rk3588-game
/
android13
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
android13/hardware/interfaces/gnss/1.0/vts/functional/VtsHalGnssV1_0TargetTest.cpp

541 lines
18 KiB
C++
Raw Blame History

/*
* Copyright (C) 2017 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.
*/
#define LOG_TAG "VtsHalGnssV1_0TargetTest"
#include <android/hardware/gnss/1.0/IGnss.h>
#include <gtest/gtest.h>
#include <hidl/GtestPrinter.h>
#include <hidl/ServiceManagement.h>
#include <log/log.h>
#include <chrono>
#include <cmath>
#include <condition_variable>
#include <mutex>
#include <cutils/properties.h>
using android::hardware::Return;
using android::hardware::Void;
using android::hardware::gnss::V1_0::GnssLocation;
using android::hardware::gnss::V1_0::GnssLocationFlags;
using android::hardware::gnss::V1_0::IGnss;
using android::hardware::gnss::V1_0::IGnssCallback;
using android::hardware::gnss::V1_0::IGnssDebug;
using android::hardware::gnss::V1_0::IGnssMeasurement;
using android::sp;
/*
* Since Utils.cpp depends on Gnss Hal 2.0, the tests for Gnss Hal 1.0 will use
* there own version of IsAutomotiveDevice() instead of the common version.
*/
static bool IsAutomotiveDevice() {
char buffer[PROPERTY_VALUE_MAX] = {0};
property_get("ro.hardware.type", buffer, "");
return strncmp(buffer, "automotive", PROPERTY_VALUE_MAX) == 0;
}
#define TIMEOUT_SEC 2 // for basic commands/responses
// for command line argument on how strictly to run the test
bool sAgpsIsPresent = false; // if SUPL or XTRA assistance available
bool sSignalIsWeak = false; // if GNSS signals are weak (e.g. light indoor)
// The main test class for GNSS HAL.
class GnssHalTest : public testing::TestWithParam<std::string> {
public:
virtual void SetUp() override {
// Clean between tests
capabilities_called_count_ = 0;
location_called_count_ = 0;
info_called_count_ = 0;
notify_count_ = 0;
gnss_hal_ = IGnss::getService(GetParam());
ASSERT_NE(gnss_hal_, nullptr);
gnss_cb_ = new GnssCallback(*this);
ASSERT_NE(gnss_cb_, nullptr);
auto result = gnss_hal_->setCallback(gnss_cb_);
if (!result.isOk()) {
ALOGE("result of failed setCallback %s", result.description().c_str());
}
ASSERT_TRUE(result.isOk());
ASSERT_TRUE(result);
/*
* At least one callback should trigger - it may be capabilites, or
* system info first, so wait again if capabilities not received.
*/
EXPECT_EQ(std::cv_status::no_timeout, wait(TIMEOUT_SEC));
if (capabilities_called_count_ == 0) {
EXPECT_EQ(std::cv_status::no_timeout, wait(TIMEOUT_SEC));
}
/*
* Generally should be 1 capabilites callback -
* or possibly 2 in some recovery cases (default cached & refreshed)
*/
EXPECT_GE(capabilities_called_count_, 1);
EXPECT_LE(capabilities_called_count_, 2);
/*
* Clear notify/waiting counter, allowing up till the timeout after
* the last reply for final startup messages to arrive (esp. system
* info.)
*/
while (wait(TIMEOUT_SEC) == std::cv_status::no_timeout) {
}
}
virtual void TearDown() override {
if (gnss_hal_ != nullptr) {
gnss_hal_->cleanup();
}
if (notify_count_ > 0) {
ALOGW("%d unprocessed callbacks discarded", notify_count_);
}
}
/* Used as a mechanism to inform the test that a callback has occurred */
inline void notify() {
std::unique_lock<std::mutex> lock(mtx_);
notify_count_++;
cv_.notify_one();
}
/* Test code calls this function to wait for a callback */
inline std::cv_status wait(int timeoutSeconds) {
std::unique_lock<std::mutex> lock(mtx_);
std::cv_status status = std::cv_status::no_timeout;
auto now = std::chrono::system_clock::now();
while (notify_count_ == 0) {
status = cv_.wait_until(lock, now + std::chrono::seconds(timeoutSeconds));
if (status == std::cv_status::timeout) return status;
}
notify_count_--;
return status;
}
/*
* SetPositionMode:
* Helper function to set positioning mode and verify output
*/
void SetPositionMode(const int min_interval_msec) {
const int kPreferredAccuracy = 0; // Ideally perfect (matches GnssLocationProvider)
const int kPreferredTimeMsec = 0; // Ideally immediate
auto result = gnss_hal_->setPositionMode(
IGnss::GnssPositionMode::MS_BASED, IGnss::GnssPositionRecurrence::RECURRENCE_PERIODIC,
min_interval_msec, kPreferredAccuracy, kPreferredTimeMsec);
ASSERT_TRUE(result.isOk());
EXPECT_TRUE(result);
}
/*
* StartAndGetSingleLocation:
* Helper function to get one Location and check fields
*
* returns true if a location was successfully generated
*/
bool StartAndGetSingleLocation(const bool checkAccuracies, const int min_interval_msec) {
SetPositionMode(min_interval_msec);
auto result = gnss_hal_->start();
EXPECT_TRUE(result.isOk());
EXPECT_TRUE(result);
/*
* GPS signals initially optional for this test, so don't expect fast fix,
* or no timeout, unless signal is present
*/
int firstGnssLocationTimeoutSeconds = sAgpsIsPresent ? 15 : 45;
if (sSignalIsWeak) {
// allow more time for weak signals
firstGnssLocationTimeoutSeconds += 30;
}
wait(firstGnssLocationTimeoutSeconds);
if (sAgpsIsPresent) {
EXPECT_EQ(location_called_count_, 1);
}
if (location_called_count_ > 0) {
// don't require speed on first fix
CheckLocation(last_location_, checkAccuracies, false);
return true;
}
return false;
}
/*
* StopAndClearLocations:
* Helper function to stop locations
*
* returns true if a location was successfully generated
*/
void StopAndClearLocations() {
auto result = gnss_hal_->stop();
EXPECT_TRUE(result.isOk());
EXPECT_TRUE(result);
/*
* Clear notify/waiting counter, allowing up till the timeout after
* the last reply for final startup messages to arrive (esp. system
* info.)
*/
while (wait(TIMEOUT_SEC) == std::cv_status::no_timeout) {
}
}
/*
* CheckLocation:
* Helper function to vet Location fields
*/
void CheckLocation(GnssLocation& location, bool checkAccuracies, bool checkSpeed) {
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG);
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE);
if (checkSpeed) {
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED);
}
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
// New uncertainties available in O must be provided,
// at least when paired with modern hardware (2017+)
if (checkAccuracies) {
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY);
if (checkSpeed) {
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY);
if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY);
}
}
}
EXPECT_GE(location.latitudeDegrees, -90.0);
EXPECT_LE(location.latitudeDegrees, 90.0);
EXPECT_GE(location.longitudeDegrees, -180.0);
EXPECT_LE(location.longitudeDegrees, 180.0);
EXPECT_GE(location.altitudeMeters, -1000.0);
EXPECT_LE(location.altitudeMeters, 30000.0);
if (checkSpeed) {
EXPECT_GE(location.speedMetersPerSec, 0.0);
EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary.
// Non-zero speeds must be reported with an associated bearing
if (location.speedMetersPerSec > 0.0) {
EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING);
}
}
/*
* Tolerating some especially high values for accuracy estimate, in case of
* first fix with especially poor geometry (happens occasionally)
*/
EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
/*
* Some devices may define bearing as -180 to +180, others as 0 to 360.
* Both are okay & understandable.
*/
if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
EXPECT_GE(location.bearingDegrees, -180.0);
EXPECT_LE(location.bearingDegrees, 360.0);
}
if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
EXPECT_GT(location.verticalAccuracyMeters, 0.0);
EXPECT_LE(location.verticalAccuracyMeters, 500.0);
}
if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
}
if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
}
// Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
EXPECT_GT(location.timestamp, 1.48e12);
}
/* Callback class for data & Event. */
class GnssCallback : public IGnssCallback {
public:
GnssHalTest& parent_;
GnssCallback(GnssHalTest& parent) : parent_(parent){};
virtual ~GnssCallback() = default;
// Dummy callback handlers
Return<void> gnssStatusCb(
const IGnssCallback::GnssStatusValue /* status */) override {
return Void();
}
Return<void> gnssSvStatusCb(
const IGnssCallback::GnssSvStatus& /* svStatus */) override {
return Void();
}
Return<void> gnssNmeaCb(
int64_t /* timestamp */,
const android::hardware::hidl_string& /* nmea */) override {
return Void();
}
Return<void> gnssAcquireWakelockCb() override { return Void(); }
Return<void> gnssReleaseWakelockCb() override { return Void(); }
Return<void> gnssRequestTimeCb() override { return Void(); }
// Actual (test) callback handlers
Return<void> gnssLocationCb(const GnssLocation& location) override {
ALOGI("Location received");
parent_.location_called_count_++;
parent_.last_location_ = location;
parent_.notify();
return Void();
}
Return<void> gnssSetCapabilitesCb(uint32_t capabilities) override {
ALOGI("Capabilities received %d", capabilities);
parent_.capabilities_called_count_++;
parent_.last_capabilities_ = capabilities;
parent_.notify();
return Void();
}
Return<void> gnssSetSystemInfoCb(
const IGnssCallback::GnssSystemInfo& info) override {
ALOGI("Info received, year %d", info.yearOfHw);
parent_.info_called_count_++;
parent_.last_info_ = info;
parent_.notify();
return Void();
}
};
sp<IGnss> gnss_hal_; // GNSS HAL to call into
sp<IGnssCallback> gnss_cb_; // Primary callback interface
/* Count of calls to set the following items, and the latest item (used by
* test.)
*/
int capabilities_called_count_;
uint32_t last_capabilities_;
int location_called_count_;
GnssLocation last_location_;
int info_called_count_;
IGnssCallback::GnssSystemInfo last_info_;
private:
std::mutex mtx_;
std::condition_variable cv_;
int notify_count_;
};
/*
* SetCallbackCapabilitiesCleanup:
* Sets up the callback, awaits the capabilities, and calls cleanup
*
* Since this is just the basic operation of SetUp() and TearDown(),
* the function definition is intentionally empty
*/
TEST_P(GnssHalTest, SetCallbackCapabilitiesCleanup) {}
/*
* GetLocation:
* Turns on location, waits 45 second for at least 5 locations,
* and checks them for reasonable validity.
*/
TEST_P(GnssHalTest, GetLocation) {
const int kMinIntervalMsec = 500;
const int kLocationTimeoutSubsequentSec = 3;
const int kLocationsToCheck = 5;
bool checkMoreAccuracies = (info_called_count_ > 0 && last_info_.yearOfHw >= 2017);
/*
* GPS signals initially optional for this test, so don't expect timeout yet.
*/
bool gotLocation = StartAndGetSingleLocation(checkMoreAccuracies, kMinIntervalMsec);
if (gotLocation) {
for (int i = 1; i < kLocationsToCheck; i++) {
EXPECT_EQ(std::cv_status::no_timeout, wait(kLocationTimeoutSubsequentSec));
EXPECT_EQ(location_called_count_, i + 1);
CheckLocation(last_location_, checkMoreAccuracies, true);
}
}
StopAndClearLocations();
}
/*
* InjectDelete:
* Ensures that calls to inject and/or delete information state are handled.
*/
TEST_P(GnssHalTest, InjectDelete) {
// confidently, well north of Alaska
auto result = gnss_hal_->injectLocation(80.0, -170.0, 1000.0);
ASSERT_TRUE(result.isOk());
EXPECT_TRUE(result);
// fake time, but generally reasonable values (time in Aug. 2018)
result = gnss_hal_->injectTime(1534567890123L, 123456L, 10000L);
ASSERT_TRUE(result.isOk());
EXPECT_TRUE(result);
auto resultVoid = gnss_hal_->deleteAidingData(IGnss::GnssAidingData::DELETE_POSITION);
ASSERT_TRUE(resultVoid.isOk());
resultVoid = gnss_hal_->deleteAidingData(IGnss::GnssAidingData::DELETE_TIME);
ASSERT_TRUE(resultVoid.isOk());
// Ensure we can get a good location after a bad injection has been deleted
StartAndGetSingleLocation(false, /* min_interval_sec= */ 1000);
StopAndClearLocations();
}
/*
* InjectSeedLocation:
* Injects a seed location and ensures the injected seed location is not fused in the resulting
* GNSS location.
*/
TEST_P(GnssHalTest, InjectSeedLocation) {
// An arbitrary position in North Pacific Ocean (where no VTS labs will ever likely be located).
const double seedLatDegrees = 32.312894;
const double seedLngDegrees = -172.954117;
const float seedAccuracyMeters = 150.0;
auto result = gnss_hal_->injectLocation(seedLatDegrees, seedLngDegrees, seedAccuracyMeters);
ASSERT_TRUE(result.isOk());
EXPECT_TRUE(result);
StartAndGetSingleLocation(false, /* min_interval_msec= */ 1000);
// Ensure we don't get a location anywhere within 111km (1 degree of lat or lng) of the seed
// location.
EXPECT_TRUE(std::abs(last_location_.latitudeDegrees - seedLatDegrees) > 1.0 ||
std::abs(last_location_.longitudeDegrees - seedLngDegrees) > 1.0);
StopAndClearLocations();
auto resultVoid = gnss_hal_->deleteAidingData(IGnss::GnssAidingData::DELETE_POSITION);
ASSERT_TRUE(resultVoid.isOk());
}
/*
* GetAllExtentions:
* Tries getting all optional extensions, and ensures a valid return
* null or actual extension, no crash.
* Confirms year-based required extensions (Measurement & Debug) are present
*/
TEST_P(GnssHalTest, GetAllExtensions) {
// Basic call-is-handled checks
auto gnssXtra = gnss_hal_->getExtensionXtra();
ASSERT_TRUE(gnssXtra.isOk());
auto gnssRil = gnss_hal_->getExtensionAGnssRil();
ASSERT_TRUE(gnssRil.isOk());
auto gnssAgnss = gnss_hal_->getExtensionAGnss();
ASSERT_TRUE(gnssAgnss.isOk());
auto gnssNi = gnss_hal_->getExtensionGnssNi();
ASSERT_TRUE(gnssNi.isOk());
auto gnssNavigationMessage = gnss_hal_->getExtensionGnssNavigationMessage();
ASSERT_TRUE(gnssNavigationMessage.isOk());
auto gnssConfiguration = gnss_hal_->getExtensionGnssConfiguration();
ASSERT_TRUE(gnssConfiguration.isOk());
auto gnssGeofencing = gnss_hal_->getExtensionGnssGeofencing();
ASSERT_TRUE(gnssGeofencing.isOk());
auto gnssBatching = gnss_hal_->getExtensionGnssBatching();
ASSERT_TRUE(gnssBatching.isOk());
// Verifying, in some cases, that these return actual extensions
auto gnssMeasurement = gnss_hal_->getExtensionGnssMeasurement();
ASSERT_TRUE(gnssMeasurement.isOk());
if (last_capabilities_ & IGnssCallback::Capabilities::MEASUREMENTS) {
sp<IGnssMeasurement> iGnssMeas = gnssMeasurement;
EXPECT_NE(iGnssMeas, nullptr);
}
auto gnssDebug = gnss_hal_->getExtensionGnssDebug();
ASSERT_TRUE(gnssDebug.isOk());
if (!IsAutomotiveDevice() && info_called_count_ > 0 && last_info_.yearOfHw >= 2017) {
sp<IGnssDebug> iGnssDebug = gnssDebug;
EXPECT_NE(iGnssDebug, nullptr);
}
}
/*
* MeasurementCapabilities:
* Verifies that modern hardware supports measurement capabilities.
*/
TEST_P(GnssHalTest, MeasurementCapabilites) {
if (!IsAutomotiveDevice() && info_called_count_ > 0 && last_info_.yearOfHw >= 2016) {
EXPECT_TRUE(last_capabilities_ & IGnssCallback::Capabilities::MEASUREMENTS);
}
}
/*
* SchedulingCapabilities:
* Verifies that 2018+ hardware supports Scheduling capabilities.
*/
TEST_P(GnssHalTest, SchedulingCapabilities) {
if (info_called_count_ > 0 && last_info_.yearOfHw >= 2018) {
EXPECT_TRUE(last_capabilities_ & IGnssCallback::Capabilities::SCHEDULING);
}
}
GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(GnssHalTest);
INSTANTIATE_TEST_SUITE_P(
PerInstance, GnssHalTest,
testing::ValuesIn(android::hardware::getAllHalInstanceNames(IGnss::descriptor)),
android::hardware::PrintInstanceNameToString);
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
/*
* These arguments not used by automated VTS testing.
* Only for use in manual testing, when wanting to run
* stronger tests that require the presence of GPS signal.
*/
for (int i = 1; i < argc; i++) {
if (strcmp(argv[i], "-agps") == 0) {
sAgpsIsPresent = true;
} else if (strcmp(argv[i], "-weak") == 0) {
sSignalIsWeak = true;
}
}
return RUN_ALL_TESTS();
}
Reference in New Issue View Git Blame Copy Permalink