Merge "Use proper alignment and padding for pointer arguments -- HAL." into sc-dev
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index abf33a3..81f3198 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -1245,6 +1245,7 @@
.access = VehiclePropertyAccess::READ,
.changeMode = VehiclePropertyChangeMode::ON_CHANGE,
},
+ .initialValue = {.int32Values = {0 /* ClusterHome */, -1 /* ClusterNone */}},
},
{
.config =
@@ -1253,6 +1254,8 @@
.access = VehiclePropertyAccess::READ,
.changeMode = VehiclePropertyChangeMode::ON_CHANGE,
},
+ .initialValue = {.int32Values = {0 /* Off */, -1, -1, -1, -1 /* Bounds */,
+ -1, -1, -1, -1 /* Insets */}},
},
{
.config =
@@ -1305,6 +1308,9 @@
.changeMode = VehiclePropertyChangeMode::ON_CHANGE,
.configArray = {0, 0, 0, 11, 0, 0, 0, 0, 16},
},
+ .initialValue = {.int32Values = {0 /* Off */, -1, -1, -1, -1 /* Bounds */,
+ -1, -1, -1, -1 /* Insets */,
+ 0 /* ClusterHome */, -1 /* ClusterNone */}},
},
{
.config =
@@ -1313,6 +1319,7 @@
.access = VehiclePropertyAccess::READ,
.changeMode = VehiclePropertyChangeMode::ON_CHANGE,
},
+ .initialValue = {.int32Values = {0 /* ClusterHome */}},
},
{
.config =
diff --git a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl
index 747ee90..8c17841 100644
--- a/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl
+++ b/gnss/aidl/aidl_api/android.hardware.gnss/current/android/hardware/gnss/SatellitePvt.aidl
@@ -34,9 +34,13 @@
package android.hardware.gnss;
@VintfStability
parcelable SatellitePvt {
+ int flags;
android.hardware.gnss.SatellitePositionEcef satPosEcef;
android.hardware.gnss.SatelliteVelocityEcef satVelEcef;
android.hardware.gnss.SatelliteClockInfo satClockInfo;
double ionoDelayMeters;
double tropoDelayMeters;
+ const int HAS_POSITION_VELOCITY_CLOCK_INFO = 1;
+ const int HAS_IONO = 2;
+ const int HAS_TROPO = 4;
}
diff --git a/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl b/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl
index 336e927..58f29c5 100644
--- a/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl
+++ b/gnss/aidl/android/hardware/gnss/GnssMeasurement.aidl
@@ -625,6 +625,17 @@
* The position and velocity must be in ECEF coordinates.
*
* If the data is available, gnssMeasurementFlags must contain HAS_SATELLITE_PVT.
+ *
+ * If SatellitePvt is derived from Broadcast ephemeris, then the position is already w.r.t.
+ * the antenna phase center. However, if SatellitePvt is derived from other modeled orbits,
+ * such as long-term-orbits, or precise orbits, then the orbits may have been computed w.r.t.
+ * the satellite center of mass, and then GNSS vendors are expected to correct for the effect
+ * on different phase centers (can differ by meters) of different GNSS signals (e.g. L1, L5)
+ * on the reported satellite position. Accordingly, we might observe a different satellite
+ * position reported for L1 GnssMeasurement struct compared to L5 GnssMeasurement struct.
+ *
+ * If receivedSvTimeNs is not fully decoded, Satellite PVT could still be reported and
+ * receivedSvTimeNs uncertainty field would be used to provide confidence.
*/
SatellitePvt satellitePvt;
diff --git a/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl b/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl
index 844fd1c..4b7d5d6 100644
--- a/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl
+++ b/gnss/aidl/android/hardware/gnss/SatelliteClockInfo.aidl
@@ -24,6 +24,14 @@
/**
* Satellite hardware code bias of the reported code type w.r.t
* ionosphere-free measurement in meters.
+ *
+ * When broadcast ephemeris is used, this is the offset caused
+ * by the satellite hardware delays at different frequencies;
+ * e.g. in IS-GPS-705D, this term is described in Section
+ * 20.3.3.3.1.2.1.
+ *
+ * For GPS this term is ~10ns, and affects the satellite position
+ * computation by less than a millimeter.
*/
double satHardwareCodeBiasMeters;
@@ -31,9 +39,20 @@
* Satellite time correction for ionospheric-free signal measurement
* (meters). The satellite clock correction for the given signal type
* = satTimeCorrectionMeters - satHardwareCodeBiasMeters.
+ *
+ * When broadcast ephemeris is used, this is the offset modeled in the
+ * clock terms broadcast over the air by the satellites;
+ * e.g. in IS-GPS-200H, Section 20.3.3.3.3.1, this term is
+ * ∆tsv = af0 + af1(t - toc) + af2(t - toc)^2 + ∆tr.
+ *
+ * If another source of ephemeris is used for SatellitePvt, then the
+ * equivalent value of satTimeCorrection must be provided.
+ *
+ * For GPS this term is ~1ms, and affects the satellite position
+ * computation by ~1m.
*/
double satTimeCorrectionMeters;
/** Satellite clock drift (meters per second). */
double satClkDriftMps;
-}
\ No newline at end of file
+}
diff --git a/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl b/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl
index ea55f0c..a238e3f 100644
--- a/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl
+++ b/gnss/aidl/android/hardware/gnss/SatellitePvt.aidl
@@ -16,9 +16,9 @@
package android.hardware.gnss;
+import android.hardware.gnss.SatelliteClockInfo;
import android.hardware.gnss.SatellitePositionEcef;
import android.hardware.gnss.SatelliteVelocityEcef;
-import android.hardware.gnss.SatelliteClockInfo;
/**
* Contains estimates of the satellite position, velocity and time in the
@@ -27,6 +27,34 @@
@VintfStability
parcelable SatellitePvt {
/**
+ * Bit mask indicating valid satellite position, velocity and clock info fields are
+ * stored in the SatellitePvt.
+ */
+ const int HAS_POSITION_VELOCITY_CLOCK_INFO = 1 << 0;
+
+ /**
+ * Bit mask indicating a valid iono delay field is stored in the SatellitePvt.
+ */
+ const int HAS_IONO = 1 << 1;
+
+ /**
+ * Bit mask indicating a valid tropo delay field is stored in the SatellitePvt.
+ */
+ const int HAS_TROPO = 1 << 2;
+
+ /**
+ * A bitfield of flags indicating the validity of the fields in this SatellitePvt.
+ * The bit masks are defined in the constants with prefix HAS_*
+ *
+ * Fields for which there is no corresponding flag must be filled in with a valid value.
+ * For convenience, these are marked as mandatory.
+ *
+ * Others fields may have invalid information in them, if not marked as valid by the
+ * corresponding bit in flags.
+ */
+ int flags;
+
+ /**
* Satellite position in WGS84 ECEF. See comments of
* SatellitePositionEcef for units.
*/
@@ -46,4 +74,4 @@
/** Tropospheric delay in meters. */
double tropoDelayMeters;
-}
\ No newline at end of file
+}
diff --git a/gnss/aidl/vts/gnss_hal_test_cases.cpp b/gnss/aidl/vts/gnss_hal_test_cases.cpp
index 0fc2ff8..67ccf52 100644
--- a/gnss/aidl/vts/gnss_hal_test_cases.cpp
+++ b/gnss/aidl/vts/gnss_hal_test_cases.cpp
@@ -38,6 +38,7 @@
using android::hardware::gnss::IGnssPowerIndication;
using android::hardware::gnss::IGnssPsds;
using android::hardware::gnss::PsdsType;
+using android::hardware::gnss::SatellitePvt;
using GnssConstellationTypeAidl = android::hardware::gnss::GnssConstellationType;
@@ -128,22 +129,39 @@
GnssMeasurement::HAS_SATELLITE_PVT |
GnssMeasurement::HAS_CORRELATION_VECTOR));
- if ((measurement.flags & GnssMeasurement::HAS_SATELLITE_PVT) &&
- (has_capability_satpvt == true)) {
- 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);
+ 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);
+ }
}
if (kIsCorrelationVectorSupported &&
diff --git a/gnss/common/utils/default/Utils.cpp b/gnss/common/utils/default/Utils.cpp
index 9bc6786..569dac4 100644
--- a/gnss/common/utils/default/Utils.cpp
+++ b/gnss/common/utils/default/Utils.cpp
@@ -31,6 +31,7 @@
using aidl::android::hardware::gnss::GnssMeasurement;
using aidl::android::hardware::gnss::IGnss;
using aidl::android::hardware::gnss::IGnssMeasurementCallback;
+using aidl::android::hardware::gnss::SatellitePvt;
using GnssSvFlags = V1_0::IGnssCallback::GnssSvFlags;
using GnssMeasurementFlagsV1_0 = V1_0::IGnssMeasurementCallback::GnssMeasurementFlags;
@@ -175,7 +176,9 @@
.fullInterSignalBiasUncertaintyNs = 792.0,
.satelliteInterSignalBiasNs = 233.9,
.satelliteInterSignalBiasUncertaintyNs = 921.2,
- .satellitePvt = {.satPosEcef = {.posXMeters = 10442993.1153328,
+ .satellitePvt = {.flags = SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO |
+ SatellitePvt::HAS_IONO | SatellitePvt::HAS_TROPO,
+ .satPosEcef = {.posXMeters = 10442993.1153328,
.posYMeters = -19926932.8051666,
.posZMeters = -12034295.0216203,
.ureMeters = 1000.2345678},
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
index a8e1996..af14009 100644
--- a/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/SensorsHidlTestBase.h
@@ -425,7 +425,10 @@
return;
}
- batchingPeriodInNs = std::min(batchingPeriodInNs, maxBatchingTestTimeNs);
+ if (batchingPeriodInNs > maxBatchingTestTimeNs) {
+ batchingPeriodInNs = maxBatchingTestTimeNs;
+ minFifoCount = (uint32_t)(batchingPeriodInNs / minSamplingPeriodInNs);
+ }
ALOGI("Test batching for %d ms", (int)(batchingPeriodInNs / 1000 / 1000));
@@ -448,7 +451,7 @@
false /*change collection*/);
// 0.8 + 0.2 times the batching period
- usleep(batchingPeriodInNs / 1000 * 8 / 10);
+ usleep(batchingPeriodInNs / 1000 * 2 / 10);
ASSERT_EQ(flush(handle), Result::OK);
// plus some time for the event to deliver