Update VTS tests for SatellitePvt and CorrelationVector
Wait until a measurement with SatellitePvt is received if it's
supported. Similarly, wait until a measurement with Correlation
Vector is received if it's supported.
Bug: 184906297
Test: on device
Change-Id: I4b26a2ec6f9f77fdc638dd5ab1ed8c131a55f545
diff --git a/gnss/aidl/vts/gnss_hal_test_cases.cpp b/gnss/aidl/vts/gnss_hal_test_cases.cpp
index 67ccf52..9d8562d 100644
--- a/gnss/aidl/vts/gnss_hal_test_cases.cpp
+++ b/gnss/aidl/vts/gnss_hal_test_cases.cpp
@@ -29,6 +29,7 @@
using android::hardware::gnss::BlocklistedSource;
using android::hardware::gnss::ElapsedRealtime;
using android::hardware::gnss::GnssClock;
+using android::hardware::gnss::GnssData;
using android::hardware::gnss::GnssMeasurement;
using android::hardware::gnss::GnssPowerStats;
using android::hardware::gnss::IGnss;
@@ -65,18 +66,158 @@
ASSERT_FALSE(status.isOk());
}
+void CheckSatellitePvt(const SatellitePvt& satellitePvt) {
+ const double kMaxOrbitRadiusMeters = 43000000.0;
+ const double kMaxVelocityMps = 4000.0;
+ // The below values are determined using GPS ICD Table 20-1
+ const double kMinHardwareCodeBiasMeters = -17.869;
+ const double kMaxHardwareCodeBiasMeters = 17.729;
+ const double kMaxTimeCorrelationMeters = 3e6;
+ const double kMaxSatClkDriftMps = 1.117;
+
+ ASSERT_TRUE(satellitePvt.flags & SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO ||
+ satellitePvt.flags & SatellitePvt::HAS_IONO ||
+ satellitePvt.flags & SatellitePvt::HAS_TROPO);
+ if (satellitePvt.flags & SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO) {
+ ALOGD("Found HAS_POSITION_VELOCITY_CLOCK_INFO");
+ ASSERT_TRUE(satellitePvt.satPosEcef.posXMeters >= -kMaxOrbitRadiusMeters &&
+ satellitePvt.satPosEcef.posXMeters <= kMaxOrbitRadiusMeters);
+ ASSERT_TRUE(satellitePvt.satPosEcef.posYMeters >= -kMaxOrbitRadiusMeters &&
+ satellitePvt.satPosEcef.posYMeters <= kMaxOrbitRadiusMeters);
+ ASSERT_TRUE(satellitePvt.satPosEcef.posZMeters >= -kMaxOrbitRadiusMeters &&
+ satellitePvt.satPosEcef.posZMeters <= kMaxOrbitRadiusMeters);
+ ASSERT_TRUE(satellitePvt.satPosEcef.ureMeters > 0);
+ ASSERT_TRUE(satellitePvt.satVelEcef.velXMps >= -kMaxVelocityMps &&
+ satellitePvt.satVelEcef.velXMps <= kMaxVelocityMps);
+ ASSERT_TRUE(satellitePvt.satVelEcef.velYMps >= -kMaxVelocityMps &&
+ satellitePvt.satVelEcef.velYMps <= kMaxVelocityMps);
+ ASSERT_TRUE(satellitePvt.satVelEcef.velZMps >= -kMaxVelocityMps &&
+ satellitePvt.satVelEcef.velZMps <= kMaxVelocityMps);
+ ASSERT_TRUE(satellitePvt.satVelEcef.ureRateMps > 0);
+ ASSERT_TRUE(
+ satellitePvt.satClockInfo.satHardwareCodeBiasMeters > kMinHardwareCodeBiasMeters &&
+ satellitePvt.satClockInfo.satHardwareCodeBiasMeters < kMaxHardwareCodeBiasMeters);
+ ASSERT_TRUE(satellitePvt.satClockInfo.satTimeCorrectionMeters >
+ -kMaxTimeCorrelationMeters &&
+ satellitePvt.satClockInfo.satTimeCorrectionMeters < kMaxTimeCorrelationMeters);
+ ASSERT_TRUE(satellitePvt.satClockInfo.satClkDriftMps > -kMaxSatClkDriftMps &&
+ satellitePvt.satClockInfo.satClkDriftMps < kMaxSatClkDriftMps);
+ }
+ if (satellitePvt.flags & SatellitePvt::HAS_IONO) {
+ ALOGD("Found HAS_IONO");
+ ASSERT_TRUE(satellitePvt.ionoDelayMeters > 0 && satellitePvt.ionoDelayMeters < 100);
+ }
+ if (satellitePvt.flags & SatellitePvt::HAS_TROPO) {
+ ALOGD("Found HAS_TROPO");
+ ASSERT_TRUE(satellitePvt.tropoDelayMeters > 0 && satellitePvt.tropoDelayMeters < 100);
+ }
+}
+
+void CheckGnssMeasurementClockFields(const GnssData& measurement) {
+ ASSERT_TRUE(measurement.elapsedRealtime.flags >= 0 &&
+ measurement.elapsedRealtime.flags <= (ElapsedRealtime::HAS_TIMESTAMP_NS |
+ ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS));
+ if (measurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIMESTAMP_NS) {
+ ASSERT_TRUE(measurement.elapsedRealtime.timestampNs > 0);
+ }
+ if (measurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS) {
+ ASSERT_TRUE(measurement.elapsedRealtime.timeUncertaintyNs > 0);
+ }
+ ASSERT_TRUE(measurement.clock.gnssClockFlags >= 0 &&
+ measurement.clock.gnssClockFlags <=
+ (GnssClock::HAS_LEAP_SECOND | GnssClock::HAS_TIME_UNCERTAINTY |
+ GnssClock::HAS_FULL_BIAS | GnssClock::HAS_BIAS |
+ GnssClock::HAS_BIAS_UNCERTAINTY | GnssClock::HAS_DRIFT |
+ GnssClock::HAS_DRIFT_UNCERTAINTY));
+}
+
+void CheckGnssMeasurementFlags(const GnssMeasurement& measurement) {
+ ASSERT_TRUE(measurement.flags >= 0 &&
+ measurement.flags <=
+ (GnssMeasurement::HAS_SNR | GnssMeasurement::HAS_CARRIER_FREQUENCY |
+ GnssMeasurement::HAS_CARRIER_CYCLES | GnssMeasurement::HAS_CARRIER_PHASE |
+ GnssMeasurement::HAS_CARRIER_PHASE_UNCERTAINTY |
+ GnssMeasurement::HAS_AUTOMATIC_GAIN_CONTROL |
+ GnssMeasurement::HAS_FULL_ISB | GnssMeasurement::HAS_FULL_ISB_UNCERTAINTY |
+ GnssMeasurement::HAS_SATELLITE_ISB |
+ GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY |
+ GnssMeasurement::HAS_SATELLITE_PVT |
+ GnssMeasurement::HAS_CORRELATION_VECTOR));
+}
+
/*
- * TestGnssMeasurementExtension:
+ * TestGnssMeasurementExtensionAndSatellitePvt:
* 1. Gets the GnssMeasurementExtension and verifies that it returns a non-null extension.
- * 2. Sets a GnssMeasurementCallback, waits for a measurement, and verifies fields are valid.
+ * 2. Sets a GnssMeasurementCallback, waits for a measurement, and verifies mandatory fields are
+ * valid.
+ * 3. If SatellitePvt is supported, waits for a measurement with SatellitePvt, and verifies the
+ * fields are valid.
*/
-TEST_P(GnssHalTest, TestGnssMeasurementExtension) {
+TEST_P(GnssHalTest, TestGnssMeasurementExtensionAndSatellitePvt) {
+ const bool kIsSatellitePvtSupported =
+ aidl_gnss_cb_->last_capabilities_ & (int)GnssCallbackAidl::CAPABILITY_SATELLITE_PVT;
+ ALOGD("SatellitePvt supported: %s", kIsSatellitePvtSupported ? "true" : "false");
+ const int kFirstGnssMeasurementTimeoutSeconds = 10;
+ const int kNumMeasurementEvents = 75;
+
+ sp<IGnssMeasurementInterface> iGnssMeasurement;
+ auto status = aidl_gnss_hal_->getExtensionGnssMeasurement(&iGnssMeasurement);
+ ASSERT_TRUE(status.isOk());
+ ASSERT_TRUE(iGnssMeasurement != nullptr);
+
+ auto callback = sp<GnssMeasurementCallbackAidl>::make();
+ status = iGnssMeasurement->setCallback(callback, /* enableFullTracking= */ true,
+ /* enableCorrVecOutputs */ false);
+ ASSERT_TRUE(status.isOk());
+
+ bool satellitePvtFound = false;
+ for (int i = 0; i < kNumMeasurementEvents; i++) {
+ if (i > 0 && (!kIsSatellitePvtSupported || satellitePvtFound)) {
+ break;
+ }
+ GnssData lastMeasurement;
+ ASSERT_TRUE(callback->gnss_data_cbq_.retrieve(lastMeasurement,
+ kFirstGnssMeasurementTimeoutSeconds));
+ EXPECT_EQ(callback->gnss_data_cbq_.calledCount(), i + 1);
+ ASSERT_TRUE(lastMeasurement.measurements.size() > 0);
+
+ // Validity check GnssData fields
+ CheckGnssMeasurementClockFields(lastMeasurement);
+
+ for (const auto& measurement : lastMeasurement.measurements) {
+ CheckGnssMeasurementFlags(measurement);
+ if (measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT &&
+ kIsSatellitePvtSupported == true) {
+ ALOGD("Found a measurement with SatellitePvt");
+ satellitePvtFound = true;
+ CheckSatellitePvt(measurement.satellitePvt);
+ }
+ }
+ }
+ if (kIsSatellitePvtSupported) {
+ ASSERT_TRUE(satellitePvtFound);
+ }
+
+ status = iGnssMeasurement->close();
+ ASSERT_TRUE(status.isOk());
+}
+
+/*
+ * TestCorrelationVector:
+ * 1. Gets the GnssMeasurementExtension and verifies that it returns a non-null extension.
+ * 2. Sets a GnssMeasurementCallback, waits for GnssMeasurements with CorrelationVector, and
+ * verifies fields are valid.
+ */
+TEST_P(GnssHalTest, TestCorrelationVector) {
const bool kIsCorrelationVectorSupported = aidl_gnss_cb_->last_capabilities_ &
(int)GnssCallbackAidl::CAPABILITY_CORRELATION_VECTOR;
+ const int kNumMeasurementEvents = 75;
+ // Pass the test if CorrelationVector is not supported
+ if (!kIsCorrelationVectorSupported) {
+ return;
+ }
+
const int kFirstGnssMeasurementTimeoutSeconds = 10;
-
- bool has_capability_satpvt = false;
-
sp<IGnssMeasurementInterface> iGnssMeasurement;
auto status = aidl_gnss_hal_->getExtensionGnssMeasurement(&iGnssMeasurement);
ASSERT_TRUE(status.isOk());
@@ -88,96 +229,39 @@
/* enableCorrVecOutputs */ kIsCorrelationVectorSupported);
ASSERT_TRUE(status.isOk());
- android::hardware::gnss::GnssData lastMeasurement;
- ASSERT_TRUE(callback->gnss_data_cbq_.retrieve(lastMeasurement,
- kFirstGnssMeasurementTimeoutSeconds));
- EXPECT_EQ(callback->gnss_data_cbq_.calledCount(), 1);
- ASSERT_TRUE(lastMeasurement.measurements.size() > 0);
-
- // Validity check GnssData fields
- ASSERT_TRUE(
- lastMeasurement.elapsedRealtime.flags >= 0 &&
- lastMeasurement.elapsedRealtime.flags <=
- (ElapsedRealtime::HAS_TIMESTAMP_NS | ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS));
- if (lastMeasurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIMESTAMP_NS) {
- ASSERT_TRUE(lastMeasurement.elapsedRealtime.timestampNs > 0);
- }
- if (lastMeasurement.elapsedRealtime.flags & ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS) {
- ASSERT_TRUE(lastMeasurement.elapsedRealtime.timeUncertaintyNs > 0);
- }
- ASSERT_TRUE(lastMeasurement.clock.gnssClockFlags >= 0 &&
- lastMeasurement.clock.gnssClockFlags <=
- (GnssClock::HAS_LEAP_SECOND | GnssClock::HAS_TIME_UNCERTAINTY |
- GnssClock::HAS_FULL_BIAS | GnssClock::HAS_BIAS |
- GnssClock::HAS_BIAS_UNCERTAINTY | GnssClock::HAS_DRIFT |
- GnssClock::HAS_DRIFT_UNCERTAINTY));
-
- if (aidl_gnss_cb_->last_capabilities_ & (int)GnssCallbackAidl::CAPABILITY_SATELLITE_PVT) {
- has_capability_satpvt = true;
- }
- for (const auto& measurement : lastMeasurement.measurements) {
- ASSERT_TRUE(
- measurement.flags >= 0 &&
- measurement.flags <=
- (GnssMeasurement::HAS_SNR | GnssMeasurement::HAS_CARRIER_FREQUENCY |
- GnssMeasurement::HAS_CARRIER_CYCLES | GnssMeasurement::HAS_CARRIER_PHASE |
- GnssMeasurement::HAS_CARRIER_PHASE_UNCERTAINTY |
- GnssMeasurement::HAS_AUTOMATIC_GAIN_CONTROL |
- GnssMeasurement::HAS_FULL_ISB | GnssMeasurement::HAS_FULL_ISB_UNCERTAINTY |
- GnssMeasurement::HAS_SATELLITE_ISB |
- GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY |
- GnssMeasurement::HAS_SATELLITE_PVT |
- GnssMeasurement::HAS_CORRELATION_VECTOR));
-
- if (measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT &&
- has_capability_satpvt == true) {
- if (measurement.satellitePvt.flags & SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO) {
- ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posXMeters >= -43000000 &&
- measurement.satellitePvt.satPosEcef.posXMeters <= 43000000);
- ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posYMeters >= -43000000 &&
- measurement.satellitePvt.satPosEcef.posYMeters <= 43000000);
- ASSERT_TRUE(measurement.satellitePvt.satPosEcef.posZMeters >= -43000000 &&
- measurement.satellitePvt.satPosEcef.posZMeters <= 43000000);
- ASSERT_TRUE(measurement.satellitePvt.satPosEcef.ureMeters > 0);
- ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velXMps >= -4000 &&
- measurement.satellitePvt.satVelEcef.velXMps <= 4000);
- ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velYMps >= -4000 &&
- measurement.satellitePvt.satVelEcef.velYMps <= 4000);
- ASSERT_TRUE(measurement.satellitePvt.satVelEcef.velZMps >= -4000 &&
- measurement.satellitePvt.satVelEcef.velZMps <= 4000);
- ASSERT_TRUE(measurement.satellitePvt.satVelEcef.ureRateMps > 0);
- ASSERT_TRUE(
- measurement.satellitePvt.satClockInfo.satHardwareCodeBiasMeters > -17.869 &&
- measurement.satellitePvt.satClockInfo.satHardwareCodeBiasMeters < 17.729);
- ASSERT_TRUE(measurement.satellitePvt.satClockInfo.satTimeCorrectionMeters > -3e6 &&
- measurement.satellitePvt.satClockInfo.satTimeCorrectionMeters < 3e6);
- ASSERT_TRUE(measurement.satellitePvt.satClockInfo.satClkDriftMps > -1.117 &&
- measurement.satellitePvt.satClockInfo.satClkDriftMps < 1.117);
- }
- if (measurement.satellitePvt.flags & SatellitePvt::HAS_IONO) {
- ASSERT_TRUE(measurement.satellitePvt.ionoDelayMeters > 0 &&
- measurement.satellitePvt.ionoDelayMeters < 100);
- }
- if (measurement.satellitePvt.flags & SatellitePvt::HAS_TROPO) {
- ASSERT_TRUE(measurement.satellitePvt.tropoDelayMeters > 0 &&
- measurement.satellitePvt.tropoDelayMeters < 100);
- }
+ bool correlationVectorFound = false;
+ for (int i = 0; i < kNumMeasurementEvents; i++) {
+ // Pass the test if at least one CorrelationVector has been found.
+ if (correlationVectorFound) {
+ break;
}
+ GnssData lastMeasurement;
+ ASSERT_TRUE(callback->gnss_data_cbq_.retrieve(lastMeasurement,
+ kFirstGnssMeasurementTimeoutSeconds));
+ EXPECT_EQ(callback->gnss_data_cbq_.calledCount(), i + 1);
+ ASSERT_TRUE(lastMeasurement.measurements.size() > 0);
- if (kIsCorrelationVectorSupported &&
- measurement.flags & GnssMeasurement::HAS_CORRELATION_VECTOR) {
- ASSERT_TRUE(measurement.correlationVectors.size() > 0);
- for (const auto& correlationVector : measurement.correlationVectors) {
- ASSERT_GE(correlationVector.frequencyOffsetMps, 0);
- ASSERT_GT(correlationVector.samplingWidthM, 0);
- ASSERT_GE(correlationVector.samplingStartM, 0);
- ASSERT_TRUE(correlationVector.magnitude.size() > 0);
- for (const auto& magnitude : correlationVector.magnitude) {
- ASSERT_TRUE(magnitude >= -32768 && magnitude <= 32767);
+ // Validity check GnssData fields
+ CheckGnssMeasurementClockFields(lastMeasurement);
+
+ for (const auto& measurement : lastMeasurement.measurements) {
+ CheckGnssMeasurementFlags(measurement);
+ if (measurement.flags & GnssMeasurement::HAS_CORRELATION_VECTOR) {
+ correlationVectorFound = true;
+ ASSERT_TRUE(measurement.correlationVectors.size() > 0);
+ for (const auto& correlationVector : measurement.correlationVectors) {
+ ASSERT_GE(correlationVector.frequencyOffsetMps, 0);
+ ASSERT_GT(correlationVector.samplingWidthM, 0);
+ ASSERT_GE(correlationVector.samplingStartM, 0);
+ ASSERT_TRUE(correlationVector.magnitude.size() > 0);
+ for (const auto& magnitude : correlationVector.magnitude) {
+ ASSERT_TRUE(magnitude >= -32768 && magnitude <= 32767);
+ }
}
}
}
}
+ ASSERT_TRUE(correlationVectorFound);
status = iGnssMeasurement->close();
ASSERT_TRUE(status.isOk());