142 lines
5.6 KiB
C++
142 lines
5.6 KiB
C++
/*
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* Copyright (C) 2019 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef android_hardware_gnss_common_vts_Utils_H_
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#define android_hardware_gnss_common_vts_Utils_H_
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#include <android/hardware/gnss/1.0/IGnss.h>
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#include <android/hardware/gnss/2.0/IGnss.h>
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#include <android/hardware/gnss/IGnss.h>
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#include <android/hardware/gnss/measurement_corrections/1.0/IMeasurementCorrections.h>
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#include <android/hardware/gnss/measurement_corrections/1.1/IMeasurementCorrections.h>
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#include <android/hardware/gnss/measurement_corrections/BnMeasurementCorrectionsInterface.h>
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#include <gtest/gtest.h>
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#include <type_traits>
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namespace android {
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namespace hardware {
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namespace gnss {
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namespace common {
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struct Utils {
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public:
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static const int64_t kMockTimestamp = 1519930775453L;
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template <class T>
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static void checkLocation(const T& location, bool check_speed, bool check_more_accuracies);
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template <class T>
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static void checkLocationElapsedRealtime(const T& location);
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static void checkElapsedRealtime(
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const android::hardware::gnss::ElapsedRealtime& elapsedRealtime);
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static const android::hardware::gnss::GnssLocation getMockLocation(
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double latitudeDegrees, double longitudeDegrees, double horizontalAccuracyMeters);
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static const measurement_corrections::V1_0::MeasurementCorrections
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getMockMeasurementCorrections();
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static const measurement_corrections::V1_1::MeasurementCorrections
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getMockMeasurementCorrections_1_1();
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static const android::hardware::gnss::measurement_corrections::MeasurementCorrections
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getMockMeasurementCorrections_aidl();
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static V1_0::GnssConstellationType mapConstellationType(
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V2_0::GnssConstellationType constellation);
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static bool isAutomotiveDevice();
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private:
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template <class T>
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static int64_t getLocationTimestampMillis(const T&);
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};
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template <class T>
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void Utils::checkLocation(const T& location, bool check_speed, bool check_more_accuracies) {
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EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_LAT_LONG);
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EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_ALTITUDE);
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if (check_speed) {
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EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_SPEED);
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}
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EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
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// New uncertainties available in O must be provided,
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// at least when paired with modern hardware (2017+)
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if (check_more_accuracies) {
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EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_VERTICAL_ACCURACY);
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if (check_speed) {
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EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_SPEED_ACCURACY);
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if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING) {
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EXPECT_TRUE(location.gnssLocationFlags &
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V1_0::GnssLocationFlags::HAS_BEARING_ACCURACY);
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}
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}
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}
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EXPECT_GE(location.latitudeDegrees, -90.0);
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EXPECT_LE(location.latitudeDegrees, 90.0);
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EXPECT_GE(location.longitudeDegrees, -180.0);
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EXPECT_LE(location.longitudeDegrees, 180.0);
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EXPECT_GE(location.altitudeMeters, -1000.0);
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EXPECT_LE(location.altitudeMeters, 30000.0);
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if (check_speed) {
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EXPECT_GE(location.speedMetersPerSec, 0.0);
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EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary.
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// Non-zero speeds must be reported with an associated bearing
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if (location.speedMetersPerSec > 0.0) {
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EXPECT_TRUE(location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING);
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}
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}
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/*
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* Tolerating some especially high values for accuracy estimate, in case of
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* first fix with especially poor geometry (happens occasionally)
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*/
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EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
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EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
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/*
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* Some devices may define bearing as -180 to +180, others as 0 to 360.
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* Both are okay & understandable.
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*/
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if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING) {
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EXPECT_GE(location.bearingDegrees, -180.0);
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EXPECT_LE(location.bearingDegrees, 360.0);
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}
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if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
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EXPECT_GT(location.verticalAccuracyMeters, 0.0);
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EXPECT_LE(location.verticalAccuracyMeters, 500.0);
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}
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if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_SPEED_ACCURACY) {
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EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
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EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
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}
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if (location.gnssLocationFlags & V1_0::GnssLocationFlags::HAS_BEARING_ACCURACY) {
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EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
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EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
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}
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// Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
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EXPECT_GT(getLocationTimestampMillis(location), 1.48e12);
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checkLocationElapsedRealtime(location);
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}
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} // namespace common
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} // namespace gnss
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} // namespace hardware
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} // namespace android
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#endif // android_hardware_gnss_common_vts_Utils_H_
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