/* * Copyright (C) 2019 The Android Open Source Project * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include #include "gtest/gtest.h" #include namespace android { namespace hardware { namespace gnss { namespace common { using GnssConstellationType_V1_0 = V1_0::GnssConstellationType; using GnssConstellationType_V2_0 = V2_0::GnssConstellationType; using V1_0::GnssLocationFlags; void Utils::checkLocation(const GnssLocation& location, bool check_speed, bool check_more_accuracies) { EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG); EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE); if (check_speed) { EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED); } EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_HORIZONTAL_ACCURACY); // New uncertainties available in O must be provided, // at least when paired with modern hardware (2017+) if (check_more_accuracies) { EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY); if (check_speed) { EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY); if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) { EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY); } } } EXPECT_GE(location.latitudeDegrees, -90.0); EXPECT_LE(location.latitudeDegrees, 90.0); EXPECT_GE(location.longitudeDegrees, -180.0); EXPECT_LE(location.longitudeDegrees, 180.0); EXPECT_GE(location.altitudeMeters, -1000.0); EXPECT_LE(location.altitudeMeters, 30000.0); if (check_speed) { EXPECT_GE(location.speedMetersPerSec, 0.0); EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary. // Non-zero speeds must be reported with an associated bearing if (location.speedMetersPerSec > 0.0) { EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING); } } /* * Tolerating some especially high values for accuracy estimate, in case of * first fix with especially poor geometry (happens occasionally) */ EXPECT_GT(location.horizontalAccuracyMeters, 0.0); EXPECT_LE(location.horizontalAccuracyMeters, 250.0); /* * Some devices may define bearing as -180 to +180, others as 0 to 360. * Both are okay & understandable. */ if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) { EXPECT_GE(location.bearingDegrees, -180.0); EXPECT_LE(location.bearingDegrees, 360.0); } if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) { EXPECT_GT(location.verticalAccuracyMeters, 0.0); EXPECT_LE(location.verticalAccuracyMeters, 500.0); } if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) { EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0); EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0); } if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) { EXPECT_GT(location.bearingAccuracyDegrees, 0.0); EXPECT_LE(location.bearingAccuracyDegrees, 360.0); } // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+) EXPECT_GT(location.timestamp, 1.48e12); } const MeasurementCorrections_1_0 Utils::getMockMeasurementCorrections() { ReflectingPlane reflectingPlane = { .latitudeDegrees = 37.4220039, .longitudeDegrees = -122.0840991, .altitudeMeters = 250.35, .azimuthDegrees = 203.0, }; SingleSatCorrection_V1_0 singleSatCorrection1 = { .singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY | GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH | GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC | GnssSingleSatCorrectionFlags::HAS_REFLECTING_PLANE, .constellation = GnssConstellationType_V1_0::GPS, .svid = 12, .carrierFrequencyHz = 1.59975e+09, .probSatIsLos = 0.50001, .excessPathLengthMeters = 137.4802, .excessPathLengthUncertaintyMeters = 25.5, .reflectingPlane = reflectingPlane, }; SingleSatCorrection_V1_0 singleSatCorrection2 = { .singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY | GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH | GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC, .constellation = GnssConstellationType_V1_0::GPS, .svid = 9, .carrierFrequencyHz = 1.59975e+09, .probSatIsLos = 0.873, .excessPathLengthMeters = 26.294, .excessPathLengthUncertaintyMeters = 10.0, }; hidl_vec singleSatCorrections = {singleSatCorrection1, singleSatCorrection2}; MeasurementCorrections_1_0 mockCorrections = { .latitudeDegrees = 37.4219999, .longitudeDegrees = -122.0840575, .altitudeMeters = 30.60062531, .horizontalPositionUncertaintyMeters = 9.23542, .verticalPositionUncertaintyMeters = 15.02341, .toaGpsNanosecondsOfWeek = 2935633453L, .satCorrections = singleSatCorrections, }; return mockCorrections; } const MeasurementCorrections_1_1 Utils::getMockMeasurementCorrections_1_1() { MeasurementCorrections_1_0 mockCorrections_1_0 = getMockMeasurementCorrections(); SingleSatCorrection_V1_1 singleSatCorrection1 = { .v1_0 = mockCorrections_1_0.satCorrections[0], .constellation = GnssConstellationType_V2_0::IRNSS, }; SingleSatCorrection_V1_1 singleSatCorrection2 = { .v1_0 = mockCorrections_1_0.satCorrections[1], .constellation = GnssConstellationType_V2_0::IRNSS, }; mockCorrections_1_0.satCorrections[0].constellation = GnssConstellationType_V1_0::UNKNOWN; mockCorrections_1_0.satCorrections[1].constellation = GnssConstellationType_V1_0::UNKNOWN; hidl_vec singleSatCorrections = {singleSatCorrection1, singleSatCorrection2}; MeasurementCorrections_1_1 mockCorrections_1_1 = { .v1_0 = mockCorrections_1_0, .hasEnvironmentBearing = true, .environmentBearingDegrees = 45.0, .environmentBearingUncertaintyDegrees = 4.0, .satCorrections = singleSatCorrections, }; return mockCorrections_1_1; } /* * MapConstellationType: * Given a GnssConstellationType_2_0 type constellation, maps to its equivalent * GnssConstellationType_1_0 type constellation. For constellations that do not have * an equivalent value, maps to GnssConstellationType_1_0::UNKNOWN */ GnssConstellationType_1_0 Utils::mapConstellationType(GnssConstellationType_2_0 constellation) { switch (constellation) { case GnssConstellationType_2_0::GPS: return GnssConstellationType_1_0::GPS; case GnssConstellationType_2_0::SBAS: return GnssConstellationType_1_0::SBAS; case GnssConstellationType_2_0::GLONASS: return GnssConstellationType_1_0::GLONASS; case GnssConstellationType_2_0::QZSS: return GnssConstellationType_1_0::QZSS; case GnssConstellationType_2_0::BEIDOU: return GnssConstellationType_1_0::BEIDOU; case GnssConstellationType_2_0::GALILEO: return GnssConstellationType_1_0::GALILEO; default: return GnssConstellationType_1_0::UNKNOWN; } } bool Utils::isAutomotiveDevice() { char buffer[PROPERTY_VALUE_MAX] = {0}; property_get("ro.hardware.type", buffer, ""); return strncmp(buffer, "automotive", PROPERTY_VALUE_MAX) == 0; } } // namespace common } // namespace gnss } // namespace hardware } // namespace android