1 /*
2 * Copyright (C) 2019 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #include <Utils.h>
18 #include "gtest/gtest.h"
19
20 namespace android {
21 namespace hardware {
22 namespace gnss {
23 namespace common {
24
25 using V1_0::GnssConstellationType;
26 using V1_0::GnssLocationFlags;
27
checkLocation(const GnssLocation & location,bool check_speed,bool check_more_accuracies)28 void Utils::checkLocation(const GnssLocation& location, bool check_speed,
29 bool check_more_accuracies) {
30 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG);
31 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE);
32 if (check_speed) {
33 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED);
34 }
35 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
36 // New uncertainties available in O must be provided,
37 // at least when paired with modern hardware (2017+)
38 if (check_more_accuracies) {
39 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY);
40 if (check_speed) {
41 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY);
42 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
43 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY);
44 }
45 }
46 }
47 EXPECT_GE(location.latitudeDegrees, -90.0);
48 EXPECT_LE(location.latitudeDegrees, 90.0);
49 EXPECT_GE(location.longitudeDegrees, -180.0);
50 EXPECT_LE(location.longitudeDegrees, 180.0);
51 EXPECT_GE(location.altitudeMeters, -1000.0);
52 EXPECT_LE(location.altitudeMeters, 30000.0);
53 if (check_speed) {
54 EXPECT_GE(location.speedMetersPerSec, 0.0);
55 EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary.
56
57 // Non-zero speeds must be reported with an associated bearing
58 if (location.speedMetersPerSec > 0.0) {
59 EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING);
60 }
61 }
62
63 /*
64 * Tolerating some especially high values for accuracy estimate, in case of
65 * first fix with especially poor geometry (happens occasionally)
66 */
67 EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
68 EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
69
70 /*
71 * Some devices may define bearing as -180 to +180, others as 0 to 360.
72 * Both are okay & understandable.
73 */
74 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
75 EXPECT_GE(location.bearingDegrees, -180.0);
76 EXPECT_LE(location.bearingDegrees, 360.0);
77 }
78 if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
79 EXPECT_GT(location.verticalAccuracyMeters, 0.0);
80 EXPECT_LE(location.verticalAccuracyMeters, 500.0);
81 }
82 if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
83 EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
84 EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
85 }
86 if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
87 EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
88 EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
89 }
90
91 // Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
92 EXPECT_GT(location.timestamp, 1.48e12);
93 }
94
getMockMeasurementCorrections()95 const MeasurementCorrections Utils::getMockMeasurementCorrections() {
96 ReflectingPlane reflectingPlane = {
97 .latitudeDegrees = 37.4220039,
98 .longitudeDegrees = -122.0840991,
99 .altitudeMeters = 250.35,
100 .azimuthDegrees = 203.0,
101 };
102
103 SingleSatCorrection singleSatCorrection1 = {
104 .singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY |
105 GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH |
106 GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC |
107 GnssSingleSatCorrectionFlags::HAS_REFLECTING_PLANE,
108 .constellation = GnssConstellationType::GPS,
109 .svid = 12,
110 .carrierFrequencyHz = 1.59975e+09,
111 .probSatIsLos = 0.50001,
112 .excessPathLengthMeters = 137.4802,
113 .excessPathLengthUncertaintyMeters = 25.5,
114 .reflectingPlane = reflectingPlane,
115 };
116 SingleSatCorrection singleSatCorrection2 = {
117 .singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY |
118 GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH |
119 GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC,
120 .constellation = GnssConstellationType::GPS,
121 .svid = 9,
122 .carrierFrequencyHz = 1.59975e+09,
123 .probSatIsLos = 0.873,
124 .excessPathLengthMeters = 26.294,
125 .excessPathLengthUncertaintyMeters = 10.0,
126 };
127
128 hidl_vec<SingleSatCorrection> singleSatCorrections = {singleSatCorrection1,
129 singleSatCorrection2};
130 MeasurementCorrections mockCorrections = {
131 .latitudeDegrees = 37.4219999,
132 .longitudeDegrees = -122.0840575,
133 .altitudeMeters = 30.60062531,
134 .horizontalPositionUncertaintyMeters = 9.23542,
135 .verticalPositionUncertaintyMeters = 15.02341,
136 .toaGpsNanosecondsOfWeek = 2935633453L,
137 .satCorrections = singleSatCorrections,
138 };
139 return mockCorrections;
140 }
141
142 } // namespace common
143 } // namespace gnss
144 } // namespace hardware
145 } // namespace android
146