Wyatt Riley | 6c26ed7 | 2017-02-21 17:21:53 -0800 | [diff] [blame^] | 1 | /* |
| 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 | |
| 21 | #include <gtest/gtest.h> |
| 22 | |
| 23 | #include <chrono> |
| 24 | #include <condition_variable> |
| 25 | #include <mutex> |
| 26 | |
| 27 | using android::hardware::Return; |
| 28 | using android::hardware::Void; |
| 29 | |
| 30 | using android::hardware::gnss::V1_0::GnssLocation; |
| 31 | using android::hardware::gnss::V1_0::GnssLocationFlags; |
| 32 | using android::hardware::gnss::V1_0::IGnss; |
| 33 | using android::hardware::gnss::V1_0::IGnssCallback; |
| 34 | using android::sp; |
| 35 | |
| 36 | #define TIMEOUT_SECONDS 5 // for basic commands/responses |
| 37 | |
| 38 | // The main test class for GNSS HAL. |
| 39 | class GnssHalTest : public ::testing::Test { |
| 40 | public: |
| 41 | virtual void SetUp() override { |
| 42 | /* TODO(b/35678469): Setup the init.rc for VTS such that there's a |
| 43 | * single caller |
| 44 | * to the GNSS HAL - as part of confirming that the info & capabilities |
| 45 | * callbacks trigger. |
| 46 | */ |
| 47 | |
| 48 | gnss_hal_ = IGnss::getService("gnss"); |
| 49 | ASSERT_NE(gnss_hal_, nullptr); |
| 50 | |
| 51 | gnss_cb_ = new GnssCallback(*this); |
| 52 | ASSERT_NE(gnss_cb_, nullptr); |
| 53 | |
| 54 | auto result = gnss_hal_->setCallback(gnss_cb_); |
| 55 | if (!result.isOk()) { |
| 56 | ALOGE("result of failed callback set %s", result.description().c_str()); |
| 57 | } |
| 58 | |
| 59 | ASSERT_TRUE(result.isOk()); |
| 60 | ASSERT_TRUE(result); |
| 61 | |
| 62 | /* TODO(b/35678469): Implement the capabilities & info (year) checks & |
| 63 | * value store here. |
| 64 | */ |
| 65 | } |
| 66 | |
| 67 | virtual void TearDown() override { |
| 68 | if (gnss_hal_ != nullptr) { |
| 69 | gnss_hal_->cleanup(); |
| 70 | } |
| 71 | } |
| 72 | |
| 73 | /* Used as a mechanism to inform the test that a callback has occurred */ |
| 74 | inline void notify() { |
| 75 | std::unique_lock<std::mutex> lock(mtx_); |
| 76 | count++; |
| 77 | cv_.notify_one(); |
| 78 | } |
| 79 | |
| 80 | /* Test code calls this function to wait for a callback */ |
| 81 | inline std::cv_status wait(int timeoutSeconds) { |
| 82 | std::unique_lock<std::mutex> lock(mtx_); |
| 83 | |
| 84 | std::cv_status status = std::cv_status::no_timeout; |
| 85 | auto now = std::chrono::system_clock::now(); |
| 86 | while (count == 0) { |
| 87 | status = cv_.wait_until(lock, now + std::chrono::seconds(timeoutSeconds)); |
| 88 | if (status == std::cv_status::timeout) return status; |
| 89 | } |
| 90 | count--; |
| 91 | return status; |
| 92 | } |
| 93 | |
| 94 | /* Callback class for data & Event. */ |
| 95 | class GnssCallback : public IGnssCallback { |
| 96 | GnssHalTest& parent_; |
| 97 | |
| 98 | public: |
| 99 | GnssCallback(GnssHalTest& parent) : parent_(parent){}; |
| 100 | |
| 101 | virtual ~GnssCallback() = default; |
| 102 | |
| 103 | // Dummy callback handlers |
| 104 | Return<void> gnssStatusCb( |
| 105 | const IGnssCallback::GnssStatusValue status) override { |
| 106 | return Void(); |
| 107 | } |
| 108 | Return<void> gnssSvStatusCb( |
| 109 | const IGnssCallback::GnssSvStatus& svStatus) override { |
| 110 | return Void(); |
| 111 | } |
| 112 | Return<void> gnssNmeaCb( |
| 113 | int64_t timestamp, |
| 114 | const android::hardware::hidl_string& nmea) override { |
| 115 | return Void(); |
| 116 | } |
| 117 | Return<void> gnssAcquireWakelockCb() override { return Void(); } |
| 118 | Return<void> gnssReleaseWakelockCb() override { return Void(); } |
| 119 | Return<void> gnssRequestTimeCb() override { return Void(); } |
| 120 | |
| 121 | // Actual (test) callback handlers |
| 122 | Return<void> gnssLocationCb(const GnssLocation& location) override { |
| 123 | ALOGI("Location received"); |
| 124 | parent_.location_called_count_++; |
| 125 | parent_.last_location_ = location; |
| 126 | parent_.notify(); |
| 127 | return Void(); |
| 128 | } |
| 129 | |
| 130 | Return<void> gnssSetCapabilitesCb(uint32_t capabilities) override { |
| 131 | ALOGI("Capabilities received %d", capabilities); |
| 132 | parent_.capabilities_called_count_++; |
| 133 | parent_.last_capabilities_ = capabilities; |
| 134 | parent_.notify(); |
| 135 | return Void(); |
| 136 | } |
| 137 | |
| 138 | Return<void> gnssSetSystemInfoCb( |
| 139 | const IGnssCallback::GnssSystemInfo& info) override { |
| 140 | ALOGI("Info received, year %d", info.yearOfHw); |
| 141 | parent_.info_called_count_++; |
| 142 | parent_.last_info_ = info; |
| 143 | parent_.notify(); |
| 144 | return Void(); |
| 145 | } |
| 146 | }; |
| 147 | |
| 148 | sp<IGnss> gnss_hal_; // GNSS HAL to call into |
| 149 | sp<IGnssCallback> gnss_cb_; // Primary callback interface |
| 150 | |
| 151 | /* Count of calls to set the following items, and the latest item (used by |
| 152 | * test.) |
| 153 | */ |
| 154 | int capabilities_called_count_; |
| 155 | uint32_t last_capabilities_; |
| 156 | |
| 157 | int location_called_count_; |
| 158 | GnssLocation last_location_; |
| 159 | |
| 160 | int info_called_count_; |
| 161 | IGnssCallback::GnssSystemInfo last_info_; |
| 162 | |
| 163 | private: |
| 164 | std::mutex mtx_; |
| 165 | std::condition_variable cv_; |
| 166 | int count; |
| 167 | }; |
| 168 | |
| 169 | /* |
| 170 | * SetCallbackCapabilitiesCleanup: |
| 171 | * Sets up the callback, awaits the capabilities, and calls cleanup |
| 172 | * |
| 173 | * Since this is just the basic operation of SetUp() and TearDown(), |
| 174 | * the function definition is intentionally kept empty |
| 175 | */ |
| 176 | TEST_F(GnssHalTest, SetCallbackCapabilitiesCleanup) {} |
| 177 | |
| 178 | void CheckLocation(GnssLocation& location) { |
| 179 | EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG); |
| 180 | EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE); |
| 181 | EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED); |
| 182 | EXPECT_TRUE(location.gnssLocationFlags & |
| 183 | GnssLocationFlags::HAS_HORIZONTAL_ACCURACY); |
| 184 | EXPECT_GE(location.latitudeDegrees, -90.0); |
| 185 | EXPECT_LE(location.latitudeDegrees, 90.0); |
| 186 | EXPECT_GE(location.longitudeDegrees, -180.0); |
| 187 | EXPECT_LE(location.longitudeDegrees, 180.0); |
| 188 | EXPECT_GE(location.altitudeMeters, -1000.0); |
| 189 | EXPECT_LE(location.altitudeMeters, 30000.0); |
| 190 | EXPECT_GE(location.speedMetersPerSec, 0.0); |
| 191 | EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary. |
| 192 | |
| 193 | /* |
| 194 | * Tolerating some especially high values for accuracy estimate, in case of |
| 195 | * first fix with especially poor geoemtry (happens occasionally) |
| 196 | */ |
| 197 | EXPECT_GT(location.horizontalAccuracyMeters, 0.0); |
| 198 | EXPECT_LE(location.horizontalAccuracyMeters, 200.0); |
| 199 | |
| 200 | /* |
| 201 | * Some devices may define bearing as -180 to +180, others as 0 to 360. |
| 202 | * Both are okay & understandable. |
| 203 | */ |
| 204 | if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) { |
| 205 | EXPECT_GE(location.bearingDegrees, -180.0); |
| 206 | EXPECT_LE(location.bearingDegrees, 360.0); |
| 207 | } |
| 208 | if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) { |
| 209 | EXPECT_GT(location.verticalAccuracyMeters, 0.0); |
| 210 | EXPECT_LE(location.verticalAccuracyMeters, 500.0); |
| 211 | } |
| 212 | if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) { |
| 213 | EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0); |
| 214 | EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0); |
| 215 | } |
| 216 | if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) { |
| 217 | EXPECT_GT(location.bearingAccuracyDegrees, 0.0); |
| 218 | EXPECT_LE(location.bearingAccuracyDegrees, 360.0); |
| 219 | } |
| 220 | |
| 221 | // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+) |
| 222 | EXPECT_GT(location.timestamp, 1.48e12); |
| 223 | |
| 224 | /* TODO(b/35678469): Check if the hardware year is 2017+, and if so, |
| 225 | * that bearing, plus vertical, speed & bearing accuracy are present. |
| 226 | * And allow bearing to be not present, only if associated with a speed of 0.0 |
| 227 | */ |
| 228 | } |
| 229 | |
| 230 | /* |
| 231 | * GetLocation: |
| 232 | * Turns on location, waits 45 second for at least 5 locations, |
| 233 | * and checks them for reasonable validity. |
| 234 | */ |
| 235 | TEST_F(GnssHalTest, GetLocation) { |
| 236 | #define MIN_INTERVAL_MSEC 500 |
| 237 | #define PREFERRED_ACCURACY 0 // Ideally perfect (matches GnssLocationProvider) |
| 238 | #define PREFERRED_TIME_MSEC 0 // Ideally immediate |
| 239 | |
| 240 | #define LOCATION_TIMEOUT_FIRST_SEC 45 |
| 241 | #define LOCATION_TIMEOUT_SUBSEQUENT_SEC 3 |
| 242 | #define LOCATIONS_TO_CHECK 5 |
| 243 | |
| 244 | auto result = gnss_hal_->setPositionMode( |
| 245 | IGnss::GnssPositionMode::MS_BASED, |
| 246 | IGnss::GnssPositionRecurrence::RECURRENCE_PERIODIC, MIN_INTERVAL_MSEC, |
| 247 | PREFERRED_ACCURACY, PREFERRED_TIME_MSEC); |
| 248 | |
| 249 | ASSERT_TRUE(result.isOk()); |
| 250 | ASSERT_TRUE(result); |
| 251 | |
| 252 | result = gnss_hal_->start(); |
| 253 | |
| 254 | ASSERT_TRUE(result.isOk()); |
| 255 | ASSERT_TRUE(result); |
| 256 | |
| 257 | EXPECT_EQ(std::cv_status::no_timeout, wait(LOCATION_TIMEOUT_FIRST_SEC)); |
| 258 | EXPECT_EQ(location_called_count_, 1); |
| 259 | CheckLocation(last_location_); |
| 260 | |
| 261 | for (int i = 1; i < LOCATIONS_TO_CHECK; i++) { |
| 262 | EXPECT_EQ(std::cv_status::no_timeout, |
| 263 | wait(LOCATION_TIMEOUT_SUBSEQUENT_SEC)); |
| 264 | EXPECT_EQ(location_called_count_, i + 1); |
| 265 | CheckLocation(last_location_); |
| 266 | } |
| 267 | |
| 268 | result = gnss_hal_->stop(); |
| 269 | |
| 270 | ASSERT_TRUE(result.isOk()); |
| 271 | ASSERT_TRUE(result); |
| 272 | } |
| 273 | |
| 274 | int main(int argc, char** argv) { |
| 275 | ::testing::InitGoogleTest(&argc, argv); |
| 276 | int status = RUN_ALL_TESTS(); |
| 277 | ALOGI("Test result = %d", status); |
| 278 | return status; |
| 279 | } |