Backport LocCharacterization. (d448cb63) · Commits · e / os / android_hardware_interfaces

automotive/vehicle/2.0/default/impl/vhal_v2_0/BackportedPropertyHelper.h

0 → 100644

+106 −0

Original line number	Original line	Diff line number	Diff line
			/*
			* Copyright (C) 2023 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.
			*/

			// This file contains backported system property definitions and backported enums.

			#pragma once

			namespace android {
			namespace hardware {
			namespace automotive {
			namespace vehicle {
			namespace V2_0 {
			namespace backportedproperty {

			/**
			* Characterization of inputs used for computing location.
			*
			* This property must indicate what (if any) data and sensor inputs are considered by the system
			* when computing the vehicle's location that is shared with Android through the GNSS HAL.
			*
			* The value must return a collection of bit flags. The bit flags are defined in
			* LocationCharacterization. The value must also include exactly one of DEAD_RECKONED or
			* RAW_GNSS_ONLY among its collection of bit flags.
			*
			* When this property is not supported, it is assumed that no additional sensor inputs are fused
			* into the GNSS updates provided through the GNSS HAL. That is unless otherwise specified
			* through the GNSS HAL interfaces.
			*
			* @change_mode VehiclePropertyChangeMode.STATIC
			* @access VehiclePropertyAccess.READ
			*/
			constexpr int32_t LOCATION_CHARACTERIZATION = 0x31400C10;

			/**
			* Used by LOCATION_CHARACTERIZATION to enumerate the supported bit flags.
			*
			* These flags are used to indicate to what transformations are performed on the
			* GNSS data before the location data is sent, so that location processing
			* algorithms can take into account prior fusion.
			*
			* This enum can be extended in future releases to include additional bit flags.
			*/
			enum class LocationCharacterization : int32_t {
			/**
			* Prior location samples have been used to refine the raw GNSS data (e.g. a
			* Kalman Filter).
			*/
			PRIOR_LOCATIONS = 0x1,
			/**
			* Gyroscope data has been used to refine the raw GNSS data.
			*/
			GYROSCOPE_FUSION = 0x2,
			/**
			* Accelerometer data has been used to refine the raw GNSS data.
			*/
			ACCELEROMETER_FUSION = 0x4,
			/**
			* Compass data has been used to refine the raw GNSS data.
			*/
			COMPASS_FUSION = 0x8,
			/**
			* Wheel speed has been used to refine the raw GNSS data.
			*/
			WHEEL_SPEED_FUSION = 0x10,
			/**
			* Steering angle has been used to refine the raw GNSS data.
			*/
			STEERING_ANGLE_FUSION = 0x20,
			/**
			* Car speed has been used to refine the raw GNSS data.
			*/
			CAR_SPEED_FUSION = 0x40,
			/**
			* Some effort is made to dead-reckon location. In particular, this means that
			* relative changes in location have meaning when no GNSS satellite is
			* available.
			*/
			DEAD_RECKONED = 0x80,
			/**
			* Location is based on GNSS satellite signals without sufficient fusion of
			* other sensors for complete dead reckoning. This flag should be set when
			* relative changes to location cannot be relied on when no GNSS satellite is
			* available.
			*/
			RAW_GNSS_ONLY = 0x100,
			};

			} // namespace backportedproperty
			} // namespace V2_0
			} // namespace vehicle
			} // namespace automotive
			} // namespace hardware
			} // namespace android

automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h

+142 −24

Original line number	Original line	Diff line number	Diff line
	@@ -17,6 +17,7 @@
	#ifndef android_hardware_automotive_vehicle_V2_0_impl_DefaultConfig_H_		#ifndef android_hardware_automotive_vehicle_V2_0_impl_DefaultConfig_H_
	#define android_hardware_automotive_vehicle_V2_0_impl_DefaultConfig_H_		#define android_hardware_automotive_vehicle_V2_0_impl_DefaultConfig_H_

			#include "BackportedPropertyHelper.h"
	#include "PropertyUtils.h"		#include "PropertyUtils.h"

	#include <map>		#include <map>
	@@ -29,6 +30,9 @@ namespace V2_0 {

	namespace impl {		namespace impl {

			using ::android::hardware::automotive::vehicle::V2_0::backportedproperty::LOCATION_CHARACTERIZATION;
			using ::android::hardware::automotive::vehicle::V2_0::backportedproperty::LocationCharacterization;

	struct ConfigDeclaration {		struct ConfigDeclaration {
	VehiclePropConfig config;		VehiclePropConfig config;

	@@ -938,7 +942,10 @@ const ConfigDeclaration kVehicleProperties[]{
	(int)VehicleVendorPermission::PERMISSION_NOT_ACCESSIBLE,		(int)VehicleVendorPermission::PERMISSION_NOT_ACCESSIBLE,
	VENDOR_EXTENSION_FLOAT_PROPERTY,		VENDOR_EXTENSION_FLOAT_PROPERTY,
	(int)VehicleVendorPermission::PERMISSION_DEFAULT,		(int)VehicleVendorPermission::PERMISSION_DEFAULT,
	(int)VehicleVendorPermission::PERMISSION_DEFAULT},		(int)VehicleVendorPermission::PERMISSION_DEFAULT,
			LOCATION_CHARACTERIZATION,
			(int)VehicleVendorPermission::PERMISSION_GET_VENDOR_CATEGORY_INFO,
			(int)VehicleVendorPermission::PERMISSION_NOT_ACCESSIBLE},
	},		},
	.initialValue = {.int32Values = {1}}},		.initialValue = {.int32Values = {1}}},

	@@ -1131,6 +1138,15 @@ const ConfigDeclaration kVehicleProperties[]{
	// GsrComplianceRequirementType::GSR_COMPLIANCE_REQUIRED_V1		// GsrComplianceRequirementType::GSR_COMPLIANCE_REQUIRED_V1
	.initialValue = {.int32Values = {1}},		.initialValue = {.int32Values = {1}},
	},		},
			{
			.config =
			{
			.prop = LOCATION_CHARACTERIZATION,
			.access = VehiclePropertyAccess::READ,
			.changeMode = VehiclePropertyChangeMode::STATIC,
			},
			.initialValue = {.int32Values = {toInt(LocationCharacterization::RAW_GNSS_ONLY)}},
			},
	#ifdef ENABLE_VENDOR_CLUSTER_PROPERTY_FOR_TESTING		#ifdef ENABLE_VENDOR_CLUSTER_PROPERTY_FOR_TESTING
	// Vendor propetry for E2E ClusterHomeService testing.		// Vendor propetry for E2E ClusterHomeService testing.
	{		{
	@@ -1195,29 +1211,131 @@ const ConfigDeclaration kVehicleProperties[]{
	},		},
	// All supported property IDs. This list is checked by		// All supported property IDs. This list is checked by
	// DefaultConfigSupportedPropertyIds_test.		// DefaultConfigSupportedPropertyIds_test.
	.initialValue =		.initialValue = {.int32Values = {291504388,
	{.int32Values =		289472773,
	{291504388, 289472773, 291504390, 289472775, 289407240, 289407241,		291504390,
	289472780, 286261505, 286261506, 289407235, 289472779, 291504647,		289472775,
	289408517, 356518832, 356516106, 291504644, 291504649, 291504656,		289407240,
	291504901, 291504903, 287310600, 291504905, 287310602, 287310603,		289407241,
	291504908, 291504904, 392168201, 392168202, 289408514, 289408001,		289472780,
	287310850, 287310851, 287310853, 289408513, 289475088, 289475104,		286261505,
	289475120, 354419984, 320865540, 320865556, 354419975, 354419976,		286261506,
	354419986, 354419973, 354419974, 354419978, 354419977, 356517120,		289407235,
	356517121, 356582673, 356517139, 289408269, 356517131, 358614275,		289472779,
	291570965, 291505923, 289408270, 289408512, 287310855, 289408000,		291504647,
	289408008, 289408009, 289407747, 291504900, 568332561, 371198722,		289408517,
	373295872, 320867268, 322964416, 290521862, 287310858, 287310859,		356518832,
	289475072, 289475073, 289409539, 299896064, 299896065, 299896066,		356516106,
	299896067, 289410560, 289410561, 289410562, 289410563, 289410576,		291504644,
	289410577, 289410578, 289410579, 289476368, 299895808, 639631617,		291504649,
	627048706, 591397123, 554696964, 289410873, 289410874, 287313669,		291504656,
	299896583, 299896584, 299896585, 299896586, 299896587, 286265121,		291504901,
	286265122, 286265123, 290457094, 290459441, 299896626, 290459443,		291504903,
	289410868, 289476405, 299896630, 289410871, 292556600, 557853201,		287310600,
	559950353, 555756049, 554707473, 289410887, 557846324, 557911861,		291504905,
	568332086, 557846327, 560992056, 289476424}},		287310602,
			287310603,
			291504908,
			291504904,
			392168201,
			392168202,
			289408514,
			289408001,
			287310850,
			287310851,
			287310853,
			289408513,
			289475088,
			289475104,
			289475120,
			354419984,
			320865540,
			320865556,
			354419975,
			354419976,
			354419986,
			354419973,
			354419974,
			354419978,
			354419977,
			356517120,
			356517121,
			356582673,
			356517139,
			289408269,
			356517131,
			358614275,
			291570965,
			291505923,
			289408270,
			289408512,
			287310855,
			289408000,
			289408008,
			289408009,
			289407747,
			291504900,
			568332561,
			371198722,
			373295872,
			320867268,
			322964416,
			290521862,
			287310858,
			287310859,
			289475072,
			289475073,
			289409539,
			299896064,
			299896065,
			299896066,
			299896067,
			289410560,
			289410561,
			289410562,
			289410563,
			289410576,
			289410577,
			289410578,
			289410579,
			289476368,
			299895808,
			639631617,
			627048706,
			591397123,
			554696964,
			289410873,
			289410874,
			287313669,
			299896583,
			299896584,
			299896585,
			299896586,
			299896587,
			286265121,
			286265122,
			286265123,
			290457094,
			290459441,
			299896626,
			290459443,
			289410868,
			289476405,
			299896630,
			289410871,
			292556600,
			557853201,
			559950353,
			555756049,
			554707473,
			289410887,
			557846324,
			557911861,
			568332086,
			557846327,
			560992056,
			289476424,
			LOCATION_CHARACTERIZATION}},
	},		},
	#endif // ENABLE_GET_PROP_CONFIGS_BY_MULTIPLE_REQUESTS		#endif // ENABLE_GET_PROP_CONFIGS_BY_MULTIPLE_REQUESTS
	};		};