493 lines
19 KiB
C++
493 lines
19 KiB
C++
/* Copyright (c) 2017-2020, The Linux Foundation. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of The Linux Foundation, nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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* BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
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* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
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* IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#include <LocationUtil.h>
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#include <log_util.h>
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#include <inttypes.h>
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#include <loc_misc_utils.h>
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#include <gps_extended_c.h>
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namespace android {
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namespace hardware {
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namespace gnss {
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namespace V2_1 {
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namespace implementation {
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using ::android::hardware::gnss::V2_0::GnssLocation;
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using ::android::hardware::gnss::V2_0::ElapsedRealtimeFlags;
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using ::android::hardware::gnss::V2_0::GnssConstellationType;
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using ::android::hardware::gnss::V1_0::GnssLocationFlags;
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using ::android::hardware::gnss::measurement_corrections::V1_0::GnssSingleSatCorrectionFlags;
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void convertGnssLocation(Location& in, V1_0::GnssLocation& out)
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{
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memset(&out, 0, sizeof(V1_0::GnssLocation));
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if (in.flags & LOCATION_HAS_LAT_LONG_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_LAT_LONG;
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out.latitudeDegrees = in.latitude;
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out.longitudeDegrees = in.longitude;
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}
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if (in.flags & LOCATION_HAS_ALTITUDE_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_ALTITUDE;
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out.altitudeMeters = in.altitude;
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}
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if (in.flags & LOCATION_HAS_SPEED_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_SPEED;
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out.speedMetersPerSec = in.speed;
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}
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if (in.flags & LOCATION_HAS_BEARING_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_BEARING;
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out.bearingDegrees = in.bearing;
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}
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if (in.flags & LOCATION_HAS_ACCURACY_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_HORIZONTAL_ACCURACY;
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out.horizontalAccuracyMeters = in.accuracy;
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}
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if (in.flags & LOCATION_HAS_VERTICAL_ACCURACY_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_VERTICAL_ACCURACY;
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out.verticalAccuracyMeters = in.verticalAccuracy;
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}
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if (in.flags & LOCATION_HAS_SPEED_ACCURACY_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_SPEED_ACCURACY;
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out.speedAccuracyMetersPerSecond = in.speedAccuracy;
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}
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if (in.flags & LOCATION_HAS_BEARING_ACCURACY_BIT) {
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out.gnssLocationFlags |= GnssLocationFlags::HAS_BEARING_ACCURACY;
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out.bearingAccuracyDegrees = in.bearingAccuracy;
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}
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out.timestamp = static_cast<V1_0::GnssUtcTime>(in.timestamp);
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}
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bool getCurrentTime(struct timespec& currentTime, int64_t& sinceBootTimeNanos)
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{
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struct timespec sinceBootTime;
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struct timespec sinceBootTimeTest;
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bool clockGetTimeSuccess = false;
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const uint32_t MAX_TIME_DELTA_VALUE_NANOS = 10000;
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const uint32_t MAX_GET_TIME_COUNT = 20;
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/* Attempt to get CLOCK_REALTIME and CLOCK_BOOTIME in succession without an interruption
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or context switch (for up to MAX_GET_TIME_COUNT times) to avoid errors in the calculation */
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for (uint32_t i = 0; i < MAX_GET_TIME_COUNT; i++) {
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if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTime) != 0) {
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break;
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};
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if (clock_gettime(CLOCK_REALTIME, ¤tTime) != 0) {
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break;
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}
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if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTimeTest) != 0) {
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break;
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};
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sinceBootTimeNanos = sinceBootTime.tv_sec * 1000000000 + sinceBootTime.tv_nsec;
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int64_t sinceBootTimeTestNanos =
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sinceBootTimeTest.tv_sec * 1000000000 + sinceBootTimeTest.tv_nsec;
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int64_t sinceBootTimeDeltaNanos = sinceBootTimeTestNanos - sinceBootTimeNanos;
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/* sinceBootTime and sinceBootTimeTest should have a close value if there was no
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interruption or context switch between clock_gettime for CLOCK_BOOTIME and
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clock_gettime for CLOCK_REALTIME */
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if (sinceBootTimeDeltaNanos < MAX_TIME_DELTA_VALUE_NANOS) {
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clockGetTimeSuccess = true;
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break;
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} else {
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LOC_LOGd("Delta:%" PRIi64 "ns time too large, retry number #%u...",
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sinceBootTimeDeltaNanos, i + 1);
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}
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}
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return clockGetTimeSuccess;
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}
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void convertGnssLocation(Location& in, V2_0::GnssLocation& out)
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{
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memset(&out, 0, sizeof(V2_0::GnssLocation));
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convertGnssLocation(in, out.v1_0);
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struct timespec currentTime;
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int64_t sinceBootTimeNanos;
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if (getCurrentTime(currentTime, sinceBootTimeNanos)) {
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if (in.flags & LOCATION_HAS_ELAPSED_REAL_TIME) {
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uint64_t qtimerDiff = 0;
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uint64_t qTimerTickCount = getQTimerTickCount();
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if (qTimerTickCount >= in.elapsedRealTime) {
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qtimerDiff = qTimerTickCount - in.elapsedRealTime;
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}
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LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " in.elapsedRealTime=%" PRIi64 ""
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" qTimerTickCount=%" PRIi64 " qtimerDiff=%" PRIi64 "",
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sinceBootTimeNanos, in.elapsedRealTime, qTimerTickCount, qtimerDiff);
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uint64_t qTimerDiffNanos = qTimerTicksToNanos(double(qtimerDiff));
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/* If the time difference between Qtimer on modem side and Qtimer on AP side
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is greater than one second we assume this is a dual-SoC device such as
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Kona and will try to get Qtimer on modem side and on AP side and
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will adjust our difference accordingly */
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if (qTimerDiffNanos > 1000000000) {
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uint64_t qtimerDelta = getQTimerDeltaNanos();
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if (qTimerDiffNanos >= qtimerDelta) {
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qTimerDiffNanos -= qtimerDelta;
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}
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}
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if (sinceBootTimeNanos >= qTimerDiffNanos) {
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out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS;
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out.elapsedRealtime.timestampNs = sinceBootTimeNanos - qTimerDiffNanos;
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out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS;
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out.elapsedRealtime.timeUncertaintyNs = in.elapsedRealTimeUnc;
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}
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} else {
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int64_t currentTimeNanos = currentTime.tv_sec*1000000000 + currentTime.tv_nsec;
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int64_t locationTimeNanos = in.timestamp*1000000;
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LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " currentTimeNanos:%" PRIi64 ""
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" locationTimeNanos:%" PRIi64 "",
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sinceBootTimeNanos, currentTimeNanos, locationTimeNanos);
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if (currentTimeNanos >= locationTimeNanos) {
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int64_t ageTimeNanos = currentTimeNanos - locationTimeNanos;
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LOC_LOGv("ageTimeNanos:%" PRIi64 ")", ageTimeNanos);
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// the max trusted propagation time 100ms for ageTimeNanos to avoid user setting
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// wrong time, it will affect elapsedRealtimeNanos
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if (ageTimeNanos <= 100000000) {
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out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS;
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out.elapsedRealtime.timestampNs = sinceBootTimeNanos - ageTimeNanos;
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out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS;
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// time uncertainty is the max value between abs(AP_UTC - MP_UTC) and 100ms, to
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// verify if user change the sys time
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out.elapsedRealtime.timeUncertaintyNs =
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std::max(ageTimeNanos, (int64_t)100000000);
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}
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}
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}
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}
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LOC_LOGv("out.elapsedRealtime.timestampNs=%" PRIi64 ""
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" out.elapsedRealtime.timeUncertaintyNs=%" PRIi64 ""
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" out.elapsedRealtime.flags=0x%X",
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out.elapsedRealtime.timestampNs,
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out.elapsedRealtime.timeUncertaintyNs, out.elapsedRealtime.flags);
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}
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void convertGnssLocation(const V1_0::GnssLocation& in, Location& out)
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{
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memset(&out, 0, sizeof(out));
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG) {
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out.flags |= LOCATION_HAS_LAT_LONG_BIT;
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out.latitude = in.latitudeDegrees;
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out.longitude = in.longitudeDegrees;
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}
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE) {
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out.flags |= LOCATION_HAS_ALTITUDE_BIT;
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out.altitude = in.altitudeMeters;
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}
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_SPEED) {
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out.flags |= LOCATION_HAS_SPEED_BIT;
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out.speed = in.speedMetersPerSec;
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}
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
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out.flags |= LOCATION_HAS_BEARING_BIT;
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out.bearing = in.bearingDegrees;
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}
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_HORIZONTAL_ACCURACY) {
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out.flags |= LOCATION_HAS_ACCURACY_BIT;
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out.accuracy = in.horizontalAccuracyMeters;
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}
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
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out.flags |= LOCATION_HAS_VERTICAL_ACCURACY_BIT;
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out.verticalAccuracy = in.verticalAccuracyMeters;
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}
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
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out.flags |= LOCATION_HAS_SPEED_ACCURACY_BIT;
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out.speedAccuracy = in.speedAccuracyMetersPerSecond;
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}
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if (in.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
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out.flags |= LOCATION_HAS_BEARING_ACCURACY_BIT;
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out.bearingAccuracy = in.bearingAccuracyDegrees;
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}
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out.timestamp = static_cast<uint64_t>(in.timestamp);
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}
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void convertGnssLocation(const V2_0::GnssLocation& in, Location& out)
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{
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memset(&out, 0, sizeof(out));
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convertGnssLocation(in.v1_0, out);
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}
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void convertGnssConstellationType(GnssSvType& in, V1_0::GnssConstellationType& out)
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{
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switch(in) {
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case GNSS_SV_TYPE_GPS:
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out = V1_0::GnssConstellationType::GPS;
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break;
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case GNSS_SV_TYPE_SBAS:
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out = V1_0::GnssConstellationType::SBAS;
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break;
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case GNSS_SV_TYPE_GLONASS:
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out = V1_0::GnssConstellationType::GLONASS;
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break;
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case GNSS_SV_TYPE_QZSS:
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out = V1_0::GnssConstellationType::QZSS;
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break;
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case GNSS_SV_TYPE_BEIDOU:
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out = V1_0::GnssConstellationType::BEIDOU;
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break;
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case GNSS_SV_TYPE_GALILEO:
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out = V1_0::GnssConstellationType::GALILEO;
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break;
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case GNSS_SV_TYPE_UNKNOWN:
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default:
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out = V1_0::GnssConstellationType::UNKNOWN;
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break;
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}
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}
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void convertGnssConstellationType(GnssSvType& in, V2_0::GnssConstellationType& out)
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{
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switch(in) {
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case GNSS_SV_TYPE_GPS:
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out = V2_0::GnssConstellationType::GPS;
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break;
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case GNSS_SV_TYPE_SBAS:
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out = V2_0::GnssConstellationType::SBAS;
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break;
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case GNSS_SV_TYPE_GLONASS:
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out = V2_0::GnssConstellationType::GLONASS;
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break;
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case GNSS_SV_TYPE_QZSS:
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out = V2_0::GnssConstellationType::QZSS;
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break;
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case GNSS_SV_TYPE_BEIDOU:
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out = V2_0::GnssConstellationType::BEIDOU;
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break;
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case GNSS_SV_TYPE_GALILEO:
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out = V2_0::GnssConstellationType::GALILEO;
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break;
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case GNSS_SV_TYPE_NAVIC:
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out = V2_0::GnssConstellationType::IRNSS;
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break;
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case GNSS_SV_TYPE_UNKNOWN:
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default:
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out = V2_0::GnssConstellationType::UNKNOWN;
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break;
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}
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}
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void convertGnssSvid(GnssSv& in, int16_t& out)
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{
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switch (in.type) {
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case GNSS_SV_TYPE_GPS:
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out = in.svId;
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break;
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case GNSS_SV_TYPE_SBAS:
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out = in.svId;
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break;
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case GNSS_SV_TYPE_GLONASS:
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out = in.svId - GLO_SV_PRN_MIN + 1;
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break;
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case GNSS_SV_TYPE_QZSS:
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out = in.svId;
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break;
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case GNSS_SV_TYPE_BEIDOU:
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out = in.svId - BDS_SV_PRN_MIN + 1;
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break;
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case GNSS_SV_TYPE_GALILEO:
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out = in.svId - GAL_SV_PRN_MIN + 1;
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break;
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case GNSS_SV_TYPE_NAVIC:
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/*Android doesn't define Navic svid range yet, use Naviv svid [1, 14] now
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will update this once Android give Navic svid definiitons */
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out = in.svId - NAVIC_SV_PRN_MIN + 1;
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break;
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default:
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out = in.svId;
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break;
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}
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}
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void convertGnssSvid(GnssMeasurementsData& in, int16_t& out)
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{
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switch (in.svType) {
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case GNSS_SV_TYPE_GPS:
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out = in.svId;
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break;
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case GNSS_SV_TYPE_SBAS:
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out = in.svId;
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break;
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case GNSS_SV_TYPE_GLONASS:
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if (in.svId != 255) { // OSN is known
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out = in.svId - GLO_SV_PRN_MIN + 1;
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} else { // OSN is not known, report FCN
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out = in.gloFrequency + 92;
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}
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break;
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case GNSS_SV_TYPE_QZSS:
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out = in.svId;
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break;
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case GNSS_SV_TYPE_BEIDOU:
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out = in.svId - BDS_SV_PRN_MIN + 1;
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break;
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case GNSS_SV_TYPE_GALILEO:
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out = in.svId - GAL_SV_PRN_MIN + 1;
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break;
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case GNSS_SV_TYPE_NAVIC:
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/*Android doesn't define Navic svid range yet, use Naviv svid [1, 14] now
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will update this once Android give Navic svid definiitons */
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out = in.svId - NAVIC_SV_PRN_MIN + 1;
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break;
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default:
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out = in.svId;
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break;
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}
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}
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void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out)
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{
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switch(in) {
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case GNSS_EPH_TYPE_EPHEMERIS:
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out = GnssDebug::SatelliteEphemerisType::EPHEMERIS;
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break;
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case GNSS_EPH_TYPE_ALMANAC:
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out = GnssDebug::SatelliteEphemerisType::ALMANAC_ONLY;
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break;
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case GNSS_EPH_TYPE_UNKNOWN:
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default:
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out = GnssDebug::SatelliteEphemerisType::NOT_AVAILABLE;
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break;
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}
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}
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void convertGnssEphemerisSource(GnssEphemerisSource& in, GnssDebug::SatelliteEphemerisSource& out)
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{
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switch(in) {
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case GNSS_EPH_SOURCE_DEMODULATED:
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out = GnssDebug::SatelliteEphemerisSource::DEMODULATED;
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break;
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case GNSS_EPH_SOURCE_SUPL_PROVIDED:
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out = GnssDebug::SatelliteEphemerisSource::SUPL_PROVIDED;
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break;
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case GNSS_EPH_SOURCE_OTHER_SERVER_PROVIDED:
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out = GnssDebug::SatelliteEphemerisSource::OTHER_SERVER_PROVIDED;
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break;
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case GNSS_EPH_SOURCE_LOCAL:
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case GNSS_EPH_SOURCE_UNKNOWN:
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default:
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out = GnssDebug::SatelliteEphemerisSource::OTHER;
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break;
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}
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}
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void convertGnssEphemerisHealth(GnssEphemerisHealth& in, GnssDebug::SatelliteEphemerisHealth& out)
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{
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switch(in) {
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case GNSS_EPH_HEALTH_GOOD:
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out = GnssDebug::SatelliteEphemerisHealth::GOOD;
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break;
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case GNSS_EPH_HEALTH_BAD:
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out = GnssDebug::SatelliteEphemerisHealth::BAD;
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break;
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case GNSS_EPH_HEALTH_UNKNOWN:
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default:
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out = GnssDebug::SatelliteEphemerisHealth::UNKNOWN;
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break;
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}
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}
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void convertSingleSatCorrections(const SingleSatCorrection& in, GnssSingleSatCorrection& out)
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{
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out.flags = GNSS_MEAS_CORR_UNKNOWN_BIT;
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if (in.singleSatCorrectionFlags & (GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY)) {
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out.flags |= GNSS_MEAS_CORR_HAS_SAT_IS_LOS_PROBABILITY_BIT;
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}
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if (in.singleSatCorrectionFlags & (GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH)) {
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out.flags |= GNSS_MEAS_CORR_HAS_EXCESS_PATH_LENGTH_BIT;
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}
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if (in.singleSatCorrectionFlags & (GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC)) {
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out.flags |= GNSS_MEAS_CORR_HAS_EXCESS_PATH_LENGTH_UNC_BIT;
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}
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if (in.singleSatCorrectionFlags & (GnssSingleSatCorrectionFlags::HAS_REFLECTING_PLANE)) {
|
|
out.flags |= GNSS_MEAS_CORR_HAS_REFLECTING_PLANE_BIT;
|
|
}
|
|
switch (in.constellation) {
|
|
case (::android::hardware::gnss::V1_0::GnssConstellationType::GPS):
|
|
out.svType = GNSS_SV_TYPE_GPS;
|
|
break;
|
|
case (::android::hardware::gnss::V1_0::GnssConstellationType::SBAS):
|
|
out.svType = GNSS_SV_TYPE_SBAS;
|
|
break;
|
|
case (::android::hardware::gnss::V1_0::GnssConstellationType::GLONASS):
|
|
out.svType = GNSS_SV_TYPE_GLONASS;
|
|
break;
|
|
case (::android::hardware::gnss::V1_0::GnssConstellationType::QZSS):
|
|
out.svType = GNSS_SV_TYPE_QZSS;
|
|
break;
|
|
case (::android::hardware::gnss::V1_0::GnssConstellationType::BEIDOU):
|
|
out.svType = GNSS_SV_TYPE_BEIDOU;
|
|
break;
|
|
case (::android::hardware::gnss::V1_0::GnssConstellationType::GALILEO):
|
|
out.svType = GNSS_SV_TYPE_GALILEO;
|
|
break;
|
|
case (::android::hardware::gnss::V1_0::GnssConstellationType::UNKNOWN):
|
|
default:
|
|
out.svType = GNSS_SV_TYPE_UNKNOWN;
|
|
break;
|
|
}
|
|
out.svId = in.svid;
|
|
out.carrierFrequencyHz = in.carrierFrequencyHz;
|
|
out.probSatIsLos = in.probSatIsLos;
|
|
out.excessPathLengthMeters = in.excessPathLengthMeters;
|
|
out.excessPathLengthUncertaintyMeters = in.excessPathLengthUncertaintyMeters;
|
|
|
|
out.reflectingPlane.latitudeDegrees = in.reflectingPlane.latitudeDegrees;
|
|
out.reflectingPlane.longitudeDegrees = in.reflectingPlane.longitudeDegrees;
|
|
out.reflectingPlane.altitudeMeters = in.reflectingPlane.altitudeMeters;
|
|
out.reflectingPlane.azimuthDegrees = in.reflectingPlane.azimuthDegrees;
|
|
}
|
|
|
|
void convertMeasurementCorrections(const MeasurementCorrectionsV1_0& in,
|
|
GnssMeasurementCorrections& out)
|
|
{
|
|
memset(&out, 0, sizeof(GnssMeasurementCorrections));
|
|
out.latitudeDegrees = in.latitudeDegrees;
|
|
out.longitudeDegrees = in.longitudeDegrees;
|
|
out.altitudeMeters = in.altitudeMeters;
|
|
out.horizontalPositionUncertaintyMeters = in.horizontalPositionUncertaintyMeters;
|
|
out.verticalPositionUncertaintyMeters = in.verticalPositionUncertaintyMeters;
|
|
out.toaGpsNanosecondsOfWeek = in.toaGpsNanosecondsOfWeek;
|
|
|
|
for (int i = 0; i < in.satCorrections.size(); i++) {
|
|
GnssSingleSatCorrection gnssSingleSatCorrection = {};
|
|
|
|
convertSingleSatCorrections(in.satCorrections[i], gnssSingleSatCorrection);
|
|
out.satCorrections.push_back(gnssSingleSatCorrection);
|
|
}
|
|
}
|
|
|
|
} // namespace implementation
|
|
} // namespace V2_1
|
|
} // namespace gnss
|
|
} // namespace hardware
|
|
} // namespace android
|