Merge changes from topic "gnss" into sc-v2-dev (3870153f) · Commits · e / os / android_hardware_interfaces

gnss/common/utils/default/Android.bp

+1 −0

Original line number	Original line	Diff line number	Diff line
	@@ -39,6 +39,7 @@ cc_library_static {
	"v2_1/GnssMeasurement.cpp",		"v2_1/GnssMeasurement.cpp",
	"v2_1/GnssMeasurementCorrections.cpp",		"v2_1/GnssMeasurementCorrections.cpp",
	"DeviceFileReader.cpp",		"DeviceFileReader.cpp",
			"FixLocationParser.cpp",
	"GnssRawMeasurementParser.cpp",		"GnssRawMeasurementParser.cpp",
	"GnssReplayUtils.cpp",		"GnssReplayUtils.cpp",
	"MockLocation.cpp",		"MockLocation.cpp",

gnss/common/utils/default/DeviceFileReader.cpp

+17 −5

Original line number	Original line	Diff line number	Diff line
	@@ -22,8 +22,17 @@ namespace common {

	void DeviceFileReader::getDataFromDeviceFile(const std::string& command, int mMinIntervalMs) {		void DeviceFileReader::getDataFromDeviceFile(const std::string& command, int mMinIntervalMs) {
	char inputBuffer[INPUT_BUFFER_SIZE];		char inputBuffer[INPUT_BUFFER_SIZE];
	int mGnssFd = open(ReplayUtils::getGnssPath().c_str(),		std::string deviceFilePath = "";
	O_RDWR \| O_NONBLOCK);		if (command == CMD_GET_LOCATION) {
			deviceFilePath = ReplayUtils::getFixedLocationPath();
			} else if (command == CMD_GET_RAWMEASUREMENT) {
			deviceFilePath = ReplayUtils::getGnssPath();
			} else {
			// Invalid command
			return;
			}

			int mGnssFd = open(deviceFilePath.c_str(), O_RDWR \| O_NONBLOCK);

	if (mGnssFd == -1) {		if (mGnssFd == -1) {
	return;		return;
	@@ -68,10 +77,13 @@ void DeviceFileReader::getDataFromDeviceFile(const std::string& command, int mMi
	}		}

	// Cache the injected data.		// Cache the injected data.
			if (command == CMD_GET_LOCATION) {
			// TODO validate data
			data_[CMD_GET_LOCATION] = inputStr;
			} else if (command == CMD_GET_RAWMEASUREMENT) {
	if (ReplayUtils::isGnssRawMeasurement(inputStr)) {		if (ReplayUtils::isGnssRawMeasurement(inputStr)) {
	data_[CMD_GET_RAWMEASUREMENT] = inputStr;		data_[CMD_GET_RAWMEASUREMENT] = inputStr;
	} else if (ReplayUtils::isNMEA(inputStr)) {		}
	data_[CMD_GET_LOCATION] = inputStr;
	}		}
	}		}

gnss/common/utils/default/FixLocationParser.cpp

0 → 100644

+76 −0

Original line number	Original line	Diff line number	Diff line
			/*
			* Copyright (C) 2022 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 "FixLocationParser.h"

			#include <android/hardware/gnss/1.0/IGnss.h>

			namespace android {
			namespace hardware {
			namespace gnss {
			namespace common {

			std::unique_ptr<V2_0::GnssLocation> FixLocationParser::getLocationFromInputStr(
			const std::string& locationStr) {
			/*
			* Fix,Provider,LatitudeDegrees,LongitudeDegrees,AltitudeMeters,SpeedMps,
			* AccuracyMeters,BearingDegrees,UnixTimeMillis,SpeedAccuracyMps,BearingAccuracyDegrees,
			* elapsedRealtimeNanos
			*/
			if (locationStr.empty()) {
			return nullptr;
			}
			std::vector<std::string> locationStrRecords;
			ParseUtils::splitStr(locationStr, LINE_SEPARATOR, locationStrRecords);
			if (locationStrRecords.empty()) {
			return nullptr;
			}

			std::vector<std::string> locationValues;
			ParseUtils::splitStr(locationStrRecords[0], COMMA_SEPARATOR, locationValues);
			if (locationValues.size() < 12) {
			return nullptr;
			}
			V2_0::ElapsedRealtime elapsedRealtime = {
			.flags = V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS \|
			V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS,
			.timestampNs = static_cast<uint64_t>(::android::elapsedRealtimeNano()),
			// This is an hardcoded value indicating a 1ms of uncertainty between the two clocks.
			// In an actual implementation provide an estimate of the synchronization uncertainty
			// or don't set the field.
			.timeUncertaintyNs = 1020400};

			V1_0::GnssLocation locationV1 = {
			.gnssLocationFlags = 0xFF,
			.latitudeDegrees = ParseUtils::tryParseDouble(locationValues[2], 0),
			.longitudeDegrees = ParseUtils::tryParseDouble(locationValues[3], 0),
			.altitudeMeters = ParseUtils::tryParseDouble(locationValues[4], 0),
			.speedMetersPerSec = ParseUtils::tryParsefloat(locationValues[5], 0),
			.bearingDegrees = ParseUtils::tryParsefloat(locationValues[7], 0),
			.horizontalAccuracyMeters = ParseUtils::tryParsefloat(locationValues[6], 0),
			.verticalAccuracyMeters = ParseUtils::tryParsefloat(locationValues[6], 0),
			.speedAccuracyMetersPerSecond = ParseUtils::tryParsefloat(locationValues[9], 0),
			.bearingAccuracyDegrees = ParseUtils::tryParsefloat(locationValues[10], 0),
			.timestamp = ParseUtils::tryParseLongLong(locationValues[8], 0)};

			V2_0::GnssLocation locationV2 = {.v1_0 = locationV1, .elapsedRealtime = elapsedRealtime};
			return std::make_unique<V2_0::GnssLocation>(locationV2);
			}

			} // namespace common
			} // namespace gnss
			} // namespace hardware
			} // namespace android

gnss/common/utils/default/GnssReplayUtils.cpp

+13 −0

Original line number	Original line	Diff line number	Diff line
	@@ -29,11 +29,24 @@ std::string ReplayUtils::getGnssPath() {
	return GNSS_PATH;		return GNSS_PATH;
	}		}

			std::string ReplayUtils::getFixedLocationPath() {
			char devname_value[PROPERTY_VALUE_MAX] = "";
			if (property_get("debug.location.fixedlocation.devname", devname_value, NULL) > 0) {
			return devname_value;
			}
			return FIXED_LOCATION_PATH;
			}

	bool ReplayUtils::hasGnssDeviceFile() {		bool ReplayUtils::hasGnssDeviceFile() {
	struct stat sb;		struct stat sb;
	return stat(getGnssPath().c_str(), &sb) != -1;		return stat(getGnssPath().c_str(), &sb) != -1;
	}		}

			bool ReplayUtils::hasFixedLocationDeviceFile() {
			struct stat sb;
			return stat(getFixedLocationPath().c_str(), &sb) != -1;
			}

	bool ReplayUtils::isGnssRawMeasurement(const std::string& inputStr) {		bool ReplayUtils::isGnssRawMeasurement(const std::string& inputStr) {
	// TODO: add more logic check to by pass invalid data.		// TODO: add more logic check to by pass invalid data.
	return !inputStr.empty() && (inputStr.find("Raw") != std::string::npos);		return !inputStr.empty() && (inputStr.find("Raw") != std::string::npos);

gnss/common/utils/default/include/Constants.h

+1 −0

Original line number	Original line	Diff line number	Diff line
	@@ -36,6 +36,7 @@ const float kIrnssL5FreqHz = 1176.45 * 1e6;

	// Location replay constants		// Location replay constants
	constexpr char GNSS_PATH[] = "/dev/gnss0";		constexpr char GNSS_PATH[] = "/dev/gnss0";
			constexpr char FIXED_LOCATION_PATH[] = "/dev/gnss1";
	constexpr int INPUT_BUFFER_SIZE = 256;		constexpr int INPUT_BUFFER_SIZE = 256;
	constexpr char CMD_GET_LOCATION[] = "CMD_GET_LOCATION";		constexpr char CMD_GET_LOCATION[] = "CMD_GET_LOCATION";
	constexpr char CMD_GET_RAWMEASUREMENT[] = "CMD_GET_RAWMEASUREMENT";		constexpr char CMD_GET_RAWMEASUREMENT[] = "CMD_GET_RAWMEASUREMENT";