Merge "Add more GnssDebug validity tests" into main (53a9a09a) · Commits · e / os / android_hardware_interfaces

gnss/aidl/default/Gnss.cpp

+6 −2

Original line number	Diff line number	Diff line
		@@ -162,12 +162,13 @@ ScopedAStatus Gnss::close() {
		return ScopedAStatus::ok();
		}

		void Gnss::reportLocation(const GnssLocation& location) const {
		void Gnss::reportLocation(const GnssLocation& location) {
		std::unique_lock<std::mutex> lock(mMutex);
		if (sGnssCallback == nullptr) {
		ALOGE("%s: GnssCallback is null.", __func__);
		return;
		}
		mLastLocation = std::make_shared<GnssLocation>(location);
		auto status = sGnssCallback->gnssLocationCb(location);
		if (!status.isOk()) {
		ALOGE("%s: Unable to invoke gnssLocationCb", __func__);
		@@ -359,7 +360,6 @@ ScopedAStatus Gnss::getExtensionGnssNavigationMessage(

		ndk::ScopedAStatus Gnss::getExtensionGnssDebug(std::shared_ptr<IGnssDebug>* iGnssDebug) {
		ALOGD("Gnss::getExtensionGnssDebug");

		*iGnssDebug = SharedRefBase::make<GnssDebug>();
		return ndk::ScopedAStatus::ok();
		}
		@@ -398,4 +398,8 @@ void Gnss::setGnssMeasurementInterval(const long intervalMs) {
		mGnssMeasurementIntervalMs = intervalMs;
		}

		std::shared_ptr<GnssLocation> Gnss::getLastLocation() const {
		return mLastLocation;
		}

		} // namespace aidl::android::hardware::gnss

gnss/aidl/default/Gnss.h

+5 −3

Original line number	Diff line number	Diff line
		@@ -87,18 +87,19 @@ class Gnss : public BnGnss {
		void reportSvStatus() const;
		void setGnssMeasurementEnabled(const bool enabled);
		void setGnssMeasurementInterval(const long intervalMs);
		std::shared_ptr<GnssLocation> getLastLocation() const;
		std::shared_ptr<GnssConfiguration> mGnssConfiguration;
		std::shared_ptr<GnssPowerIndication> mGnssPowerIndication;
		std::shared_ptr<GnssMeasurementInterface> mGnssMeasurementInterface;

		private:
		void reportLocation(const GnssLocation&) const;
		void reportLocation(const GnssLocation&);
		void reportSvStatus(const std::vector<IGnssCallback::GnssSvInfo>& svInfoList) const;
		void reportGnssStatusValue(const IGnssCallback::GnssStatusValue gnssStatusValue) const;
		void reportNmea() const;
		std::vector<IGnssCallback::GnssSvInfo> filterBlocklistedSatellites(
		std::vector<IGnssCallback::GnssSvInfo> gnssSvInfoList) const;
		void reportGnssStatusValue(const IGnssCallback::GnssStatusValue gnssStatusValue) const;
		std::unique_ptr<GnssLocation> getLocationFromHW();
		void reportNmea() const;

		static std::shared_ptr<IGnssCallback> sGnssCallback;

		@@ -109,6 +110,7 @@ class Gnss : public BnGnss {
		std::atomic<bool> mIsNmeaActive;
		std::atomic<bool> mFirstFixReceived;
		std::atomic<bool> mGnssMeasurementEnabled;
		std::shared_ptr<GnssLocation> mLastLocation;
		std::thread mThread;
		::android::hardware::gnss::common::ThreadBlocker mThreadBlocker;

gnss/aidl/default/GnssDebug.cpp

+92 −3

Original line number	Diff line number	Diff line
		@@ -18,10 +18,15 @@

		#include "GnssDebug.h"
		#include <log/log.h>
		#include <utils/SystemClock.h>
		#include "Constants.h"
		#include "Gnss.h"
		#include "MockLocation.h"

		namespace aidl::android::hardware::gnss {

		using ::android::hardware::gnss::common::kMockTimestamp;

		ndk::ScopedAStatus GnssDebug::getDebugData(DebugData* debugData) {
		ALOGD("GnssDebug::getDebugData");

		@@ -36,10 +41,94 @@ ndk::ScopedAStatus GnssDebug::getDebugData(DebugData* debugData) {
		.speedAccuracyMetersPerSecond = 1,
		.bearingAccuracyDegrees = 90,
		.ageSeconds = 0.99};
		TimeDebug timeDebug = {.timeEstimateMs = 1519930775453L,
		TimeDebug timeDebug = {.timeEstimateMs = static_cast<int64_t>(
		kMockTimestamp + ::android::elapsedRealtimeNano() / 1e6),
		.timeUncertaintyNs = 1000,
		.frequencyUncertaintyNsPerSec = 5.0e4};
		std::vector<SatelliteData> satelliteDataArrayDebug = {};
		.frequencyUncertaintyNsPerSec = 800};
		SatelliteData satelliteData1 = {
		.svid = 3,
		.constellation = GnssConstellationType::GPS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData2 = {
		.svid = 5,
		.constellation = GnssConstellationType::GPS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData3 = {
		.svid = 17,
		.constellation = GnssConstellationType::GPS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData4 = {
		.svid = 26,
		.constellation = GnssConstellationType::GPS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData5 = {
		.svid = 5,
		.constellation = GnssConstellationType::GLONASS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData6 = {
		.svid = 17,
		.constellation = GnssConstellationType::GLONASS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData7 = {
		.svid = 18,
		.constellation = GnssConstellationType::GLONASS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData8 = {
		.svid = 10,
		.constellation = GnssConstellationType::GLONASS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		SatelliteData satelliteData9 = {
		.svid = 3,
		.constellation = GnssConstellationType::IRNSS,
		.ephemerisType = SatelliteEphemerisType::EPHEMERIS,
		.ephemerisSource = SatellitePvt::SatelliteEphemerisSource::SERVER_LONG_TERM,
		.ephemerisHealth = SatelliteEphemerisHealth::GOOD,
		.ephemerisAgeSeconds = 12,
		.serverPredictionIsAvailable = true,
		.serverPredictionAgeSeconds = 30};
		std::vector<SatelliteData> satelliteDataArrayDebug = {
		satelliteData1, satelliteData2, satelliteData3, satelliteData4, satelliteData5,
		satelliteData6, satelliteData7, satelliteData8, satelliteData9};
		debugData->position = positionDebug;
		debugData->time = timeDebug;
		debugData->satelliteDataArray = satelliteDataArrayDebug;

gnss/aidl/default/GnssDebug.h

+2 −0

Original line number	Diff line number	Diff line
		@@ -20,6 +20,8 @@

		namespace aidl::android::hardware::gnss {

		class Gnss;

		struct GnssDebug : public BnGnssDebug {
		public:
		ndk::ScopedAStatus getDebugData(DebugData* debugData) override;

gnss/aidl/vts/gnss_hal_test_cases.cpp

+128 −29

Original line number	Diff line number	Diff line
		@@ -1149,40 +1149,139 @@ TEST_P(GnssHalTest, GnssDebugValuesSanityTest) {
		sp<IGnssDebug> iGnssDebug;
		auto status = aidl_gnss_hal_->getExtensionGnssDebug(&iGnssDebug);
		ASSERT_TRUE(status.isOk());

		if (!IsAutomotiveDevice()) {
		if (IsAutomotiveDevice()) {
		return;
		}
		ASSERT_TRUE(iGnssDebug != nullptr);

		IGnssDebug::DebugData data;
		auto status = iGnssDebug->getDebugData(&data);
		ASSERT_TRUE(status.isOk());

		if (data.position.valid) {
		ASSERT_TRUE(data.position.latitudeDegrees >= -90 &&
		data.position.latitudeDegrees <= 90);
		ASSERT_TRUE(data.position.longitudeDegrees >= -180 &&
		data.position.longitudeDegrees <= 180);
		ASSERT_TRUE(data.position.altitudeMeters >= -1000 && // Dead Sea: -414m
		data.position.altitudeMeters <= 20000); // Mount Everest: 8850m
		ASSERT_TRUE(data.position.speedMetersPerSec >= 0 &&
		data.position.speedMetersPerSec <= 600);
		ASSERT_TRUE(data.position.bearingDegrees >= -360 &&
		data.position.bearingDegrees <= 360);
		ASSERT_TRUE(data.position.horizontalAccuracyMeters > 0 &&
		data.position.horizontalAccuracyMeters <= 20000000);
		ASSERT_TRUE(data.position.verticalAccuracyMeters > 0 &&
		data.position.verticalAccuracyMeters <= 20000);
		ASSERT_TRUE(data.position.speedAccuracyMetersPerSecond > 0 &&
		data.position.speedAccuracyMetersPerSecond <= 500);
		ASSERT_TRUE(data.position.bearingAccuracyDegrees > 0 &&
		data.position.bearingAccuracyDegrees <= 180);
		ASSERT_TRUE(data.position.ageSeconds >= 0);
		}
		ASSERT_TRUE(data.time.timeEstimateMs >= 1483228800000); // Jan 01 2017 00:00:00 GMT.
		ASSERT_TRUE(data.time.timeUncertaintyNs > 0);
		ASSERT_TRUE(data.time.frequencyUncertaintyNsPerSec > 0 &&
		data.time.frequencyUncertaintyNsPerSec <= 2.0e5); // 200 ppm
		status = iGnssDebug->getDebugData(&data);
		ASSERT_TRUE(status.isOk());
		Utils::checkPositionDebug(data);

		// Additional GnssDebug tests for AIDL version >= 4 (launched in Android 15(V)+)
		if (aidl_gnss_hal_->getInterfaceVersion() <= 3) {
		return;
		}

		// Start location and check the consistency between SvStatus and DebugData
		aidl_gnss_cb_->location_cbq_.reset();
		aidl_gnss_cb_->sv_info_list_cbq_.reset();
		StartAndCheckLocations(/* count= */ 2);
		int location_called_count = aidl_gnss_cb_->location_cbq_.calledCount();
		ALOGD("Observed %d GnssSvStatus, while awaiting 2 locations (%d received)",
		aidl_gnss_cb_->sv_info_list_cbq_.size(), location_called_count);

		// Wait for up to kNumSvInfoLists events for kTimeoutSeconds for each event.
		int kTimeoutSeconds = 2;
		int kNumSvInfoLists = 4;
		std::list<std::vector<IGnssCallback::GnssSvInfo>> sv_info_lists;
		std::vector<IGnssCallback::GnssSvInfo> last_sv_info_list;

		do {
		EXPECT_GT(aidl_gnss_cb_->sv_info_list_cbq_.retrieve(sv_info_lists, kNumSvInfoLists,
		kTimeoutSeconds),
		0);
		if (!sv_info_lists.empty()) {
		last_sv_info_list = sv_info_lists.back();
		ALOGD("last_sv_info size = %d", (int)last_sv_info_list.size());
		}
		} while (!sv_info_lists.empty() && last_sv_info_list.size() == 0);

		StopAndClearLocations();

		status = iGnssDebug->getDebugData(&data);
		Utils::checkPositionDebug(data);

		// Validate SatelliteEphemerisType, SatelliteEphemerisSource, SatelliteEphemerisHealth
		for (auto sv_info : last_sv_info_list) {
		if ((sv_info.svFlag & static_cast<int>(IGnssCallback::GnssSvFlags::USED_IN_FIX)) == 0) {
		continue;
		}
		ALOGD("Found usedInFix const: %d, svid: %d", static_cast<int>(sv_info.constellation),
		sv_info.svid);
		bool foundDebugData = false;
		for (auto satelliteData : data.satelliteDataArray) {
		if (satelliteData.constellation == sv_info.constellation &&
		satelliteData.svid == sv_info.svid) {
		foundDebugData = true;
		ALOGD("Found GnssDebug data for this sv.");
		EXPECT_TRUE(satelliteData.serverPredictionIsAvailable \|\|
		satelliteData.ephemerisType ==
		IGnssDebug::SatelliteEphemerisType::EPHEMERIS);
		// for satellites with ephType=0, they need ephHealth=0 if used-in-fix
		if (satelliteData.ephemerisType == IGnssDebug::SatelliteEphemerisType::EPHEMERIS) {
		EXPECT_TRUE(satelliteData.ephemerisHealth ==
		IGnssDebug::SatelliteEphemerisHealth::GOOD);
		}
		break;
		}
		}
		// Every Satellite where GnssStatus says it is used-in-fix has a valid ephemeris - i.e. it's
		// it shows either a serverPredAvail: 1, or a ephType=0
		EXPECT_TRUE(foundDebugData);
		}

		bool hasServerPredictionAvailable = false;
		bool hasNoneZeroServerPredictionAgeSeconds = false;
		bool hasNoneDemodEphSource = false;
		for (auto satelliteData : data.satelliteDataArray) {
		// for satellites with serverPredAvail: 1, the serverPredAgeSec: is not 0 for all
		// satellites (at least not on 2 fixes in a row - it could get lucky once)
		if (satelliteData.serverPredictionIsAvailable) {
		hasServerPredictionAvailable = true;
		if (satelliteData.serverPredictionAgeSeconds != 0) {
		hasNoneZeroServerPredictionAgeSeconds = true;
		}
		}
		// for satellites with ephType=0, they need ephSource 0-3
		if (satelliteData.ephemerisType == IGnssDebug::SatelliteEphemerisType::EPHEMERIS) {
		EXPECT_TRUE(satelliteData.ephemerisSource >=
		SatellitePvt::SatelliteEphemerisSource::DEMODULATED &&
		satelliteData.ephemerisSource <=
		SatellitePvt::SatelliteEphemerisSource::OTHER);
		if (satelliteData.ephemerisSource !=
		SatellitePvt::SatelliteEphemerisSource::DEMODULATED) {
		hasNoneDemodEphSource = true;
		}
		}
		}
		if (hasNoneDemodEphSource && hasServerPredictionAvailable) {
		EXPECT_TRUE(hasNoneZeroServerPredictionAgeSeconds);
		}

		/**
		- Gnss Location Data:: should show some valid information, ideally reasonably close (+/-1km) to
		the Location output - at least after the 2nd valid location output (maybe in general, wait
		for 2 good Location outputs before checking this, in case they don't update the assistance
		until after they output the Location)
		*/
		double distanceM =
		Utils::distanceMeters(data.position.latitudeDegrees, data.position.longitudeDegrees,
		aidl_gnss_cb_->last_location_.latitudeDegrees,
		aidl_gnss_cb_->last_location_.longitudeDegrees);
		ALOGD("distance between debug position and last position: %.2lf", distanceM);
		EXPECT_LT(distanceM, 1000.0); // 1km

		/**
		- Gnss Time Data:: timeEstimate should be reasonably close to the current GPS time.
		- Gnss Time Data:: timeUncertaintyNs should always be > 0 and < 5e9 (could be large due
		to solve-for-time type solutions)
		- Gnss Time Data:: frequencyUncertaintyNsPerSec: should always be > 0 and < 1000 (1000 ns/s
		corresponds to roughly a 300 m/s speed error, which should be pretty rare)
		*/
		ALOGD("debug time: %" PRId64 ", position time: %" PRId64, data.time.timeEstimateMs,
		aidl_gnss_cb_->last_location_.timestampMillis);
		// Allowing 5s between the last location time and the current GPS time
		EXPECT_LT(abs(data.time.timeEstimateMs - aidl_gnss_cb_->last_location_.timestampMillis), 5000);

		ALOGD("debug time uncertainty: %f ns", data.time.timeUncertaintyNs);
		EXPECT_GT(data.time.timeUncertaintyNs, 0);
		EXPECT_LT(data.time.timeUncertaintyNs, 5e9);

		ALOGD("debug freq uncertainty: %f ns/s", data.time.frequencyUncertaintyNsPerSec);
		EXPECT_GT(data.time.frequencyUncertaintyNsPerSec, 0);
		EXPECT_LT(data.time.frequencyUncertaintyNsPerSec, 1000);
		}

		/*