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Wyatt Riley6c26ed72017-02-21 17:21:53 -08001/*
2 * Copyright (C) 2017 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17#define LOG_TAG "VtsHalGnssV1_0TargetTest"
18#include <android/hardware/gnss/1.0/IGnss.h>
19#include <android/log.h>
20
Yuexi Maed2bb4e2017-03-10 00:44:45 -080021#include <VtsHalHidlTargetTestBase.h>
Wyatt Riley6c26ed72017-02-21 17:21:53 -080022
23#include <chrono>
24#include <condition_variable>
25#include <mutex>
26
27using android::hardware::Return;
28using android::hardware::Void;
29
30using android::hardware::gnss::V1_0::GnssLocation;
31using android::hardware::gnss::V1_0::GnssLocationFlags;
32using android::hardware::gnss::V1_0::IGnss;
33using android::hardware::gnss::V1_0::IGnssCallback;
Wyatt Rileyc1399592017-03-22 14:08:26 -070034using android::hardware::gnss::V1_0::IGnssDebug;
35using android::hardware::gnss::V1_0::IGnssMeasurement;
Wyatt Riley6c26ed72017-02-21 17:21:53 -080036using android::sp;
37
Wyatt Riley0ee0cfb2017-04-04 12:34:53 -070038#define TIMEOUT_SEC 2 // for basic commands/responses
Wyatt Riley6c26ed72017-02-21 17:21:53 -080039
Wyatt Riley0ee0cfb2017-04-04 12:34:53 -070040// for command line argument on how strictly to run the test
41bool sAgpsIsPresent = false; // if SUPL or XTRA assistance available
42bool sSignalIsWeak = false; // if GNSS signals are weak (e.g. light indoor)
Wyatt Rileyc1399592017-03-22 14:08:26 -070043
Wyatt Riley6c26ed72017-02-21 17:21:53 -080044// The main test class for GNSS HAL.
Yuexi Maed2bb4e2017-03-10 00:44:45 -080045class GnssHalTest : public ::testing::VtsHalHidlTargetTestBase {
Wyatt Riley6c26ed72017-02-21 17:21:53 -080046 public:
47 virtual void SetUp() override {
Wyatt Riley917640b2017-03-16 16:25:55 -070048 // Clean between tests
49 capabilities_called_count_ = 0;
50 location_called_count_ = 0;
51 info_called_count_ = 0;
Wyatt Riley6c26ed72017-02-21 17:21:53 -080052
Yuexi Maed2bb4e2017-03-10 00:44:45 -080053 gnss_hal_ = ::testing::VtsHalHidlTargetTestBase::getService<IGnss>();
Wyatt Riley6c26ed72017-02-21 17:21:53 -080054 ASSERT_NE(gnss_hal_, nullptr);
55
56 gnss_cb_ = new GnssCallback(*this);
57 ASSERT_NE(gnss_cb_, nullptr);
58
59 auto result = gnss_hal_->setCallback(gnss_cb_);
60 if (!result.isOk()) {
Wyatt Riley917640b2017-03-16 16:25:55 -070061 ALOGE("result of failed setCallback %s", result.description().c_str());
Wyatt Riley6c26ed72017-02-21 17:21:53 -080062 }
63
64 ASSERT_TRUE(result.isOk());
65 ASSERT_TRUE(result);
66
Wyatt Riley917640b2017-03-16 16:25:55 -070067 /*
68 * At least one callback should trigger - it may be capabilites, or
69 * system info first, so wait again if capabilities not received.
Wyatt Riley6c26ed72017-02-21 17:21:53 -080070 */
Wyatt Riley917640b2017-03-16 16:25:55 -070071 EXPECT_EQ(std::cv_status::no_timeout, wait(TIMEOUT_SEC));
72 if (capabilities_called_count_ == 0) {
73 EXPECT_EQ(std::cv_status::no_timeout, wait(TIMEOUT_SEC));
74 }
75
76 /*
77 * Generally should be 1 capabilites callback -
78 * or possibly 2 in some recovery cases (default cached & refreshed)
79 */
80 EXPECT_GE(capabilities_called_count_, 1);
81 EXPECT_LE(capabilities_called_count_, 2);
82
83 /*
84 * Clear notify/waiting counter, allowing up till the timeout after
85 * the last reply for final startup messages to arrive (esp. system
86 * info.)
87 */
88 while (wait(TIMEOUT_SEC) == std::cv_status::no_timeout) {
89 }
Wyatt Riley6c26ed72017-02-21 17:21:53 -080090 }
91
92 virtual void TearDown() override {
93 if (gnss_hal_ != nullptr) {
94 gnss_hal_->cleanup();
95 }
96 }
97
98 /* Used as a mechanism to inform the test that a callback has occurred */
99 inline void notify() {
100 std::unique_lock<std::mutex> lock(mtx_);
101 count++;
102 cv_.notify_one();
103 }
104
105 /* Test code calls this function to wait for a callback */
106 inline std::cv_status wait(int timeoutSeconds) {
107 std::unique_lock<std::mutex> lock(mtx_);
108
109 std::cv_status status = std::cv_status::no_timeout;
110 auto now = std::chrono::system_clock::now();
111 while (count == 0) {
112 status = cv_.wait_until(lock, now + std::chrono::seconds(timeoutSeconds));
113 if (status == std::cv_status::timeout) return status;
114 }
115 count--;
116 return status;
117 }
118
119 /* Callback class for data & Event. */
120 class GnssCallback : public IGnssCallback {
Wyatt Riley917640b2017-03-16 16:25:55 -0700121 public:
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800122 GnssHalTest& parent_;
123
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800124 GnssCallback(GnssHalTest& parent) : parent_(parent){};
125
126 virtual ~GnssCallback() = default;
127
128 // Dummy callback handlers
129 Return<void> gnssStatusCb(
Steven Moreland4b523952017-03-08 19:20:30 -0800130 const IGnssCallback::GnssStatusValue /* status */) override {
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800131 return Void();
132 }
133 Return<void> gnssSvStatusCb(
Steven Moreland4b523952017-03-08 19:20:30 -0800134 const IGnssCallback::GnssSvStatus& /* svStatus */) override {
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800135 return Void();
136 }
137 Return<void> gnssNmeaCb(
Steven Moreland4b523952017-03-08 19:20:30 -0800138 int64_t /* timestamp */,
139 const android::hardware::hidl_string& /* nmea */) override {
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800140 return Void();
141 }
142 Return<void> gnssAcquireWakelockCb() override { return Void(); }
143 Return<void> gnssReleaseWakelockCb() override { return Void(); }
144 Return<void> gnssRequestTimeCb() override { return Void(); }
145
146 // Actual (test) callback handlers
147 Return<void> gnssLocationCb(const GnssLocation& location) override {
148 ALOGI("Location received");
149 parent_.location_called_count_++;
150 parent_.last_location_ = location;
151 parent_.notify();
152 return Void();
153 }
154
155 Return<void> gnssSetCapabilitesCb(uint32_t capabilities) override {
156 ALOGI("Capabilities received %d", capabilities);
157 parent_.capabilities_called_count_++;
158 parent_.last_capabilities_ = capabilities;
159 parent_.notify();
160 return Void();
161 }
162
163 Return<void> gnssSetSystemInfoCb(
164 const IGnssCallback::GnssSystemInfo& info) override {
165 ALOGI("Info received, year %d", info.yearOfHw);
166 parent_.info_called_count_++;
167 parent_.last_info_ = info;
168 parent_.notify();
169 return Void();
170 }
171 };
172
173 sp<IGnss> gnss_hal_; // GNSS HAL to call into
174 sp<IGnssCallback> gnss_cb_; // Primary callback interface
175
176 /* Count of calls to set the following items, and the latest item (used by
177 * test.)
178 */
179 int capabilities_called_count_;
180 uint32_t last_capabilities_;
181
182 int location_called_count_;
183 GnssLocation last_location_;
184
185 int info_called_count_;
186 IGnssCallback::GnssSystemInfo last_info_;
187
188 private:
189 std::mutex mtx_;
190 std::condition_variable cv_;
191 int count;
192};
193
194/*
195 * SetCallbackCapabilitiesCleanup:
196 * Sets up the callback, awaits the capabilities, and calls cleanup
197 *
198 * Since this is just the basic operation of SetUp() and TearDown(),
Wyatt Riley917640b2017-03-16 16:25:55 -0700199 * the function definition is intentionally empty
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800200 */
201TEST_F(GnssHalTest, SetCallbackCapabilitiesCleanup) {}
202
Wyatt Riley917640b2017-03-16 16:25:55 -0700203/*
204 * CheckLocation:
205 * Helper function to vet Location fields
206 */
Wyatt Riley917640b2017-03-16 16:25:55 -0700207void CheckLocation(GnssLocation& location, bool checkAccuracies) {
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800208 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG);
209 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE);
210 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED);
211 EXPECT_TRUE(location.gnssLocationFlags &
212 GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
Wyatt Riley917640b2017-03-16 16:25:55 -0700213 // New uncertainties available in O must be provided,
214 // at least when paired with modern hardware (2017+)
215 if (checkAccuracies) {
216 EXPECT_TRUE(location.gnssLocationFlags &
217 GnssLocationFlags::HAS_VERTICAL_ACCURACY);
218 EXPECT_TRUE(location.gnssLocationFlags &
219 GnssLocationFlags::HAS_SPEED_ACCURACY);
220 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
221 EXPECT_TRUE(location.gnssLocationFlags &
222 GnssLocationFlags::HAS_BEARING_ACCURACY);
223 }
224 }
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800225 EXPECT_GE(location.latitudeDegrees, -90.0);
226 EXPECT_LE(location.latitudeDegrees, 90.0);
227 EXPECT_GE(location.longitudeDegrees, -180.0);
228 EXPECT_LE(location.longitudeDegrees, 180.0);
229 EXPECT_GE(location.altitudeMeters, -1000.0);
230 EXPECT_LE(location.altitudeMeters, 30000.0);
231 EXPECT_GE(location.speedMetersPerSec, 0.0);
232 EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary.
233
Wyatt Riley917640b2017-03-16 16:25:55 -0700234 // Non-zero speeds must be reported with an associated bearing
235 if (location.speedMetersPerSec > 0.0) {
236 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING);
237 }
238
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800239 /*
240 * Tolerating some especially high values for accuracy estimate, in case of
Wyatt Riley917640b2017-03-16 16:25:55 -0700241 * first fix with especially poor geometry (happens occasionally)
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800242 */
243 EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
Wyatt Riley917640b2017-03-16 16:25:55 -0700244 EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800245
246 /*
247 * Some devices may define bearing as -180 to +180, others as 0 to 360.
248 * Both are okay & understandable.
249 */
250 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
251 EXPECT_GE(location.bearingDegrees, -180.0);
252 EXPECT_LE(location.bearingDegrees, 360.0);
253 }
254 if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
255 EXPECT_GT(location.verticalAccuracyMeters, 0.0);
256 EXPECT_LE(location.verticalAccuracyMeters, 500.0);
257 }
258 if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
259 EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
260 EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
261 }
262 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
263 EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
264 EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
265 }
266
267 // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
268 EXPECT_GT(location.timestamp, 1.48e12);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800269}
270
271/*
Wyatt Riley0ee0cfb2017-04-04 12:34:53 -0700272 * StartAndGetSingleLocation:
273 * Helper function to get one Location and check fields
274 *
275 * returns true if a location was successfully generated
276 */
277bool StartAndGetSingleLocation(GnssHalTest* test, bool checkAccuracies) {
278 auto result = test->gnss_hal_->start();
279
280 EXPECT_TRUE(result.isOk());
281 EXPECT_TRUE(result);
282
283 /*
284 * GPS signals initially optional for this test, so don't expect fast fix,
285 * or no timeout, unless signal is present
286 */
287 int firstGnssLocationTimeoutSeconds = sAgpsIsPresent ? 15 : 45;
288 if (sSignalIsWeak) {
289 // allow more time for weak signals
290 firstGnssLocationTimeoutSeconds += 30;
291 }
292
293 test->wait(firstGnssLocationTimeoutSeconds);
294 if (sAgpsIsPresent) {
295 EXPECT_EQ(test->location_called_count_, 1);
296 }
297 if (test->location_called_count_ > 0) {
298 CheckLocation(test->last_location_, checkAccuracies);
299 return true;
300 }
301 return false;
302}
303
304/*
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800305 * GetLocation:
306 * Turns on location, waits 45 second for at least 5 locations,
307 * and checks them for reasonable validity.
308 */
309TEST_F(GnssHalTest, GetLocation) {
310#define MIN_INTERVAL_MSEC 500
311#define PREFERRED_ACCURACY 0 // Ideally perfect (matches GnssLocationProvider)
312#define PREFERRED_TIME_MSEC 0 // Ideally immediate
313
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800314#define LOCATION_TIMEOUT_SUBSEQUENT_SEC 3
315#define LOCATIONS_TO_CHECK 5
316
Wyatt Riley917640b2017-03-16 16:25:55 -0700317 bool checkMoreAccuracies =
318 (info_called_count_ > 0 && last_info_.yearOfHw >= 2017);
319
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800320 auto result = gnss_hal_->setPositionMode(
321 IGnss::GnssPositionMode::MS_BASED,
322 IGnss::GnssPositionRecurrence::RECURRENCE_PERIODIC, MIN_INTERVAL_MSEC,
323 PREFERRED_ACCURACY, PREFERRED_TIME_MSEC);
324
325 ASSERT_TRUE(result.isOk());
Wyatt Rileyc1399592017-03-22 14:08:26 -0700326 EXPECT_TRUE(result);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800327
Wyatt Rileyc1399592017-03-22 14:08:26 -0700328 /*
329 * GPS signals initially optional for this test, so don't expect no timeout
330 * yet
331 */
Wyatt Riley0ee0cfb2017-04-04 12:34:53 -0700332 bool gotLocation = StartAndGetSingleLocation(this, checkMoreAccuracies);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800333
Wyatt Riley0ee0cfb2017-04-04 12:34:53 -0700334 if (gotLocation) {
335 for (int i = 1; i < LOCATIONS_TO_CHECK; i++) {
336 EXPECT_EQ(std::cv_status::no_timeout,
337 wait(LOCATION_TIMEOUT_SUBSEQUENT_SEC));
338 EXPECT_EQ(location_called_count_, i + 1);
Wyatt Riley917640b2017-03-16 16:25:55 -0700339 CheckLocation(last_location_, checkMoreAccuracies);
340 }
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800341 }
342
343 result = gnss_hal_->stop();
344
345 ASSERT_TRUE(result.isOk());
346 ASSERT_TRUE(result);
347}
348
Wyatt Rileyc1399592017-03-22 14:08:26 -0700349/*
350 * InjectDelete:
351 * Ensures that calls to inject and/or delete information state are handled.
Wyatt Rileyc1399592017-03-22 14:08:26 -0700352 */
353TEST_F(GnssHalTest, InjectDelete) {
354 // confidently, well north of Alaska
355 auto result = gnss_hal_->injectLocation(80.0, -170.0, 1000.0);
356
Wyatt Rileyc1399592017-03-22 14:08:26 -0700357 ASSERT_TRUE(result.isOk());
358 EXPECT_TRUE(result);
359
360 // fake time, but generally reasonable values (time in Aug. 2018)
361 result = gnss_hal_->injectTime(1534567890123L, 123456L, 10000L);
362
363 ASSERT_TRUE(result.isOk());
364 EXPECT_TRUE(result);
365
366 auto resultVoid = gnss_hal_->deleteAidingData(IGnss::GnssAidingData::DELETE_ALL);
367
368 ASSERT_TRUE(resultVoid.isOk());
Wyatt Riley0ee0cfb2017-04-04 12:34:53 -0700369
370 // Ensure we can get a good location after a bad injection has been deleted
371 StartAndGetSingleLocation(this, false);
Wyatt Rileyc1399592017-03-22 14:08:26 -0700372}
373
374/*
375 * GetAllExtentions:
376 * Tries getting all optional extensions, and ensures a valid return
377 * null or actual extension, no crash.
378 * Confirms year-based required extensions (Measurement & Debug) are present
379 */
380TEST_F(GnssHalTest, GetAllExtensions) {
381 // Basic call-is-handled checks
382 auto gnssXtra = gnss_hal_->getExtensionXtra();
383 ASSERT_TRUE(gnssXtra.isOk());
384
385 auto gnssRil = gnss_hal_->getExtensionAGnssRil();
386 ASSERT_TRUE(gnssRil.isOk());
387
388 auto gnssAgnss = gnss_hal_->getExtensionAGnss();
389 ASSERT_TRUE(gnssAgnss.isOk());
390
391 auto gnssNi = gnss_hal_->getExtensionGnssNi();
392 ASSERT_TRUE(gnssNi.isOk());
393
394 auto gnssNavigationMessage = gnss_hal_->getExtensionGnssNavigationMessage();
395 ASSERT_TRUE(gnssNavigationMessage.isOk());
396
397 auto gnssConfiguration = gnss_hal_->getExtensionGnssConfiguration();
398 ASSERT_TRUE(gnssConfiguration.isOk());
399
400 auto gnssGeofencing = gnss_hal_->getExtensionGnssGeofencing();
401 ASSERT_TRUE(gnssGeofencing.isOk());
402
403 auto gnssBatching = gnss_hal_->getExtensionGnssBatching();
404 ASSERT_TRUE(gnssBatching.isOk());
405
406 // Verifying, in some cases, that these return actual extensions
407 auto gnssMeasurement = gnss_hal_->getExtensionGnssMeasurement();
408 ASSERT_TRUE(gnssMeasurement.isOk());
409 if (last_capabilities_ & IGnssCallback::Capabilities::MEASUREMENTS) {
410 sp<IGnssMeasurement> iGnssMeas = gnssMeasurement;
411 EXPECT_NE(iGnssMeas, nullptr);
412 }
413
414 auto gnssDebug = gnss_hal_->getExtensionGnssDebug();
415 ASSERT_TRUE(gnssDebug.isOk());
416 if (info_called_count_ > 0 && last_info_.yearOfHw >= 2017) {
417 sp<IGnssDebug> iGnssDebug = gnssDebug;
418 EXPECT_NE(iGnssDebug, nullptr);
419 }
420}
421
422/*
423 * MeasurementCapabilities:
424 * Verifies that modern hardware supports measurement capabilities.
425 */
426TEST_F(GnssHalTest, MeasurementCapabilites) {
427 if (info_called_count_ > 0 && last_info_.yearOfHw >= 2016) {
428 EXPECT_TRUE(last_capabilities_ & IGnssCallback::Capabilities::MEASUREMENTS);
429 }
430}
431
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800432int main(int argc, char** argv) {
433 ::testing::InitGoogleTest(&argc, argv);
Wyatt Riley0ee0cfb2017-04-04 12:34:53 -0700434 /*
435 * These arguments not used by automated VTS testing.
436 * Only for use in manual testing, when wanting to run
437 * stronger tests that require the presence of GPS signal.
438 */
439 for (int i = 1; i < argc; i++) {
440 if (strcmp(argv[i],"-agps") == 0) {
441 sAgpsIsPresent = true;
442 } else if (strcmp(argv[i],"-weak") == 0) {
443 sSignalIsWeak = true;
444 }
445 }
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800446 int status = RUN_ALL_TESTS();
447 ALOGI("Test result = %d", status);
448 return status;
Wyatt Riley917640b2017-03-16 16:25:55 -0700449}