1 /*
2 * Copyright (C) 2019 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 #include <Constants.h>
18 #include <MockLocation.h>
19 #include <Utils.h>
20 #include <aidl/android/hardware/gnss/BnGnss.h>
21 #include <utils/SystemClock.h>
22
23 namespace android {
24 namespace hardware {
25 namespace gnss {
26 namespace common {
27
28 using aidl::android::hardware::gnss::ElapsedRealtime;
29 using aidl::android::hardware::gnss::GnssClock;
30 using aidl::android::hardware::gnss::GnssData;
31 using aidl::android::hardware::gnss::GnssMeasurement;
32 using aidl::android::hardware::gnss::IGnss;
33 using aidl::android::hardware::gnss::IGnssMeasurementCallback;
34 using aidl::android::hardware::gnss::SatellitePvt;
35
36 using GnssSvFlags = V1_0::IGnssCallback::GnssSvFlags;
37 using GnssMeasurementFlagsV1_0 = V1_0::IGnssMeasurementCallback::GnssMeasurementFlags;
38 using GnssMeasurementFlagsV2_1 = V2_1::IGnssMeasurementCallback::GnssMeasurementFlags;
39 using GnssMeasurementStateV2_0 = V2_0::IGnssMeasurementCallback::GnssMeasurementState;
40 using ElapsedRealtimeFlags = V2_0::ElapsedRealtimeFlags;
41 using GnssConstellationTypeV2_0 = V2_0::GnssConstellationType;
42 using IGnssMeasurementCallbackV2_0 = V2_0::IGnssMeasurementCallback;
43 using GnssSignalType = V2_1::GnssSignalType;
44
45 using GnssDataV2_0 = V2_0::IGnssMeasurementCallback::GnssData;
46 using GnssDataV2_1 = V2_1::IGnssMeasurementCallback::GnssData;
47 using GnssSvInfoV1_0 = V1_0::IGnssCallback::GnssSvInfo;
48 using GnssSvInfoV2_0 = V2_0::IGnssCallback::GnssSvInfo;
49 using GnssSvInfoV2_1 = V2_1::IGnssCallback::GnssSvInfo;
50 using GnssAntennaInfo = ::android::hardware::gnss::V2_1::IGnssAntennaInfoCallback::GnssAntennaInfo;
51 using Row = V2_1::IGnssAntennaInfoCallback::Row;
52 using Coord = V2_1::IGnssAntennaInfoCallback::Coord;
53
getMockMeasurementV2_1()54 GnssDataV2_1 Utils::getMockMeasurementV2_1() {
55 GnssDataV2_0 gnssDataV2_0 = Utils::getMockMeasurementV2_0();
56 V2_1::IGnssMeasurementCallback::GnssMeasurement gnssMeasurementV2_1 = {
57 .v2_0 = gnssDataV2_0.measurements[0],
58 .flags = (uint32_t)(GnssMeasurementFlagsV2_1::HAS_CARRIER_FREQUENCY |
59 GnssMeasurementFlagsV2_1::HAS_CARRIER_PHASE |
60 GnssMeasurementFlagsV2_1::HAS_FULL_ISB |
61 GnssMeasurementFlagsV2_1::HAS_FULL_ISB_UNCERTAINTY |
62 GnssMeasurementFlagsV2_1::HAS_SATELLITE_ISB |
63 GnssMeasurementFlagsV2_1::HAS_SATELLITE_ISB_UNCERTAINTY),
64 .fullInterSignalBiasNs = 30.0,
65 .fullInterSignalBiasUncertaintyNs = 250.0,
66 .satelliteInterSignalBiasNs = 20.0,
67 .satelliteInterSignalBiasUncertaintyNs = 150.0,
68 .basebandCN0DbHz = 25.0,
69 };
70 GnssSignalType referenceSignalTypeForIsb = {
71 .constellation = GnssConstellationTypeV2_0::GPS,
72 .carrierFrequencyHz = 1.59975e+09,
73 .codeType = "C",
74 };
75 V2_1::IGnssMeasurementCallback::GnssClock gnssClockV2_1 = {
76 .v1_0 = gnssDataV2_0.clock,
77 .referenceSignalTypeForIsb = referenceSignalTypeForIsb,
78 };
79 hidl_vec<V2_1::IGnssMeasurementCallback::GnssMeasurement> measurements(1);
80 measurements[0] = gnssMeasurementV2_1;
81 GnssDataV2_1 gnssDataV2_1 = {
82 .measurements = measurements,
83 .clock = gnssClockV2_1,
84 .elapsedRealtime = gnssDataV2_0.elapsedRealtime,
85 };
86 return gnssDataV2_1;
87 }
88
getMockMeasurementV2_0()89 GnssDataV2_0 Utils::getMockMeasurementV2_0() {
90 V1_0::IGnssMeasurementCallback::GnssMeasurement measurement_1_0 = {
91 .flags = (uint32_t)GnssMeasurementFlagsV1_0::HAS_CARRIER_FREQUENCY,
92 .svid = (int16_t)6,
93 .constellation = V1_0::GnssConstellationType::UNKNOWN,
94 .timeOffsetNs = 0.0,
95 .receivedSvTimeInNs = 8195997131077,
96 .receivedSvTimeUncertaintyInNs = 15,
97 .cN0DbHz = 30.0,
98 .pseudorangeRateMps = -484.13739013671875,
99 .pseudorangeRateUncertaintyMps = 1.0379999876022339,
100 .accumulatedDeltaRangeState = (uint32_t)V1_0::IGnssMeasurementCallback::
101 GnssAccumulatedDeltaRangeState::ADR_STATE_UNKNOWN,
102 .accumulatedDeltaRangeM = 0.0,
103 .accumulatedDeltaRangeUncertaintyM = 0.0,
104 .carrierFrequencyHz = 1.59975e+09,
105 .multipathIndicator =
106 V1_0::IGnssMeasurementCallback::GnssMultipathIndicator::INDICATOR_UNKNOWN};
107 V1_1::IGnssMeasurementCallback::GnssMeasurement measurement_1_1 = {.v1_0 = measurement_1_0};
108 V2_0::IGnssMeasurementCallback::GnssMeasurement measurement_2_0 = {
109 .v1_1 = measurement_1_1,
110 .codeType = "C",
111 .state = GnssMeasurementStateV2_0::STATE_CODE_LOCK |
112 GnssMeasurementStateV2_0::STATE_BIT_SYNC |
113 GnssMeasurementStateV2_0::STATE_SUBFRAME_SYNC |
114 GnssMeasurementStateV2_0::STATE_TOW_DECODED |
115 GnssMeasurementStateV2_0::STATE_GLO_STRING_SYNC |
116 GnssMeasurementStateV2_0::STATE_GLO_TOD_DECODED,
117 .constellation = GnssConstellationTypeV2_0::GLONASS,
118 };
119
120 hidl_vec<IGnssMeasurementCallbackV2_0::GnssMeasurement> measurements(1);
121 measurements[0] = measurement_2_0;
122 V1_0::IGnssMeasurementCallback::GnssClock clock = {.timeNs = 2713545000000,
123 .fullBiasNs = -1226701900521857520,
124 .biasNs = 0.59689998626708984,
125 .biasUncertaintyNs = 47514.989972114563,
126 .driftNsps = -51.757811607455452,
127 .driftUncertaintyNsps = 310.64968328491528,
128 .hwClockDiscontinuityCount = 1};
129
130 V2_0::ElapsedRealtime timestamp = {
131 .flags = ElapsedRealtimeFlags::HAS_TIMESTAMP_NS |
132 ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS,
133 .timestampNs = static_cast<uint64_t>(::android::elapsedRealtimeNano()),
134 // This is an hardcoded value indicating a 1ms of uncertainty between the two clocks.
135 // In an actual implementation provide an estimate of the synchronization uncertainty
136 // or don't set the field.
137 .timeUncertaintyNs = 1000000};
138
139 GnssDataV2_0 gnssData = {
140 .measurements = measurements, .clock = clock, .elapsedRealtime = timestamp};
141 return gnssData;
142 }
143
getMockMeasurement(const bool enableCorrVecOutputs)144 GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs) {
145 aidl::android::hardware::gnss::GnssSignalType signalType = {
146 .constellation = aidl::android::hardware::gnss::GnssConstellationType::GLONASS,
147 .carrierFrequencyHz = 1.59975e+09,
148 .codeType = aidl::android::hardware::gnss::GnssSignalType::CODE_TYPE_C,
149 };
150 GnssMeasurement measurement = {
151 .flags = GnssMeasurement::HAS_AUTOMATIC_GAIN_CONTROL |
152 GnssMeasurement::HAS_CARRIER_FREQUENCY | GnssMeasurement::HAS_CARRIER_PHASE |
153 GnssMeasurement::HAS_CARRIER_PHASE_UNCERTAINTY |
154 GnssMeasurement::HAS_FULL_ISB | GnssMeasurement::HAS_FULL_ISB_UNCERTAINTY |
155 GnssMeasurement::HAS_SATELLITE_ISB |
156 GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY |
157 GnssMeasurement::HAS_SATELLITE_PVT,
158 .svid = 13,
159 .signalType = signalType,
160 .receivedSvTimeInNs = 8195997131077,
161 .receivedSvTimeUncertaintyInNs = 15,
162 .antennaCN0DbHz = 30.0,
163 .basebandCN0DbHz = 26.5,
164 .agcLevelDb = 2.3,
165 .pseudorangeRateMps = -484.13739013671875,
166 .pseudorangeRateUncertaintyMps = 1.0379999876022339,
167 .accumulatedDeltaRangeState = GnssMeasurement::ADR_STATE_UNKNOWN,
168 .accumulatedDeltaRangeM = 1.52,
169 .accumulatedDeltaRangeUncertaintyM = 2.43,
170 .multipathIndicator = aidl::android::hardware::gnss::GnssMultipathIndicator::UNKNOWN,
171 .state = GnssMeasurement::STATE_CODE_LOCK | GnssMeasurement::STATE_BIT_SYNC |
172 GnssMeasurement::STATE_SUBFRAME_SYNC | GnssMeasurement::STATE_TOW_DECODED |
173 GnssMeasurement::STATE_GLO_STRING_SYNC |
174 GnssMeasurement::STATE_GLO_TOD_DECODED,
175 .fullInterSignalBiasNs = 21.5,
176 .fullInterSignalBiasUncertaintyNs = 792.0,
177 .satelliteInterSignalBiasNs = 233.9,
178 .satelliteInterSignalBiasUncertaintyNs = 921.2,
179 .satellitePvt = {.flags = SatellitePvt::HAS_POSITION_VELOCITY_CLOCK_INFO |
180 SatellitePvt::HAS_IONO | SatellitePvt::HAS_TROPO,
181 .satPosEcef = {.posXMeters = 10442993.1153328,
182 .posYMeters = -19926932.8051666,
183 .posZMeters = -12034295.0216203,
184 .ureMeters = 1000.2345678},
185 .satVelEcef = {.velXMps = -478.667183715732,
186 .velYMps = 1580.68371984114,
187 .velZMps = -3030.52994449997,
188 .ureRateMps = 10.2345678},
189 .satClockInfo = {.satHardwareCodeBiasMeters = 1.396983861923e-09,
190 .satTimeCorrectionMeters = -7113.08964331,
191 .satClkDriftMps = 0},
192 .ionoDelayMeters = 3.069949602639317e-08,
193 .tropoDelayMeters = 3.882265204404031},
194 .correlationVectors = {}};
195
196 GnssClock clock = {.gnssClockFlags = GnssClock::HAS_FULL_BIAS | GnssClock::HAS_BIAS |
197 GnssClock::HAS_BIAS_UNCERTAINTY | GnssClock::HAS_DRIFT |
198 GnssClock::HAS_DRIFT_UNCERTAINTY,
199 .timeNs = 35854545000000,
200 .fullBiasNs = -234621900521857520,
201 .biasNs = 0.2352389998626708984,
202 .biasUncertaintyNs = 274.989972114563,
203 .driftNsps = -124.3742360,
204 .driftUncertaintyNsps = 239.6234285828,
205 .hwClockDiscontinuityCount = 999};
206
207 ElapsedRealtime timestamp = {
208 .flags = ElapsedRealtime::HAS_TIMESTAMP_NS | ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS,
209 .timestampNs = ::android::elapsedRealtimeNano(),
210 // This is an hardcoded value indicating a 1ms of uncertainty between the two clocks.
211 // In an actual implementation provide an estimate of the synchronization uncertainty
212 // or don't set the field.
213 .timeUncertaintyNs = 1020400};
214
215 if (enableCorrVecOutputs) {
216 aidl::android::hardware::gnss::CorrelationVector correlationVector1 = {
217 .frequencyOffsetMps = 10,
218 .samplingWidthM = 30,
219 .samplingStartM = 0,
220 .magnitude = {0, 5000, 10000, 5000, 0, 0, 3000, 0}};
221 aidl::android::hardware::gnss::CorrelationVector correlationVector2 = {
222 .frequencyOffsetMps = 20,
223 .samplingWidthM = 30,
224 .samplingStartM = -10,
225 .magnitude = {0, 3000, 5000, 3000, 0, 0, 1000, 0}};
226 measurement.correlationVectors = {correlationVector1, correlationVector2};
227 measurement.flags |= GnssMeasurement::HAS_CORRELATION_VECTOR;
228 }
229
230 GnssData gnssData = {
231 .measurements = {measurement}, .clock = clock, .elapsedRealtime = timestamp};
232 return gnssData;
233 }
234
getMockLocationV2_0()235 V2_0::GnssLocation Utils::getMockLocationV2_0() {
236 const V2_0::ElapsedRealtime timestamp = {
237 .flags = V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS |
238 V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS,
239 .timestampNs = static_cast<uint64_t>(::android::elapsedRealtimeNano()),
240 // This is an hardcoded value indicating a 1ms of uncertainty between the two clocks.
241 // In an actual implementation provide an estimate of the synchronization uncertainty
242 // or don't set the field.
243 .timeUncertaintyNs = 1000000};
244
245 V2_0::GnssLocation location = {.v1_0 = Utils::getMockLocationV1_0(),
246 .elapsedRealtime = timestamp};
247 return location;
248 }
249
getMockLocationV1_0()250 V1_0::GnssLocation Utils::getMockLocationV1_0() {
251 V1_0::GnssLocation location = {
252 .gnssLocationFlags = 0xFF,
253 .latitudeDegrees = gMockLatitudeDegrees,
254 .longitudeDegrees = gMockLongitudeDegrees,
255 .altitudeMeters = gMockAltitudeMeters,
256 .speedMetersPerSec = gMockSpeedMetersPerSec,
257 .bearingDegrees = gMockBearingDegrees,
258 .horizontalAccuracyMeters = kMockHorizontalAccuracyMeters,
259 .verticalAccuracyMeters = kMockVerticalAccuracyMeters,
260 .speedAccuracyMetersPerSecond = kMockSpeedAccuracyMetersPerSecond,
261 .bearingAccuracyDegrees = kMockBearingAccuracyDegrees,
262 .timestamp =
263 static_cast<int64_t>(kMockTimestamp + ::android::elapsedRealtimeNano() / 1e6)};
264 return location;
265 }
266
getMockSvInfoListV2_1()267 hidl_vec<GnssSvInfoV2_1> Utils::getMockSvInfoListV2_1() {
268 GnssSvInfoV1_0 gnssSvInfoV1_0 = Utils::getMockSvInfoV1_0(3, V1_0::GnssConstellationType::GPS,
269 32.5, 59.1, 166.5, kGpsL1FreqHz);
270 GnssSvInfoV2_0 gnssSvInfoV2_0 =
271 Utils::getMockSvInfoV2_0(gnssSvInfoV1_0, V2_0::GnssConstellationType::GPS);
272 hidl_vec<GnssSvInfoV2_1> gnssSvInfoList = {
273 Utils::getMockSvInfoV2_1(gnssSvInfoV2_0, 27.5),
274 getMockSvInfoV2_1(
275 getMockSvInfoV2_0(getMockSvInfoV1_0(5, V1_0::GnssConstellationType::GPS, 27.0,
276 29.0, 56.5, kGpsL1FreqHz),
277 V2_0::GnssConstellationType::GPS),
278 22.0),
279 getMockSvInfoV2_1(
280 getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GPS, 30.5,
281 71.0, 77.0, kGpsL5FreqHz),
282 V2_0::GnssConstellationType::GPS),
283 25.5),
284 getMockSvInfoV2_1(
285 getMockSvInfoV2_0(getMockSvInfoV1_0(26, V1_0::GnssConstellationType::GPS, 24.1,
286 28.0, 253.0, kGpsL5FreqHz),
287 V2_0::GnssConstellationType::GPS),
288 19.1),
289 getMockSvInfoV2_1(
290 getMockSvInfoV2_0(getMockSvInfoV1_0(5, V1_0::GnssConstellationType::GLONASS,
291 20.5, 11.5, 116.0, kGloG1FreqHz),
292 V2_0::GnssConstellationType::GLONASS),
293 15.5),
294 getMockSvInfoV2_1(
295 getMockSvInfoV2_0(getMockSvInfoV1_0(17, V1_0::GnssConstellationType::GLONASS,
296 21.5, 28.5, 186.0, kGloG1FreqHz),
297 V2_0::GnssConstellationType::GLONASS),
298 16.5),
299 getMockSvInfoV2_1(
300 getMockSvInfoV2_0(getMockSvInfoV1_0(18, V1_0::GnssConstellationType::GLONASS,
301 28.3, 38.8, 69.0, kGloG1FreqHz),
302 V2_0::GnssConstellationType::GLONASS),
303 25.3),
304 getMockSvInfoV2_1(
305 getMockSvInfoV2_0(getMockSvInfoV1_0(10, V1_0::GnssConstellationType::GLONASS,
306 25.0, 66.0, 247.0, kGloG1FreqHz),
307 V2_0::GnssConstellationType::GLONASS),
308 20.0),
309 getMockSvInfoV2_1(
310 getMockSvInfoV2_0(getMockSvInfoV1_0(3, V1_0::GnssConstellationType::UNKNOWN,
311 22.0, 35.0, 112.0, kIrnssL5FreqHz),
312 V2_0::GnssConstellationType::IRNSS),
313 19.7),
314 };
315 return gnssSvInfoList;
316 }
317
getMockSvInfoV2_1(GnssSvInfoV2_0 gnssSvInfoV2_0,float basebandCN0DbHz)318 GnssSvInfoV2_1 Utils::getMockSvInfoV2_1(GnssSvInfoV2_0 gnssSvInfoV2_0, float basebandCN0DbHz) {
319 GnssSvInfoV2_1 gnssSvInfoV2_1 = {
320 .v2_0 = gnssSvInfoV2_0,
321 .basebandCN0DbHz = basebandCN0DbHz,
322 };
323 return gnssSvInfoV2_1;
324 }
325
getMockSvInfoV2_0(GnssSvInfoV1_0 gnssSvInfoV1_0,V2_0::GnssConstellationType type)326 GnssSvInfoV2_0 Utils::getMockSvInfoV2_0(GnssSvInfoV1_0 gnssSvInfoV1_0,
327 V2_0::GnssConstellationType type) {
328 GnssSvInfoV2_0 gnssSvInfoV2_0 = {
329 .v1_0 = gnssSvInfoV1_0,
330 .constellation = type,
331 };
332 return gnssSvInfoV2_0;
333 }
334
getMockSvInfoV1_0(int16_t svid,V1_0::GnssConstellationType type,float cN0DbHz,float elevationDegrees,float azimuthDegrees,float carrierFrequencyHz)335 GnssSvInfoV1_0 Utils::getMockSvInfoV1_0(int16_t svid, V1_0::GnssConstellationType type,
336 float cN0DbHz, float elevationDegrees, float azimuthDegrees,
337 float carrierFrequencyHz) {
338 GnssSvInfoV1_0 svInfo = {.svid = svid,
339 .constellation = type,
340 .cN0Dbhz = cN0DbHz,
341 .elevationDegrees = elevationDegrees,
342 .azimuthDegrees = azimuthDegrees,
343 .carrierFrequencyHz = carrierFrequencyHz,
344 .svFlag = GnssSvFlags::USED_IN_FIX | GnssSvFlags::HAS_EPHEMERIS_DATA |
345 GnssSvFlags::HAS_ALMANAC_DATA |
346 GnssSvFlags::HAS_CARRIER_FREQUENCY};
347 return svInfo;
348 }
349
getMockAntennaInfos()350 hidl_vec<GnssAntennaInfo> Utils::getMockAntennaInfos() {
351 GnssAntennaInfo mockAntennaInfo_1 = {
352 .carrierFrequencyMHz = kGpsL1FreqHz * 1e-6,
353 .phaseCenterOffsetCoordinateMillimeters = Coord{.x = 1,
354 .xUncertainty = 0.1,
355 .y = 2,
356 .yUncertainty = 0.1,
357 .z = 3,
358 .zUncertainty = 0.1},
359 .phaseCenterVariationCorrectionMillimeters =
360 {
361 Row{hidl_vec<double>{1, -1, 5, -2, 3, -1}},
362 Row{hidl_vec<double>{-2, 3, 2, 0, 1, 2}},
363 Row{hidl_vec<double>{1, 3, 2, -1, -3, 5}},
364 },
365 .phaseCenterVariationCorrectionUncertaintyMillimeters =
366 {
367 Row{hidl_vec<double>{0.1, 0.2, 0.4, 0.1, 0.2, 0.3}},
368 Row{hidl_vec<double>{0.3, 0.2, 0.3, 0.6, 0.1, 0.1}},
369 Row{hidl_vec<double>{0.1, 0.1, 0.4, 0.2, 0.5, 0.3}},
370 },
371 .signalGainCorrectionDbi =
372 {
373 Row{hidl_vec<double>{2, -3, 1, -3, 0, -4}},
374 Row{hidl_vec<double>{1, 0, -4, 1, 3, -2}},
375 Row{hidl_vec<double>{3, -2, 0, -2, 3, 0}},
376 },
377 .signalGainCorrectionUncertaintyDbi =
378 {
379 Row{hidl_vec<double>{0.3, 0.1, 0.2, 0.6, 0.1, 0.3}},
380 Row{hidl_vec<double>{0.1, 0.1, 0.5, 0.2, 0.3, 0.1}},
381 Row{hidl_vec<double>{0.2, 0.4, 0.2, 0.1, 0.1, 0.2}},
382 },
383 };
384
385 GnssAntennaInfo mockAntennaInfo_2 = {
386 .carrierFrequencyMHz = kGpsL5FreqHz * 1e-6,
387 .phaseCenterOffsetCoordinateMillimeters = Coord{.x = 5,
388 .xUncertainty = 0.1,
389 .y = 6,
390 .yUncertainty = 0.1,
391 .z = 7,
392 .zUncertainty = 0.1},
393 };
394
395 hidl_vec<GnssAntennaInfo> mockAntennaInfos = {
396 mockAntennaInfo_1,
397 mockAntennaInfo_2,
398 };
399 return mockAntennaInfos;
400 }
401
402 } // namespace common
403 } // namespace gnss
404 } // namespace hardware
405 } // namespace android
406