Merge "Report mock measurements consistent with SvInfo" into main (1cbb4278) · Commits · e / os / android_hardware_interfaces

gnss/common/utils/default/Utils.cpp

+79 −34

Original line number	Diff line number	Diff line
		@@ -147,10 +147,13 @@ GnssDataV2_0 Utils::getMockMeasurementV2_0() {
		return gnssData;
		}

		GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs, const bool enableFullTracking) {
		namespace {
		GnssMeasurement getMockGnssMeasurement(int svid, GnssConstellationType constellationType,
		float cN0DbHz, float basebandCN0DbHz,
		double carrierFrequencyHz, bool enableCorrVecOutputs) {
		aidl::android::hardware::gnss::GnssSignalType signalType = {
		.constellation = GnssConstellationType::GLONASS,
		.carrierFrequencyHz = 1.59975e+09,
		.constellation = constellationType,
		.carrierFrequencyHz = carrierFrequencyHz,
		.codeType = aidl::android::hardware::gnss::GnssSignalType::CODE_TYPE_C,
		};
		GnssMeasurement measurement = {
		@@ -161,23 +164,23 @@ GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs, const bool e
		GnssMeasurement::HAS_SATELLITE_ISB \|
		GnssMeasurement::HAS_SATELLITE_ISB_UNCERTAINTY \|
		GnssMeasurement::HAS_SATELLITE_PVT,
		.svid = 13,
		.svid = svid,
		.signalType = signalType,
		.state = GnssMeasurement::STATE_CODE_LOCK \| GnssMeasurement::STATE_BIT_SYNC \|
		GnssMeasurement::STATE_SUBFRAME_SYNC \| GnssMeasurement::STATE_TOW_DECODED \|
		GnssMeasurement::STATE_GLO_STRING_SYNC \|
		GnssMeasurement::STATE_GLO_TOD_DECODED,
		.receivedSvTimeInNs = 8195997131077,
		.receivedSvTimeUncertaintyInNs = 15,
		.antennaCN0DbHz = 30.0,
		.basebandCN0DbHz = 26.5,
		.agcLevelDb = 2.3,
		.antennaCN0DbHz = cN0DbHz,
		.basebandCN0DbHz = basebandCN0DbHz,
		.pseudorangeRateMps = -484.13739013671875,
		.pseudorangeRateUncertaintyMps = 0.1037999987602233,
		.accumulatedDeltaRangeState = GnssMeasurement::ADR_STATE_VALID,
		.accumulatedDeltaRangeM = 1.52,
		.accumulatedDeltaRangeUncertaintyM = 2.43,
		.multipathIndicator = aidl::android::hardware::gnss::GnssMultipathIndicator::UNKNOWN,
		.state = GnssMeasurement::STATE_CODE_LOCK \| GnssMeasurement::STATE_BIT_SYNC \|
		GnssMeasurement::STATE_SUBFRAME_SYNC \| GnssMeasurement::STATE_TOW_DECODED \|
		GnssMeasurement::STATE_GLO_STRING_SYNC \|
		GnssMeasurement::STATE_GLO_TOD_DECODED,
		.agcLevelDb = 2.3,
		.fullInterSignalBiasNs = 21.5,
		.fullInterSignalBiasUncertaintyNs = 792.0,
		.satelliteInterSignalBiasNs = 233.9,
		@@ -199,16 +202,69 @@ GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs, const bool e
		.satClkDriftMps = 0},
		.ionoDelayMeters = 3.069949602639317e-08,
		.tropoDelayMeters = 3.882265204404031,
		.ephemerisSource =
		SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.timeOfClockSeconds = 12345,
		.issueOfDataClock = 143,
		.timeOfEphemerisSeconds = 9876,
		.issueOfDataEphemeris = 48,
		.ephemerisSource =
		SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		},
		.correlationVectors = {}};

		GnssClock clock = {.gnssClockFlags = GnssClock::HAS_FULL_BIAS \| GnssClock::HAS_BIAS \|
		if (enableCorrVecOutputs) {
		aidl::android::hardware::gnss::CorrelationVector correlationVector1 = {
		.frequencyOffsetMps = 10,
		.samplingWidthM = 30,
		.samplingStartM = 0,
		.magnitude = {0, 5000, 10000, 5000, 0, 0, 3000, 0}};
		aidl::android::hardware::gnss::CorrelationVector correlationVector2 = {
		.frequencyOffsetMps = 20,
		.samplingWidthM = 30,
		.samplingStartM = -10,
		.magnitude = {0, 3000, 5000, 3000, 0, 0, 1000, 0}};
		measurement.correlationVectors = {correlationVector1, correlationVector2};
		measurement.flags \|= GnssMeasurement::HAS_CORRELATION_VECTOR;
		}
		return measurement;
		}
		} // namespace

		GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs, const bool enableFullTracking) {
		std::vector<GnssMeasurement> measurements = {
		// GPS
		getMockGnssMeasurement(3, GnssConstellationType::GPS, 32.5, 27.5, kGpsL1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(5, GnssConstellationType::GPS, 27.0, 22.0, kGpsL1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(17, GnssConstellationType::GPS, 30.5, 25.5, kGpsL5FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(26, GnssConstellationType::GPS, 24.1, 19.1, kGpsL5FreqHz,
		enableCorrVecOutputs),
		// GAL
		getMockGnssMeasurement(2, GnssConstellationType::GALILEO, 33.5, 27.5, kGalE1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(4, GnssConstellationType::GALILEO, 28.0, 22.0, kGalE1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(10, GnssConstellationType::GALILEO, 35.5, 25.5, kGalE1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(29, GnssConstellationType::GALILEO, 34.1, 19.1, kGalE1FreqHz,
		enableCorrVecOutputs),
		// GLO
		getMockGnssMeasurement(5, GnssConstellationType::GLONASS, 20.5, 15.5, kGloG1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(17, GnssConstellationType::GLONASS, 21.5, 16.5, kGloG1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(18, GnssConstellationType::GLONASS, 28.3, 25.3, kGloG1FreqHz,
		enableCorrVecOutputs),
		getMockGnssMeasurement(10, GnssConstellationType::GLONASS, 25.0, 20.0, kGloG1FreqHz,
		enableCorrVecOutputs),
		// IRNSS
		getMockGnssMeasurement(3, GnssConstellationType::IRNSS, 22.0, 19.7, kIrnssL5FreqHz,
		enableCorrVecOutputs),
		};

		GnssClock clock = {
		.gnssClockFlags = GnssClock::HAS_FULL_BIAS \| GnssClock::HAS_BIAS \|
		GnssClock::HAS_BIAS_UNCERTAINTY \| GnssClock::HAS_DRIFT \|
		GnssClock::HAS_DRIFT_UNCERTAINTY,
		.timeNs = 2713545000000,
		@@ -218,7 +274,11 @@ GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs, const bool e
		.driftNsps = -51.757811607455452,
		.driftUncertaintyNsps = 310.64968328491528,
		.hwClockDiscontinuityCount = 1,
		.referenceSignalTypeForIsb = signalType};
		.referenceSignalTypeForIsb = {
		.constellation = GnssConstellationType::GLONASS,
		.carrierFrequencyHz = 1.59975e+09,
		.codeType = aidl::android::hardware::gnss::GnssSignalType::CODE_TYPE_C,
		}};

		ElapsedRealtime timestamp = {
		.flags = ElapsedRealtime::HAS_TIMESTAMP_NS \| ElapsedRealtime::HAS_TIME_UNCERTAINTY_NS,
		@@ -228,21 +288,6 @@ GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs, const bool e
		// or don't set the field.
		.timeUncertaintyNs = 1020400};

		if (enableCorrVecOutputs) {
		aidl::android::hardware::gnss::CorrelationVector correlationVector1 = {
		.frequencyOffsetMps = 10,
		.samplingWidthM = 30,
		.samplingStartM = 0,
		.magnitude = {0, 5000, 10000, 5000, 0, 0, 3000, 0}};
		aidl::android::hardware::gnss::CorrelationVector correlationVector2 = {
		.frequencyOffsetMps = 20,
		.samplingWidthM = 30,
		.samplingStartM = -10,
		.magnitude = {0, 3000, 5000, 3000, 0, 0, 1000, 0}};
		measurement.correlationVectors = {correlationVector1, correlationVector2};
		measurement.flags \|= GnssMeasurement::HAS_CORRELATION_VECTOR;
		}

		GnssAgc gnssAgc1 = {
		.agcLevelDb = 3.5,
		.constellation = GnssConstellationType::GLONASS,
		@@ -255,7 +300,7 @@ GnssData Utils::getMockMeasurement(const bool enableCorrVecOutputs, const bool e
		.carrierFrequencyHz = (int64_t)kGpsL1FreqHz,
		};

		GnssData gnssData = {.measurements = {measurement},
		GnssData gnssData = {.measurements = measurements,
		.clock = clock,
		.elapsedRealtime = timestamp,
		.gnssAgcs = std::vector({gnssAgc1, gnssAgc2}),