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Update jni with measurement_corrections 1.1

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Test: manually injected dummy measurement corrections in
GnssLocationProvider and verified that cuttlefish implementation
properly recieved them below the HAL
Bug: 145963440
Change-Id: Id659b0fdddd7852012da1bab07d0f26a3abb29af
This commit is contained in:
Sasha Kuznetsov
2020-01-06 20:55:14 -08:00
parent daa6bcdbe7
commit 1ebf6158cf
3 changed files with 182 additions and 25 deletions
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5
api/system-current.txt
View File

@@ -3787,12 +3787,15 @@ package android.location {
public final class GnssMeasurementCorrections implements android.os.Parcelable {
method public int describeContents();
method @FloatRange(from=-1000.0F, to=10000.0f) public double getAltitudeMeters();
method @FloatRange(from=0.0f, to=360.0f) public float getEnvironmentBearingDegrees();
method @FloatRange(from=0.0f, to=180.0f) public float getEnvironmentBearingUncertaintyDegrees();
method @FloatRange(from=0.0f) public double getHorizontalPositionUncertaintyMeters();
method @FloatRange(from=-90.0F, to=90.0f) public double getLatitudeDegrees();
method @FloatRange(from=-180.0F, to=180.0f) public double getLongitudeDegrees();
method @NonNull public java.util.List<android.location.GnssSingleSatCorrection> getSingleSatelliteCorrectionList();
method @IntRange(from=0) public long getToaGpsNanosecondsOfWeek();
method @FloatRange(from=0.0f) public double getVerticalPositionUncertaintyMeters();
method public boolean hasEnvironmentBearing();
method public void writeToParcel(@NonNull android.os.Parcel, int);
field public static final android.os.Parcelable.Creator<android.location.GnssMeasurementCorrections> CREATOR;
}
@@ -3801,6 +3804,8 @@ package android.location {
ctor public GnssMeasurementCorrections.Builder();
method @NonNull public android.location.GnssMeasurementCorrections build();
method @NonNull public android.location.GnssMeasurementCorrections.Builder setAltitudeMeters(@FloatRange(from=-1000.0F, to=10000.0f) double);
method @NonNull public android.location.GnssMeasurementCorrections.Builder setEnvironmentBearingDegrees(@FloatRange(from=0.0f, to=360.0f) float);
method @NonNull public android.location.GnssMeasurementCorrections.Builder setEnvironmentBearingUncertaintyDegrees(@FloatRange(from=0.0f, to=180.0f) float);
method @NonNull public android.location.GnssMeasurementCorrections.Builder setHorizontalPositionUncertaintyMeters(@FloatRange(from=0.0f) double);
method @NonNull public android.location.GnssMeasurementCorrections.Builder setLatitudeDegrees(@FloatRange(from=-90.0F, to=90.0f) double);
method @NonNull public android.location.GnssMeasurementCorrections.Builder setLongitudeDegrees(@FloatRange(from=-180.0F, to=180.0f) double);

100
location/java/android/location/GnssMeasurementCorrections.java
View File

@@ -79,6 +79,25 @@ public final class GnssMeasurementCorrections implements Parcelable {
@NonNull
private final List<GnssSingleSatCorrection> mSingleSatCorrectionList;
/**
* Indicates whether the environment bearing is available.
*/
private final boolean mHasEnvironmentBearing;
/**
* Environment bearing in degrees clockwise from true north, in the direction of user motion.
* Environment bearing is provided when it is known with high probability that velocity is
* aligned with an environment feature (such as edge of a building, or road).
*/
@FloatRange(from = 0.0f, to = 360.0f)
private final float mEnvironmentBearingDegrees;
/**
* Environment bearing uncertainty in degrees.
*/
@FloatRange(from = 0.0f, to = 180.0f)
private final float mEnvironmentBearingUncertaintyDegrees;
private GnssMeasurementCorrections(Builder builder) {
mLatitudeDegrees = builder.mLatitudeDegrees;
mLongitudeDegrees = builder.mLongitudeDegrees;
@@ -89,6 +108,10 @@ public final class GnssMeasurementCorrections implements Parcelable {
final List<GnssSingleSatCorrection> singleSatCorrList = builder.mSingleSatCorrectionList;
Preconditions.checkArgument(singleSatCorrList != null && !singleSatCorrList.isEmpty());
mSingleSatCorrectionList = Collections.unmodifiableList(new ArrayList<>(singleSatCorrList));
mHasEnvironmentBearing = builder.mEnvironmentBearingIsSet
&& builder.mEnvironmentBearingUncertaintyIsSet;
mEnvironmentBearingDegrees = builder.mEnvironmentBearingDegrees;
mEnvironmentBearingUncertaintyDegrees = builder.mEnvironmentBearingUncertaintyDegrees;
}
/** Gets the latitude in degrees at which the corrections are computed. */
@@ -145,6 +168,31 @@ public final class GnssMeasurementCorrections implements Parcelable {
return mSingleSatCorrectionList;
}
/**
* If true, environment bearing will be available.
*/
public boolean hasEnvironmentBearing() {
return mHasEnvironmentBearing;
}
/**
* Gets the environment bearing in degrees clockwise from true north, in the direction of user
* motion. Environment bearing is provided when it is known with high probability that
* velocity is aligned with an environment feature (such as edge of a building, or road).
*/
@FloatRange(from = 0.0f, to = 360.0f)
public float getEnvironmentBearingDegrees() {
return mEnvironmentBearingDegrees;
}
/**
* Gets the environment bearing uncertainty in degrees.
*/
@FloatRange(from = 0.0f, to = 180.0f)
public float getEnvironmentBearingUncertaintyDegrees() {
return mEnvironmentBearingUncertaintyDegrees;
}
@Override
public int describeContents() {
return 0;
@@ -167,6 +215,12 @@ public final class GnssMeasurementCorrections implements Parcelable {
parcel.readTypedList(singleSatCorrectionList, GnssSingleSatCorrection.CREATOR);
gnssMeasurementCorrectons.setSingleSatelliteCorrectionList(
singleSatCorrectionList);
boolean hasEnvironmentBearing = parcel.readBoolean();
if (hasEnvironmentBearing) {
gnssMeasurementCorrectons.setEnvironmentBearingDegrees(parcel.readFloat());
gnssMeasurementCorrectons.setEnvironmentBearingUncertaintyDegrees(
parcel.readFloat());
}
return gnssMeasurementCorrectons.build();
}
@@ -192,6 +246,14 @@ public final class GnssMeasurementCorrections implements Parcelable {
String.format(format, "ToaGpsNanosecondsOfWeek = ", mToaGpsNanosecondsOfWeek));
builder.append(
String.format(format, "mSingleSatCorrectionList = ", mSingleSatCorrectionList));
builder.append(
String.format(format, "HasEnvironmentBearing = ", mHasEnvironmentBearing));
builder.append(
String.format(format, "EnvironmentBearingDegrees = ",
mEnvironmentBearingDegrees));
builder.append(
String.format(format, "EnvironmentBearingUncertaintyDegrees = ",
mEnvironmentBearingUncertaintyDegrees));
return builder.toString();
}
@@ -204,6 +266,11 @@ public final class GnssMeasurementCorrections implements Parcelable {
parcel.writeDouble(mVerticalPositionUncertaintyMeters);
parcel.writeLong(mToaGpsNanosecondsOfWeek);
parcel.writeTypedList(mSingleSatCorrectionList);
parcel.writeBoolean(mHasEnvironmentBearing);
if (mHasEnvironmentBearing) {
parcel.writeFloat(mEnvironmentBearingDegrees);
parcel.writeFloat(mEnvironmentBearingUncertaintyDegrees);
}
}
/** Builder for {@link GnssMeasurementCorrections} */
@@ -219,6 +286,10 @@ public final class GnssMeasurementCorrections implements Parcelable {
private double mVerticalPositionUncertaintyMeters;
private long mToaGpsNanosecondsOfWeek;
@Nullable private List<GnssSingleSatCorrection> mSingleSatCorrectionList;
private float mEnvironmentBearingDegrees;
private boolean mEnvironmentBearingIsSet = false;
private float mEnvironmentBearingUncertaintyDegrees;
private boolean mEnvironmentBearingUncertaintyIsSet = false;
/** Sets the latitude in degrees at which the corrections are computed. */
@NonNull public Builder setLatitudeDegrees(
@@ -282,8 +353,37 @@ public final class GnssMeasurementCorrections implements Parcelable {
return this;
}
/**
* Sets the environment bearing in degrees clockwise from true north, in the direction of
* user motion. Environment bearing is provided when it is known with high probability
* that velocity is aligned with an environment feature (such as edge of a building, or
* road).
*/
@NonNull public Builder setEnvironmentBearingDegrees(
@FloatRange(from = 0.0f, to = 360.0f)
float environmentBearingDegrees) {
mEnvironmentBearingDegrees = environmentBearingDegrees;
mEnvironmentBearingIsSet = true;
return this;
}
/**
* Sets the environment bearing uncertainty in degrees.
*/
@NonNull public Builder setEnvironmentBearingUncertaintyDegrees(
@FloatRange(from = 0.0f, to = 180.0f)
float environmentBearingUncertaintyDegrees) {
mEnvironmentBearingUncertaintyDegrees = environmentBearingUncertaintyDegrees;
mEnvironmentBearingUncertaintyIsSet = true;
return this;
}
/** Builds a {@link GnssMeasurementCorrections} instance as specified by this builder. */
@NonNull public GnssMeasurementCorrections build() {
if (mEnvironmentBearingIsSet ^ mEnvironmentBearingUncertaintyIsSet) {
throw new IllegalStateException("Both environment bearing and environment bearing "
+ "uncertainty must be set.");
}
return new GnssMeasurementCorrections(this);
}
}

102
services/core/jni/com_android_server_location_GnssLocationProvider.cpp
View File

@@ -28,6 +28,7 @@
#include <android/hardware/gnss/2.0/IGnssMeasurement.h>
#include <android/hardware/gnss/2.1/IGnssMeasurement.h>
#include <android/hardware/gnss/measurement_corrections/1.0/IMeasurementCorrections.h>
#include <android/hardware/gnss/measurement_corrections/1.1/IMeasurementCorrections.h>
#include <android/hardware/gnss/visibility_control/1.0/IGnssVisibilityControl.h>
#include <nativehelper/JNIHelp.h>
#include "jni.h"
@@ -88,6 +89,9 @@ static jmethodID method_correctionsGetHorPosUncMeters;
static jmethodID method_correctionsGetVerPosUncMeters;
static jmethodID method_correctionsGetToaGpsNanosecondsOfWeek;
static jmethodID method_correctionsGetSingleSatCorrectionList;
static jmethodID method_correctionsHasEnvironmentBearing;
static jmethodID method_correctionsGetEnvironmentBearingDegrees;
static jmethodID method_correctionsGetEnvironmentBearingUncertaintyDegrees;
static jmethodID method_listSize;
static jmethodID method_correctionListGet;
static jmethodID method_correctionSatFlags;
@@ -142,7 +146,9 @@ using android::hardware::gnss::V1_0::IGnssXtraCallback;
using android::hardware::gnss::V2_0::ElapsedRealtimeFlags;
using android::hardware::gnss::measurement_corrections::V1_0::MeasurementCorrections;
using MeasurementCorrections_V1_0 = android::hardware::gnss::measurement_corrections::V1_0::MeasurementCorrections;
using MeasurementCorrections_V1_1 = android::hardware::gnss::measurement_corrections::V1_1::MeasurementCorrections;
using android::hardware::gnss::measurement_corrections::V1_0::SingleSatCorrection;
using android::hardware::gnss::measurement_corrections::V1_0::ReflectingPlane;
@@ -184,7 +190,8 @@ using IGnssBatching_V2_0 = android::hardware::gnss::V2_0::IGnssBatching;
using IGnssBatchingCallback_V1_0 = android::hardware::gnss::V1_0::IGnssBatchingCallback;
using IGnssBatchingCallback_V2_0 = android::hardware::gnss::V2_0::IGnssBatchingCallback;
using android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrections;
using IMeasurementCorrections_V1_0 = android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrections;
using IMeasurementCorrections_V1_1 = android::hardware::gnss::measurement_corrections::V1_1::IMeasurementCorrections;
using android::hardware::gnss::measurement_corrections::V1_0::IMeasurementCorrectionsCallback;
using android::hardware::gnss::measurement_corrections::V1_0::GnssSingleSatCorrectionFlags;
@@ -231,7 +238,8 @@ sp<IGnssMeasurement_V1_1> gnssMeasurementIface_V1_1 = nullptr;
sp<IGnssMeasurement_V2_0> gnssMeasurementIface_V2_0 = nullptr;
sp<IGnssMeasurement_V2_1> gnssMeasurementIface_V2_1 = nullptr;
sp<IGnssNavigationMessage> gnssNavigationMessageIface = nullptr;
sp<IMeasurementCorrections> gnssCorrectionsIface = nullptr;
sp<IMeasurementCorrections_V1_0> gnssCorrectionsIface_V1_0 = nullptr;
sp<IMeasurementCorrections_V1_1> gnssCorrectionsIface_V1_1 = nullptr;
sp<IGnssVisibilityControl> gnssVisibilityControlIface = nullptr;
#define WAKE_LOCK_NAME "GPS"
@@ -1692,6 +1700,13 @@ static void android_location_GnssLocationProvider_class_init_native(JNIEnv* env,
method_correctionsGetSingleSatCorrectionList = env->GetMethodID(
measCorrClass, "getSingleSatelliteCorrectionList", "()Ljava/util/List;");
method_correctionsHasEnvironmentBearing = env->GetMethodID(
measCorrClass, "hasEnvironmentBearing", "()Z");
method_correctionsGetEnvironmentBearingDegrees = env->GetMethodID(
measCorrClass, "getEnvironmentBearingDegrees", "()F");
method_correctionsGetEnvironmentBearingUncertaintyDegrees = env->GetMethodID(
measCorrClass, "getEnvironmentBearingUncertaintyDegrees", "()F");
jclass corrListClass = env->FindClass("java/util/List");
method_listSize = env->GetMethodID(corrListClass, "size", "()I");
method_correctionListGet = env->GetMethodID(corrListClass, "get", "(I)Ljava/lang/Object;");
@@ -1874,12 +1889,20 @@ static void android_location_GnssLocationProvider_init_once(JNIEnv* env, jclass
}
}
if (gnssHal_V2_0 != nullptr) {
if (gnssHal_V2_1 != nullptr) {
auto gnssCorrections = gnssHal_V2_1->getExtensionMeasurementCorrections_1_1();
if (!gnssCorrections.isOk()) {
ALOGD("Unable to get a handle to GnssMeasurementCorrections 1.1 interface");
} else {
gnssCorrectionsIface_V1_1 = gnssCorrections;
gnssCorrectionsIface_V1_0 = gnssCorrectionsIface_V1_1;
}
} else if (gnssHal_V2_0 != nullptr) {
auto gnssCorrections = gnssHal_V2_0->getExtensionMeasurementCorrections();
if (!gnssCorrections.isOk()) {
ALOGD("Unable to get a handle to GnssMeasurementCorrections interface");
} else {
gnssCorrectionsIface = gnssCorrections;
gnssCorrectionsIface_V1_0 = gnssCorrections;
}
}
@@ -2110,11 +2133,18 @@ static jboolean android_location_GnssLocationProvider_init(JNIEnv* env, jobject
}
// Set IMeasurementCorrections.hal callback.
if (gnssCorrectionsIface != nullptr) {
if (gnssCorrectionsIface_V1_1 != nullptr) {
sp<IMeasurementCorrectionsCallback> gnssCorrectionsIfaceCbIface =
new MeasurementCorrectionsCallback();
result = gnssCorrectionsIface_V1_1->setCallback(gnssCorrectionsIfaceCbIface);
checkHidlReturn(result, "IMeasurementCorrections 1.1 setCallback() failed.");
} else if (gnssCorrectionsIface_V1_0 != nullptr) {
sp<IMeasurementCorrectionsCallback> gnssCorrectionsIfaceCbIface =
new MeasurementCorrectionsCallback();
result = gnssCorrectionsIface->setCallback(gnssCorrectionsIfaceCbIface);
checkHidlReturn(result, "IMeasurementCorrections setCallback() failed.");
result = gnssCorrectionsIface_V1_0->setCallback(gnssCorrectionsIfaceCbIface);
checkHidlReturn(result, "IMeasurementCorrections 1.0 setCallback() failed.");
} else {
ALOGI("Unable to find IMeasurementCorrections.");
}
return JNI_TRUE;
@@ -2717,7 +2747,7 @@ static jboolean android_location_GnssMeasurementsProvider_stop_measurement_colle
static jboolean
android_location_GnssMeasurementCorrectionsProvider_is_measurement_corrections_supported(
JNIEnv* env, jclass clazz) {
if (gnssCorrectionsIface != nullptr) {
if (gnssCorrectionsIface_V1_0 != nullptr || gnssCorrectionsIface_V1_1 != nullptr) {
return JNI_TRUE;
}
@@ -2730,24 +2760,12 @@ static jboolean
jobject obj /* clazz*/,
jobject correctionsObj) {
if (gnssCorrectionsIface == nullptr) {
if (gnssCorrectionsIface_V1_0 == nullptr && gnssCorrectionsIface_V1_1 == nullptr) {
ALOGW("Trying to inject GNSS measurement corrections on a chipset that does not"
" support them.");
return JNI_FALSE;
}
jdouble latitudeDegreesCorr = env->CallDoubleMethod(
correctionsObj, method_correctionsGetLatitudeDegrees);
jdouble longitudeDegreesCorr = env->CallDoubleMethod(
correctionsObj, method_correctionsGetLongitudeDegrees);
jdouble altitudeDegreesCorr = env->CallDoubleMethod(
correctionsObj, method_correctionsGetAltitudeMeters);
jdouble horizontalPositionUncertaintyMeters = env->CallDoubleMethod(
correctionsObj, method_correctionsGetHorPosUncMeters);
jdouble verticalPositionUncertaintyMeters = env->CallDoubleMethod(
correctionsObj, method_correctionsGetVerPosUncMeters);
jlong toaGpsNanosOfWeek = env->CallLongMethod(
correctionsObj, method_correctionsGetToaGpsNanosecondsOfWeek);
jobject singleSatCorrectionList = env->CallObjectMethod(correctionsObj,
method_correctionsGetSingleSatCorrectionList);
@@ -2816,7 +2834,21 @@ static jboolean
};
list[i] = singleSatCorrection;
}
MeasurementCorrections measurementCorrections = {
jdouble latitudeDegreesCorr = env->CallDoubleMethod(
correctionsObj, method_correctionsGetLatitudeDegrees);
jdouble longitudeDegreesCorr = env->CallDoubleMethod(
correctionsObj, method_correctionsGetLongitudeDegrees);
jdouble altitudeDegreesCorr = env->CallDoubleMethod(
correctionsObj, method_correctionsGetAltitudeMeters);
jdouble horizontalPositionUncertaintyMeters = env->CallDoubleMethod(
correctionsObj, method_correctionsGetHorPosUncMeters);
jdouble verticalPositionUncertaintyMeters = env->CallDoubleMethod(
correctionsObj, method_correctionsGetVerPosUncMeters);
jlong toaGpsNanosOfWeek = env->CallLongMethod(
correctionsObj, method_correctionsGetToaGpsNanosecondsOfWeek);
MeasurementCorrections_V1_0 measurementCorrections_1_0 = {
.latitudeDegrees = latitudeDegreesCorr,
.longitudeDegrees = longitudeDegreesCorr,
.altitudeMeters = altitudeDegreesCorr,
@@ -2826,8 +2858,28 @@ static jboolean
.satCorrections = list,
};
auto result = gnssCorrectionsIface->setCorrections(measurementCorrections);
return checkHidlReturn(result, "IMeasurementCorrections setCorrections() failed.");
if (gnssCorrectionsIface_V1_1 != nullptr) {
jboolean hasEnvironmentBearingCorr = env->CallBooleanMethod(
correctionsObj, method_correctionsHasEnvironmentBearing);
jfloat environmentBearingDegreesCorr = env->CallFloatMethod(
correctionsObj, method_correctionsGetEnvironmentBearingDegrees);
jfloat environmentBearingUncertaintyDegreesCorr = env->CallFloatMethod(
correctionsObj, method_correctionsGetEnvironmentBearingUncertaintyDegrees);
MeasurementCorrections_V1_1 measurementCorrections_1_1 = {
.v1_0 = measurementCorrections_1_0,
.hasEnvironmentBearing = static_cast<bool>(hasEnvironmentBearingCorr),
.environmentBearingDegrees = environmentBearingDegreesCorr,
.environmentBearingUncertaintyDegrees = environmentBearingUncertaintyDegreesCorr,
};
auto result = gnssCorrectionsIface_V1_1->setCorrections_1_1(measurementCorrections_1_1);
return checkHidlReturn(result, "IMeasurementCorrections 1.1 setCorrections() failed.");
}
auto result = gnssCorrectionsIface_V1_0->setCorrections(measurementCorrections_1_0);
return checkHidlReturn(result, "IMeasurementCorrections 1.0 setCorrections() failed.");
}
static jboolean android_location_GnssNavigationMessageProvider_is_navigation_message_supported(