| /* |
| * 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 <Constants.h> |
| #include <Utils.h> |
| #include <utils/SystemClock.h> |
| |
| namespace android { |
| namespace hardware { |
| namespace gnss { |
| namespace common { |
| |
| 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; |
| |
| GnssDataV2_1 Utils::getMockMeasurementV2_1() { |
| GnssDataV2_0 gnssDataV2_0 = Utils::getMockMeasurementV2_0(); |
| V2_1::IGnssMeasurementCallback::GnssMeasurement gnssMeasurementV2_1 = { |
| .v2_0 = gnssDataV2_0.measurements[0], |
| .flags = (uint32_t)(GnssMeasurementFlagsV2_1::HAS_CARRIER_FREQUENCY | |
| GnssMeasurementFlagsV2_1::HAS_CARRIER_PHASE | |
| GnssMeasurementFlagsV2_1::HAS_FULL_ISB | |
| GnssMeasurementFlagsV2_1::HAS_FULL_ISB_UNCERTAINTY | |
| GnssMeasurementFlagsV2_1::HAS_SATELLITE_ISB | |
| GnssMeasurementFlagsV2_1::HAS_SATELLITE_ISB_UNCERTAINTY), |
| .fullInterSignalBiasNs = 30.0, |
| .fullInterSignalBiasUncertaintyNs = 250.0, |
| .satelliteInterSignalBiasNs = 20.0, |
| .satelliteInterSignalBiasUncertaintyNs = 150.0, |
| .basebandCN0DbHz = 25.0, |
| }; |
| GnssSignalType referenceSignalTypeForIsb = { |
| .constellation = GnssConstellationTypeV2_0::GPS, |
| .carrierFrequencyHz = 1.59975e+09, |
| .codeType = "C", |
| }; |
| V2_1::IGnssMeasurementCallback::GnssClock gnssClockV2_1 = { |
| .v1_0 = gnssDataV2_0.clock, |
| .referenceSignalTypeForIsb = referenceSignalTypeForIsb, |
| }; |
| hidl_vec<V2_1::IGnssMeasurementCallback::GnssMeasurement> measurements(1); |
| measurements[0] = gnssMeasurementV2_1; |
| GnssDataV2_1 gnssDataV2_1 = { |
| .measurements = measurements, |
| .clock = gnssClockV2_1, |
| .elapsedRealtime = gnssDataV2_0.elapsedRealtime, |
| }; |
| return gnssDataV2_1; |
| } |
| |
| GnssDataV2_0 Utils::getMockMeasurementV2_0() { |
| V1_0::IGnssMeasurementCallback::GnssMeasurement measurement_1_0 = { |
| .flags = (uint32_t)GnssMeasurementFlagsV1_0::HAS_CARRIER_FREQUENCY, |
| .svid = (int16_t)6, |
| .constellation = V1_0::GnssConstellationType::UNKNOWN, |
| .timeOffsetNs = 0.0, |
| .receivedSvTimeInNs = 8195997131077, |
| .receivedSvTimeUncertaintyInNs = 15, |
| .cN0DbHz = 30.0, |
| .pseudorangeRateMps = -484.13739013671875, |
| .pseudorangeRateUncertaintyMps = 1.0379999876022339, |
| .accumulatedDeltaRangeState = (uint32_t)V1_0::IGnssMeasurementCallback:: |
| GnssAccumulatedDeltaRangeState::ADR_STATE_UNKNOWN, |
| .accumulatedDeltaRangeM = 0.0, |
| .accumulatedDeltaRangeUncertaintyM = 0.0, |
| .carrierFrequencyHz = 1.59975e+09, |
| .multipathIndicator = |
| V1_0::IGnssMeasurementCallback::GnssMultipathIndicator::INDICATOR_UNKNOWN}; |
| V1_1::IGnssMeasurementCallback::GnssMeasurement measurement_1_1 = {.v1_0 = measurement_1_0}; |
| V2_0::IGnssMeasurementCallback::GnssMeasurement measurement_2_0 = { |
| .v1_1 = measurement_1_1, |
| .codeType = "C", |
| .state = GnssMeasurementStateV2_0::STATE_CODE_LOCK | |
| GnssMeasurementStateV2_0::STATE_BIT_SYNC | |
| GnssMeasurementStateV2_0::STATE_SUBFRAME_SYNC | |
| GnssMeasurementStateV2_0::STATE_TOW_DECODED | |
| GnssMeasurementStateV2_0::STATE_GLO_STRING_SYNC | |
| GnssMeasurementStateV2_0::STATE_GLO_TOD_DECODED, |
| .constellation = GnssConstellationTypeV2_0::GLONASS, |
| }; |
| |
| hidl_vec<IGnssMeasurementCallbackV2_0::GnssMeasurement> measurements(1); |
| measurements[0] = measurement_2_0; |
| V1_0::IGnssMeasurementCallback::GnssClock clock = {.timeNs = 2713545000000, |
| .fullBiasNs = -1226701900521857520, |
| .biasNs = 0.59689998626708984, |
| .biasUncertaintyNs = 47514.989972114563, |
| .driftNsps = -51.757811607455452, |
| .driftUncertaintyNsps = 310.64968328491528, |
| .hwClockDiscontinuityCount = 1}; |
| |
| ElapsedRealtime timestamp = { |
| .flags = ElapsedRealtimeFlags::HAS_TIMESTAMP_NS | |
| ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS, |
| .timestampNs = static_cast<uint64_t>(::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 = 1000000}; |
| |
| GnssDataV2_0 gnssData = { |
| .measurements = measurements, .clock = clock, .elapsedRealtime = timestamp}; |
| return gnssData; |
| } |
| |
| V2_0::GnssLocation Utils::getMockLocationV2_0() { |
| const V2_0::ElapsedRealtime timestamp = { |
| .flags = V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS | |
| V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS, |
| .timestampNs = static_cast<uint64_t>(::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 = 1000000}; |
| |
| V2_0::GnssLocation location = {.v1_0 = Utils::getMockLocationV1_0(), |
| .elapsedRealtime = timestamp}; |
| return location; |
| } |
| |
| V1_0::GnssLocation Utils::getMockLocationV1_0() { |
| V1_0::GnssLocation location = { |
| .gnssLocationFlags = 0xFF, |
| .latitudeDegrees = kMockLatitudeDegrees, |
| .longitudeDegrees = kMockLongitudeDegrees, |
| .altitudeMeters = kMockAltitudeMeters, |
| .speedMetersPerSec = kMockSpeedMetersPerSec, |
| .bearingDegrees = kMockBearingDegrees, |
| .horizontalAccuracyMeters = kMockHorizontalAccuracyMeters, |
| .verticalAccuracyMeters = kMockVerticalAccuracyMeters, |
| .speedAccuracyMetersPerSecond = kMockSpeedAccuracyMetersPerSecond, |
| .bearingAccuracyDegrees = kMockBearingAccuracyDegrees, |
| .timestamp = kMockTimestamp}; |
| 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); |
| 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), |
| V2_0::GnssConstellationType::GPS), |
| 22.0), |
| getMockSvInfoV2_1( |
| getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GPS, 30.5, |
| 71.0, 77.0), |
| V2_0::GnssConstellationType::GPS), |
| 25.5), |
| getMockSvInfoV2_1( |
| getMockSvInfoV2_0(getMockSvInfoV1_0(26, V1_0::GnssConstellationType::GPS, 24.1, |
| 28.0, 253.0), |
| V2_0::GnssConstellationType::GPS), |
| 19.1), |
| getMockSvInfoV2_1( |
| getMockSvInfoV2_0(getMockSvInfoV1_0(5, V1_0::GnssConstellationType::GLONASS, |
| 20.5, 11.5, 116.0), |
| V2_0::GnssConstellationType::GLONASS), |
| 15.5), |
| getMockSvInfoV2_1( |
| getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GLONASS, |
| 21.5, 28.5, 186.0), |
| V2_0::GnssConstellationType::GLONASS), |
| 16.5), |
| getMockSvInfoV2_1( |
| getMockSvInfoV2_0(getMockSvInfoV1_0(18, V1_0::GnssConstellationType::GLONASS, |
| 28.3, 38.8, 69.0), |
| V2_0::GnssConstellationType::GLONASS), |
| 25.3), |
| getMockSvInfoV2_1( |
| getMockSvInfoV2_0(getMockSvInfoV1_0(10, V1_0::GnssConstellationType::GLONASS, |
| 25.0, 66.0, 247.0), |
| V2_0::GnssConstellationType::GLONASS), |
| 20.0), |
| getMockSvInfoV2_1( |
| getMockSvInfoV2_0(getMockSvInfoV1_0(3, V1_0::GnssConstellationType::UNKNOWN, |
| 22.0, 35.0, 112.0), |
| V2_0::GnssConstellationType::IRNSS), |
| 19.7), |
| }; |
| return gnssSvInfoList; |
| } |
| |
| GnssSvInfoV2_1 Utils::getMockSvInfoV2_1(GnssSvInfoV2_0 gnssSvInfoV2_0, float basebandCN0DbHz) { |
| GnssSvInfoV2_1 gnssSvInfoV2_1 = { |
| .v2_0 = gnssSvInfoV2_0, |
| .basebandCN0DbHz = basebandCN0DbHz, |
| }; |
| return gnssSvInfoV2_1; |
| } |
| |
| GnssSvInfoV2_0 Utils::getMockSvInfoV2_0(GnssSvInfoV1_0 gnssSvInfoV1_0, |
| V2_0::GnssConstellationType type) { |
| GnssSvInfoV2_0 gnssSvInfoV2_0 = { |
| .v1_0 = gnssSvInfoV1_0, |
| .constellation = type, |
| }; |
| return gnssSvInfoV2_0; |
| } |
| |
| GnssSvInfoV1_0 Utils::getMockSvInfoV1_0(int16_t svid, V1_0::GnssConstellationType type, |
| float cN0DbHz, float elevationDegrees, |
| float azimuthDegrees) { |
| GnssSvInfoV1_0 svInfo = {.svid = svid, |
| .constellation = type, |
| .cN0Dbhz = cN0DbHz, |
| .elevationDegrees = elevationDegrees, |
| .azimuthDegrees = azimuthDegrees, |
| .svFlag = GnssSvFlags::USED_IN_FIX | GnssSvFlags::HAS_EPHEMERIS_DATA | |
| GnssSvFlags::HAS_ALMANAC_DATA}; |
| return svInfo; |
| } |
| |
| hidl_vec<GnssAntennaInfo> Utils::getMockAntennaInfos() { |
| GnssAntennaInfo mockAntennaInfo_1 = { |
| .carrierFrequencyMHz = 123412.12, |
| .phaseCenterOffsetCoordinateMillimeters = Coord{.x = 1, |
| .xUncertainty = 0.1, |
| .y = 2, |
| .yUncertainty = 0.1, |
| .z = 3, |
| .zUncertainty = 0.1}, |
| .phaseCenterVariationCorrectionMillimeters = |
| { |
| Row{hidl_vec<double>{1, -1, 5, -2, 3, -1}}, |
| Row{hidl_vec<double>{-2, 3, 2, 0, 1, 2}}, |
| Row{hidl_vec<double>{1, 3, 2, -1, -3, 5}}, |
| }, |
| .phaseCenterVariationCorrectionUncertaintyMillimeters = |
| { |
| Row{hidl_vec<double>{0.1, 0.2, 0.4, 0.1, 0.2, 0.3}}, |
| Row{hidl_vec<double>{0.3, 0.2, 0.3, 0.6, 0.1, 0.1}}, |
| Row{hidl_vec<double>{0.1, 0.1, 0.4, 0.2, 0.5, 0.3}}, |
| }, |
| .signalGainCorrectionDbi = |
| { |
| Row{hidl_vec<double>{2, -3, 1, -3, 0, -4}}, |
| Row{hidl_vec<double>{1, 0, -4, 1, 3, -2}}, |
| Row{hidl_vec<double>{3, -2, 0, -2, 3, 0}}, |
| }, |
| .signalGainCorrectionUncertaintyDbi = |
| { |
| Row{hidl_vec<double>{0.3, 0.1, 0.2, 0.6, 0.1, 0.3}}, |
| Row{hidl_vec<double>{0.1, 0.1, 0.5, 0.2, 0.3, 0.1}}, |
| Row{hidl_vec<double>{0.2, 0.4, 0.2, 0.1, 0.1, 0.2}}, |
| }, |
| }; |
| |
| GnssAntennaInfo mockAntennaInfo_2 = { |
| .carrierFrequencyMHz = 532324.23, |
| .phaseCenterOffsetCoordinateMillimeters = Coord{.x = 5, |
| .xUncertainty = 0.1, |
| .y = 6, |
| .yUncertainty = 0.1, |
| .z = 7, |
| .zUncertainty = 0.1}, |
| }; |
| |
| hidl_vec<GnssAntennaInfo> mockAntennaInfos = { |
| mockAntennaInfo_1, |
| mockAntennaInfo_2, |
| }; |
| return mockAntennaInfos; |
| } |
| |
| } // namespace common |
| } // namespace gnss |
| } // namespace hardware |
| } // namespace android |