300 lines
12 KiB
C++
300 lines
12 KiB
C++
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/*
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* Copyright (c) 2017-2020, The Linux Foundation. All rights reserved.
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* Not a Contribution
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*/
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/*
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* Copyright (C) 2016 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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#define LOG_TAG "LocSvc_GnssDebugInterface"
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#include <log/log.h>
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#include <log_util.h>
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#include "Gnss.h"
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#include "GnssDebug.h"
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#include "LocationUtil.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::hidl_vec;
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using ::android::hardware::gnss::V2_0::IGnssDebug;
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#define GNSS_DEBUG_UNKNOWN_HORIZONTAL_ACCURACY_METERS (20000000)
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#define GNSS_DEBUG_UNKNOWN_VERTICAL_ACCURACY_METERS (20000)
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#define GNSS_DEBUG_UNKNOWN_SPEED_ACCURACY_PER_SEC (500)
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#define GNSS_DEBUG_UNKNOWN_BEARING_ACCURACY_DEG (180)
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#define GNSS_DEBUG_UNKNOWN_UTC_TIME (1483228800000LL) // 1/1/2017 00:00 GMT
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#define GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MIN (999) // 999 ns
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#define GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MAX (1.57783680E17) // 5 years in ns
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#define GNSS_DEBUG_UNKNOWN_FREQ_UNC_NS_PER_SEC (2.0e5) // ppm
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GnssDebug::GnssDebug(Gnss* gnss) : mGnss(gnss)
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{
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}
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/*
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* This methods requests position, time and satellite ephemeris debug information
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* from the HAL.
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*
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* @return void
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*/
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Return<void> GnssDebug::getDebugData(getDebugData_cb _hidl_cb)
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{
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LOC_LOGD("%s]: ", __func__);
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V1_0::IGnssDebug::DebugData data = { };
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if((nullptr == mGnss) || (nullptr == mGnss->getGnssInterface())){
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LOC_LOGE("GnssDebug - Null GNSS interface");
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_hidl_cb(data);
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return Void();
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}
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// get debug report snapshot via hal interface
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GnssDebugReport reports = { };
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mGnss->getGnssInterface()->getDebugReport(reports);
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// location block
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if (reports.mLocation.mValid) {
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data.position.valid = true;
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data.position.latitudeDegrees = reports.mLocation.mLocation.latitude;
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data.position.longitudeDegrees = reports.mLocation.mLocation.longitude;
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data.position.altitudeMeters = reports.mLocation.mLocation.altitude;
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data.position.speedMetersPerSec =
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(double)(reports.mLocation.mLocation.speed);
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data.position.bearingDegrees =
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(double)(reports.mLocation.mLocation.bearing);
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data.position.horizontalAccuracyMeters =
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(double)(reports.mLocation.mLocation.accuracy);
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data.position.verticalAccuracyMeters =
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reports.mLocation.verticalAccuracyMeters;
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data.position.speedAccuracyMetersPerSecond =
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reports.mLocation.speedAccuracyMetersPerSecond;
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data.position.bearingAccuracyDegrees =
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reports.mLocation.bearingAccuracyDegrees;
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timeval tv_now, tv_report;
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tv_report.tv_sec = reports.mLocation.mUtcReported.tv_sec;
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tv_report.tv_usec = reports.mLocation.mUtcReported.tv_nsec / 1000ULL;
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gettimeofday(&tv_now, NULL);
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data.position.ageSeconds =
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(tv_now.tv_sec - tv_report.tv_sec) +
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(float)((tv_now.tv_usec - tv_report.tv_usec)) / 1000000;
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}
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else {
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data.position.valid = false;
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}
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if (data.position.horizontalAccuracyMeters <= 0 ||
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data.position.horizontalAccuracyMeters > GNSS_DEBUG_UNKNOWN_HORIZONTAL_ACCURACY_METERS) {
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data.position.horizontalAccuracyMeters = GNSS_DEBUG_UNKNOWN_HORIZONTAL_ACCURACY_METERS;
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}
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if (data.position.verticalAccuracyMeters <= 0 ||
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data.position.verticalAccuracyMeters > GNSS_DEBUG_UNKNOWN_VERTICAL_ACCURACY_METERS) {
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data.position.verticalAccuracyMeters = GNSS_DEBUG_UNKNOWN_VERTICAL_ACCURACY_METERS;
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}
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if (data.position.speedAccuracyMetersPerSecond <= 0 ||
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data.position.speedAccuracyMetersPerSecond > GNSS_DEBUG_UNKNOWN_SPEED_ACCURACY_PER_SEC) {
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data.position.speedAccuracyMetersPerSecond = GNSS_DEBUG_UNKNOWN_SPEED_ACCURACY_PER_SEC;
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}
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if (data.position.bearingAccuracyDegrees <= 0 ||
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data.position.bearingAccuracyDegrees > GNSS_DEBUG_UNKNOWN_BEARING_ACCURACY_DEG) {
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data.position.bearingAccuracyDegrees = GNSS_DEBUG_UNKNOWN_BEARING_ACCURACY_DEG;
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}
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// time block
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if (reports.mTime.mValid) {
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data.time.timeEstimate = reports.mTime.timeEstimate;
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data.time.timeUncertaintyNs = reports.mTime.timeUncertaintyNs;
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data.time.frequencyUncertaintyNsPerSec =
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reports.mTime.frequencyUncertaintyNsPerSec;
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}
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if (data.time.timeEstimate < GNSS_DEBUG_UNKNOWN_UTC_TIME) {
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data.time.timeEstimate = GNSS_DEBUG_UNKNOWN_UTC_TIME;
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}
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if (data.time.timeUncertaintyNs <= 0) {
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data.time.timeUncertaintyNs = (float)GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MIN;
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} else if (data.time.timeUncertaintyNs > GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MAX) {
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data.time.timeUncertaintyNs = (float)GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MAX;
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}
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if (data.time.frequencyUncertaintyNsPerSec <= 0 ||
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data.time.frequencyUncertaintyNsPerSec > (float)GNSS_DEBUG_UNKNOWN_FREQ_UNC_NS_PER_SEC) {
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data.time.frequencyUncertaintyNsPerSec = (float)GNSS_DEBUG_UNKNOWN_FREQ_UNC_NS_PER_SEC;
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}
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// satellite data block
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V1_0::IGnssDebug::SatelliteData s = { };
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std::vector<V1_0::IGnssDebug::SatelliteData> s_array;
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for (uint32_t i=0; i<reports.mSatelliteInfo.size(); i++) {
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memset(&s, 0, sizeof(s));
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s.svid = reports.mSatelliteInfo[i].svid;
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convertGnssConstellationType(
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reports.mSatelliteInfo[i].constellation, s.constellation);
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convertGnssEphemerisType(
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reports.mSatelliteInfo[i].mEphemerisType, s.ephemerisType);
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convertGnssEphemerisSource(
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reports.mSatelliteInfo[i].mEphemerisSource, s.ephemerisSource);
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convertGnssEphemerisHealth(
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reports.mSatelliteInfo[i].mEphemerisHealth, s.ephemerisHealth);
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s.ephemerisAgeSeconds =
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reports.mSatelliteInfo[i].ephemerisAgeSeconds;
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s.serverPredictionIsAvailable =
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reports.mSatelliteInfo[i].serverPredictionIsAvailable;
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s.serverPredictionAgeSeconds =
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reports.mSatelliteInfo[i].serverPredictionAgeSeconds;
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s_array.push_back(s);
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}
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data.satelliteDataArray = s_array;
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// callback HIDL with collected debug data
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_hidl_cb(data);
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return Void();
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}
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Return<void> GnssDebug::getDebugData_2_0(getDebugData_2_0_cb _hidl_cb)
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{
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LOC_LOGD("%s]: ", __func__);
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V2_0::IGnssDebug::DebugData data = { };
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if((nullptr == mGnss) || (nullptr == mGnss->getGnssInterface())){
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LOC_LOGE("GnssDebug - Null GNSS interface");
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_hidl_cb(data);
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return Void();
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}
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// get debug report snapshot via hal interface
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GnssDebugReport reports = { };
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mGnss->getGnssInterface()->getDebugReport(reports);
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// location block
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if (reports.mLocation.mValid) {
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data.position.valid = true;
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data.position.latitudeDegrees = reports.mLocation.mLocation.latitude;
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data.position.longitudeDegrees = reports.mLocation.mLocation.longitude;
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data.position.altitudeMeters = reports.mLocation.mLocation.altitude;
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data.position.speedMetersPerSec =
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(double)(reports.mLocation.mLocation.speed);
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data.position.bearingDegrees =
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(double)(reports.mLocation.mLocation.bearing);
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data.position.horizontalAccuracyMeters =
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(double)(reports.mLocation.mLocation.accuracy);
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data.position.verticalAccuracyMeters =
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reports.mLocation.verticalAccuracyMeters;
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data.position.speedAccuracyMetersPerSecond =
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reports.mLocation.speedAccuracyMetersPerSecond;
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data.position.bearingAccuracyDegrees =
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reports.mLocation.bearingAccuracyDegrees;
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timeval tv_now, tv_report;
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tv_report.tv_sec = reports.mLocation.mUtcReported.tv_sec;
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tv_report.tv_usec = reports.mLocation.mUtcReported.tv_nsec / 1000ULL;
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gettimeofday(&tv_now, NULL);
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data.position.ageSeconds =
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(tv_now.tv_sec - tv_report.tv_sec) +
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(float)((tv_now.tv_usec - tv_report.tv_usec)) / 1000000;
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}
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else {
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data.position.valid = false;
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}
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if (data.position.horizontalAccuracyMeters <= 0 ||
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data.position.horizontalAccuracyMeters > GNSS_DEBUG_UNKNOWN_HORIZONTAL_ACCURACY_METERS) {
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data.position.horizontalAccuracyMeters = GNSS_DEBUG_UNKNOWN_HORIZONTAL_ACCURACY_METERS;
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}
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if (data.position.verticalAccuracyMeters <= 0 ||
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data.position.verticalAccuracyMeters > GNSS_DEBUG_UNKNOWN_VERTICAL_ACCURACY_METERS) {
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data.position.verticalAccuracyMeters = GNSS_DEBUG_UNKNOWN_VERTICAL_ACCURACY_METERS;
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}
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if (data.position.speedAccuracyMetersPerSecond <= 0 ||
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data.position.speedAccuracyMetersPerSecond > GNSS_DEBUG_UNKNOWN_SPEED_ACCURACY_PER_SEC) {
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data.position.speedAccuracyMetersPerSecond = GNSS_DEBUG_UNKNOWN_SPEED_ACCURACY_PER_SEC;
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}
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if (data.position.bearingAccuracyDegrees <= 0 ||
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data.position.bearingAccuracyDegrees > GNSS_DEBUG_UNKNOWN_BEARING_ACCURACY_DEG) {
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data.position.bearingAccuracyDegrees = GNSS_DEBUG_UNKNOWN_BEARING_ACCURACY_DEG;
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}
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// time block
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if (reports.mTime.mValid) {
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data.time.timeEstimate = reports.mTime.timeEstimate;
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data.time.timeUncertaintyNs = reports.mTime.timeUncertaintyNs;
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data.time.frequencyUncertaintyNsPerSec =
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reports.mTime.frequencyUncertaintyNsPerSec;
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}
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if (data.time.timeEstimate < GNSS_DEBUG_UNKNOWN_UTC_TIME) {
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data.time.timeEstimate = GNSS_DEBUG_UNKNOWN_UTC_TIME;
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}
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if (data.time.timeUncertaintyNs <= 0) {
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data.time.timeUncertaintyNs = (float)GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MIN;
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}
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else if (data.time.timeUncertaintyNs > GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MAX) {
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data.time.timeUncertaintyNs = (float)GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC_MAX;
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}
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if (data.time.frequencyUncertaintyNsPerSec <= 0 ||
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data.time.frequencyUncertaintyNsPerSec > (float)GNSS_DEBUG_UNKNOWN_FREQ_UNC_NS_PER_SEC) {
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data.time.frequencyUncertaintyNsPerSec = (float)GNSS_DEBUG_UNKNOWN_FREQ_UNC_NS_PER_SEC;
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}
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// satellite data block
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V2_0::IGnssDebug::SatelliteData s = { };
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std::vector<V2_0::IGnssDebug::SatelliteData> s_array;
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for (uint32_t i=0; i<reports.mSatelliteInfo.size(); i++) {
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memset(&s, 0, sizeof(s));
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s.v1_0.svid = reports.mSatelliteInfo[i].svid;
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convertGnssConstellationType(
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reports.mSatelliteInfo[i].constellation, s.constellation);
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convertGnssEphemerisType(
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reports.mSatelliteInfo[i].mEphemerisType, s.v1_0.ephemerisType);
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convertGnssEphemerisSource(
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reports.mSatelliteInfo[i].mEphemerisSource, s.v1_0.ephemerisSource);
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convertGnssEphemerisHealth(
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reports.mSatelliteInfo[i].mEphemerisHealth, s.v1_0.ephemerisHealth);
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s.v1_0.ephemerisAgeSeconds =
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reports.mSatelliteInfo[i].ephemerisAgeSeconds;
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s.v1_0.serverPredictionIsAvailable =
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reports.mSatelliteInfo[i].serverPredictionIsAvailable;
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s.v1_0.serverPredictionAgeSeconds =
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reports.mSatelliteInfo[i].serverPredictionAgeSeconds;
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s_array.push_back(s);
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}
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data.satelliteDataArray = s_array;
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// callback HIDL with collected debug data
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_hidl_cb(data);
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return Void();
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}
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} // namespace implementation
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} // namespace V2_1
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} // namespace gnss
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} // namespace hardware
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} // namespace android
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