Added LOCATION_CHARACTERIZATION to HAL layer.
Bug: 269141226
Test: atest VtsHalAutomotiveVehicle_TargetTest
Change-Id: Ia53508f032d905b8f211606238bb6c650f787d2b
Merged-In: Ia53508f032d905b8f211606238bb6c650f787d2b
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
index 574f8bd..18b4cfd 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/AccessForVehicleProperty.h
@@ -191,6 +191,7 @@
{VehicleProperty::GLOVE_BOX_DOOR_POS, VehiclePropertyAccess::READ_WRITE},
{VehicleProperty::GLOVE_BOX_LOCKED, VehiclePropertyAccess::READ_WRITE},
{VehicleProperty::VEHICLE_MAP_SERVICE, VehiclePropertyAccess::READ_WRITE},
+ {VehicleProperty::LOCATION_CHARACTERIZATION, VehiclePropertyAccess::READ},
{VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyAccess::READ},
{VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyAccess::READ},
{VehicleProperty::OBD2_FREEZE_FRAME_INFO, VehiclePropertyAccess::READ},
diff --git a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
index 9a2f8a3..c4087e1 100644
--- a/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
+++ b/automotive/vehicle/aidl/generated_lib/cpp/ChangeModeForVehicleProperty.h
@@ -191,6 +191,7 @@
{VehicleProperty::GLOVE_BOX_DOOR_POS, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::GLOVE_BOX_LOCKED, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::VEHICLE_MAP_SERVICE, VehiclePropertyChangeMode::ON_CHANGE},
+ {VehicleProperty::LOCATION_CHARACTERIZATION, VehiclePropertyChangeMode::STATIC},
{VehicleProperty::OBD2_LIVE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::OBD2_FREEZE_FRAME, VehiclePropertyChangeMode::ON_CHANGE},
{VehicleProperty::OBD2_FREEZE_FRAME_INFO, VehiclePropertyChangeMode::ON_CHANGE},
diff --git a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
index d993860..a26bbe9 100644
--- a/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/AccessForVehicleProperty.java
@@ -183,6 +183,7 @@
Map.entry(VehicleProperty.GLOVE_BOX_DOOR_POS, VehiclePropertyAccess.READ_WRITE),
Map.entry(VehicleProperty.GLOVE_BOX_LOCKED, VehiclePropertyAccess.READ_WRITE),
Map.entry(VehicleProperty.VEHICLE_MAP_SERVICE, VehiclePropertyAccess.READ_WRITE),
+ Map.entry(VehicleProperty.LOCATION_CHARACTERIZATION, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyAccess.READ),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME_INFO, VehiclePropertyAccess.READ),
diff --git a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
index daa6a87..2da8dd9 100644
--- a/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
+++ b/automotive/vehicle/aidl/generated_lib/java/ChangeModeForVehicleProperty.java
@@ -183,6 +183,7 @@
Map.entry(VehicleProperty.GLOVE_BOX_DOOR_POS, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.GLOVE_BOX_LOCKED, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.VEHICLE_MAP_SERVICE, VehiclePropertyChangeMode.ON_CHANGE),
+ Map.entry(VehicleProperty.LOCATION_CHARACTERIZATION, VehiclePropertyChangeMode.STATIC),
Map.entry(VehicleProperty.OBD2_LIVE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME, VehiclePropertyChangeMode.ON_CHANGE),
Map.entry(VehicleProperty.OBD2_FREEZE_FRAME_INFO, VehiclePropertyChangeMode.ON_CHANGE),
diff --git a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
index a651178..d921079 100644
--- a/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
+++ b/automotive/vehicle/aidl/impl/default_config/JsonConfigLoader/src/JsonConfigLoader.cpp
@@ -57,6 +57,7 @@
using ::aidl::android::hardware::automotive::vehicle::LaneCenteringAssistState;
using ::aidl::android::hardware::automotive::vehicle::LaneDepartureWarningState;
using ::aidl::android::hardware::automotive::vehicle::LaneKeepAssistState;
+using ::aidl::android::hardware::automotive::vehicle::LocationCharacterization;
using ::aidl::android::hardware::automotive::vehicle::RawPropValues;
using ::aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReport;
using ::aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReq;
@@ -200,6 +201,8 @@
std::make_unique<ConstantParser<VehiclePropertyAccess>>();
mConstantParsersByType["VehiclePropertyChangeMode"] =
std::make_unique<ConstantParser<VehiclePropertyChangeMode>>();
+ mConstantParsersByType["LocationCharacterization"] =
+ std::make_unique<ConstantParser<LocationCharacterization>>();
mConstantParsersByType["VehicleGear"] = std::make_unique<ConstantParser<VehicleGear>>();
mConstantParsersByType["VehicleAreaWindow"] =
std::make_unique<ConstantParser<VehicleAreaWindow>>();
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index 774ff4f..b146da3 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3130,6 +3130,14 @@
"property": "VehicleProperty::VEHICLE_MAP_SERVICE"
},
{
+ "property": "VehicleProperty::LOCATION_CHARACTERIZATION",
+ "defaultValue": {
+ "int32Values": [
+ "LocationCharacterization::RAW_GNSS_ONLY"
+ ]
+ }
+ },
+ {
"property": "VehicleProperty::ELECTRONIC_TOLL_COLLECTION_CARD_TYPE",
"defaultValue": {
"int32Values": [
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
index fc0c8db..7db4246 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
@@ -44,6 +44,7 @@
#include <aidl/android/hardware/automotive/vehicle/LaneCenteringAssistState.h>
#include <aidl/android/hardware/automotive/vehicle/LaneDepartureWarningState.h>
#include <aidl/android/hardware/automotive/vehicle/LaneKeepAssistState.h>
+#include <aidl/android/hardware/automotive/vehicle/LocationCharacterization.h>
#include <aidl/android/hardware/automotive/vehicle/Obd2CommonIgnitionMonitors.h>
#include <aidl/android/hardware/automotive/vehicle/Obd2FuelSystemStatus.h>
#include <aidl/android/hardware/automotive/vehicle/Obd2FuelType.h>
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LocationCharacterization.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LocationCharacterization.aidl
new file mode 100644
index 0000000..27abe41
--- /dev/null
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/LocationCharacterization.aidl
@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE. //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+// the interface (from the latest frozen version), the build system will
+// prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.automotive.vehicle;
+@Backing(type="int") @VintfStability
+enum LocationCharacterization {
+ PRIOR_LOCATIONS = 0x1,
+ GYROSCOPE_FUSION = 0x2,
+ ACCELEROMETER_FUSION = 0x4,
+ COMPASS_FUSION = 0x8,
+ WHEEL_SPEED_FUSION = 0x10,
+ STEERING_ANGLE_FUSION = 0x20,
+ CAR_SPEED_FUSION = 0x40,
+ DEAD_RECKONED = 0x80,
+ RAW_GNSS_ONLY = 0x100,
+}
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 70eb5d3..d947a56 100644
--- a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -189,6 +189,7 @@
GLOVE_BOX_DOOR_POS = (((0x0BF0 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.SEAT) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 356518896 */,
GLOVE_BOX_LOCKED = (((0x0BF1 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.SEAT) + android.hardware.automotive.vehicle.VehiclePropertyType.BOOLEAN) /* 354421745 */,
VEHICLE_MAP_SERVICE = (((0x0C00 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299895808 */,
+ LOCATION_CHARACTERIZATION = (((0x0C10 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289410064 */,
OBD2_LIVE_FRAME = (((0x0D00 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896064 */,
OBD2_FREEZE_FRAME = (((0x0D01 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896065 */,
OBD2_FREEZE_FRAME_INFO = (((0x0D02 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299896066 */,
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LocationCharacterization.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LocationCharacterization.aidl
new file mode 100644
index 0000000..e06df40
--- /dev/null
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/LocationCharacterization.aidl
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+
+package android.hardware.automotive.vehicle;
+
+/**
+ * Used by LOCATION_CHARACTERIZATION to enumerate the supported bit flags.
+ *
+ * These flags are used to indicate to what transformations are performed on the
+ * GNSS data before the location data is sent, so that location processing
+ * algorithms can take into account prior fusion.
+ *
+ * This enum can be extended in future releases to include additional bit flags.
+ */
+@VintfStability
+@Backing(type="int")
+enum LocationCharacterization {
+ /**
+ * Prior location samples have been used to refine the raw GNSS data (e.g. a
+ * Kalman Filter).
+ */
+ PRIOR_LOCATIONS = 0x1,
+ /**
+ * Gyroscope data has been used to refine the raw GNSS data.
+ */
+ GYROSCOPE_FUSION = 0x2,
+ /**
+ * Accelerometer data has been used to refine the raw GNSS data.
+ */
+ ACCELEROMETER_FUSION = 0x4,
+ /**
+ * Compass data has been used to refine the raw GNSS data.
+ */
+ COMPASS_FUSION = 0x8,
+ /**
+ * Wheel speed has been used to refine the raw GNSS data.
+ */
+ WHEEL_SPEED_FUSION = 0x10,
+ /**
+ * Steering angle has been used to refine the raw GNSS data.
+ */
+ STEERING_ANGLE_FUSION = 0x20,
+ /**
+ * Car speed has been used to refine the raw GNSS data.
+ */
+ CAR_SPEED_FUSION = 0x40,
+ /**
+ * Some effort is made to dead-reckon location. In particular, this means that
+ * relative changes in location have meaning when no GNSS satellite is
+ * available.
+ */
+ DEAD_RECKONED = 0x80,
+ /**
+ * Location is based on GNSS satellite signals without sufficient fusion of
+ * other sensors for complete dead reckoning. This flag should be set when
+ * relative changes to location cannot be relied on when no GNSS satellite is
+ * available.
+ */
+ RAW_GNSS_ONLY = 0x100,
+}
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
index d4b02a2..7859dee 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -2348,6 +2348,20 @@
VEHICLE_MAP_SERVICE = 0x0C00 + 0x10000000 + 0x01000000
+ 0x00e00000, // VehiclePropertyGroup:SYSTEM,VehicleArea:GLOBAL,VehiclePropertyType:MIXED
/**
+ * Characterization of inputs used for computing location.
+ *
+ * This property must indicate what (if any) data and sensor inputs are considered by the system
+ * when computing the vehicle's location that is shared with Android through the GNSS HAL.
+ *
+ * The value must return a collection of bit flags. The bit flags are defined in
+ * LocationCharacterization.
+ *
+ * @change_mode VehiclePropertyChangeMode.STATIC
+ * @access VehiclePropertyAccess.READ
+ */
+ LOCATION_CHARACTERIZATION =
+ 0x0C10 + VehiclePropertyGroup.SYSTEM + VehicleArea.GLOBAL + VehiclePropertyType.INT32,
+ /**
* OBD2 Live Sensor Data
*
* Reports a snapshot of the current (live) values of the OBD2 sensors available.
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index ad3f277..848ca62 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -498,6 +498,12 @@
actualPropertyType);
}
+TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyLocationCharacterizationConfig) {
+ verifyProperty(VehicleProperty::LOCATION_CHARACTERIZATION, VehiclePropertyAccess::READ,
+ VehiclePropertyChangeMode::STATIC, VehiclePropertyGroup::SYSTEM,
+ VehicleArea::GLOBAL, VehiclePropertyType::INT32);
+}
+
TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyEmergencyLaneKeepAssistEnabledConfig) {
verifyProperty(VehicleProperty::EMERGENCY_LANE_KEEP_ASSIST_ENABLED,
VehiclePropertyAccess::READ_WRITE, VehiclePropertyChangeMode::ON_CHANGE,