("Gnss::getExtensionGnssPowerIndication");
+ ALOGD("getExtensionGnssPowerIndication");
if (mGnssPowerIndication == nullptr) {
mGnssPowerIndication = SharedRefBase::make<GnssPowerIndication>();
}
*iGnssPowerIndication = mGnssPowerIndication;
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::getExtensionGnssMeasurement(
+ScopedAStatus Gnss::getExtensionGnssMeasurement(
std::shared_ptr<IGnssMeasurementInterface>* iGnssMeasurement) {
- ALOGD("Gnss::getExtensionGnssMeasurement");
+ ALOGD("getExtensionGnssMeasurement");
*iGnssMeasurement = SharedRefBase::make<GnssMeasurementInterface>();
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::getExtensionGnssBatching(std::shared_ptr<IGnssBatching>* iGnssBatching) {
- ALOGD("Gnss::getExtensionGnssBatching");
+ScopedAStatus Gnss::getExtensionGnssBatching(std::shared_ptr<IGnssBatching>* iGnssBatching) {
+ ALOGD("getExtensionGnssBatching");
*iGnssBatching = SharedRefBase::make<GnssBatching>();
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::getExtensionGnssGeofence(std::shared_ptr<IGnssGeofence>* iGnssGeofence) {
- ALOGD("Gnss::getExtensionGnssGeofence");
+ScopedAStatus Gnss::getExtensionGnssGeofence(std::shared_ptr<IGnssGeofence>* iGnssGeofence) {
+ ALOGD("getExtensionGnssGeofence");
*iGnssGeofence = SharedRefBase::make<GnssGeofence>();
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
-ndk::ScopedAStatus Gnss::getExtensionGnssNavigationMessage(
+ScopedAStatus Gnss::getExtensionGnssNavigationMessage(
std::shared_ptr<IGnssNavigationMessageInterface>* iGnssNavigationMessage) {
- ALOGD("Gnss::getExtensionGnssNavigationMessage");
+ ALOGD("getExtensionGnssNavigationMessage");
*iGnssNavigationMessage = SharedRefBase::make<GnssNavigationMessageInterface>();
- return ndk::ScopedAStatus::ok();
+ return ScopedAStatus::ok();
}
ndk::ScopedAStatus Gnss::getExtensionGnssDebug(std::shared_ptr<IGnssDebug>* iGnssDebug) {
diff --git a/gnss/aidl/default/Gnss.h b/gnss/aidl/default/Gnss.h
index 67fef94..384c862 100644
--- a/gnss/aidl/default/Gnss.h
+++ b/gnss/aidl/default/Gnss.h
@@ -25,6 +25,9 @@
#include <aidl/android/hardware/gnss/BnGnssPowerIndication.h>
#include <aidl/android/hardware/gnss/BnGnssPsds.h>
#include <aidl/android/hardware/gnss/visibility_control/BnGnssVisibilityControl.h>
+#include <atomic>
+#include <mutex>
+#include <thread>
#include "GnssConfiguration.h"
#include "GnssPowerIndication.h"
@@ -32,8 +35,22 @@
class Gnss : public BnGnss {
public:
+ Gnss();
+ ~Gnss() { stop(); };
ndk::ScopedAStatus setCallback(const std::shared_ptr<IGnssCallback>& callback) override;
+ ndk::ScopedAStatus start() override;
+ ndk::ScopedAStatus stop() override;
ndk::ScopedAStatus close() override;
+
+ ndk::ScopedAStatus injectTime(int64_t timeMs, int64_t timeReferenceMs,
+ int uncertaintyMs) override;
+ ndk::ScopedAStatus injectLocation(const GnssLocation& location) override;
+ ndk::ScopedAStatus injectBestLocation(const GnssLocation& location) override;
+ ndk::ScopedAStatus deleteAidingData(GnssAidingData aidingDataFlags) override;
+ ndk::ScopedAStatus setPositionMode(GnssPositionMode mode, GnssPositionRecurrence recurrence,
+ int minIntervalMs, int preferredAccuracyMeters,
+ int preferredTimeMs, bool lowPowerMode) override;
+
ndk::ScopedAStatus getExtensionPsds(std::shared_ptr<IGnssPsds>* iGnssPsds) override;
ndk::ScopedAStatus getExtensionGnssConfiguration(
std::shared_ptr<IGnssConfiguration>* iGnssConfiguration) override;
@@ -57,7 +74,20 @@
std::shared_ptr<GnssPowerIndication> mGnssPowerIndication;
private:
+ void reportLocation(const GnssLocation&) const;
+ void reportSvStatus(const std::vector<IGnssCallback::GnssSvInfo>& svInfoList) const;
+ std::vector<IGnssCallback::GnssSvInfo> filterBlocklistedSatellites(
+ std::vector<IGnssCallback::GnssSvInfo> gnssSvInfoList);
+ void reportGnssStatusValue(const IGnssCallback::GnssStatusValue gnssStatusValue) const;
+
static std::shared_ptr<IGnssCallback> sGnssCallback;
+
+ std::atomic<long> mMinIntervalMs;
+ std::atomic<bool> mIsActive;
+ std::atomic<bool> mFirstFixReceived;
+ std::thread mThread;
+
+ mutable std::mutex mMutex;
};
} // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/GnssConfiguration.cpp b/gnss/aidl/default/GnssConfiguration.cpp
index 30e0d8c..96a1aa2 100644
--- a/gnss/aidl/default/GnssConfiguration.cpp
+++ b/gnss/aidl/default/GnssConfiguration.cpp
@@ -49,4 +49,14 @@
return (mBlocklistedSourceSet.find(source) != mBlocklistedSourceSet.end());
}
+bool GnssConfiguration::isBlocklisted(const IGnssCallback::GnssSvInfo& gnssSvInfo) const {
+ std::unique_lock<std::recursive_mutex> lock(mMutex);
+ if (mBlocklistedConstellationSet.find(gnssSvInfo.constellation) !=
+ mBlocklistedConstellationSet.end()) {
+ return true;
+ }
+ BlocklistedSource source = {.constellation = gnssSvInfo.constellation, .svid = gnssSvInfo.svid};
+ return (mBlocklistedSourceSet.find(source) != mBlocklistedSourceSet.end());
+}
+
} // namespace aidl::android::hardware::gnss
diff --git a/gnss/aidl/default/GnssConfiguration.h b/gnss/aidl/default/GnssConfiguration.h
index 491733c..3c77f32 100644
--- a/gnss/aidl/default/GnssConfiguration.h
+++ b/gnss/aidl/default/GnssConfiguration.h
@@ -16,6 +16,7 @@
#pragma once
+#include <aidl/android/hardware/gnss/BnGnssCallback.h>
#include <aidl/android/hardware/gnss/BnGnssConfiguration.h>
#include <android/hardware/gnss/2.1/IGnssCallback.h>
#include <mutex>
@@ -62,6 +63,7 @@
ndk::ScopedAStatus setBlocklist(const vector<BlocklistedSource>& blocklist) override;
bool isBlocklistedV2_1(const GnssSvInfoV2_1& gnssSvInfo) const;
+ bool isBlocklisted(const IGnssCallback::GnssSvInfo& gnssSvInfo) const;
private:
BlocklistedSourceSet mBlocklistedSourceSet;