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Commit 1ebf6158 authored by Sasha Kuznetsov's avatar Sasha Kuznetsov
Browse files

Update jni with measurement_corrections 1.1 

Test: manually injected dummy measurement corrections in
GnssLocationProvider and verified that cuttlefish implementation
properly recieved them below the HAL
Bug: 145963440
Change-Id: Id659b0fdddd7852012da1bab07d0f26a3abb29af
parent daa6bcdb

api/system-current.txt

+5 −0
Original line number Diff line number Diff line
@@ -3787,12 +3787,15 @@ package android.location { 
  public final class GnssMeasurementCorrections implements android.os.Parcelable {

    method public int describeContents();

    method @FloatRange(from=-1000.0F, to=10000.0f) public double getAltitudeMeters();

    method @FloatRange(from=0.0f, to=360.0f) public float getEnvironmentBearingDegrees();

    method @FloatRange(from=0.0f, to=180.0f) public float getEnvironmentBearingUncertaintyDegrees();

    method @FloatRange(from=0.0f) public double getHorizontalPositionUncertaintyMeters();

    method @FloatRange(from=-90.0F, to=90.0f) public double getLatitudeDegrees();

    method @FloatRange(from=-180.0F, to=180.0f) public double getLongitudeDegrees();

    method @NonNull public java.util.List<android.location.GnssSingleSatCorrection> getSingleSatelliteCorrectionList();

    method @IntRange(from=0) public long getToaGpsNanosecondsOfWeek();

    method @FloatRange(from=0.0f) public double getVerticalPositionUncertaintyMeters();

    method public boolean hasEnvironmentBearing();

    method public void writeToParcel(@NonNull android.os.Parcel, int);

    field public static final android.os.Parcelable.Creator<android.location.GnssMeasurementCorrections> CREATOR;

  }
@@ -3801,6 +3804,8 @@ package android.location { 
    ctor public GnssMeasurementCorrections.Builder();

    method @NonNull public android.location.GnssMeasurementCorrections build();

    method @NonNull public android.location.GnssMeasurementCorrections.Builder setAltitudeMeters(@FloatRange(from=-1000.0F, to=10000.0f) double);

    method @NonNull public android.location.GnssMeasurementCorrections.Builder setEnvironmentBearingDegrees(@FloatRange(from=0.0f, to=360.0f) float);

    method @NonNull public android.location.GnssMeasurementCorrections.Builder setEnvironmentBearingUncertaintyDegrees(@FloatRange(from=0.0f, to=180.0f) float);

    method @NonNull public android.location.GnssMeasurementCorrections.Builder setHorizontalPositionUncertaintyMeters(@FloatRange(from=0.0f) double);

    method @NonNull public android.location.GnssMeasurementCorrections.Builder setLatitudeDegrees(@FloatRange(from=-90.0F, to=90.0f) double);

    method @NonNull public android.location.GnssMeasurementCorrections.Builder setLongitudeDegrees(@FloatRange(from=-180.0F, to=180.0f) double);

location/java/android/location/GnssMeasurementCorrections.java

+100 −0
Original line number Diff line number Diff line
@@ -79,6 +79,25 @@ public final class GnssMeasurementCorrections implements Parcelable { 
    @NonNull

    private final List<GnssSingleSatCorrection> mSingleSatCorrectionList;



    /**

     * Indicates whether the environment bearing is available.

     */

    private final boolean mHasEnvironmentBearing;



    /**

     * Environment bearing in degrees clockwise from true north, in the direction of user motion.

     * Environment bearing is provided when it is known with high probability that velocity is

     * aligned with an environment feature (such as edge of a building, or road).

     */

    @FloatRange(from = 0.0f, to = 360.0f)

    private final float mEnvironmentBearingDegrees;



    /**

     * Environment bearing uncertainty in degrees.

     */

    @FloatRange(from = 0.0f, to = 180.0f)

    private final float mEnvironmentBearingUncertaintyDegrees;



    private GnssMeasurementCorrections(Builder builder) {

        mLatitudeDegrees = builder.mLatitudeDegrees;

        mLongitudeDegrees = builder.mLongitudeDegrees;
@@ -89,6 +108,10 @@ public final class GnssMeasurementCorrections implements Parcelable { 
        final List<GnssSingleSatCorrection> singleSatCorrList =  builder.mSingleSatCorrectionList;

        Preconditions.checkArgument(singleSatCorrList != null && !singleSatCorrList.isEmpty());

        mSingleSatCorrectionList = Collections.unmodifiableList(new ArrayList<>(singleSatCorrList));

        mHasEnvironmentBearing = builder.mEnvironmentBearingIsSet

                && builder.mEnvironmentBearingUncertaintyIsSet;

        mEnvironmentBearingDegrees = builder.mEnvironmentBearingDegrees;

        mEnvironmentBearingUncertaintyDegrees = builder.mEnvironmentBearingUncertaintyDegrees;

    }



    /** Gets the latitude in degrees at which the corrections are computed. */
@@ -145,6 +168,31 @@ public final class GnssMeasurementCorrections implements Parcelable { 
        return mSingleSatCorrectionList;

    }



    /**

     * If true, environment bearing will be available.

     */

    public boolean hasEnvironmentBearing() {

        return mHasEnvironmentBearing;

    }



    /**

     * Gets the environment bearing in degrees clockwise from true north, in the direction of user

     * motion. Environment bearing is provided when it is known with high probability that

     * velocity is aligned with an environment feature (such as edge of a building, or road).

     */

    @FloatRange(from = 0.0f, to = 360.0f)

    public float getEnvironmentBearingDegrees() {

        return mEnvironmentBearingDegrees;

    }



    /**

     * Gets the environment bearing uncertainty in degrees.

     */

    @FloatRange(from = 0.0f, to = 180.0f)

    public float getEnvironmentBearingUncertaintyDegrees() {

        return mEnvironmentBearingUncertaintyDegrees;

    }



    @Override

    public int describeContents() {

        return 0;
@@ -167,6 +215,12 @@ public final class GnssMeasurementCorrections implements Parcelable { 
                    parcel.readTypedList(singleSatCorrectionList, GnssSingleSatCorrection.CREATOR);

                    gnssMeasurementCorrectons.setSingleSatelliteCorrectionList(

                            singleSatCorrectionList);

                    boolean hasEnvironmentBearing = parcel.readBoolean();

                    if (hasEnvironmentBearing) {

                        gnssMeasurementCorrectons.setEnvironmentBearingDegrees(parcel.readFloat());

                        gnssMeasurementCorrectons.setEnvironmentBearingUncertaintyDegrees(

                                parcel.readFloat());

                    }

                    return gnssMeasurementCorrectons.build();

                }
@@ -192,6 +246,14 @@ public final class GnssMeasurementCorrections implements Parcelable { 
                String.format(format, "ToaGpsNanosecondsOfWeek = ", mToaGpsNanosecondsOfWeek));

        builder.append(

                String.format(format, "mSingleSatCorrectionList = ", mSingleSatCorrectionList));

        builder.append(

                String.format(format, "HasEnvironmentBearing = ", mHasEnvironmentBearing));

        builder.append(

                String.format(format, "EnvironmentBearingDegrees = ",

                        mEnvironmentBearingDegrees));

        builder.append(

                String.format(format, "EnvironmentBearingUncertaintyDegrees = ",

                mEnvironmentBearingUncertaintyDegrees));

        return builder.toString();

    }
@@ -204,6 +266,11 @@ public final class GnssMeasurementCorrections implements Parcelable { 
        parcel.writeDouble(mVerticalPositionUncertaintyMeters);

        parcel.writeLong(mToaGpsNanosecondsOfWeek);

        parcel.writeTypedList(mSingleSatCorrectionList);

        parcel.writeBoolean(mHasEnvironmentBearing);

        if (mHasEnvironmentBearing) {

            parcel.writeFloat(mEnvironmentBearingDegrees);

            parcel.writeFloat(mEnvironmentBearingUncertaintyDegrees);

        }

    }



    /** Builder for {@link GnssMeasurementCorrections} */
@@ -219,6 +286,10 @@ public final class GnssMeasurementCorrections implements Parcelable { 
        private double mVerticalPositionUncertaintyMeters;

        private long mToaGpsNanosecondsOfWeek;

        @Nullable private List<GnssSingleSatCorrection> mSingleSatCorrectionList;

        private float mEnvironmentBearingDegrees;

        private boolean mEnvironmentBearingIsSet = false;

        private float mEnvironmentBearingUncertaintyDegrees;

        private boolean mEnvironmentBearingUncertaintyIsSet = false;



        /** Sets the latitude in degrees at which the corrections are computed. */

        @NonNull public Builder setLatitudeDegrees(
@@ -282,8 +353,37 @@ public final class GnssMeasurementCorrections implements Parcelable { 
            return this;

        }



        /**

         * Sets the environment bearing in degrees clockwise from true north, in the direction of

         * user motion. Environment bearing is provided when it is known with high probability

         * that velocity is aligned with an environment feature (such as edge of a building, or

         * road).

         */

        @NonNull public Builder setEnvironmentBearingDegrees(

                @FloatRange(from = 0.0f, to = 360.0f)

                        float environmentBearingDegrees) {

            mEnvironmentBearingDegrees = environmentBearingDegrees;

            mEnvironmentBearingIsSet = true;

            return this;

        }



        /**

         * Sets the environment bearing uncertainty in degrees.

         */

        @NonNull public Builder setEnvironmentBearingUncertaintyDegrees(

                @FloatRange(from = 0.0f, to = 180.0f)

                        float environmentBearingUncertaintyDegrees) {

            mEnvironmentBearingUncertaintyDegrees = environmentBearingUncertaintyDegrees;

            mEnvironmentBearingUncertaintyIsSet = true;

            return this;

        }



        /** Builds a {@link GnssMeasurementCorrections} instance as specified by this builder. */

        @NonNull public GnssMeasurementCorrections build() {

            if (mEnvironmentBearingIsSet ^ mEnvironmentBearingUncertaintyIsSet) {

                throw new IllegalStateException("Both environment bearing and environment bearing "

                        + "uncertainty must be set.");

            }

            return new GnssMeasurementCorrections(this);

        }

    }

services/core/jni/com_android_server_location_GnssLocationProvider.cpp

+77 −25
Original line number Diff line number Diff line
@@ -28,6 +28,7 @@ 
#include <android/hardware/gnss/2.0/IGnssMeasurement.h>

#include <android/hardware/gnss/2.1/IGnssMeasurement.h>

#include <android/hardware/gnss/measurement_corrections/1.0/IMeasurementCorrections.h>

#include <android/hardware/gnss/measurement_corrections/1.1/IMeasurementCorrections.h>

#include <android/hardware/gnss/visibility_control/1.0/IGnssVisibilityControl.h>

#include <nativehelper/JNIHelp.h>

#include "jni.h"
@@ -88,6 +89,9 @@ static jmethodID method_correctionsGetHorPosUncMeters; 
static jmethodID method_correctionsGetVerPosUncMeters;

static jmethodID method_correctionsGetToaGpsNanosecondsOfWeek;

static jmethodID method_correctionsGetSingleSatCorrectionList;

static jmethodID method_correctionsHasEnvironmentBearing;

static jmethodID method_correctionsGetEnvironmentBearingDegrees;

static jmethodID method_correctionsGetEnvironmentBearingUncertaintyDegrees;

static jmethodID method_listSize;

static jmethodID method_correctionListGet;

static jmethodID method_correctionSatFlags;
@@ -142,7 +146,9 @@ using android::hardware::gnss::V1_0::IGnssXtraCallback; 


using android::hardware::gnss::V2_0::ElapsedRealtimeFlags;



using android::hardware::gnss::measurement_corrections::V1_0::MeasurementCorrections;

using MeasurementCorrections_V1_0 = android::hardware::gnss::measurement_corrections::V1_0::MeasurementCorrections;

using MeasurementCorrections_V1_1 = android::hardware::gnss::measurement_corrections::V1_1::MeasurementCorrections;



using android::hardware::gnss::measurement_corrections::V1_0::SingleSatCorrection;

using android::hardware::gnss::measurement_corrections::V1_0::ReflectingPlane;
@@ -184,7 +190,8 @@ using IGnssBatching_V2_0 = android::hardware::gnss::V2_0::IGnssBatching; 
using IGnssBatchingCallback_V1_0 = android::hardware::gnss::V1_0::IGnssBatchingCallback;

using IGnssBatchingCallback_V2_0 = android::hardware::gnss::V2_0::IGnssBatchingCallback;



using android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrections;

using IMeasurementCorrections_V1_0 = android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrections;

using IMeasurementCorrections_V1_1 = android::hardware::gnss::measurement_corrections::V1_1::IMeasurementCorrections;

using android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrectionsCallback;

using android::hardware::gnss::measurement_corrections::V1_0::GnssSingleSatCorrectionFlags;
@@ -231,7 +238,8 @@ sp<IGnssMeasurement_V1_1> gnssMeasurementIface_V1_1 = nullptr; 
sp<IGnssMeasurement_V2_0> gnssMeasurementIface_V2_0 = nullptr;

sp<IGnssMeasurement_V2_1> gnssMeasurementIface_V2_1 = nullptr;

sp<IGnssNavigationMessage> gnssNavigationMessageIface = nullptr;

sp<IMeasurementCorrections> gnssCorrectionsIface = nullptr;

sp<IMeasurementCorrections_V1_0> gnssCorrectionsIface_V1_0 = nullptr;

sp<IMeasurementCorrections_V1_1> gnssCorrectionsIface_V1_1 = nullptr;

sp<IGnssVisibilityControl> gnssVisibilityControlIface = nullptr;



#define WAKE_LOCK_NAME  "GPS"
@@ -1692,6 +1700,13 @@ static void android_location_GnssLocationProvider_class_init_native(JNIEnv* env, 
    method_correctionsGetSingleSatCorrectionList = env->GetMethodID(

            measCorrClass, "getSingleSatelliteCorrectionList", "()Ljava/util/List;");



    method_correctionsHasEnvironmentBearing = env->GetMethodID(

            measCorrClass, "hasEnvironmentBearing", "()Z");

    method_correctionsGetEnvironmentBearingDegrees = env->GetMethodID(

            measCorrClass, "getEnvironmentBearingDegrees", "()F");

    method_correctionsGetEnvironmentBearingUncertaintyDegrees = env->GetMethodID(

            measCorrClass, "getEnvironmentBearingUncertaintyDegrees", "()F");



    jclass corrListClass = env->FindClass("java/util/List");

    method_listSize = env->GetMethodID(corrListClass, "size", "()I");

    method_correctionListGet = env->GetMethodID(corrListClass, "get", "(I)Ljava/lang/Object;");
@@ -1874,12 +1889,20 @@ static void android_location_GnssLocationProvider_init_once(JNIEnv* env, jclass 
         }

    }



    if (gnssHal_V2_0 != nullptr) {

    if (gnssHal_V2_1 != nullptr) {

        auto gnssCorrections = gnssHal_V2_1->getExtensionMeasurementCorrections_1_1();

        if (!gnssCorrections.isOk()) {

            ALOGD("Unable to get a handle to GnssMeasurementCorrections 1.1 interface");

        } else {

            gnssCorrectionsIface_V1_1 = gnssCorrections;

            gnssCorrectionsIface_V1_0 = gnssCorrectionsIface_V1_1;

        }

    } else if (gnssHal_V2_0 != nullptr) {

        auto gnssCorrections = gnssHal_V2_0->getExtensionMeasurementCorrections();

        if (!gnssCorrections.isOk()) {

            ALOGD("Unable to get a handle to GnssMeasurementCorrections interface");

        } else {

            gnssCorrectionsIface = gnssCorrections;

            gnssCorrectionsIface_V1_0 = gnssCorrections;

        }

    }
@@ -2110,11 +2133,18 @@ static jboolean android_location_GnssLocationProvider_init(JNIEnv* env, jobject 
    }



    // Set IMeasurementCorrections.hal callback.

    if (gnssCorrectionsIface != nullptr) {

    if (gnssCorrectionsIface_V1_1 != nullptr) {

            sp<IMeasurementCorrectionsCallback> gnssCorrectionsIfaceCbIface =

                    new MeasurementCorrectionsCallback();

        result = gnssCorrectionsIface->setCallback(gnssCorrectionsIfaceCbIface);

        checkHidlReturn(result, "IMeasurementCorrections setCallback() failed.");

            result = gnssCorrectionsIface_V1_1->setCallback(gnssCorrectionsIfaceCbIface);

            checkHidlReturn(result, "IMeasurementCorrections 1.1 setCallback() failed.");

    } else if (gnssCorrectionsIface_V1_0 != nullptr) {

        sp<IMeasurementCorrectionsCallback> gnssCorrectionsIfaceCbIface =

                new MeasurementCorrectionsCallback();

        result = gnssCorrectionsIface_V1_0->setCallback(gnssCorrectionsIfaceCbIface);

        checkHidlReturn(result, "IMeasurementCorrections 1.0 setCallback() failed.");

    } else {

        ALOGI("Unable to find IMeasurementCorrections.");

    }



    return JNI_TRUE;
@@ -2717,7 +2747,7 @@ static jboolean android_location_GnssMeasurementsProvider_stop_measurement_colle 
static jboolean

    android_location_GnssMeasurementCorrectionsProvider_is_measurement_corrections_supported(

    JNIEnv* env, jclass clazz) {

    if (gnssCorrectionsIface != nullptr) {

    if (gnssCorrectionsIface_V1_0 != nullptr || gnssCorrectionsIface_V1_1 != nullptr) {

        return JNI_TRUE;

    }
@@ -2730,24 +2760,12 @@ static jboolean 
        jobject obj /* clazz*/,

        jobject correctionsObj) {



    if (gnssCorrectionsIface == nullptr) {

    if (gnssCorrectionsIface_V1_0 == nullptr && gnssCorrectionsIface_V1_1 == nullptr) {

        ALOGW("Trying to inject GNSS measurement corrections on a chipset that does not"

            " support them.");

        return JNI_FALSE;

    }



    jdouble latitudeDegreesCorr = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetLatitudeDegrees);

    jdouble longitudeDegreesCorr = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetLongitudeDegrees);

    jdouble altitudeDegreesCorr = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetAltitudeMeters);

    jdouble horizontalPositionUncertaintyMeters = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetHorPosUncMeters);

    jdouble verticalPositionUncertaintyMeters = env->CallDoubleMethod(

            correctionsObj, method_correctionsGetVerPosUncMeters);

    jlong toaGpsNanosOfWeek = env->CallLongMethod(

        correctionsObj, method_correctionsGetToaGpsNanosecondsOfWeek);

    jobject singleSatCorrectionList = env->CallObjectMethod(correctionsObj,

        method_correctionsGetSingleSatCorrectionList);
@@ -2816,7 +2834,21 @@ static jboolean 
        };

        list[i] = singleSatCorrection;

    }

    MeasurementCorrections measurementCorrections = {



    jdouble latitudeDegreesCorr = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetLatitudeDegrees);

    jdouble longitudeDegreesCorr = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetLongitudeDegrees);

    jdouble altitudeDegreesCorr = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetAltitudeMeters);

    jdouble horizontalPositionUncertaintyMeters = env->CallDoubleMethod(

        correctionsObj, method_correctionsGetHorPosUncMeters);

    jdouble verticalPositionUncertaintyMeters = env->CallDoubleMethod(

            correctionsObj, method_correctionsGetVerPosUncMeters);

    jlong toaGpsNanosOfWeek = env->CallLongMethod(

        correctionsObj, method_correctionsGetToaGpsNanosecondsOfWeek);



    MeasurementCorrections_V1_0 measurementCorrections_1_0 = {

        .latitudeDegrees = latitudeDegreesCorr,

        .longitudeDegrees = longitudeDegreesCorr,

        .altitudeMeters = altitudeDegreesCorr,
@@ -2826,8 +2858,28 @@ static jboolean 
        .satCorrections = list,

    };



    auto result = gnssCorrectionsIface->setCorrections(measurementCorrections);

    return checkHidlReturn(result, "IMeasurementCorrections setCorrections() failed.");

    if (gnssCorrectionsIface_V1_1 != nullptr) {



        jboolean hasEnvironmentBearingCorr = env->CallBooleanMethod(

            correctionsObj, method_correctionsHasEnvironmentBearing);

        jfloat environmentBearingDegreesCorr = env->CallFloatMethod(

            correctionsObj, method_correctionsGetEnvironmentBearingDegrees);

        jfloat environmentBearingUncertaintyDegreesCorr = env->CallFloatMethod(

            correctionsObj, method_correctionsGetEnvironmentBearingUncertaintyDegrees);



        MeasurementCorrections_V1_1 measurementCorrections_1_1 = {

            .v1_0 = measurementCorrections_1_0,

            .hasEnvironmentBearing = static_cast<bool>(hasEnvironmentBearingCorr),

            .environmentBearingDegrees = environmentBearingDegreesCorr,

            .environmentBearingUncertaintyDegrees = environmentBearingUncertaintyDegreesCorr,

        };



        auto result = gnssCorrectionsIface_V1_1->setCorrections_1_1(measurementCorrections_1_1);

        return checkHidlReturn(result, "IMeasurementCorrections 1.1 setCorrections() failed.");

    }



    auto result = gnssCorrectionsIface_V1_0->setCorrections(measurementCorrections_1_0);

    return checkHidlReturn(result, "IMeasurementCorrections 1.0 setCorrections() failed.");

}



static jboolean android_location_GnssNavigationMessageProvider_is_navigation_message_supported(