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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 Riley917640b2017-03-16 16:25:55 -070038#define TIMEOUT_SEC 3 // for basic commands/responses
Wyatt Riley6c26ed72017-02-21 17:21:53 -080039
Wyatt Rileyc1399592017-03-22 14:08:26 -070040// Set these false for release, true for stronger test
41#define GNSS_SIGNAL_IS_PRESENT false
42#define GNSS_ASSISTANCE_IS_PRESENT false
43
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 */
207
208void CheckLocation(GnssLocation& location, bool checkAccuracies) {
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800209 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG);
210 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE);
211 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED);
212 EXPECT_TRUE(location.gnssLocationFlags &
213 GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
Wyatt Riley917640b2017-03-16 16:25:55 -0700214 // New uncertainties available in O must be provided,
215 // at least when paired with modern hardware (2017+)
216 if (checkAccuracies) {
217 EXPECT_TRUE(location.gnssLocationFlags &
218 GnssLocationFlags::HAS_VERTICAL_ACCURACY);
219 EXPECT_TRUE(location.gnssLocationFlags &
220 GnssLocationFlags::HAS_SPEED_ACCURACY);
221 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
222 EXPECT_TRUE(location.gnssLocationFlags &
223 GnssLocationFlags::HAS_BEARING_ACCURACY);
224 }
225 }
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800226 EXPECT_GE(location.latitudeDegrees, -90.0);
227 EXPECT_LE(location.latitudeDegrees, 90.0);
228 EXPECT_GE(location.longitudeDegrees, -180.0);
229 EXPECT_LE(location.longitudeDegrees, 180.0);
230 EXPECT_GE(location.altitudeMeters, -1000.0);
231 EXPECT_LE(location.altitudeMeters, 30000.0);
232 EXPECT_GE(location.speedMetersPerSec, 0.0);
233 EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary.
234
Wyatt Riley917640b2017-03-16 16:25:55 -0700235 // Non-zero speeds must be reported with an associated bearing
236 if (location.speedMetersPerSec > 0.0) {
237 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING);
238 }
239
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800240 /*
241 * Tolerating some especially high values for accuracy estimate, in case of
Wyatt Riley917640b2017-03-16 16:25:55 -0700242 * first fix with especially poor geometry (happens occasionally)
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800243 */
244 EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
Wyatt Riley917640b2017-03-16 16:25:55 -0700245 EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800246
247 /*
248 * Some devices may define bearing as -180 to +180, others as 0 to 360.
249 * Both are okay & understandable.
250 */
251 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
252 EXPECT_GE(location.bearingDegrees, -180.0);
253 EXPECT_LE(location.bearingDegrees, 360.0);
254 }
255 if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
256 EXPECT_GT(location.verticalAccuracyMeters, 0.0);
257 EXPECT_LE(location.verticalAccuracyMeters, 500.0);
258 }
259 if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
260 EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
261 EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
262 }
263 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
264 EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
265 EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
266 }
267
268 // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
269 EXPECT_GT(location.timestamp, 1.48e12);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800270}
271
272/*
273 * GetLocation:
274 * Turns on location, waits 45 second for at least 5 locations,
275 * and checks them for reasonable validity.
276 */
277TEST_F(GnssHalTest, GetLocation) {
278#define MIN_INTERVAL_MSEC 500
279#define PREFERRED_ACCURACY 0 // Ideally perfect (matches GnssLocationProvider)
280#define PREFERRED_TIME_MSEC 0 // Ideally immediate
281
Wyatt Rileyc1399592017-03-22 14:08:26 -0700282#if GNSS_ASSISTANCE_IS_PRESENT
283#define LOCATION_TIMEOUT_FIRST_SEC 15
284#else
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800285#define LOCATION_TIMEOUT_FIRST_SEC 45
Wyatt Rileyc1399592017-03-22 14:08:26 -0700286#endif
287
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800288#define LOCATION_TIMEOUT_SUBSEQUENT_SEC 3
289#define LOCATIONS_TO_CHECK 5
290
Wyatt Riley917640b2017-03-16 16:25:55 -0700291 bool checkMoreAccuracies =
292 (info_called_count_ > 0 && last_info_.yearOfHw >= 2017);
293
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800294 auto result = gnss_hal_->setPositionMode(
295 IGnss::GnssPositionMode::MS_BASED,
296 IGnss::GnssPositionRecurrence::RECURRENCE_PERIODIC, MIN_INTERVAL_MSEC,
297 PREFERRED_ACCURACY, PREFERRED_TIME_MSEC);
298
299 ASSERT_TRUE(result.isOk());
Wyatt Rileyc1399592017-03-22 14:08:26 -0700300 EXPECT_TRUE(result);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800301
302 result = gnss_hal_->start();
303
304 ASSERT_TRUE(result.isOk());
Wyatt Rileyc1399592017-03-22 14:08:26 -0700305 EXPECT_TRUE(result);
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800306
Wyatt Rileyc1399592017-03-22 14:08:26 -0700307 /*
308 * GPS signals initially optional for this test, so don't expect no timeout
309 * yet
310 */
Wyatt Riley917640b2017-03-16 16:25:55 -0700311 wait(LOCATION_TIMEOUT_FIRST_SEC);
Wyatt Rileyc1399592017-03-22 14:08:26 -0700312 if (GNSS_SIGNAL_IS_PRESENT) {
313 ASSERT_GT(location_called_count_, 0);
314 }
Wyatt Riley917640b2017-03-16 16:25:55 -0700315 if (location_called_count_ > 0) {
316 CheckLocation(last_location_, checkMoreAccuracies);
317 }
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800318
319 for (int i = 1; i < LOCATIONS_TO_CHECK; i++) {
Wyatt Riley917640b2017-03-16 16:25:55 -0700320 wait(LOCATION_TIMEOUT_SUBSEQUENT_SEC);
321 if (location_called_count_ > 0) {
322 CheckLocation(last_location_, checkMoreAccuracies);
323 }
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800324 }
325
326 result = gnss_hal_->stop();
327
328 ASSERT_TRUE(result.isOk());
329 ASSERT_TRUE(result);
330}
331
Wyatt Rileyc1399592017-03-22 14:08:26 -0700332/*
333 * InjectDelete:
334 * Ensures that calls to inject and/or delete information state are handled.
335 * Better tests await GPS signal
336 */
337TEST_F(GnssHalTest, InjectDelete) {
338 // confidently, well north of Alaska
339 auto result = gnss_hal_->injectLocation(80.0, -170.0, 1000.0);
340
341 // TODO: full self-diff including TODO's :)
342 ASSERT_TRUE(result.isOk());
343 EXPECT_TRUE(result);
344
345 // fake time, but generally reasonable values (time in Aug. 2018)
346 result = gnss_hal_->injectTime(1534567890123L, 123456L, 10000L);
347
348 ASSERT_TRUE(result.isOk());
349 EXPECT_TRUE(result);
350
351 auto resultVoid = gnss_hal_->deleteAidingData(IGnss::GnssAidingData::DELETE_ALL);
352
353 ASSERT_TRUE(resultVoid.isOk());
354}
355
356/*
357 * GetAllExtentions:
358 * Tries getting all optional extensions, and ensures a valid return
359 * null or actual extension, no crash.
360 * Confirms year-based required extensions (Measurement & Debug) are present
361 */
362TEST_F(GnssHalTest, GetAllExtensions) {
363 // Basic call-is-handled checks
364 auto gnssXtra = gnss_hal_->getExtensionXtra();
365 ASSERT_TRUE(gnssXtra.isOk());
366
367 auto gnssRil = gnss_hal_->getExtensionAGnssRil();
368 ASSERT_TRUE(gnssRil.isOk());
369
370 auto gnssAgnss = gnss_hal_->getExtensionAGnss();
371 ASSERT_TRUE(gnssAgnss.isOk());
372
373 auto gnssNi = gnss_hal_->getExtensionGnssNi();
374 ASSERT_TRUE(gnssNi.isOk());
375
376 auto gnssNavigationMessage = gnss_hal_->getExtensionGnssNavigationMessage();
377 ASSERT_TRUE(gnssNavigationMessage.isOk());
378
379 auto gnssConfiguration = gnss_hal_->getExtensionGnssConfiguration();
380 ASSERT_TRUE(gnssConfiguration.isOk());
381
382 auto gnssGeofencing = gnss_hal_->getExtensionGnssGeofencing();
383 ASSERT_TRUE(gnssGeofencing.isOk());
384
385 auto gnssBatching = gnss_hal_->getExtensionGnssBatching();
386 ASSERT_TRUE(gnssBatching.isOk());
387
388 // Verifying, in some cases, that these return actual extensions
389 auto gnssMeasurement = gnss_hal_->getExtensionGnssMeasurement();
390 ASSERT_TRUE(gnssMeasurement.isOk());
391 if (last_capabilities_ & IGnssCallback::Capabilities::MEASUREMENTS) {
392 sp<IGnssMeasurement> iGnssMeas = gnssMeasurement;
393 EXPECT_NE(iGnssMeas, nullptr);
394 }
395
396 auto gnssDebug = gnss_hal_->getExtensionGnssDebug();
397 ASSERT_TRUE(gnssDebug.isOk());
398 if (info_called_count_ > 0 && last_info_.yearOfHw >= 2017) {
399 sp<IGnssDebug> iGnssDebug = gnssDebug;
400 EXPECT_NE(iGnssDebug, nullptr);
401 }
402}
403
404/*
405 * MeasurementCapabilities:
406 * Verifies that modern hardware supports measurement capabilities.
407 */
408TEST_F(GnssHalTest, MeasurementCapabilites) {
409 if (info_called_count_ > 0 && last_info_.yearOfHw >= 2016) {
410 EXPECT_TRUE(last_capabilities_ & IGnssCallback::Capabilities::MEASUREMENTS);
411 }
412}
413
Wyatt Riley6c26ed72017-02-21 17:21:53 -0800414int main(int argc, char** argv) {
415 ::testing::InitGoogleTest(&argc, argv);
416 int status = RUN_ALL_TESTS();
417 ALOGI("Test result = %d", status);
418 return status;
Wyatt Riley917640b2017-03-16 16:25:55 -0700419}