Merge changes from topic "ULTRASONICS_SENSOR_ORIENTATION" into main
* changes:
Add ULTRASONICS_SENSOR_ORIENTATION to emulator defaults.
Change ULTRASONICS_SENSOR_ORIENTATION hal from int32_vec to float_vec.
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index 0fd8c23..8be040b 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3595,6 +3595,169 @@
]
},
{
+ "property": "VehicleProperty::ULTRASONICS_SENSOR_ORIENTATION",
+ "comment":
+ "Default values for 12 individual ultrasonic sensors installed on the vehicle. Six sensors on the front bumper. Six sensors on the back bumper.",
+ "areas": [
+ {
+ "defaultValue": {
+ "floatValues": [
+ 0.924,
+ 0,
+ 0,
+ 0.383
+ ]
+ },
+ "areaId": 1,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing front left most sensor rotated 45 degrees counter-clockwise."
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 1,
+ 0,
+ 0,
+ 0
+ ]
+ },
+ "areaId": 2,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing front 2nd to the left sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 1,
+ 0,
+ 0,
+ 0
+ ]
+ },
+ "areaId": 4,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing front 3rd to the left sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 1,
+ 0,
+ 0,
+ 0
+ ]
+ },
+ "areaId": 8,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing front 3rd to the right sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 1,
+ 0,
+ 0,
+ 0
+ ]
+ },
+ "areaId": 16,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing front 2nd to the right sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 0.924,
+ 0,
+ 0,
+ -0.383
+ ]
+ },
+ "areaId": 32,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing front right most sensor rotated 45 degrees clockwise."
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 60,
+ 61,
+ 62,
+ 63
+ ]
+ },
+ "areaId": 64,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing back left most sensor rotated 45 degrees counter-clockwise."
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 70,
+ 71,
+ 72,
+ 73
+ ]
+ },
+ "areaId": 128,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing back 2nd to the left sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 81,
+ 82,
+ 83,
+ 84
+ ]
+ },
+ "areaId": 256,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing back 3rd to the right sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 90,
+ 91,
+ 92,
+ 93
+ ]
+ },
+ "areaId": 512,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing back 3rd to the right sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 100,
+ 101,
+ 102,
+ 103
+ ]
+ },
+ "areaId": 1024,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing back 2nd to the right sensor rotated 0 degrees"
+ },
+ {
+ "defaultValue": {
+ "floatValues": [
+ 110,
+ 111,
+ 112,
+ 113
+ ]
+ },
+ "areaId": 2048,
+ "comment":
+ "Rough quaternion values [w, x, y, z] representing back right most sensor rotated 45 degrees clockwise."
+ }
+ ]
+ },
+ {
"property": "VehicleProperty::ELECTRONIC_TOLL_COLLECTION_CARD_TYPE",
"defaultValue": {
"int32Values": [
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 52876d1..2e25466 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
@@ -199,7 +199,7 @@
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 */,
ULTRASONICS_SENSOR_POSITION = (((0x0C20 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916128 */,
- ULTRASONICS_SENSOR_ORIENTATION = (((0x0C21 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916129 */,
+ ULTRASONICS_SENSOR_ORIENTATION = (((0x0C21 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.FLOAT_VEC) /* 409013281 */,
ULTRASONICS_SENSOR_FIELD_OF_VIEW = (((0x0C22 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916130 */,
ULTRASONICS_SENSOR_DETECTION_RANGE = (((0x0C23 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916131 */,
ULTRASONICS_SENSOR_SUPPORTED_RANGES = (((0x0C24 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916132 */,
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 026c040..693d656 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -3561,7 +3561,7 @@
* @version 3
*/
ULTRASONICS_SENSOR_ORIENTATION = 0x0C21 + VehiclePropertyGroup.SYSTEM + VehicleArea.VENDOR
- + VehiclePropertyType.INT32_VEC,
+ + VehiclePropertyType.FLOAT_VEC,
/**
* Static data for the field of view of each ultrasonic sensor in degrees.
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index 1c1504f..960c5ac 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -670,7 +670,7 @@
TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyUltrasonicsSensorOrientationConfig) {
verifyProperty(VehicleProperty::ULTRASONICS_SENSOR_ORIENTATION, VehiclePropertyAccess::READ,
VehiclePropertyChangeMode::STATIC, VehiclePropertyGroup::SYSTEM,
- VehicleArea::VENDOR, VehiclePropertyType::INT32_VEC);
+ VehicleArea::VENDOR, VehiclePropertyType::FLOAT_VEC);
}
TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyUltrasonicsSensorFieldOfViewConfig) {