/* * Copyright (c) 2021, The Linux Foundation. All rights reserved. * Not a Contribution */ /* * Copyright (C) 2020 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. */ /* Changes from Qualcomm Innovation Center are provided under the following license: Copyright (c) 2022 Qualcomm Innovation Center, Inc. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted (subject to the limitations in the disclaimer below) provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Qualcomm Innovation Center, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #define LOG_TAG "GnssMeasurementInterfaceAidl" #include #include "GnssMeasurementInterface.h" #include #include #include #include using aidl::android::hardware::gnss::ElapsedRealtime; using aidl::android::hardware::gnss::GnssClock; using aidl::android::hardware::gnss::GnssData; using aidl::android::hardware::gnss::GnssMeasurement; using aidl::android::hardware::gnss::GnssSignalType; using aidl::android::hardware::gnss::GnssConstellationType; using aidl::android::hardware::gnss::GnssMultipathIndicator; namespace android { namespace hardware { namespace gnss { namespace aidl { namespace implementation { GnssMeasurementInterface::GnssMeasurementInterface() : mDeathRecipient(AIBinder_DeathRecipient_new(GnssMeasurementInterface::gnssMeasurementDied)), mTracking(false) { } ::ndk::ScopedAStatus GnssMeasurementInterface::setCallback( const std::shared_ptr& in_callback, bool in_enableFullTracking, bool in_enableCorrVecOutputs) { LOC_LOGd("setCallback: enableFullTracking: %d enableCorrVecOutputs: %d", (int)in_enableFullTracking, (int)in_enableCorrVecOutputs); std::unique_lock lock(mMutex); if (nullptr == in_callback) { LOC_LOGe("callback is nullptr"); return ndk::ScopedAStatus::fromExceptionCode(STATUS_INVALID_OPERATION); } AIBinder_linkToDeath(in_callback->asBinder().get(), mDeathRecipient, this); mGnssMeasurementCbIface = in_callback; lock.unlock(); startTracking(in_enableFullTracking ? GNSS_POWER_MODE_M1 : GNSS_POWER_MODE_M2); return ndk::ScopedAStatus::ok(); } ::ndk::ScopedAStatus GnssMeasurementInterface::close() { LOC_LOGd("()"); if (nullptr != mGnssMeasurementCbIface) { AIBinder_unlinkToDeath(mGnssMeasurementCbIface->asBinder().get(), mDeathRecipient, this); mGnssMeasurementCbIface = nullptr; } std::unique_lock lock(mMutex); mTracking = false; lock.unlock(); locAPIStopTracking(); // Clear measurement callback LocationCallbacks locationCallbacks; memset(&locationCallbacks, 0, sizeof(LocationCallbacks)); locationCallbacks.size = sizeof(LocationCallbacks); locAPISetCallbacks(locationCallbacks); return ndk::ScopedAStatus::ok(); } void GnssMeasurementInterface::onGnssMeasurementsCb( GnssMeasurementsNotification gnssMeasurementsNotification) { std::unique_lock lock(mMutex); LOC_LOGd("(count: %u active: %d)", gnssMeasurementsNotification.count, mTracking); if (mTracking) { auto gnssMeasurementCbIface = mGnssMeasurementCbIface; if (gnssMeasurementCbIface != nullptr) { GnssData gnssData = {}; convertGnssData(gnssMeasurementsNotification, gnssData); printGnssData(gnssData); lock.unlock(); gnssMeasurementCbIface->gnssMeasurementCb(gnssData); } } } void GnssMeasurementInterface::gnssMeasurementDied(void* cookie) { LOC_LOGe("IGnssMeasurementCallback service died"); GnssMeasurementInterface* iface = static_cast(cookie); //clean up, i.e. iface->close(); if (iface != nullptr) { iface->close(); } } void GnssMeasurementInterface::startTracking( GnssPowerMode powerMode, uint32_t timeBetweenMeasurement) { LocationCallbacks locationCallbacks; memset(&locationCallbacks, 0, sizeof(LocationCallbacks)); locationCallbacks.size = sizeof(LocationCallbacks); locationCallbacks.trackingCb = nullptr; locationCallbacks.batchingCb = nullptr; locationCallbacks.geofenceBreachCb = nullptr; locationCallbacks.geofenceStatusCb = nullptr; locationCallbacks.gnssLocationInfoCb = nullptr; locationCallbacks.gnssNiCb = nullptr; locationCallbacks.gnssSvCb = nullptr; locationCallbacks.gnssNmeaCb = nullptr; locationCallbacks.gnssMeasurementsCb = nullptr; if (nullptr != mGnssMeasurementCbIface) { locationCallbacks.gnssMeasurementsCb = [this](GnssMeasurementsNotification gnssMeasurementsNotification) { onGnssMeasurementsCb(gnssMeasurementsNotification); }; } locAPISetCallbacks(locationCallbacks); TrackingOptions options = {}; memset(&options, 0, sizeof(TrackingOptions)); options.size = sizeof(TrackingOptions); options.minInterval = 1000; options.mode = GNSS_SUPL_MODE_STANDALONE; if (GNSS_POWER_MODE_INVALID != powerMode) { options.powerMode = powerMode; options.tbm = timeBetweenMeasurement; } std::unique_lock lock(mMutex); mTracking = true; lock.unlock(); LOC_LOGd("start tracking session"); locAPIStartTracking(options); } void GnssMeasurementInterface::convertGnssData(GnssMeasurementsNotification& in, GnssData& out) { out.measurements.resize(in.count); for (size_t i = 0; i < in.count; i++) { out.measurements[i].flags = 0; convertGnssMeasurement(in.measurements[i], out.measurements[i]); } convertGnssClock(in.clock, out.clock); convertElapsedRealtimeNanos(in, out.elapsedRealtime); } void GnssMeasurementInterface::convertGnssMeasurement( GnssMeasurementsData& in, GnssMeasurement& out) { // flags convertGnssFlags(in, out); // svid convertGnssSvId(in, out.svid); // signalType convertGnssSignalType(in, out.signalType); // timeOffsetNs out.timeOffsetNs = in.timeOffsetNs; // state convertGnssState(in, out); // receivedSvTimeInNs out.receivedSvTimeInNs = in.receivedSvTimeNs; // receivedSvTimeUncertaintyInNs out.receivedSvTimeUncertaintyInNs = in.receivedSvTimeUncertaintyNs; // antennaCN0DbHz out.antennaCN0DbHz = in.carrierToNoiseDbHz; // basebandCN0DbHz out.basebandCN0DbHz = in.basebandCarrierToNoiseDbHz; // pseudorangeRateMps out.pseudorangeRateMps = in.pseudorangeRateMps; // pseudorangeRateUncertaintyMps out.pseudorangeRateUncertaintyMps = in.pseudorangeRateUncertaintyMps; // accumulatedDeltaRangeState convertGnssAccumulatedDeltaRangeState(in, out); // accumulatedDeltaRangeM out.accumulatedDeltaRangeM = in.adrMeters; // accumulatedDeltaRangeUncertaintyM out.accumulatedDeltaRangeUncertaintyM = in.adrUncertaintyMeters; // carrierCycles out.carrierCycles = in.carrierCycles; // carrierPhase out.carrierPhase = in.carrierPhase; // carrierPhaseUncertainty out.carrierPhaseUncertainty = in.carrierPhaseUncertainty; // multipathIndicator convertGnssMultipathIndicator(in, out); // snrDb out.snrDb = in.signalToNoiseRatioDb; // agcLevelDb out.agcLevelDb = in.agcLevelDb; // fullInterSignalBiasNs out.fullInterSignalBiasNs = in.fullInterSignalBiasNs; // fullInterSignalBiasUncertaintyNs out.fullInterSignalBiasUncertaintyNs = in.fullInterSignalBiasUncertaintyNs; // satelliteInterSignalBiasNs out.satelliteInterSignalBiasNs = in.satelliteInterSignalBiasNs; // satelliteInterSignalBiasUncertaintyNs out.satelliteInterSignalBiasUncertaintyNs = in.satelliteInterSignalBiasUncertaintyNs; // satellitePvt convertGnssSatellitePvt(in, out); // correlationVectors /* This is not supported, the corresponding flag is not set */ } void GnssMeasurementInterface::convertGnssFlags(GnssMeasurementsData& in, GnssMeasurement& out) { if (in.flags & GNSS_MEASUREMENTS_DATA_SIGNAL_TO_NOISE_RATIO_BIT) out.flags |= out.HAS_SNR; if (in.flags & GNSS_MEASUREMENTS_DATA_CARRIER_FREQUENCY_BIT) out.flags |= out.HAS_CARRIER_FREQUENCY; if (in.flags & GNSS_MEASUREMENTS_DATA_CARRIER_CYCLES_BIT) out.flags |= out.HAS_CARRIER_CYCLES; if (in.flags & GNSS_MEASUREMENTS_DATA_CARRIER_PHASE_BIT) out.flags |= out.HAS_CARRIER_PHASE; if (in.flags & GNSS_MEASUREMENTS_DATA_CARRIER_PHASE_UNCERTAINTY_BIT) out.flags |= out.HAS_CARRIER_PHASE_UNCERTAINTY; if (in.flags & GNSS_MEASUREMENTS_DATA_AUTOMATIC_GAIN_CONTROL_BIT) out.flags |= out.HAS_AUTOMATIC_GAIN_CONTROL; if (in.flags & GNSS_MEASUREMENTS_DATA_FULL_ISB_BIT) out.flags |= out.HAS_FULL_ISB; if (in.flags & GNSS_MEASUREMENTS_DATA_FULL_ISB_UNCERTAINTY_BIT) out.flags |= out.HAS_FULL_ISB_UNCERTAINTY; if (in.flags & GNSS_MEASUREMENTS_DATA_SATELLITE_ISB_BIT) out.flags |= out.HAS_SATELLITE_ISB; if (in.flags & GNSS_MEASUREMENTS_DATA_SATELLITE_ISB_UNCERTAINTY_BIT) out.flags |= out.HAS_SATELLITE_ISB_UNCERTAINTY; if (in.flags & GNSS_MEASUREMENTS_DATA_SATELLITE_PVT_BIT) out.flags |= out.HAS_SATELLITE_PVT; if (in.flags & GNSS_MEASUREMENTS_DATA_CORRELATION_VECTOR_BIT) out.flags |= out.HAS_CORRELATION_VECTOR; } void GnssMeasurementInterface::convertGnssSvId(GnssMeasurementsData& in, int& out) { switch (in.svType) { case GNSS_SV_TYPE_GPS: out = in.svId; break; case GNSS_SV_TYPE_SBAS: out = in.svId; break; case GNSS_SV_TYPE_GLONASS: if (in.svId != 255) { // OSN is known out = in.svId - GLO_SV_PRN_MIN + 1; } else { // OSN is not known, report FCN out = in.gloFrequency + 92; } break; case GNSS_SV_TYPE_QZSS: out = in.svId; break; case GNSS_SV_TYPE_BEIDOU: out = in.svId - BDS_SV_PRN_MIN + 1; break; case GNSS_SV_TYPE_GALILEO: out = in.svId - GAL_SV_PRN_MIN + 1; break; case GNSS_SV_TYPE_NAVIC: out = in.svId - NAVIC_SV_PRN_MIN + 1; break; default: out = in.svId; break; } } void GnssMeasurementInterface::convertGnssSignalType( GnssMeasurementsData& in, GnssSignalType& out) { convertGnssConstellationType(in.svType, out.constellation); out.carrierFrequencyHz = in.carrierFrequencyHz; convertGnssMeasurementsCodeType(in.codeType, in.otherCodeTypeName, out); } void GnssMeasurementInterface::convertGnssConstellationType( GnssSvType& in, GnssConstellationType& out) { switch (in) { case GNSS_SV_TYPE_GPS: out = GnssConstellationType::GPS; break; case GNSS_SV_TYPE_SBAS: out = GnssConstellationType::SBAS; break; case GNSS_SV_TYPE_GLONASS: out = GnssConstellationType::GLONASS; break; case GNSS_SV_TYPE_QZSS: out = GnssConstellationType::QZSS; break; case GNSS_SV_TYPE_BEIDOU: out = GnssConstellationType::BEIDOU; break; case GNSS_SV_TYPE_GALILEO: out = GnssConstellationType::GALILEO; break; case GNSS_SV_TYPE_NAVIC: out = GnssConstellationType::IRNSS; break; case GNSS_SV_TYPE_UNKNOWN: default: out = GnssConstellationType::UNKNOWN; break; } } void GnssMeasurementInterface::convertGnssMeasurementsCodeType( GnssMeasurementsCodeType& inCodeType, char* inOtherCodeTypeName, GnssSignalType& out) { switch (inCodeType) { case GNSS_MEASUREMENTS_CODE_TYPE_A: out.codeType = out.CODE_TYPE_A; break; case GNSS_MEASUREMENTS_CODE_TYPE_B: out.codeType = out.CODE_TYPE_B; break; case GNSS_MEASUREMENTS_CODE_TYPE_C: out.codeType = out.CODE_TYPE_C; break; case GNSS_MEASUREMENTS_CODE_TYPE_I: out.codeType = out.CODE_TYPE_I; break; case GNSS_MEASUREMENTS_CODE_TYPE_L: out.codeType = out.CODE_TYPE_L; break; case GNSS_MEASUREMENTS_CODE_TYPE_M: out.codeType = out.CODE_TYPE_M; break; case GNSS_MEASUREMENTS_CODE_TYPE_N: out.codeType = out.CODE_TYPE_N; break; case GNSS_MEASUREMENTS_CODE_TYPE_P: out.codeType = out.CODE_TYPE_P; break; case GNSS_MEASUREMENTS_CODE_TYPE_Q: out.codeType = out.CODE_TYPE_Q; break; case GNSS_MEASUREMENTS_CODE_TYPE_S: out.codeType = out.CODE_TYPE_S; break; case GNSS_MEASUREMENTS_CODE_TYPE_W: out.codeType = out.CODE_TYPE_W; break; case GNSS_MEASUREMENTS_CODE_TYPE_X: out.codeType = out.CODE_TYPE_X; break; case GNSS_MEASUREMENTS_CODE_TYPE_Y: out.codeType = out.CODE_TYPE_Y; break; case GNSS_MEASUREMENTS_CODE_TYPE_Z: out.codeType = out.CODE_TYPE_Z; break; case GNSS_MEASUREMENTS_CODE_TYPE_OTHER: default: out.codeType = inOtherCodeTypeName; break; } } void GnssMeasurementInterface::convertGnssState(GnssMeasurementsData& in, GnssMeasurement& out) { if (in.stateMask & GNSS_MEASUREMENTS_STATE_CODE_LOCK_BIT) out.state |= out.STATE_CODE_LOCK; if (in.stateMask & GNSS_MEASUREMENTS_STATE_BIT_SYNC_BIT) out.state |= out.STATE_BIT_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_SUBFRAME_SYNC_BIT) out.state |= out.STATE_SUBFRAME_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_TOW_DECODED_BIT) out.state |= out.STATE_TOW_DECODED; if (in.stateMask & GNSS_MEASUREMENTS_STATE_MSEC_AMBIGUOUS_BIT) out.state |= out.STATE_MSEC_AMBIGUOUS; if (in.stateMask & GNSS_MEASUREMENTS_STATE_SYMBOL_SYNC_BIT) out.state |= out.STATE_SYMBOL_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_GLO_STRING_SYNC_BIT) out.state |= out.STATE_GLO_STRING_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_GLO_TOD_DECODED_BIT) out.state |= out.STATE_GLO_TOD_DECODED; if (in.stateMask & GNSS_MEASUREMENTS_STATE_BDS_D2_BIT_SYNC_BIT) out.state |= out.STATE_BDS_D2_BIT_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_BDS_D2_SUBFRAME_SYNC_BIT) out.state |= out.STATE_BDS_D2_SUBFRAME_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_GAL_E1BC_CODE_LOCK_BIT) out.state |= out.STATE_GAL_E1BC_CODE_LOCK; if (in.stateMask & GNSS_MEASUREMENTS_STATE_GAL_E1C_2ND_CODE_LOCK_BIT) out.state |= out.STATE_GAL_E1C_2ND_CODE_LOCK; if (in.stateMask & GNSS_MEASUREMENTS_STATE_GAL_E1B_PAGE_SYNC_BIT) out.state |= out.STATE_GAL_E1B_PAGE_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_SBAS_SYNC_BIT) out.state |= out.STATE_SBAS_SYNC; if (in.stateMask & GNSS_MEASUREMENTS_STATE_TOW_KNOWN_BIT) out.state |= out.STATE_TOW_KNOWN; if (in.stateMask & GNSS_MEASUREMENTS_STATE_GLO_TOD_KNOWN_BIT) out.state |= out.STATE_GLO_TOD_KNOWN; if (in.stateMask & GNSS_MEASUREMENTS_STATE_2ND_CODE_LOCK_BIT) out.state |= out.STATE_2ND_CODE_LOCK; } void GnssMeasurementInterface::convertGnssAccumulatedDeltaRangeState( GnssMeasurementsData& in, GnssMeasurement& out) { if (in.adrStateMask & GNSS_MEASUREMENTS_ACCUMULATED_DELTA_RANGE_STATE_VALID_BIT) out.accumulatedDeltaRangeState |= out.ADR_STATE_VALID; if (in.adrStateMask & GNSS_MEASUREMENTS_ACCUMULATED_DELTA_RANGE_STATE_RESET_BIT) out.accumulatedDeltaRangeState |= out.ADR_STATE_RESET; if (in.adrStateMask & GNSS_MEASUREMENTS_ACCUMULATED_DELTA_RANGE_STATE_CYCLE_SLIP_BIT) out.accumulatedDeltaRangeState |= out.ADR_STATE_CYCLE_SLIP; if (in.adrStateMask & GNSS_MEASUREMENTS_ACCUMULATED_DELTA_RANGE_STATE_HALF_CYCLE_RESOLVED_BIT) out.accumulatedDeltaRangeState |= out.ADR_STATE_HALF_CYCLE_RESOLVED; } void GnssMeasurementInterface::convertGnssMultipathIndicator( GnssMeasurementsData& in, GnssMeasurement& out) { switch (in.multipathIndicator) { case GNSS_MEASUREMENTS_MULTIPATH_INDICATOR_PRESENT: out.multipathIndicator = GnssMultipathIndicator::PRESENT; break; case GNSS_MEASUREMENTS_MULTIPATH_INDICATOR_NOT_PRESENT: out.multipathIndicator = GnssMultipathIndicator::NOT_PRESENT; break; case GNSS_MEASUREMENTS_MULTIPATH_INDICATOR_UNKNOWN: default: out.multipathIndicator = GnssMultipathIndicator::UNKNOWN; break; } } void GnssMeasurementInterface::convertGnssSatellitePvtFlags(GnssMeasurementsData& in, GnssMeasurement& out) { if (in.satellitePvt.flags & GNSS_SATELLITE_PVT_POSITION_VELOCITY_CLOCK_INFO_BIT) out.satellitePvt.flags |= out.satellitePvt.HAS_POSITION_VELOCITY_CLOCK_INFO; if (in.satellitePvt.flags & GNSS_SATELLITE_PVT_IONO_BIT) out.satellitePvt.flags |= out.satellitePvt.HAS_IONO; if (in.satellitePvt.flags & GNSS_SATELLITE_PVT_TROPO_BIT) out.satellitePvt.flags |= out.satellitePvt.HAS_TROPO; } void GnssMeasurementInterface::convertGnssSatellitePvt( GnssMeasurementsData& in, GnssMeasurement& out) { // flags convertGnssSatellitePvtFlags(in, out); // satPosEcef out.satellitePvt.satPosEcef.posXMeters = in.satellitePvt.satPosEcef.posXMeters; out.satellitePvt.satPosEcef.posYMeters = in.satellitePvt.satPosEcef.posYMeters; out.satellitePvt.satPosEcef.posZMeters = in.satellitePvt.satPosEcef.posZMeters; out.satellitePvt.satPosEcef.ureMeters = in.satellitePvt.satPosEcef.ureMeters; // satVelEcef out.satellitePvt.satVelEcef.velXMps = in.satellitePvt.satVelEcef.velXMps; out.satellitePvt.satVelEcef.velYMps = in.satellitePvt.satVelEcef.velYMps; out.satellitePvt.satVelEcef.velZMps = in.satellitePvt.satVelEcef.velZMps; out.satellitePvt.satVelEcef.ureRateMps = in.satellitePvt.satVelEcef.ureRateMps; // satClockInfo out.satellitePvt.satClockInfo.satHardwareCodeBiasMeters = in.satellitePvt.satClockInfo.satHardwareCodeBiasMeters; out.satellitePvt.satClockInfo.satTimeCorrectionMeters = in.satellitePvt.satClockInfo.satTimeCorrectionMeters; out.satellitePvt.satClockInfo.satClkDriftMps = in.satellitePvt.satClockInfo.satClkDriftMps; // ionoDelayMeters out.satellitePvt.ionoDelayMeters = in.satellitePvt.ionoDelayMeters; // tropoDelayMeters out.satellitePvt.tropoDelayMeters = in.satellitePvt.tropoDelayMeters; } void GnssMeasurementInterface::convertGnssClock( GnssMeasurementsClock& in, GnssClock& out) { // gnssClockFlags if (in.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_LEAP_SECOND_BIT) out.gnssClockFlags |= out.HAS_LEAP_SECOND; if (in.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_TIME_UNCERTAINTY_BIT) out.gnssClockFlags |= out.HAS_TIME_UNCERTAINTY; if (in.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_FULL_BIAS_BIT) out.gnssClockFlags |= out.HAS_FULL_BIAS; if (in.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_BIAS_BIT) out.gnssClockFlags |= out.HAS_BIAS; if (in.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_BIAS_UNCERTAINTY_BIT) out.gnssClockFlags |= out.HAS_BIAS_UNCERTAINTY; if (in.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_DRIFT_BIT) out.gnssClockFlags |= out.HAS_DRIFT; if (in.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_DRIFT_UNCERTAINTY_BIT) out.gnssClockFlags |= out.HAS_DRIFT_UNCERTAINTY; // leapSecond out.leapSecond = in.leapSecond; // timeNs out.timeNs = in.timeNs; // timeUncertaintyNs out.timeUncertaintyNs = in.timeUncertaintyNs; // fullBiasNs out.fullBiasNs = in.fullBiasNs; // biasNs out.biasNs = in.biasNs; // biasUncertaintyNs out.biasUncertaintyNs = in.biasUncertaintyNs; // driftNsps out.driftNsps = in.driftNsps; // driftUncertaintyNsps out.driftUncertaintyNsps = in.driftUncertaintyNsps; // hwClockDiscontinuityCount out.hwClockDiscontinuityCount = in.hwClockDiscontinuityCount; // referenceSignalTypeForIsb convertGnssConstellationType(in.referenceSignalTypeForIsb.svType, out.referenceSignalTypeForIsb.constellation); out.referenceSignalTypeForIsb.carrierFrequencyHz = in.referenceSignalTypeForIsb.carrierFrequencyHz; convertGnssMeasurementsCodeType(in.referenceSignalTypeForIsb.codeType, in.referenceSignalTypeForIsb.otherCodeTypeName, out.referenceSignalTypeForIsb); } void GnssMeasurementInterface::convertElapsedRealtimeNanos( GnssMeasurementsNotification& in, ElapsedRealtime& elapsedRealtime) { if (in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_ELAPSED_REAL_TIME_BIT) { elapsedRealtime.flags |= elapsedRealtime.HAS_TIMESTAMP_NS; elapsedRealtime.timestampNs = in.clock.elapsedRealTime; elapsedRealtime.flags |= elapsedRealtime.HAS_TIME_UNCERTAINTY_NS; elapsedRealtime.timeUncertaintyNs = in.clock.elapsedRealTimeUnc; LOC_LOGd("elapsedRealtime.timestampNs=%" PRIi64 "" " elapsedRealtime.timeUncertaintyNs=%lf elapsedRealtime.flags=0x%X", elapsedRealtime.timestampNs, elapsedRealtime.timeUncertaintyNs, elapsedRealtime.flags); } } void GnssMeasurementInterface::printGnssData(GnssData& data) { LOC_LOGd(" Measurements Info for %zu satellites", data.measurements.size()); for (size_t i = 0; i < data.measurements.size(); i++) { LOC_LOGd("%zu : flags: 0x%08x," " svid: %d," " signalType.constellation: %u," " signalType.carrierFrequencyHz: %.2f," " signalType.codeType: %s," " timeOffsetNs: %.2f," " state: 0x%08x," " receivedSvTimeInNs: %" PRIu64 " receivedSvTimeUncertaintyInNs: %" PRIu64 " antennaCN0DbHz: %.2f," " basebandCN0DbHz: %.2f," " pseudorangeRateMps : %.2f," " pseudorangeRateUncertaintyMps : %.2f,\n" " accumulatedDeltaRangeState: 0x%08x," " accumulatedDeltaRangeM: %.2f, " " accumulatedDeltaRangeUncertaintyM : %.2f, " " carrierCycles: %" PRIu64 " carrierPhase: %.2f," " carrierPhaseUncertainty: %.2f," " multipathIndicator: %u," " snrDb: %.2f," " agcLevelDb: %.2f," " fullInterSignalBiasNs: %.2f," " fullInterSignalBiasUncertaintyNs: %.2f," " satelliteInterSignalBiasNs: %.2f," " satelliteInterSignalBiasUncertaintyNs: %.2f", i + 1, data.measurements[i].flags, data.measurements[i].svid, data.measurements[i].signalType.constellation, data.measurements[i].signalType.carrierFrequencyHz, data.measurements[i].signalType.codeType.c_str(), data.measurements[i].timeOffsetNs, data.measurements[i].state, data.measurements[i].receivedSvTimeInNs, data.measurements[i].receivedSvTimeUncertaintyInNs, data.measurements[i].antennaCN0DbHz, data.measurements[i].basebandCN0DbHz, data.measurements[i].pseudorangeRateMps, data.measurements[i].pseudorangeRateUncertaintyMps, data.measurements[i].accumulatedDeltaRangeState, data.measurements[i].accumulatedDeltaRangeM, data.measurements[i].accumulatedDeltaRangeUncertaintyM, data.measurements[i].carrierCycles, data.measurements[i].carrierPhase, data.measurements[i].carrierPhaseUncertainty, data.measurements[i].multipathIndicator, data.measurements[i].snrDb, data.measurements[i].agcLevelDb, data.measurements[i].fullInterSignalBiasNs, data.measurements[i].fullInterSignalBiasUncertaintyNs, data.measurements[i].satelliteInterSignalBiasNs, data.measurements[i].satelliteInterSignalBiasUncertaintyNs ); LOC_LOGd(" satellitePvt.flags: 0x%04x," " satellitePvt.satPosEcef.posXMeters: %.2f," " satellitePvt.satPosEcef.posYMeters: %.2f," " satellitePvt.satPosEcef.posZMeters: %.2f," " satellitePvt.satPosEcef.ureMeters: %.2f," " satellitePvt.satVelEcef.velXMps: %.2f," " satellitePvt.satVelEcef.velYMps: %.2f," " satellitePvt.satVelEcef.velZMps: %.2f," " satellitePvt.satVelEcef.ureRateMps: %.2f," " satellitePvt.satClockInfo.satHardwareCodeBiasMeters: %.2f," " satellitePvt.satClockInfo.satTimeCorrectionMeters: %.2f," " satellitePvt.satClockInfo.satClkDriftMps: %.2f," " satellitePvt.ionoDelayMeters: %.2f," " satellitePvt.tropoDelayMeters: %.2f", data.measurements[i].satellitePvt.flags, data.measurements[i].satellitePvt.satPosEcef.posXMeters, data.measurements[i].satellitePvt.satPosEcef.posYMeters, data.measurements[i].satellitePvt.satPosEcef.posZMeters, data.measurements[i].satellitePvt.satPosEcef.ureMeters, data.measurements[i].satellitePvt.satVelEcef.velXMps, data.measurements[i].satellitePvt.satVelEcef.velYMps, data.measurements[i].satellitePvt.satVelEcef.velZMps, data.measurements[i].satellitePvt.satVelEcef.ureRateMps, data.measurements[i].satellitePvt.satClockInfo.satHardwareCodeBiasMeters, data.measurements[i].satellitePvt.satClockInfo.satTimeCorrectionMeters, data.measurements[i].satellitePvt.satClockInfo.satClkDriftMps, data.measurements[i].satellitePvt.ionoDelayMeters, data.measurements[i].satellitePvt.tropoDelayMeters ); } LOC_LOGd(" Clocks Info " " gnssClockFlags: 0x%04x," " leapSecond: %d," " timeNs: %" PRId64 " timeUncertaintyNs: %.2f," " fullBiasNs: %" PRId64 " biasNs: %.2f," " biasUncertaintyNs: %.2f," " driftNsps: %.2f," " driftUncertaintyNsps: %.2f," " hwClockDiscontinuityCount: %u," " referenceSignalTypeForIsb.constellation: %u," " referenceSignalTypeForIsb.carrierFrequencyHz: %.2f," " referenceSignalTypeForIsb.codeType: %s", data.clock.gnssClockFlags, data.clock.leapSecond, data.clock.timeNs, data.clock.timeUncertaintyNs, data.clock.fullBiasNs, data.clock.biasNs, data.clock.biasUncertaintyNs, data.clock.driftNsps, data.clock.driftUncertaintyNsps, data.clock.hwClockDiscontinuityCount, data.clock.referenceSignalTypeForIsb.constellation, data.clock.referenceSignalTypeForIsb.carrierFrequencyHz, data.clock.referenceSignalTypeForIsb.codeType.c_str()); LOC_LOGd(" ElapsedRealtime " " flags: 0x%08x," " timestampNs: %" PRId64", " " timeUncertaintyNs: %.2f", data.elapsedRealtime.flags, data.elapsedRealtime.timestampNs, data.elapsedRealtime.timeUncertaintyNs); } } // namespace implementation } // namespace aidl } // namespace gnss } // namespace hardware } // namespace android