From 15d9c8320144d8fd7d93f95ce6820c4f253c1707 Mon Sep 17 00:00:00 2001 From: OdSazib Date: Wed, 3 Mar 2021 01:06:39 +0600 Subject: [PATCH] sdm660-common: Checkout gps hal from LA.UM.9.6.2.r1-03600-89xx.0 --- .../1.0/location_api/BatchingAPIClient.cpp | 3 +- .../1.0/location_api/GnssAPIClient.cpp | 3 +- .../1.1/location_api/BatchingAPIClient.cpp | 3 +- .../1.1/location_api/GnssAPIClient.cpp | 3 +- .../2.0/location_api/BatchingAPIClient.cpp | 3 +- .../2.0/location_api/GnssAPIClient.cpp | 3 +- gps/android/2.0/location_api/LocationUtil.cpp | 107 +------ gps/android/2.0/location_api/LocationUtil.h | 1 - .../2.0/location_api/MeasurementAPIClient.cpp | 80 +---- .../2.1/location_api/BatchingAPIClient.cpp | 3 +- .../2.1/location_api/GnssAPIClient.cpp | 3 +- gps/android/2.1/location_api/LocationUtil.cpp | 107 +------ gps/android/2.1/location_api/LocationUtil.h | 1 - .../2.1/location_api/MeasurementAPIClient.cpp | 82 +----- gps/core/ContextBase.cpp | 4 + gps/core/ContextBase.h | 119 ++++++++ gps/core/EngineHubProxyBase.h | 18 +- gps/core/LocAdapterBase.cpp | 8 + gps/core/LocAdapterBase.h | 3 + gps/core/LocApiBase.cpp | 153 ++++++++++ gps/core/LocApiBase.h | 33 +++ gps/etc/gps.conf | 9 + gps/gnss/GnssAdapter.cpp | 275 ++++++++++++++++-- gps/gnss/GnssAdapter.h | 32 ++ gps/gnss/location_gnss.cpp | 12 +- gps/location/ILocationAPI.h | 38 +++ gps/location/LocationAPI.cpp | 15 + gps/location/LocationAPI.h | 38 +++ gps/location/LocationDataTypes.h | 115 +++++++- gps/location/location_interface.h | 2 + gps/utils/gps_extended_c.h | 13 + gps/utils/loc_misc_utils.cpp | 10 +- gps/utils/loc_nmea.cpp | 215 ++++++++------ gps/utils/loc_nmea.h | 3 +- 34 files changed, 1056 insertions(+), 461 deletions(-) mode change 100755 => 100644 gps/android/2.1/location_api/BatchingAPIClient.cpp diff --git a/gps/android/1.0/location_api/BatchingAPIClient.cpp b/gps/android/1.0/location_api/BatchingAPIClient.cpp index 264ab83b..94a234df 100644 --- a/gps/android/1.0/location_api/BatchingAPIClient.cpp +++ b/gps/android/1.0/location_api/BatchingAPIClient.cpp @@ -30,6 +30,7 @@ #define LOG_NDEBUG 0 #define LOG_TAG "LocSvc_BatchingAPIClient" +#include #include #include @@ -153,7 +154,7 @@ void BatchingAPIClient::flushBatchedLocations() void BatchingAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; } diff --git a/gps/android/1.0/location_api/GnssAPIClient.cpp b/gps/android/1.0/location_api/GnssAPIClient.cpp index 235e6336..42472589 100644 --- a/gps/android/1.0/location_api/GnssAPIClient.cpp +++ b/gps/android/1.0/location_api/GnssAPIClient.cpp @@ -31,6 +31,7 @@ #define LOG_TAG "LocSvc_GnssAPIClient" #define SINGLE_SHOT_MIN_TRACKING_INTERVAL_MSEC (590 * 60 * 60 * 1000) // 590 hours +#include #include #include @@ -299,7 +300,7 @@ void GnssAPIClient::requestCapabilities() { // callbacks void GnssAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; mLocationCapabilitiesCached = true; diff --git a/gps/android/1.1/location_api/BatchingAPIClient.cpp b/gps/android/1.1/location_api/BatchingAPIClient.cpp index 82a803f8..6ec27a92 100644 --- a/gps/android/1.1/location_api/BatchingAPIClient.cpp +++ b/gps/android/1.1/location_api/BatchingAPIClient.cpp @@ -30,6 +30,7 @@ #define LOG_NDEBUG 0 #define LOG_TAG "LocSvc_BatchingAPIClient" +#include #include #include @@ -153,7 +154,7 @@ void BatchingAPIClient::flushBatchedLocations() void BatchingAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; } diff --git a/gps/android/1.1/location_api/GnssAPIClient.cpp b/gps/android/1.1/location_api/GnssAPIClient.cpp index 42c05ccc..a2c4eecf 100644 --- a/gps/android/1.1/location_api/GnssAPIClient.cpp +++ b/gps/android/1.1/location_api/GnssAPIClient.cpp @@ -31,6 +31,7 @@ #define LOG_TAG "LocSvc_GnssAPIClient" #define SINGLE_SHOT_MIN_TRACKING_INTERVAL_MSEC (590 * 60 * 60 * 1000) // 590 hours +#include #include #include @@ -299,7 +300,7 @@ void GnssAPIClient::requestCapabilities() { // callbacks void GnssAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; mLocationCapabilitiesCached = true; diff --git a/gps/android/2.0/location_api/BatchingAPIClient.cpp b/gps/android/2.0/location_api/BatchingAPIClient.cpp index 49cd18a7..766c37a6 100644 --- a/gps/android/2.0/location_api/BatchingAPIClient.cpp +++ b/gps/android/2.0/location_api/BatchingAPIClient.cpp @@ -30,6 +30,7 @@ #define LOG_NDEBUG 0 #define LOG_TAG "LocSvc_BatchingAPIClient" +#include #include #include @@ -191,7 +192,7 @@ void BatchingAPIClient::flushBatchedLocations() void BatchingAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; } diff --git a/gps/android/2.0/location_api/GnssAPIClient.cpp b/gps/android/2.0/location_api/GnssAPIClient.cpp index c588978b..44007d90 100644 --- a/gps/android/2.0/location_api/GnssAPIClient.cpp +++ b/gps/android/2.0/location_api/GnssAPIClient.cpp @@ -31,6 +31,7 @@ #define LOG_TAG "LocSvc_GnssAPIClient" #define SINGLE_SHOT_MIN_TRACKING_INTERVAL_MSEC (590 * 60 * 60 * 1000) // 590 hours +#include #include #include @@ -349,7 +350,7 @@ void GnssAPIClient::requestCapabilities() { // callbacks void GnssAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; mLocationCapabilitiesCached = true; diff --git a/gps/android/2.0/location_api/LocationUtil.cpp b/gps/android/2.0/location_api/LocationUtil.cpp index fe8d22cd..0742f276 100644 --- a/gps/android/2.0/location_api/LocationUtil.cpp +++ b/gps/android/2.0/location_api/LocationUtil.cpp @@ -84,109 +84,22 @@ void convertGnssLocation(Location& in, V1_0::GnssLocation& out) out.timestamp = static_cast(in.timestamp); } -bool getCurrentTime(struct timespec& currentTime, int64_t& sinceBootTimeNanos) -{ - struct timespec sinceBootTime; - struct timespec sinceBootTimeTest; - bool clockGetTimeSuccess = false; - const uint32_t MAX_TIME_DELTA_VALUE_NANOS = 10000; - const uint32_t MAX_GET_TIME_COUNT = 20; - /* Attempt to get CLOCK_REALTIME and CLOCK_BOOTIME in succession without an interruption - or context switch (for up to MAX_GET_TIME_COUNT times) to avoid errors in the calculation */ - for (uint32_t i = 0; i < MAX_GET_TIME_COUNT; i++) { - if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTime) != 0) { - break; - }; - if (clock_gettime(CLOCK_REALTIME, ¤tTime) != 0) { - break; - } - if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTimeTest) != 0) { - break; - }; - sinceBootTimeNanos = sinceBootTime.tv_sec * 1000000000 + sinceBootTime.tv_nsec; - int64_t sinceBootTimeTestNanos = - sinceBootTimeTest.tv_sec * 1000000000 + sinceBootTimeTest.tv_nsec; - int64_t sinceBootTimeDeltaNanos = sinceBootTimeTestNanos - sinceBootTimeNanos; - - /* sinceBootTime and sinceBootTimeTest should have a close value if there was no - interruption or context switch between clock_gettime for CLOCK_BOOTIME and - clock_gettime for CLOCK_REALTIME */ - if (sinceBootTimeDeltaNanos < MAX_TIME_DELTA_VALUE_NANOS) { - clockGetTimeSuccess = true; - break; - } else { - LOC_LOGd("Delta:%" PRIi64 "ns time too large, retry number #%u...", - sinceBootTimeDeltaNanos, i + 1); - } - } - return clockGetTimeSuccess; -} - void convertGnssLocation(Location& in, V2_0::GnssLocation& out) { memset(&out, 0, sizeof(V2_0::GnssLocation)); convertGnssLocation(in, out.v1_0); - struct timespec currentTime; - int64_t sinceBootTimeNanos; - - if (getCurrentTime(currentTime, sinceBootTimeNanos)) { - if (in.flags & LOCATION_HAS_ELAPSED_REAL_TIME) { - uint64_t qtimerDiff = 0; - uint64_t qTimerTickCount = getQTimerTickCount(); - if (qTimerTickCount >= in.elapsedRealTime) { - qtimerDiff = qTimerTickCount - in.elapsedRealTime; - } - LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " in.elapsedRealTime=%" PRIi64 "" - " qTimerTickCount=%" PRIi64 " qtimerDiff=%" PRIi64 "", - sinceBootTimeNanos, in.elapsedRealTime, qTimerTickCount, qtimerDiff); - uint64_t qTimerDiffNanos = qTimerTicksToNanos(double(qtimerDiff)); - - /* If the time difference between Qtimer on modem side and Qtimer on AP side - is greater than one second we assume this is a dual-SoC device such as - Kona and will try to get Qtimer on modem side and on AP side and - will adjust our difference accordingly */ - if (qTimerDiffNanos > 1000000000) { - uint64_t qtimerDelta = getQTimerDeltaNanos(); - if (qTimerDiffNanos >= qtimerDelta) { - qTimerDiffNanos -= qtimerDelta; - } - } - - if (sinceBootTimeNanos >= qTimerDiffNanos) { - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - out.elapsedRealtime.timestampNs = sinceBootTimeNanos - qTimerDiffNanos; - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - out.elapsedRealtime.timeUncertaintyNs = in.elapsedRealTimeUnc; - } - } else { - int64_t currentTimeNanos = currentTime.tv_sec*1000000000 + currentTime.tv_nsec; - int64_t locationTimeNanos = in.timestamp*1000000; - LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " currentTimeNanos:%" PRIi64 "" - " locationTimeNanos:%" PRIi64 "", - sinceBootTimeNanos, currentTimeNanos, locationTimeNanos); - if (currentTimeNanos >= locationTimeNanos) { - int64_t ageTimeNanos = currentTimeNanos - locationTimeNanos; - LOC_LOGv("ageTimeNanos:%" PRIi64 ")", ageTimeNanos); - // the max trusted propagation time 100ms for ageTimeNanos to avoid user setting - // wrong time, it will affect elapsedRealtimeNanos - if (ageTimeNanos <= 100000000) { - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - out.elapsedRealtime.timestampNs = sinceBootTimeNanos - ageTimeNanos; - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - // time uncertainty is the max value between abs(AP_UTC - MP_UTC) and 100ms, to - // verify if user change the sys time - out.elapsedRealtime.timeUncertaintyNs = - std::max(ageTimeNanos, (int64_t)100000000); - } - } - } + if (in.flags & LOCATION_HAS_ELAPSED_REAL_TIME) { + out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; + out.elapsedRealtime.timestampNs = in.elapsedRealTime; + out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; + out.elapsedRealtime.timeUncertaintyNs = in.elapsedRealTimeUnc; + LOC_LOGd("out.elapsedRealtime.timestampNs=%" PRIi64 "" + " out.elapsedRealtime.timeUncertaintyNs=%" PRIi64 "" + " out.elapsedRealtime.flags=0x%X", + out.elapsedRealtime.timestampNs, + out.elapsedRealtime.timeUncertaintyNs, out.elapsedRealtime.flags); } - LOC_LOGv("out.elapsedRealtime.timestampNs=%" PRIi64 "" - " out.elapsedRealtime.timeUncertaintyNs=%" PRIi64 "" - " out.elapsedRealtime.flags=0x%X", - out.elapsedRealtime.timestampNs, - out.elapsedRealtime.timeUncertaintyNs, out.elapsedRealtime.flags); } void convertGnssLocation(const V1_0::GnssLocation& in, Location& out) diff --git a/gps/android/2.0/location_api/LocationUtil.h b/gps/android/2.0/location_api/LocationUtil.h index 3c345149..70729e4a 100644 --- a/gps/android/2.0/location_api/LocationUtil.h +++ b/gps/android/2.0/location_api/LocationUtil.h @@ -51,7 +51,6 @@ void convertGnssSvid(GnssMeasurementsData& in, int16_t& out); void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out); void convertGnssEphemerisSource(GnssEphemerisSource& in, GnssDebug::SatelliteEphemerisSource& out); void convertGnssEphemerisHealth(GnssEphemerisHealth& in, GnssDebug::SatelliteEphemerisHealth& out); -bool getCurrentTime(struct timespec& currentTime, int64_t& sinceBootTimeNanos); } // namespace implementation } // namespace V2_0 diff --git a/gps/android/2.0/location_api/MeasurementAPIClient.cpp b/gps/android/2.0/location_api/MeasurementAPIClient.cpp index a32b1cd9..425415f2 100644 --- a/gps/android/2.0/location_api/MeasurementAPIClient.cpp +++ b/gps/android/2.0/location_api/MeasurementAPIClient.cpp @@ -437,78 +437,16 @@ static void convertGnssData_2_0(GnssMeasurementsNotification& in, static void convertElapsedRealtimeNanos(GnssMeasurementsNotification& in, ::android::hardware::gnss::V2_0::ElapsedRealtime& elapsedRealtime) { - struct timespec currentTime; - int64_t sinceBootTimeNanos; - - if (getCurrentTime(currentTime, sinceBootTimeNanos)) { - if (in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_ELAPSED_REAL_TIME_BIT) { - uint64_t qtimerDiff = 0; - uint64_t qTimerTickCount = getQTimerTickCount(); - if (qTimerTickCount >= in.clock.elapsedRealTime) { - qtimerDiff = qTimerTickCount - in.clock.elapsedRealTime; - } - LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " in.clock.elapsedRealTime=%" PRIi64 "" - " qTimerTickCount=%" PRIi64 " qtimerDiff=%" PRIi64 "", - sinceBootTimeNanos, in.clock.elapsedRealTime, qTimerTickCount, qtimerDiff); - uint64_t qTimerDiffNanos = qTimerTicksToNanos(double(qtimerDiff)); - - /* If the time difference between Qtimer on modem side and Qtimer on AP side - is greater than one second we assume this is a dual-SoC device such as - Kona and will try to get Qtimer on modem side and on AP side and - will adjust our difference accordingly */ - if (qTimerDiffNanos > 1000000000) { - uint64_t qtimerDelta = getQTimerDeltaNanos(); - if (qTimerDiffNanos >= qtimerDelta) { - qTimerDiffNanos -= qtimerDelta; - } - } - - if (sinceBootTimeNanos >= qTimerDiffNanos) { - elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - elapsedRealtime.timestampNs = sinceBootTimeNanos - qTimerDiffNanos; - elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - elapsedRealtime.timeUncertaintyNs = in.clock.elapsedRealTimeUnc; - } - } else { - const uint32_t UTC_TO_GPS_SECONDS = 315964800; - - if (in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_LEAP_SECOND_BIT && - in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_FULL_BIAS_BIT && - in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_BIAS_BIT && - in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_BIAS_UNCERTAINTY_BIT) { - int64_t currentTimeNanos = currentTime.tv_sec * 1000000000 + currentTime.tv_nsec; - int64_t measTimeNanos = (int64_t)in.clock.timeNs - (int64_t)in.clock.fullBiasNs - - (int64_t)in.clock.biasNs - (int64_t)in.clock.leapSecond * 1000000000 - + (int64_t)UTC_TO_GPS_SECONDS * 1000000000; - - LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " currentTimeNanos:%" PRIi64 "" - " measTimeNanos:%" PRIi64 "", - sinceBootTimeNanos, currentTimeNanos, measTimeNanos); - if (currentTimeNanos >= measTimeNanos) { - int64_t ageTimeNanos = currentTimeNanos - measTimeNanos; - LOC_LOGv("ageTimeNanos:%" PRIi64 ")", ageTimeNanos); - // the max trusted propagation time 100ms for ageTimeNanos to avoid user - // setting wrong time, it will affect elapsedRealtimeNanos - if (ageTimeNanos <= 100000000) { - elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - elapsedRealtime.timestampNs = sinceBootTimeNanos - ageTimeNanos; - elapsedRealtime.flags |= - V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - // time uncertainty is the max value between abs(AP_UTC - MP_UTC) and 100ms, - // to verify if user change the sys time - elapsedRealtime.timeUncertaintyNs = - std::max(ageTimeNanos, (int64_t)100000000); - } - } - } else { - LOC_LOGe("Failed to calculate elapsedRealtimeNanos timestamp"); - } - } + if (in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_ELAPSED_REAL_TIME_BIT) { + elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; + elapsedRealtime.timestampNs = in.clock.elapsedRealTime; + elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; + elapsedRealtime.timeUncertaintyNs = in.clock.elapsedRealTimeUnc; + LOC_LOGd("elapsedRealtime.timestampNs=%" PRIi64 "" + " elapsedRealtime.timeUncertaintyNs=%" PRIi64 " elapsedRealtime.flags=0x%X", + elapsedRealtime.timestampNs, + elapsedRealtime.timeUncertaintyNs, elapsedRealtime.flags); } - LOC_LOGv("elapsedRealtime.timestampNs=%" PRIi64 "" - " elapsedRealtime.timeUncertaintyNs=%" PRIi64 " elapsedRealtime.flags=0x%X", - elapsedRealtime.timestampNs, - elapsedRealtime.timeUncertaintyNs, elapsedRealtime.flags); } static void convertGnssMeasurementsCodeType(GnssMeasurementsCodeType& in, diff --git a/gps/android/2.1/location_api/BatchingAPIClient.cpp b/gps/android/2.1/location_api/BatchingAPIClient.cpp old mode 100755 new mode 100644 index f1f1fe43..00d2ed90 --- a/gps/android/2.1/location_api/BatchingAPIClient.cpp +++ b/gps/android/2.1/location_api/BatchingAPIClient.cpp @@ -30,6 +30,7 @@ #define LOG_NDEBUG 0 #define LOG_TAG "LocSvc_BatchingAPIClient" +#include #include #include @@ -191,7 +192,7 @@ void BatchingAPIClient::flushBatchedLocations() void BatchingAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; } diff --git a/gps/android/2.1/location_api/GnssAPIClient.cpp b/gps/android/2.1/location_api/GnssAPIClient.cpp index 09c83dfb..07f617d0 100644 --- a/gps/android/2.1/location_api/GnssAPIClient.cpp +++ b/gps/android/2.1/location_api/GnssAPIClient.cpp @@ -31,6 +31,7 @@ #define LOG_TAG "LocSvc_GnssAPIClient" #define SINGLE_SHOT_MIN_TRACKING_INTERVAL_MSEC (590 * 60 * 60 * 1000) // 590 hours +#include #include #include @@ -380,7 +381,7 @@ void GnssAPIClient::requestCapabilities() { // callbacks void GnssAPIClient::onCapabilitiesCb(LocationCapabilitiesMask capabilitiesMask) { - LOC_LOGD("%s]: (%02x)", __FUNCTION__, capabilitiesMask); + LOC_LOGD("%s]: (%" PRIu64 ")", __FUNCTION__, capabilitiesMask); mLocationCapabilitiesMask = capabilitiesMask; mLocationCapabilitiesCached = true; diff --git a/gps/android/2.1/location_api/LocationUtil.cpp b/gps/android/2.1/location_api/LocationUtil.cpp index 43711199..e5b49b22 100644 --- a/gps/android/2.1/location_api/LocationUtil.cpp +++ b/gps/android/2.1/location_api/LocationUtil.cpp @@ -85,109 +85,22 @@ void convertGnssLocation(Location& in, V1_0::GnssLocation& out) out.timestamp = static_cast(in.timestamp); } -bool getCurrentTime(struct timespec& currentTime, int64_t& sinceBootTimeNanos) -{ - struct timespec sinceBootTime; - struct timespec sinceBootTimeTest; - bool clockGetTimeSuccess = false; - const uint32_t MAX_TIME_DELTA_VALUE_NANOS = 10000; - const uint32_t MAX_GET_TIME_COUNT = 20; - /* Attempt to get CLOCK_REALTIME and CLOCK_BOOTIME in succession without an interruption - or context switch (for up to MAX_GET_TIME_COUNT times) to avoid errors in the calculation */ - for (uint32_t i = 0; i < MAX_GET_TIME_COUNT; i++) { - if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTime) != 0) { - break; - }; - if (clock_gettime(CLOCK_REALTIME, ¤tTime) != 0) { - break; - } - if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTimeTest) != 0) { - break; - }; - sinceBootTimeNanos = sinceBootTime.tv_sec * 1000000000 + sinceBootTime.tv_nsec; - int64_t sinceBootTimeTestNanos = - sinceBootTimeTest.tv_sec * 1000000000 + sinceBootTimeTest.tv_nsec; - int64_t sinceBootTimeDeltaNanos = sinceBootTimeTestNanos - sinceBootTimeNanos; - - /* sinceBootTime and sinceBootTimeTest should have a close value if there was no - interruption or context switch between clock_gettime for CLOCK_BOOTIME and - clock_gettime for CLOCK_REALTIME */ - if (sinceBootTimeDeltaNanos < MAX_TIME_DELTA_VALUE_NANOS) { - clockGetTimeSuccess = true; - break; - } else { - LOC_LOGd("Delta:%" PRIi64 "ns time too large, retry number #%u...", - sinceBootTimeDeltaNanos, i + 1); - } - } - return clockGetTimeSuccess; -} - void convertGnssLocation(Location& in, V2_0::GnssLocation& out) { memset(&out, 0, sizeof(V2_0::GnssLocation)); convertGnssLocation(in, out.v1_0); - struct timespec currentTime; - int64_t sinceBootTimeNanos; - - if (getCurrentTime(currentTime, sinceBootTimeNanos)) { - if (in.flags & LOCATION_HAS_ELAPSED_REAL_TIME) { - uint64_t qtimerDiff = 0; - uint64_t qTimerTickCount = getQTimerTickCount(); - if (qTimerTickCount >= in.elapsedRealTime) { - qtimerDiff = qTimerTickCount - in.elapsedRealTime; - } - LOC_LOGd("sinceBootTimeNanos:%" PRIi64 " in.elapsedRealTime=%" PRIi64 "" - " qTimerTickCount=%" PRIi64 " qtimerDiff=%" PRIi64 "", - sinceBootTimeNanos, in.elapsedRealTime, qTimerTickCount, qtimerDiff); - uint64_t qTimerDiffNanos = qTimerTicksToNanos(double(qtimerDiff)); - - /* If the time difference between Qtimer on modem side and Qtimer on AP side - is greater than one second we assume this is a dual-SoC device such as - Kona and will try to get Qtimer on modem side and on AP side and - will adjust our difference accordingly */ - if (qTimerDiffNanos > 1000000000) { - uint64_t qtimerDelta = getQTimerDeltaNanos(); - if (qTimerDiffNanos >= qtimerDelta) { - qTimerDiffNanos -= qtimerDelta; - } - } - - if (sinceBootTimeNanos >= qTimerDiffNanos) { - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - out.elapsedRealtime.timestampNs = sinceBootTimeNanos - qTimerDiffNanos; - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - out.elapsedRealtime.timeUncertaintyNs = in.elapsedRealTimeUnc; - } - } else { - int64_t currentTimeNanos = currentTime.tv_sec*1000000000 + currentTime.tv_nsec; - int64_t locationTimeNanos = in.timestamp*1000000; - LOC_LOGd("sinceBootTimeNanos:%" PRIi64 " currentTimeNanos:%" PRIi64 "" - " locationTimeNanos:%" PRIi64 "", - sinceBootTimeNanos, currentTimeNanos, locationTimeNanos); - if (currentTimeNanos >= locationTimeNanos) { - int64_t ageTimeNanos = currentTimeNanos - locationTimeNanos; - LOC_LOGd("ageTimeNanos:%" PRIi64 ")", ageTimeNanos); - // the max trusted propagation time 100ms for ageTimeNanos to avoid user setting - // wrong time, it will affect elapsedRealtimeNanos - if (ageTimeNanos <= 100000000) { - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - out.elapsedRealtime.timestampNs = sinceBootTimeNanos - ageTimeNanos; - out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - // time uncertainty is the max value between abs(AP_UTC - MP_UTC) and 100ms, to - // verify if user change the sys time - out.elapsedRealtime.timeUncertaintyNs = - std::max(ageTimeNanos, (int64_t)100000000); - } - } - } + if (in.flags & LOCATION_HAS_ELAPSED_REAL_TIME) { + out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; + out.elapsedRealtime.timestampNs = in.elapsedRealTime; + out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; + out.elapsedRealtime.timeUncertaintyNs = in.elapsedRealTimeUnc; + LOC_LOGd("out.elapsedRealtime.timestampNs=%" PRIi64 "" + " out.elapsedRealtime.timeUncertaintyNs=%" PRIi64 "" + " out.elapsedRealtime.flags=0x%X", + out.elapsedRealtime.timestampNs, + out.elapsedRealtime.timeUncertaintyNs, out.elapsedRealtime.flags); } - LOC_LOGd("out.elapsedRealtime.timestampNs=%" PRIi64 "" - " out.elapsedRealtime.timeUncertaintyNs=%" PRIi64 "" - " out.elapsedRealtime.flags=0x%X", - out.elapsedRealtime.timestampNs, - out.elapsedRealtime.timeUncertaintyNs, out.elapsedRealtime.flags); } void convertGnssLocation(const V1_0::GnssLocation& in, Location& out) diff --git a/gps/android/2.1/location_api/LocationUtil.h b/gps/android/2.1/location_api/LocationUtil.h index fde15950..2d95a2db 100644 --- a/gps/android/2.1/location_api/LocationUtil.h +++ b/gps/android/2.1/location_api/LocationUtil.h @@ -56,7 +56,6 @@ void convertGnssSvid(GnssMeasurementsData& in, int16_t& out); void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out); void convertGnssEphemerisSource(GnssEphemerisSource& in, GnssDebug::SatelliteEphemerisSource& out); void convertGnssEphemerisHealth(GnssEphemerisHealth& in, GnssDebug::SatelliteEphemerisHealth& out); -bool getCurrentTime(struct timespec& currentTime, int64_t& sinceBootTimeNanos); void convertSingleSatCorrections(const SingleSatCorrection& in, GnssSingleSatCorrection& out); void convertMeasurementCorrections(const MeasurementCorrectionsV1_0& in, GnssMeasurementCorrections& out); diff --git a/gps/android/2.1/location_api/MeasurementAPIClient.cpp b/gps/android/2.1/location_api/MeasurementAPIClient.cpp index 58697744..00280742 100644 --- a/gps/android/2.1/location_api/MeasurementAPIClient.cpp +++ b/gps/android/2.1/location_api/MeasurementAPIClient.cpp @@ -623,80 +623,16 @@ static void convertGnssData_2_1(GnssMeasurementsNotification& in, static void convertElapsedRealtimeNanos(GnssMeasurementsNotification& in, ::android::hardware::gnss::V2_0::ElapsedRealtime& elapsedRealtime) { - struct timespec currentTime; - int64_t sinceBootTimeNanos; - - if (getCurrentTime(currentTime, sinceBootTimeNanos)) { - if (in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_ELAPSED_REAL_TIME_BIT) { - uint64_t qtimerDiff = 0; - uint64_t qTimerTickCount = getQTimerTickCount(); - if (qTimerTickCount >= in.clock.elapsedRealTime) { - qtimerDiff = qTimerTickCount - in.clock.elapsedRealTime; - } - LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " in.clock.elapsedRealTime=%" PRIi64 "" - " qTimerTickCount=%" PRIi64 " qtimerDiff=%" PRIi64 "", - sinceBootTimeNanos, in.clock.elapsedRealTime, qTimerTickCount, qtimerDiff); - uint64_t qTimerDiffNanos = qTimerTicksToNanos(double(qtimerDiff)); - - /* If the time difference between Qtimer on modem side and Qtimer on AP side - is greater than one second we assume this is a dual-SoC device such as - Kona and will try to get Qtimer on modem side and on AP side and - will adjust our difference accordingly */ - if (qTimerDiffNanos > 1000000000) { - uint64_t qtimerDelta = getQTimerDeltaNanos(); - if (qTimerDiffNanos >= qtimerDelta) { - qTimerDiffNanos -= qtimerDelta; - } - } - - if (sinceBootTimeNanos >= qTimerDiffNanos) { - elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - elapsedRealtime.timestampNs = sinceBootTimeNanos - qTimerDiffNanos; - elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - elapsedRealtime.timeUncertaintyNs = in.clock.elapsedRealTimeUnc; - } - } else { - const uint32_t UTC_TO_GPS_SECONDS = 315964800; - - if (in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_LEAP_SECOND_BIT && - in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_FULL_BIAS_BIT && - in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_BIAS_BIT && - in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_BIAS_UNCERTAINTY_BIT) { - int64_t currentTimeNanos = currentTime.tv_sec * 1000000000 + currentTime.tv_nsec; - int64_t measTimeNanos = (int64_t)in.clock.timeNs - (int64_t)in.clock.fullBiasNs - - (int64_t)in.clock.biasNs - (int64_t)in.clock.leapSecond * 1000000000 - + (int64_t)UTC_TO_GPS_SECONDS * 1000000000; - - LOC_LOGv("sinceBootTimeNanos:%" PRIi64 " currentTimeNanos:%" PRIi64 "" - " measTimeNanos:%" PRIi64 "", - sinceBootTimeNanos, currentTimeNanos, measTimeNanos); - if (currentTimeNanos >= measTimeNanos) { - int64_t ageTimeNanos = currentTimeNanos - measTimeNanos; - LOC_LOGv("ageTimeNanos:%" PRIi64 ")", ageTimeNanos); - // the max trusted propagation time 100ms for ageTimeNanos to avoid user - // setting wrong time, it will affect elapsedRealtimeNanos - if (ageTimeNanos <= 100000000) { - elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; - elapsedRealtime.timestampNs = sinceBootTimeNanos - ageTimeNanos; - elapsedRealtime.flags |= - V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; - // time uncertainty is 1 ms since it is calculated from utc time that - // is in ms - // time uncertainty is the max value between abs(AP_UTC - MP_UTC) and 100ms, - // to verify if user change the sys time - elapsedRealtime.timeUncertaintyNs = - std::max(ageTimeNanos, (int64_t)100000000); - } - } - } else { - LOC_LOGe("Failed to calculate elapsedRealtimeNanos timestamp"); - } - } + if (in.clock.flags & GNSS_MEASUREMENTS_CLOCK_FLAGS_ELAPSED_REAL_TIME_BIT) { + elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIMESTAMP_NS; + elapsedRealtime.timestampNs = in.clock.elapsedRealTime; + elapsedRealtime.flags |= V2_0::ElapsedRealtimeFlags::HAS_TIME_UNCERTAINTY_NS; + elapsedRealtime.timeUncertaintyNs = in.clock.elapsedRealTimeUnc; + LOC_LOGd("elapsedRealtime.timestampNs=%" PRIi64 "" + " elapsedRealtime.timeUncertaintyNs=%" PRIi64 " elapsedRealtime.flags=0x%X", + elapsedRealtime.timestampNs, + elapsedRealtime.timeUncertaintyNs, elapsedRealtime.flags); } - LOC_LOGv("elapsedRealtime.timestampNs=%" PRIi64 "" - " elapsedRealtime.timeUncertaintyNs=%" PRIi64 " elapsedRealtime.flags=0x%X", - elapsedRealtime.timestampNs, - elapsedRealtime.timeUncertaintyNs, elapsedRealtime.flags); } } // namespace implementation diff --git a/gps/core/ContextBase.cpp b/gps/core/ContextBase.cpp index 411c9900..87e98dc1 100644 --- a/gps/core/ContextBase.cpp +++ b/gps/core/ContextBase.cpp @@ -50,6 +50,7 @@ uint64_t ContextBase::sSupportedMsgMask = 0; bool ContextBase::sGnssMeasurementSupported = false; uint8_t ContextBase::sFeaturesSupported[MAX_FEATURE_LENGTH]; GnssNMEARptRate ContextBase::sNmeaReportRate = GNSS_NMEA_REPORT_RATE_NHZ; +LocationCapabilitiesMask ContextBase::sQwesFeatureMask = 0; const loc_param_s_type ContextBase::mGps_conf_table[] = { @@ -92,6 +93,7 @@ const loc_param_s_type ContextBase::mGps_conf_table[] = {"GNSS_DEPLOYMENT", &mGps_conf.GNSS_DEPLOYMENT, NULL, 'n'}, {"CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED", &mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED, NULL, 'n'}, + {"NMEA_TAG_BLOCK_GROUPING_ENABLED", &mGps_conf.NMEA_TAG_BLOCK_GROUPING_ENABLED, NULL, 'n'}, {"NI_SUPL_DENY_ON_NFW_LOCKED", &mGps_conf.NI_SUPL_DENY_ON_NFW_LOCKED, NULL, 'n'}, {"ENABLE_NMEA_PRINT", &mGps_conf.ENABLE_NMEA_PRINT, NULL, 'n'} }; @@ -191,6 +193,8 @@ void ContextBase::readConfig() /* default configuration QTI GNSS H/W */ mGps_conf.GNSS_DEPLOYMENT = 0; mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED = 0; + /* default NMEA Tag Block Grouping is disabled */ + mGps_conf.NMEA_TAG_BLOCK_GROUPING_ENABLED = 0; /* default configuration for NI_SUPL_DENY_ON_NFW_LOCKED */ mGps_conf.NI_SUPL_DENY_ON_NFW_LOCKED = 1; /* By default NMEA Printing is disabled */ diff --git a/gps/core/ContextBase.h b/gps/core/ContextBase.h index 026ab49d..34cad609 100644 --- a/gps/core/ContextBase.h +++ b/gps/core/ContextBase.h @@ -35,6 +35,11 @@ #include #include #include +#ifdef NO_UNORDERED_SET_OR_MAP + #include +#else + #include +#endif /* GPS.conf support */ /* NOTE: the implementaiton of the parser casts number @@ -77,6 +82,7 @@ typedef struct loc_gps_cfg_s uint32_t CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED; uint32_t NI_SUPL_DENY_ON_NFW_LOCKED; uint32_t ENABLE_NMEA_PRINT; + uint32_t NMEA_TAG_BLOCK_GROUPING_ENABLED; } loc_gps_cfg_s_type; /* NOTE: the implementation of the parser casts number @@ -160,6 +166,7 @@ public: static uint8_t sFeaturesSupported[MAX_FEATURE_LENGTH]; static bool sGnssMeasurementSupported; static GnssNMEARptRate sNmeaReportRate; + static LocationCapabilitiesMask sQwesFeatureMask; void readConfig(); static uint32_t getCarrierCapabilities(); @@ -192,6 +199,118 @@ public: */ static bool gnssConstellationConfig(); + /* + set QWES feature status info + */ + static inline void setQwesFeatureStatus( + const std::unordered_map &featureMap) { + std::unordered_map::const_iterator itr; + static LocationQwesFeatureType locQwesFeatType[LOCATION_QWES_FEATURE_TYPE_MAX]; + for (itr = featureMap.begin(); itr != featureMap.end(); ++itr) { + LOC_LOGi("Feature : %d isValid: %d", itr->first, itr->second); + locQwesFeatType[itr->first] = itr->second; + switch (itr->first) { + case LOCATION_QWES_FEATURE_TYPE_CARRIER_PHASE: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_CARRIER_PHASE_BIT; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_CARRIER_PHASE_BIT; + } + break; + case LOCATION_QWES_FEATURE_TYPE_SV_POLYNOMIAL: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_SV_POLYNOMIAL_BIT; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_SV_POLYNOMIAL_BIT; + } + break; + case LOCATION_QWES_FEATURE_TYPE_GNSS_SINGLE_FREQUENCY: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_GNSS_SINGLE_FREQUENCY; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_GNSS_SINGLE_FREQUENCY; + } + break; + case LOCATION_QWES_FEATURE_TYPE_SV_EPH: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_SV_EPHEMERIS_BIT; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_SV_EPHEMERIS_BIT; + } + break; + case LOCATION_QWES_FEATURE_TYPE_GNSS_MULTI_FREQUENCY: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_GNSS_MULTI_FREQUENCY; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_GNSS_MULTI_FREQUENCY; + } + break; + case LOCATION_QWES_FEATURE_TYPE_PPE: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_PPE; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_PPE; + } + break; + case LOCATION_QWES_FEATURE_TYPE_QDR2: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_QDR2; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_QDR2; + } + break; + case LOCATION_QWES_FEATURE_TYPE_QDR3: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_QDR3; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_QDR3; + } + break; + case LOCATION_QWES_FEATURE_TYPE_VPE: + if (itr->second) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_VPE; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_VPE; + } + break; + } + } + + // Set CV2X basic when time freq and tunc is set + // CV2X_BASIC = LOCATION_QWES_FEATURE_TYPE_TIME_FREQUENCY & + // LOCATION_QWES_FEATURE_TYPE_TIME_UNCERTAINTY + + // Set CV2X premium when time freq and tunc is set + // CV2X_PREMIUM = CV2X_BASIC & LOCATION_QWES_FEATURE_TYPE_QDR3 & + // LOCATION_QWES_FEATURE_TYPE_CLOCK_ESTIMATE + + bool cv2xBasicEnabled = (1 == locQwesFeatType[LOCATION_QWES_FEATURE_TYPE_TIME_FREQUENCY]) && + (1 == locQwesFeatType[LOCATION_QWES_FEATURE_TYPE_TIME_UNCERTAINTY]); + bool cv2xPremiumEnabled = cv2xBasicEnabled && + (1 == locQwesFeatType[LOCATION_QWES_FEATURE_TYPE_QDR3]) && + (1 == locQwesFeatType[LOCATION_QWES_FEATURE_TYPE_CLOCK_ESTIMATE]); + + LOC_LOGd("CV2X_BASIC:%d, CV2X_PREMIUM:%d", cv2xBasicEnabled, cv2xPremiumEnabled); + if (cv2xBasicEnabled) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_CV2X_LOCATION_BASIC; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_CV2X_LOCATION_BASIC; + } + if (cv2xPremiumEnabled) { + sQwesFeatureMask |= LOCATION_CAPABILITIES_QWES_CV2X_LOCATION_PREMIUM; + } else { + sQwesFeatureMask &= ~LOCATION_CAPABILITIES_QWES_CV2X_LOCATION_PREMIUM; + } + } + + /* + get QWES feature status info + */ + static inline LocationCapabilitiesMask getQwesFeatureStatus() { + return (ContextBase::sQwesFeatureMask); + } + + }; struct LocApiResponse: LocMsg { diff --git a/gps/core/EngineHubProxyBase.h b/gps/core/EngineHubProxyBase.h index 13a1cd75..468a8f05 100644 --- a/gps/core/EngineHubProxyBase.h +++ b/gps/core/EngineHubProxyBase.h @@ -28,6 +28,11 @@ */ #ifndef ENGINE_HUB_PROXY_BASE_H #define ENGINE_HUB_PROXY_BASE_H +#ifdef NO_UNORDERED_SET_OR_MAP + #include +#else + #include +#endif namespace loc_core { @@ -114,6 +119,13 @@ public: (void) dreConfig; return false; } + + inline virtual bool configEngineRunState( + PositioningEngineMask engType, LocEngineRunState engState) { + (void) engType; + (void) engState; + return false; + } }; typedef std::function @@ -129,6 +141,9 @@ typedef std::function typedef std::function GnssAdapterUpdateNHzRequirementCb; +typedef std::function &featureMap)> + GnssAdapterUpdateQwesFeatureStatusCb; + // potential parameters: message queue: MsgTask * msgTask; // callback function to report back dr and ppe position and sv report typedef EngineHubProxyBase* (getEngHubProxyFn)( @@ -137,7 +152,8 @@ typedef EngineHubProxyBase* (getEngHubProxyFn)( GnssAdapterReportEnginePositionsEventCb positionEventCb, GnssAdapterReportSvEventCb svEventCb, GnssAdapterReqAidingDataCb reqAidingDataCb, - GnssAdapterUpdateNHzRequirementCb updateNHzRequirementCb); + GnssAdapterUpdateNHzRequirementCb updateNHzRequirementCb, + GnssAdapterUpdateQwesFeatureStatusCb updateQwesFeatureStatusCb); } // namespace loc_core diff --git a/gps/core/LocAdapterBase.cpp b/gps/core/LocAdapterBase.cpp index 5ada84b7..95f27288 100644 --- a/gps/core/LocAdapterBase.cpp +++ b/gps/core/LocAdapterBase.cpp @@ -428,4 +428,12 @@ LocAdapterBase::requestCapabilitiesCommand(LocationAPI* client) sendMsg(new MsgRequestCapabilities(*this, client)); } +void +LocAdapterBase::reportLatencyInfoEvent(const GnssLatencyInfo& /*gnssLatencyInfo*/) +DEFAULT_IMPL() + +bool LocAdapterBase:: + reportQwesCapabilities(const std::unordered_map &featureMap) +DEFAULT_IMPL(false) + } // namespace loc_core diff --git a/gps/core/LocAdapterBase.h b/gps/core/LocAdapterBase.h index 4a5d1abc..002dc964 100644 --- a/gps/core/LocAdapterBase.h +++ b/gps/core/LocAdapterBase.h @@ -236,6 +236,9 @@ public: removeClientCompleteCallback rmClientCb); void requestCapabilitiesCommand(LocationAPI* client); + virtual void reportLatencyInfoEvent(const GnssLatencyInfo& gnssLatencyInfo); + virtual bool reportQwesCapabilities( + const std::unordered_map &featureMap); }; } // namespace loc_core diff --git a/gps/core/LocApiBase.cpp b/gps/core/LocApiBase.cpp index 0044d07d..2413d05f 100644 --- a/gps/core/LocApiBase.cpp +++ b/gps/core/LocApiBase.cpp @@ -36,6 +36,7 @@ #include #include #include +#include namespace loc_core { @@ -483,6 +484,14 @@ void LocApiBase::reportLocationSystemInfo(const LocationSystemInfo& locationSyst TO_ALL_LOCADAPTERS(mLocAdapters[i]->reportLocationSystemInfoEvent(locationSystemInfo)); } +void LocApiBase::reportQwesCapabilities +( + const std::unordered_map &featureMap +) +{ + // loop through adapters, and deliver to all adapters. + TO_ALL_LOCADAPTERS(mLocAdapters[i]->reportQwesCapabilities(featureMap)); +} void LocApiBase::requestXtraData() { // loop through adapters, and deliver to the first handling adapter. @@ -600,6 +609,12 @@ void LocApiBase::reportGnssConfig(uint32_t sessionId, const GnssConfig& gnssConf TO_ALL_LOCADAPTERS(mLocAdapters[i]->reportGnssConfigEvent(sessionId, gnssConfig)); } +void LocApiBase::reportLatencyInfo(GnssLatencyInfo& gnssLatencyInfo) +{ + // loop through adapters, and deliver to the first handling adapter. + TO_ALL_LOCADAPTERS(mLocAdapters[i]->reportLatencyInfoEvent(gnssLatencyInfo)); +} + enum loc_api_adapter_err LocApiBase:: open(LOC_API_ADAPTER_EVENT_MASK_T /*mask*/) DEFAULT_IMPL(LOC_API_ADAPTER_ERR_SUCCESS) @@ -913,4 +928,142 @@ DEFAULT_IMPL() void LocApiBase:: getConstellationMultiBandConfig(uint32_t sessionId, LocApiResponse* /*adapterResponse*/) DEFAULT_IMPL() + +int64_t ElapsedRealtimeEstimator::getElapsedRealtimeEstimateNanos(int64_t curDataTimeNanos, + bool isCurDataTimeTrustable, uint32_t tbf) { + //The algorithm works follow below steps: + //When isCurDataTimeTrustable is meet (means Modem timestamp is already stable), + //1, Wait for mFixTimeStablizationThreshold fixes; While waiting for modem time + // stable, we set the traveltime to a default value; + //2, When the mFixTimeStablizationThreshold fix comes, we think now the mode time + // is already stable, calculate the initial AP-Modem clock diff(mCurrentClockDiff) + // using formula: + // mCurrentClockDiff = currentTimeNanos - locationTimeNanos - currentTravelTimeNanos + //3, since then, when the nth fix comes, + // 3.1 First update mCurrentClockDiff using below formula: + // mCurrentClockDiff = mCurrentClockDiff + (currentTimeNanos - sinceBootTimeNanos) + // - (mPrevUtcTimeNanos - mPrevBootTimeNanos) + // 3.2 Calculate currentTravelTimeNanos: + // currentTravelTimeNanos = currentTimeNanos - locationTimeNanos - mCurrentClockDiff + //4, It is possible that locationTimeNanos will jump, + // reset mFixTimeStablizationThreshold to default value, jump to step 2 to continue. + + int64_t currentTravelTimeNanos = mInitialTravelTime; + struct timespec currentTime; + int64_t sinceBootTimeNanos; + if (getCurrentTime(currentTime, sinceBootTimeNanos)) { + if (isCurDataTimeTrustable) { + if (tbf > 0 && tbf != curDataTimeNanos - mPrevDataTimeNanos) { + mFixTimeStablizationThreshold = 5; + } + int64_t currentTimeNanos = currentTime.tv_sec*1000000000 + currentTime.tv_nsec; + LOC_LOGd("sinceBootTimeNanos:%" PRIi64 " currentTimeNanos:%" PRIi64 "" + " locationTimeNanos:%" PRIi64 "", + sinceBootTimeNanos, currentTimeNanos, curDataTimeNanos); + if (mFixTimeStablizationThreshold == 0) { + currentTravelTimeNanos = mInitialTravelTime; + mCurrentClockDiff = currentTimeNanos - curDataTimeNanos - currentTravelTimeNanos; + } else if (mFixTimeStablizationThreshold < 0) { + mCurrentClockDiff = mCurrentClockDiff + (currentTimeNanos - sinceBootTimeNanos) + - (mPrevUtcTimeNanos - mPrevBootTimeNanos); + currentTravelTimeNanos = currentTimeNanos - curDataTimeNanos - mCurrentClockDiff; + } + + mPrevUtcTimeNanos = currentTimeNanos; + mPrevBootTimeNanos = sinceBootTimeNanos; + mPrevDataTimeNanos = curDataTimeNanos; + mFixTimeStablizationThreshold--; + } + } else { + return -1; + } + LOC_LOGd("Estimated travel time: %" PRIi64 "", currentTravelTimeNanos); + return (sinceBootTimeNanos - currentTravelTimeNanos); +} + +void ElapsedRealtimeEstimator::reset() { + mCurrentClockDiff = 0; + mPrevDataTimeNanos = 0; + mPrevUtcTimeNanos = 0; + mPrevBootTimeNanos = 0; + mFixTimeStablizationThreshold = 5; +} + +int64_t ElapsedRealtimeEstimator::getElapsedRealtimeQtimer(int64_t qtimerTicksAtOrigin) { + struct timespec currentTime; + int64_t sinceBootTimeNanos; + int64_t elapsedRealTimeNanos; + + if (getCurrentTime(currentTime, sinceBootTimeNanos)) { + uint64_t qtimerDiff = 0; + uint64_t qTimerTickCount = getQTimerTickCount(); + if (qTimerTickCount >= qtimerTicksAtOrigin) { + qtimerDiff = qTimerTickCount - qtimerTicksAtOrigin; + } + LOC_LOGd("sinceBootTimeNanos:%" PRIi64 " qtimerTicksAtOrigin=%" PRIi64 "" + " qTimerTickCount=%" PRIi64 " qtimerDiff=%" PRIi64 "", + sinceBootTimeNanos, qtimerTicksAtOrigin, qTimerTickCount, qtimerDiff); + uint64_t qTimerDiffNanos = qTimerTicksToNanos(double(qtimerDiff)); + + /* If the time difference between Qtimer on modem side and Qtimer on AP side + is greater than one second we assume this is a dual-SoC device such as + Kona and will try to get Qtimer on modem side and on AP side and + will adjust our difference accordingly */ + if (qTimerDiffNanos > 1000000000) { + uint64_t qtimerDelta = getQTimerDeltaNanos(); + if (qTimerDiffNanos >= qtimerDelta) { + qTimerDiffNanos -= qtimerDelta; + } + } + + LOC_LOGd("Qtimer travel time: %" PRIi64 "", qTimerDiffNanos); + if (sinceBootTimeNanos >= qTimerDiffNanos) { + elapsedRealTimeNanos = sinceBootTimeNanos - qTimerDiffNanos; + } else { + elapsedRealTimeNanos = -1; + } + } else { + elapsedRealTimeNanos = -1; + } + return elapsedRealTimeNanos; +} + +bool ElapsedRealtimeEstimator::getCurrentTime( + struct timespec& currentTime, int64_t& sinceBootTimeNanos) +{ + struct timespec sinceBootTime; + struct timespec sinceBootTimeTest; + bool clockGetTimeSuccess = false; + const uint32_t MAX_TIME_DELTA_VALUE_NANOS = 10000; + const uint32_t MAX_GET_TIME_COUNT = 20; + /* Attempt to get CLOCK_REALTIME and CLOCK_BOOTIME in succession without an interruption + or context switch (for up to MAX_GET_TIME_COUNT times) to avoid errors in the calculation */ + for (uint32_t i = 0; i < MAX_GET_TIME_COUNT; i++) { + if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTime) != 0) { + break; + }; + if (clock_gettime(CLOCK_REALTIME, ¤tTime) != 0) { + break; + } + if (clock_gettime(CLOCK_BOOTTIME, &sinceBootTimeTest) != 0) { + break; + }; + sinceBootTimeNanos = sinceBootTime.tv_sec * 1000000000 + sinceBootTime.tv_nsec; + int64_t sinceBootTimeTestNanos = + sinceBootTimeTest.tv_sec * 1000000000 + sinceBootTimeTest.tv_nsec; + int64_t sinceBootTimeDeltaNanos = sinceBootTimeTestNanos - sinceBootTimeNanos; + + /* sinceBootTime and sinceBootTimeTest should have a close value if there was no + interruption or context switch between clock_gettime for CLOCK_BOOTIME and + clock_gettime for CLOCK_REALTIME */ + if (sinceBootTimeDeltaNanos < MAX_TIME_DELTA_VALUE_NANOS) { + clockGetTimeSuccess = true; + break; + } else { + LOC_LOGd("Delta:%" PRIi64 "ns time too large, retry number #%u...", + sinceBootTimeDeltaNanos, i + 1); + } + } + return clockGetTimeSuccess; +} } // namespace loc_core diff --git a/gps/core/LocApiBase.h b/gps/core/LocApiBase.h index fd0f1d21..b58e60d4 100644 --- a/gps/core/LocApiBase.h +++ b/gps/core/LocApiBase.h @@ -36,6 +36,13 @@ #include #include #include +#ifdef NO_UNORDERED_SET_OR_MAP + #include +#else + #include +#endif +#include +#include using namespace loc_util; @@ -194,6 +201,11 @@ public: void reportGnssAdditionalSystemInfo(GnssAdditionalSystemInfo& additionalSystemInfo); void sendNfwNotification(GnssNfwNotification& notification); void reportGnssConfig(uint32_t sessionId, const GnssConfig& gnssConfig); + void reportLatencyInfo(GnssLatencyInfo& gnssLatencyInfo); + void reportQwesCapabilities + ( + const std::unordered_map &featureMap + ); void geofenceBreach(size_t count, uint32_t* hwIds, Location& location, GeofenceBreachType breachType, uint64_t timestamp); @@ -334,6 +346,27 @@ public: LocApiResponse* adapterResponse=nullptr); }; +class ElapsedRealtimeEstimator { +private: + int64_t mCurrentClockDiff; + int64_t mPrevUtcTimeNanos; + int64_t mPrevBootTimeNanos; + int64_t mFixTimeStablizationThreshold; + int64_t mInitialTravelTime; + int64_t mPrevDataTimeNanos; +public: + + ElapsedRealtimeEstimator(int64_t travelTimeNanosEstimate): + mInitialTravelTime(travelTimeNanosEstimate) {reset();} + int64_t getElapsedRealtimeEstimateNanos(int64_t curDataTimeNanos, + bool isCurDataTimeTrustable, uint32_t tbf); + inline int64_t getElapsedRealtimeUncNanos() { return 5000000;} + void reset(); + + static int64_t getElapsedRealtimeQtimer(int64_t qtimerTicksAtOrigin); + static bool getCurrentTime(struct timespec& currentTime, int64_t& sinceBootTimeNanos); +}; + typedef LocApiBase* (getLocApi_t)(LOC_API_ADAPTER_EVENT_MASK_T exMask, ContextBase *context); diff --git a/gps/etc/gps.conf b/gps/etc/gps.conf index 644eec9a..75f12f2f 100644 --- a/gps/etc/gps.conf +++ b/gps/etc/gps.conf @@ -95,6 +95,15 @@ DATUM_TYPE = 0 # NMEA provider (1=Modem Processor, 0=Application Processor) NMEA_PROVIDER=0 +################################ +# NMEA TAG BLOCK GROUPING +################################ +# NMEA tag block grouping is only applicable to GSA +# Default is disabled +# 0 - disabled +# 1 - enabled +NMEA_TAG_BLOCK_GROUPING_ENABLED = 0 + # Customized NMEA GGA fix quality that can be used to tell # whether SENSOR contributed to the fix. # diff --git a/gps/gnss/GnssAdapter.cpp b/gps/gnss/GnssAdapter.cpp index 2c2e155b..d3792b99 100644 --- a/gps/gnss/GnssAdapter.cpp +++ b/gps/gnss/GnssAdapter.cpp @@ -77,6 +77,15 @@ static void agpsCloseResultCb (bool isSuccess, AGpsExtType agpsType, void* userD typedef const CdfwInterface* (*getCdfwInterface)(); +inline bool GnssReportLoggerUtil::isLogEnabled() { + return (mLogLatency != nullptr); +} + +inline void GnssReportLoggerUtil::log(const GnssLatencyInfo& gnssLatencyMeasInfo) { + if (mLogLatency != nullptr) { + mLogLatency(gnssLatencyMeasInfo); + } +} GnssAdapter::GnssAdapter() : LocAdapterBase(0, @@ -110,8 +119,9 @@ GnssAdapter::GnssAdapter() : mSystemStatus(SystemStatus::getInstance(mMsgTask)), mServerUrl(":"), mXtraObserver(mSystemStatus->getOsObserver(), mMsgTask), - mLocSystemInfo{}, mBlockCPIInfo{}, + mDreIntEnabled(false), + mLocSystemInfo{}, mNfwCb(NULL), mPowerOn(false), mAllowFlpNetworkFixes(0), @@ -650,6 +660,11 @@ GnssAdapter::convertLocationInfo(GnssLocationInfoNotification& out, out.flags |= GNSS_LOCATION_INFO_DR_SOLUTION_STATUS_MASK_BIT; out.drSolutionStatusMask = locationExtended.drSolutionStatusMask; } + + if (GPS_LOCATION_EXTENDED_HAS_ALTITUDE_ASSUMED & locationExtended.flags) { + out.flags |= GNSS_LOCATION_INFO_ALTITUDE_ASSUMED_BIT; + out.altitudeAssumed = locationExtended.altitudeAssumed; + } } inline uint32_t @@ -841,6 +856,9 @@ GnssAdapter::setConfig() uint32_t mask = 0; if (NMEA_PROVIDER_MP == ContextBase::mGps_conf.NMEA_PROVIDER) { mask |= LOC_NMEA_ALL_GENERAL_SUPPORTED_MASK; + if (ContextBase::mGps_conf.NMEA_TAG_BLOCK_GROUPING_ENABLED) { + mask |= LOC_NMEA_MASK_TAGBLOCK_V02; + } } if (ContextBase::isFeatureSupported(LOC_SUPPORTED_FEATURE_DEBUG_NMEA_V02)) { mask |= LOC_NMEA_MASK_DEBUG_V02; @@ -920,6 +938,9 @@ GnssAdapter::setConfig() uint32_t mask = 0; if (NMEA_PROVIDER_MP == gpsConf.NMEA_PROVIDER) { mask |= LOC_NMEA_ALL_GENERAL_SUPPORTED_MASK; + if (gpsConf.NMEA_TAG_BLOCK_GROUPING_ENABLED) { + mask |= LOC_NMEA_MASK_TAGBLOCK_V02; + } } if (ContextBase::isFeatureSupported(LOC_SUPPORTED_FEATURE_DEBUG_NMEA_V02)) { mask |= LOC_NMEA_MASK_DEBUG_V02; @@ -1536,8 +1557,8 @@ GnssAdapter::gnssGetConfigCommand(GnssConfigFlagsMask configMask) { mAdapter(adapter), mApi(api), mConfigMask(configMask), - mIds(nullptr), - mCount(count) { + mCount(count), + mIds(nullptr) { if (mCount > 0) { mIds = new uint32_t[count]; if (mIds) { @@ -2458,7 +2479,10 @@ GnssAdapter::stopClientSessions(LocationAPI* client) void GnssAdapter::updateClientsEventMask() { - LOC_API_ADAPTER_EVENT_MASK_T mask = 0; + // need to register for leap second info + // for proper nmea generation + LOC_API_ADAPTER_EVENT_MASK_T mask = LOC_API_ADAPTER_BIT_LOC_SYSTEM_INFO | + LOC_API_ADAPTER_BIT_EVENT_REPORT_INFO; for (auto it=mClientData.begin(); it != mClientData.end(); ++it) { if (it->second.trackingCb != nullptr || it->second.gnssLocationInfoCb != nullptr || @@ -2493,8 +2517,6 @@ GnssAdapter::updateClientsEventMask() mask |= LOC_API_ADAPTER_BIT_GNSS_SV_POLYNOMIAL_REPORT; mask |= LOC_API_ADAPTER_BIT_PARSED_UNPROPAGATED_POSITION_REPORT; mask |= LOC_API_ADAPTER_BIT_GNSS_SV_EPHEMERIS_REPORT; - mask |= LOC_API_ADAPTER_BIT_LOC_SYSTEM_INFO; - mask |= LOC_API_ADAPTER_BIT_EVENT_REPORT_INFO; // Nhz measurement bit is set based on callback from loc eng hub // for Nhz engines. @@ -2519,6 +2541,13 @@ GnssAdapter::updateClientsEventMask() // always register for NI NOTIFY VERIFY to handle internally in HAL mask |= LOC_API_ADAPTER_BIT_NI_NOTIFY_VERIFY_REQUEST; + // Enable the latency report + if (mask & LOC_API_ADAPTER_BIT_GNSS_MEASUREMENT) { + if (mLogger.isLogEnabled()) { + mask |= LOC_API_ADAPTER_BIT_LATENCY_INFORMATION; + } + } + updateEvtMask(mask, LOC_REGISTRATION_MASK_SET); } @@ -2643,6 +2672,48 @@ void GnssAdapter::checkAndRestartTimeBasedSession() } } +LocationCapabilitiesMask +GnssAdapter::getCapabilities() +{ + LocationCapabilitiesMask mask = 0; + uint32_t carrierCapabilities = ContextBase::getCarrierCapabilities(); + // time based tracking always supported + mask |= LOCATION_CAPABILITIES_TIME_BASED_TRACKING_BIT; + // geofence always supported + mask |= LOCATION_CAPABILITIES_GEOFENCE_BIT; + if (carrierCapabilities & LOC_GPS_CAPABILITY_MSB) { + mask |= LOCATION_CAPABILITIES_GNSS_MSB_BIT; + } + if (LOC_GPS_CAPABILITY_MSA & carrierCapabilities) { + mask |= LOCATION_CAPABILITIES_GNSS_MSA_BIT; + } + if (ContextBase::isMessageSupported(LOC_API_ADAPTER_MESSAGE_DISTANCE_BASE_LOCATION_BATCHING)) { + mask |= LOCATION_CAPABILITIES_TIME_BASED_BATCHING_BIT | + LOCATION_CAPABILITIES_DISTANCE_BASED_BATCHING_BIT; + } + if (ContextBase::isMessageSupported(LOC_API_ADAPTER_MESSAGE_DISTANCE_BASE_TRACKING)) { + mask |= LOCATION_CAPABILITIES_DISTANCE_BASED_TRACKING_BIT; + } + if (ContextBase::isMessageSupported(LOC_API_ADAPTER_MESSAGE_OUTDOOR_TRIP_BATCHING)) { + mask |= LOCATION_CAPABILITIES_OUTDOOR_TRIP_BATCHING_BIT; + } + if (ContextBase::gnssConstellationConfig()) { + mask |= LOCATION_CAPABILITIES_GNSS_MEASUREMENTS_BIT; + } + if (ContextBase::isFeatureSupported(LOC_SUPPORTED_FEATURE_DEBUG_NMEA_V02)) { + mask |= LOCATION_CAPABILITIES_DEBUG_NMEA_BIT; + } + if (ContextBase::isFeatureSupported(LOC_SUPPORTED_FEATURE_CONSTELLATION_ENABLEMENT_V02)) { + mask |= LOCATION_CAPABILITIES_CONSTELLATION_ENABLEMENT_BIT; + } + if (ContextBase::isFeatureSupported(LOC_SUPPORTED_FEATURE_AGPM_V02)) { + mask |= LOCATION_CAPABILITIES_AGPM_BIT; + } + //Get QWES feature status mask + mask |= ContextBase::getQwesFeatureStatus(); + return mask; +} + void GnssAdapter::notifyClientOfCachedLocationSystemInfo( LocationAPI* client, const LocationCallbacks& callbacks) { @@ -3814,6 +3885,62 @@ bool GnssAdapter::needToGenerateNmeaReport(const uint32_t &gpsTimeOfWeekMs, return retVal; } +void +GnssAdapter::logLatencyInfo() +{ + if (0 == mGnssLatencyInfoQueue.size()) { + LOC_LOGv("mGnssLatencyInfoQueue.size is 0"); + return; + } + mGnssLatencyInfoQueue.front().hlosQtimer5 = getQTimerTickCount(); + if (0 == mGnssLatencyInfoQueue.front().hlosQtimer3) { + /* if SPE from engine hub is not reported then hlosQtimer3 = 0, set it + equal to hlosQtimer2 to make sense */ + LOC_LOGv("hlosQtimer3 is 0, setting it to hlosQtimer2"); + mGnssLatencyInfoQueue.front().hlosQtimer3 = mGnssLatencyInfoQueue.front().hlosQtimer2; + } + if (0 == mGnssLatencyInfoQueue.front().hlosQtimer4) { + /* if PPE from engine hub is not reported then hlosQtimer4 = 0, set it + equal to hlosQtimer3 to make sense */ + LOC_LOGv("hlosQtimer4 is 0, setting it to hlosQtimer3"); + mGnssLatencyInfoQueue.front().hlosQtimer4 = mGnssLatencyInfoQueue.front().hlosQtimer3; + } + if (mGnssLatencyInfoQueue.front().hlosQtimer4 < mGnssLatencyInfoQueue.front().hlosQtimer3) { + /* hlosQtimer3 is timestamped when SPE from engine hub is reported, + and hlosQtimer4 is timestamped when PPE from engine hub is reported. + The order is random though, hence making sure the timestamps are sorted */ + LOC_LOGv("hlosQtimer4 is < hlosQtimer3, swapping them"); + std::swap(mGnssLatencyInfoQueue.front().hlosQtimer3, + mGnssLatencyInfoQueue.front().hlosQtimer4); + } + LOC_LOGv("meQtimer1=%" PRIi64 " " + "meQtimer2=%" PRIi64 " " + "meQtimer3=%" PRIi64 " " + "peQtimer1=%" PRIi64 " " + "peQtimer2=%" PRIi64 " " + "peQtimer3=%" PRIi64 " " + "smQtimer1=%" PRIi64 " " + "smQtimer2=%" PRIi64 " " + "smQtimer3=%" PRIi64 " " + "locMwQtimer=%" PRIi64 " " + "hlosQtimer1=%" PRIi64 " " + "hlosQtimer2=%" PRIi64 " " + "hlosQtimer3=%" PRIi64 " " + "hlosQtimer4=%" PRIi64 " " + "hlosQtimer5=%" PRIi64 " ", + mGnssLatencyInfoQueue.front().meQtimer1, mGnssLatencyInfoQueue.front().meQtimer2, + mGnssLatencyInfoQueue.front().meQtimer3, mGnssLatencyInfoQueue.front().peQtimer1, + mGnssLatencyInfoQueue.front().peQtimer2, mGnssLatencyInfoQueue.front().peQtimer3, + mGnssLatencyInfoQueue.front().smQtimer1, mGnssLatencyInfoQueue.front().smQtimer2, + mGnssLatencyInfoQueue.front().smQtimer3, mGnssLatencyInfoQueue.front().locMwQtimer, + mGnssLatencyInfoQueue.front().hlosQtimer1, mGnssLatencyInfoQueue.front().hlosQtimer2, + mGnssLatencyInfoQueue.front().hlosQtimer3, mGnssLatencyInfoQueue.front().hlosQtimer4, + mGnssLatencyInfoQueue.front().hlosQtimer5); + mLogger.log(mGnssLatencyInfoQueue.front()); + mGnssLatencyInfoQueue.pop(); + LOC_LOGv("mGnssLatencyInfoQueue.size after pop=%zu", mGnssLatencyInfoQueue.size()); +} + // only fused report (when engine hub is enabled) or // SPE report (when engine hub is disabled) will reach this function void @@ -3829,14 +3956,14 @@ GnssAdapter::reportPosition(const UlpLocation& ulpLocation, GnssLocationInfoNotification locationInfo = {}; convertLocationInfo(locationInfo, locationExtended); convertLocation(locationInfo.location, ulpLocation, locationExtended); - + logLatencyInfo(); for (auto it=mClientData.begin(); it != mClientData.end(); ++it) { if ((reportToFlpClient && isFlpClient(it->second)) || (reportToGnssClient && !isFlpClient(it->second))) { if (nullptr != it->second.gnssLocationInfoCb) { it->second.gnssLocationInfoCb(locationInfo); } else if ((nullptr != it->second.engineLocationsInfoCb) && - (false == initEngHubProxy())) { + (false == initEngHubProxy())) { // if engine hub is disabled, this is SPE fix from modem // we need to mark one copy marked as fused and one copy marked as PPE // and dispatch it to the engineLocationsInfoCb @@ -3889,10 +4016,12 @@ GnssAdapter::reportPosition(const UlpLocation& ulpLocation, (LOC_RELIABILITY_NOT_SET == locationExtended.horizontal_reliability)); uint8_t generate_nmea = (reportToGnssClient && status != LOC_SESS_FAILURE && !blank_fix); bool custom_nmea_gga = (1 == ContextBase::mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED); + bool isTagBlockGroupingEnabled = + (1 == ContextBase::mGps_conf.NMEA_TAG_BLOCK_GROUPING_ENABLED); std::vector nmeaArraystr; int indexOfGGA = -1; - loc_nmea_generate_pos(ulpLocation, locationExtended, mLocSystemInfo, - generate_nmea, custom_nmea_gga, nmeaArraystr, indexOfGGA); + loc_nmea_generate_pos(ulpLocation, locationExtended, mLocSystemInfo, generate_nmea, + custom_nmea_gga, nmeaArraystr, indexOfGGA, isTagBlockGroupingEnabled); stringstream ss; for (auto itor = nmeaArraystr.begin(); itor != nmeaArraystr.end(); ++itor) { ss << *itor; @@ -3911,6 +4040,25 @@ GnssAdapter::reportPosition(const UlpLocation& ulpLocation, } } +void +GnssAdapter::reportLatencyInfoEvent(const GnssLatencyInfo& gnssLatencyInfo) +{ + struct MsgReportLatencyInfo : public LocMsg { + GnssAdapter& mAdapter; + GnssLatencyInfo mGnssLatencyInfo; + inline MsgReportLatencyInfo(GnssAdapter& adapter, + const GnssLatencyInfo& gnssLatencyInfo) : + mGnssLatencyInfo(gnssLatencyInfo), + mAdapter(adapter) {} + inline virtual void proc() const { + mAdapter.mGnssLatencyInfoQueue.push(mGnssLatencyInfo); + LOC_LOGv("mGnssLatencyInfoQueue.size after push=%zu", + mAdapter.mGnssLatencyInfoQueue.size()); + } + }; + sendMsg(new MsgReportLatencyInfo(*this, gnssLatencyInfo)); +} + void GnssAdapter::reportEnginePositions(unsigned int count, const EngineLocationInfo* locationArr) @@ -3943,6 +4091,22 @@ GnssAdapter::reportEnginePositions(unsigned int count, } } + const EngineLocationInfo* engLocation = locationArr; + LOC_LOGv("engLocation->locationExtended.locOutputEngType=%d", + engLocation->locationExtended.locOutputEngType); + + if (0 != mGnssLatencyInfoQueue.size()) { + if ((GPS_LOCATION_EXTENDED_HAS_OUTPUT_ENG_TYPE & engLocation->locationExtended.flags) && + (LOC_OUTPUT_ENGINE_SPE == engLocation->locationExtended.locOutputEngType)) { + mGnssLatencyInfoQueue.front().hlosQtimer3 = getQTimerTickCount(); + LOC_LOGv("SPE hlosQtimer3=%" PRIi64 " ", mGnssLatencyInfoQueue.front().hlosQtimer3); + } + if ((GPS_LOCATION_EXTENDED_HAS_OUTPUT_ENG_TYPE & engLocation->locationExtended.flags) && + (LOC_OUTPUT_ENGINE_PPE == engLocation->locationExtended.locOutputEngType)) { + mGnssLatencyInfoQueue.front().hlosQtimer4 = getQTimerTickCount(); + LOC_LOGv("PPE hlosQtimer4=%" PRIi64 " ", mGnssLatencyInfoQueue.front().hlosQtimer4); + } + } if (needReportEnginePositions) { for (auto it=mClientData.begin(); it != mClientData.end(); ++it) { if (nullptr != it->second.engineLocationsInfoCb) { @@ -4709,8 +4873,33 @@ bool GnssAdapter::reportGnssAdditionalSystemInfoEvent( return true; } +bool GnssAdapter::reportQwesCapabilities( + const std::unordered_map &featureMap) +{ + struct MsgReportQwesFeatureStatus : public LocMsg { + GnssAdapter& mAdapter; + const std::unordered_map mFeatureMap; + inline MsgReportQwesFeatureStatus(GnssAdapter& adapter, + const std::unordered_map &featureMap) : + LocMsg(), + mAdapter(adapter), + mFeatureMap(std::move(featureMap)) {} + inline virtual void proc() const { + LOC_LOGi("ReportQwesFeatureStatus before caps %" PRIx64 " ", + mAdapter.getCapabilities()); + ContextBase::setQwesFeatureStatus(mFeatureMap); + LOC_LOGi("ReportQwesFeatureStatus After caps %" PRIx64 " ", + mAdapter.getCapabilities()); + mAdapter.broadcastCapabilities(mAdapter.getCapabilities()); + } + }; + + sendMsg(new MsgReportQwesFeatureStatus(*this, featureMap)); + return true; +} + void GnssAdapter::initOdcpiCommand(const OdcpiRequestCallback& callback, - OdcpiPrioritytype priority) + OdcpiPrioritytype priority) { struct MsgInitOdcpi : public LocMsg { GnssAdapter& mAdapter; @@ -5926,7 +6115,7 @@ GnssAdapter::configLeverArmCommand(const LeverArmConfigInfo& configInfo) { mSessionId(sessionId), mConfigInfo(configInfo) {} inline virtual void proc() const { - // save the lever ARM config info for translate position from GNSS antenna based + // save the lever ARM config info for translating position from GNSS antenna based // to VRP based if (mConfigInfo.leverArmValidMask & LEVER_ARM_TYPE_GNSS_TO_VRP_BIT) { mAdapter.mLocConfigInfo.leverArmConfigInfo.leverArmValidMask |= @@ -6181,6 +6370,47 @@ uint32_t GnssAdapter::configDeadReckoningEngineParamsCommand( return sessionId; } +uint32_t GnssAdapter::configEngineRunStateCommand( + PositioningEngineMask engType, LocEngineRunState engState) { + + // generated session id will be none-zero + uint32_t sessionId = generateSessionId(); + LOC_LOGe("session id %u, eng type 0x%x, eng state %d, dre enabled %d", + sessionId, engType, engState, mDreIntEnabled); + + struct MsgConfigEngineRunState : public LocMsg { + GnssAdapter& mAdapter; + uint32_t mSessionId; + PositioningEngineMask mEngType; + LocEngineRunState mEngState; + + inline MsgConfigEngineRunState(GnssAdapter& adapter, + uint32_t sessionId, + PositioningEngineMask engType, + LocEngineRunState engState) : + LocMsg(), + mAdapter(adapter), + mSessionId(sessionId), + mEngType(engType), + mEngState(engState) {} + inline virtual void proc() const { + LocationError err = LOCATION_ERROR_NOT_SUPPORTED; + // Currently, only DR engine supports pause/resume request + if ((mEngType == DEAD_RECKONING_ENGINE) && + (mAdapter.mDreIntEnabled == true)) { + if (true == mAdapter.mEngHubProxy->configEngineRunState(mEngType, mEngState)) { + err = LOCATION_ERROR_SUCCESS; + } + } + mAdapter.reportResponse(err, mSessionId); + } + }; + + sendMsg(new MsgConfigEngineRunState(*this, sessionId, engType, engState)); + + return sessionId; +} + void GnssAdapter::reportGnssConfigEvent(uint32_t sessionId, const GnssConfig& gnssConfig) { struct MsgReportGnssConfig : public LocMsg { @@ -6255,7 +6485,12 @@ GnssAdapter::initEngHubProxy() { strlen(PROCESS_NAME_ENGINE_SERVICE)) == 0) && (processInfoList[i].proc_status == ENABLED)) { pluginDaemonEnabled = true; - break; + // check if this is DRE-INT engine + if ((processInfoList[i].args[1]!= nullptr) && + (strncmp(processInfoList[i].args[1], "DRE-INT", sizeof("DRE-INT")) == 0)) { + mDreIntEnabled = true; + break; + } } } @@ -6315,14 +6550,20 @@ GnssAdapter::initEngHubProxy() { mNHzNeeded = nHzNeeded; checkAndRestartSPESession(); } - }; + }; + + GnssAdapterUpdateQwesFeatureStatusCb updateQwesFeatureStatusCb = + [this] (const std::unordered_map &featureMap) { + reportQwesCapabilities(featureMap); + }; getEngHubProxyFn* getter = (getEngHubProxyFn*) dlsym(handle, "getEngHubProxy"); if(getter != nullptr) { EngineHubProxyBase* hubProxy = (*getter) (mMsgTask, mSystemStatus->getOsObserver(), - reportPositionEventCb, - reportSvEventCb, reqAidingDataCb, - updateNHzRequirementCb); + reportPositionEventCb, + reportSvEventCb, reqAidingDataCb, + updateNHzRequirementCb, + updateQwesFeatureStatusCb); if (hubProxy != nullptr) { mEngHubProxy = hubProxy; engHubLoadSuccessful = true; diff --git a/gps/gnss/GnssAdapter.h b/gps/gnss/GnssAdapter.h index 20064e60..5e617f7a 100644 --- a/gps/gnss/GnssAdapter.h +++ b/gps/gnss/GnssAdapter.h @@ -39,6 +39,8 @@ #include #include #include +#include +#include #define MAX_URL_LEN 256 #define NMEA_SENTENCE_MAX_LENGTH 200 @@ -177,6 +179,23 @@ typedef uint16_t DGnssStateBitMask; #define DGNSS_STATE_NO_NMEA_PENDING 0X02 #define DGNSS_STATE_NTRIP_SESSION_STARTED 0X04 +class GnssReportLoggerUtil { +public: + typedef void (*LogGnssLatency)(const GnssLatencyInfo& gnssLatencyMeasInfo); + + GnssReportLoggerUtil() : mLogLatency(nullptr) { + const char* libname = "liblocdiagiface.so"; + void* libHandle = nullptr; + mLogLatency = (LogGnssLatency)dlGetSymFromLib(libHandle, libname, "LogGnssLatency"); + } + + bool isLogEnabled(); + void log(const GnssLatencyInfo& gnssLatencyMeasInfo); + +private: + LogGnssLatency mLogLatency; +}; + class GnssAdapter : public LocAdapterBase { /* ==== Engine Hub ===================================================================== */ @@ -258,6 +277,9 @@ class GnssAdapter : public LocAdapterBase { BlockCPIInfo mBlockCPIInfo; bool mPowerOn; uint32_t mAllowFlpNetworkFixes; + std::queue mGnssLatencyInfoQueue; + GnssReportLoggerUtil mLogger; + bool mDreIntEnabled; /* === Misc callback from QMI LOC API ============================================== */ GnssEnergyConsumedCallback mGnssEnergyConsumedCb; @@ -290,6 +312,8 @@ protected: /* ==== CLIENT ========================================================================= */ virtual void updateClientsEventMask(); virtual void stopClientSessions(LocationAPI* client); + inline void setNmeaReportRateConfig(); + void logLatencyInfo(); public: @@ -434,6 +458,8 @@ public: inline void antennaInfoCloseCommand() { mIsAntennaInfoInterfaceOpened = false; } uint32_t configMinGpsWeekCommand(uint16_t minGpsWeek); uint32_t configDeadReckoningEngineParamsCommand(const DeadReckoningEngineConfig& dreConfig); + uint32_t configEngineRunStateCommand(PositioningEngineMask engType, + LocEngineRunState engState); /* ========= ODCPI ===================================================================== */ /* ======== COMMANDS ====(Called from Client Thread)==================================== */ @@ -489,6 +515,11 @@ public: virtual bool reportGnssAdditionalSystemInfoEvent( GnssAdditionalSystemInfo& additionalSystemInfo); virtual void reportNfwNotificationEvent(GnssNfwNotification& notification); + virtual void reportLatencyInfoEvent(const GnssLatencyInfo& gnssLatencyInfo); + virtual bool reportQwesCapabilities + ( + const std::unordered_map &featureMap + ); /* ======== UTILITIES ================================================================= */ bool needReportForGnssClient(const UlpLocation& ulpLocation, @@ -589,6 +620,7 @@ public: void setSuplHostServer(const char* server, int port, LocServerType type); void notifyClientOfCachedLocationSystemInfo(LocationAPI* client, const LocationCallbacks& callbacks); + LocationCapabilitiesMask getCapabilities(); void updateSystemPowerStateCommand(PowerStateType systemPowerState); /*==== DGnss Usable Report Flag ====================================================*/ diff --git a/gps/gnss/location_gnss.cpp b/gps/gnss/location_gnss.cpp index d0978f44..04a461a7 100644 --- a/gps/gnss/location_gnss.cpp +++ b/gps/gnss/location_gnss.cpp @@ -103,6 +103,7 @@ static bool measCorrSetCorrections(const GnssMeasurementCorrections gnssMeasCorr static void measCorrClose(); static uint32_t antennaInfoInit(const antennaInfoCb antennaInfoCallback); static void antennaInfoClose(); +static uint32_t configEngineRunState(PositioningEngineMask engType, LocEngineRunState engState); static const GnssInterface gGnssInterface = { sizeof(GnssInterface), @@ -160,7 +161,8 @@ static const GnssInterface gGnssInterface = { disablePPENtripStream, gnssUpdateSecondaryBandConfig, gnssGetSecondaryBandConfig, - resetNetworkInfo + resetNetworkInfo, + configEngineRunState }; #ifndef DEBUG_X86 @@ -580,3 +582,11 @@ static void disablePPENtripStream(){ gGnssAdapter->disablePPENtripStreamCommand(); } } + +static uint32_t configEngineRunState(PositioningEngineMask engType, LocEngineRunState engState) { + if (NULL != gGnssAdapter) { + return gGnssAdapter->configEngineRunStateCommand(engType, engState); + } else { + return 0; + } +} diff --git a/gps/location/ILocationAPI.h b/gps/location/ILocationAPI.h index 96076e9e..29846ac4 100644 --- a/gps/location/ILocationAPI.h +++ b/gps/location/ILocationAPI.h @@ -363,6 +363,44 @@ public: LOCATION_ERROR_INVALID_PARAMETER if any parameters are invalid */ virtual uint32_t configDeadReckoningEngineParams(const DeadReckoningEngineConfig& dreConfig)=0; + + /** @brief + This API is used to instruct the specified engine to be in + the pause/resume state.
+ + When the engine is placed in paused state, the engine will + stop. If there is an on-going session, engine will no longer + produce fixes. In the paused state, calling API to delete + aiding data from the paused engine may not have effect. + Request to delete Aiding data shall be issued after + engine resume.
+ + Currently, only DRE engine will support pause/resume + request. responseCb() will return not supported when request + is made to pause/resume none-DRE engine.
+ + Request to pause/resume DRE engine can be made with or + without an on-going session. With QDR engine, on resume, + GNSS position & heading re-acquisition is needed for DR + engine to engage. If DR engine is already in the requested + state, the request will be no-op.
+ + @param + engType: the engine that is instructed to change its run + state.
+ + engState: the new engine run state that the engine is + instructed to be in.
+ + @return + A session id that will be returned in responseCallback to + match command with response. This effect is global for all + clients of LocationAPI responseCallback returns: + LOCATION_ERROR_SUCCESS if successful + LOCATION_ERROR_INVALID_PARAMETER if any parameters are invalid + */ + virtual uint32_t configEngineRunState(PositioningEngineMask engType, + LocEngineRunState engState) = 0; }; #endif /* ILOCATIONAPI_H */ diff --git a/gps/location/LocationAPI.cpp b/gps/location/LocationAPI.cpp index 06c1e46c..dea0cad5 100644 --- a/gps/location/LocationAPI.cpp +++ b/gps/location/LocationAPI.cpp @@ -857,3 +857,18 @@ uint32_t LocationControlAPI::configDeadReckoningEngineParams( pthread_mutex_unlock(&gDataMutex); return id; } + +uint32_t LocationControlAPI::configEngineRunState( + PositioningEngineMask engType, LocEngineRunState engState) { + uint32_t id = 0; + pthread_mutex_lock(&gDataMutex); + + if (gData.gnssInterface != NULL) { + id = gData.gnssInterface->configEngineRunState(engType, engState); + } else { + LOC_LOGe("No gnss interface available for Location Control API"); + } + + pthread_mutex_unlock(&gDataMutex); + return id; +} diff --git a/gps/location/LocationAPI.h b/gps/location/LocationAPI.h index 21a3a1fa..5ae5edab 100644 --- a/gps/location/LocationAPI.h +++ b/gps/location/LocationAPI.h @@ -442,6 +442,44 @@ public: */ virtual uint32_t configDeadReckoningEngineParams( const DeadReckoningEngineConfig& dreConfig) override; + + /** @brief + This API is used to instruct the specified engine to be in + the pause/resume state.
+ + When the engine is placed in paused state, the engine will + stop. If there is an on-going session, engine will no longer + produce fixes. In the paused state, calling API to delete + aiding data from the paused engine may not have effect. + Request to delete Aiding data shall be issued after + engine resume.
+ + Currently, only DRE engine will support pause/resume + request. responseCb() will return not supported when request + is made to pause/resume none-DRE engine.
+ + Request to pause/resume DRE engine can be made with or + without an on-going session. With QDR engine, on resume, GNSS + position & heading re-acquisition is needed for DR engine to + engage. If DR engine is already in the requested state, the + request will be no-op.
+ + @param + engType: the engine that is instructed to change its run + state.
+ + engState: the new engine run state that the engine is + instructed to be in.
+ + @return + A session id that will be returned in responseCallback to + match command with response. This effect is global for all + clients of LocationAPI responseCallback returns: + LOCATION_ERROR_SUCCESS if successful + LOCATION_ERROR_INVALID_PARAMETER if any parameters are invalid + */ + virtual uint32_t configEngineRunState(PositioningEngineMask engType, + LocEngineRunState engState) override; }; #endif /* LOCATIONAPI_H */ diff --git a/gps/location/LocationDataTypes.h b/gps/location/LocationDataTypes.h index 9fc40aff..ede1f813 100644 --- a/gps/location/LocationDataTypes.h +++ b/gps/location/LocationDataTypes.h @@ -209,7 +209,8 @@ typedef enum { GNSS_LOCATION_INFO_CONFORMITY_INDEX_BIT = (1<<28), // conformity index GNSS_LOCATION_INFO_LLA_VRP_BASED_BIT = (1<<29), // VRP-based lat/long/alt GNSS_LOCATION_INFO_ENU_VELOCITY_VRP_BASED_BIT = (1<<30), // VRP-based east/north/up vel - GNSS_LOCATION_INFO_DR_SOLUTION_STATUS_MASK_BIT = (1ULL<<31), // DR solution status + GNSS_LOCATION_INFO_DR_SOLUTION_STATUS_MASK_BIT = (1ULL<<31), // Valid DR solution status + GNSS_LOCATION_INFO_ALTITUDE_ASSUMED_BIT = (1ULL<<32), // Valid altitude assumed } GnssLocationInfoFlagBits; typedef enum { @@ -233,7 +234,8 @@ typedef enum { GEOFENCE_STATUS_AVAILABILE_YES, } GeofenceStatusAvailable; -typedef uint32_t LocationCapabilitiesMask; +// Set of masks for Modem and QWES capabilities. +typedef uint64_t LocationCapabilitiesMask; typedef enum { // supports startTracking API with minInterval param LOCATION_CAPABILITIES_TIME_BASED_TRACKING_BIT = (1<<0), @@ -267,8 +269,86 @@ typedef enum { LOCATION_CAPABILITIES_CONFORMITY_INDEX_BIT = (1<<14), // support precise location edgnss LOCATION_CAPABILITIES_EDGNSS_BIT = (1<<15), + // Modem supports Carrier Phase for Precise Positioning + // Measurement Engine (PPME). + LOCATION_CAPABILITIES_QWES_CARRIER_PHASE_BIT = (1<<16), + // Modem supports SV Polynomial for tightly coupled external + // DR support. This is a Standalone Feature. + LOCATION_CAPABILITIES_QWES_SV_POLYNOMIAL_BIT = (1<<17), + // Modem supports SV Ephemeris for tightly coupled external + // PPE engines. This is a Standalone Feature. + LOCATION_CAPABILITIES_QWES_SV_EPHEMERIS_BIT = (1<<18), + // Modem supports GNSS Single Frequency feature. This is a + // Standalone Feature. + LOCATION_CAPABILITIES_QWES_GNSS_SINGLE_FREQUENCY = (1<<19), + // Modem supports GNSS Multi Frequency feature. Multi Frequency + // enables Single frequency also. + LOCATION_CAPABILITIES_QWES_GNSS_MULTI_FREQUENCY = (1<<20), + // This mask indicates VPe license bundle is enabled. VEPP + // bundle include Carrier Phase and SV Polynomial features. + LOCATION_CAPABILITIES_QWES_VPE = (1<<21), + // This mask indicates support for CV2X Location basic features. + // This bundle includes features for GTS Time & Freq, C-TUNC + // (Constrained Time uncertainity. + LOCATION_CAPABILITIES_QWES_CV2X_LOCATION_BASIC = (1<<22), + // This mask indicates support for CV2X Location premium features. + // This bundle includes features for CV2X Location Basic features, + // QDR3 feature, and PACE. (Position Assisted Clock Estimator. + LOCATION_CAPABILITIES_QWES_CV2X_LOCATION_PREMIUM = (1<<23), + // This mask indicates that PPE (Precise Positioning Engine) + // library is enabled or Precise Positioning Framework (PPF) + // is available. This bundle includes features for Carrier + // Phase and SV Ephermeris. + LOCATION_CAPABILITIES_QWES_PPE = (1<<24), + // This mask indicates QDR2_C license bundle is enabled. This + // bundle includes features for SV Polynomial. + LOCATION_CAPABILITIES_QWES_QDR2 = (1<<25), + // This mask indicates QDR3_C license bundle is enabled. This + // bundle includes features for SV Polynomial. + LOCATION_CAPABILITIES_QWES_QDR3 = (1<<26), } LocationCapabilitiesBits; +typedef uint8_t LocationQwesFeatureType; +typedef enum { + // Modem supports Carrier Phase for Precise Positioning + // Measurement Engine (PPME). + LOCATION_QWES_FEATURE_TYPE_CARRIER_PHASE = 1, + // Modem supports SV Polynomial for tightly coupled external + // DR support. This is a Standalone Feature. + LOCATION_QWES_FEATURE_TYPE_SV_POLYNOMIAL, + // Modem supports SV Ephemeris for tightly coupled external + // PPE support. This is a Standalone Feature. + LOCATION_QWES_FEATURE_TYPE_SV_EPH, + // Modem supports GNSS Single Frequency feature. This is a + // Standalone Feature. + LOCATION_QWES_FEATURE_TYPE_GNSS_SINGLE_FREQUENCY, + // Modem supports GNSS Multi Frequency feature. Multi Frequency + // enables Single frequency also. + LOCATION_QWES_FEATURE_TYPE_GNSS_MULTI_FREQUENCY, + // This indicates Time and Frequency status. + LOCATION_QWES_FEATURE_TYPE_TIME_FREQUENCY, + // This indicates Time Uncertainty status. + LOCATION_QWES_FEATURE_TYPE_TIME_UNCERTAINTY, + // This indicates Clock Estimate status. + LOCATION_QWES_FEATURE_TYPE_CLOCK_ESTIMATE, + // This mask indicates that PPE (Precise Positioning Engine) + // library is enabled or Precise Positioning Framework (PPF) + // is available. This bundle includes features for Carrier + // Phase and SV Ephermeris. + LOCATION_QWES_FEATURE_TYPE_PPE, + // This indicates QDR2_C license bundle is enabled. This + // bundle includes features for SV Polynomial. + LOCATION_QWES_FEATURE_TYPE_QDR2, + // This indicates QDR3_C license bundle is enabled. This + // bundle includes features for SV Polynomial. + LOCATION_QWES_FEATURE_TYPE_QDR3, + // This indicates VEPP license bundle is enabled. VEPP + // bundle include Carrier Phase and SV Polynomial features. + LOCATION_QWES_FEATURE_TYPE_VPE, + // Max value + LOCATION_QWES_FEATURE_TYPE_MAX +} LocationQwesFeatureTypes; + typedef enum { LOCATION_TECHNOLOGY_TYPE_GNSS = 0, } LocationTechnologyType; @@ -727,6 +807,16 @@ typedef enum { (STANDARD_POSITIONING_ENGINE|DEAD_RECKONING_ENGINE| \ PRECISE_POSITIONING_ENGINE|VP_POSITIONING_ENGINE) +/** Specify the position engine running state.
*/ +enum LocEngineRunState { + /** Request the position engine to be put into resume state. + *
*/ + LOC_ENGINE_RUN_STATE_PAUSE = 1, + /** Request the position engine to be put into resume state. + *
*/ + LOC_ENGINE_RUN_STATE_RESUME = 2, +}; + typedef uint64_t GnssDataMask; typedef enum { // Jammer Indicator is available @@ -1151,6 +1241,8 @@ typedef struct { // VRR-based east, north, and up velocity float enuVelocityVRPBased[3]; DrSolutionStatusMask drSolutionStatusMask; + // true: altitude is assumed, false: altitude is calculated + bool altitudeAssumed; } GnssLocationInfoNotification; typedef struct { @@ -1940,4 +2032,23 @@ typedef struct { uint32_t port; bool useSSL; } GnssNtripConnectionParams; + +typedef struct { + uint64_t meQtimer1; + uint64_t meQtimer2; + uint64_t meQtimer3; + uint64_t peQtimer1; + uint64_t peQtimer2; + uint64_t peQtimer3; + uint64_t smQtimer1; + uint64_t smQtimer2; + uint64_t smQtimer3; + uint64_t locMwQtimer; + uint64_t hlosQtimer1; + uint64_t hlosQtimer2; + uint64_t hlosQtimer3; + uint64_t hlosQtimer4; + uint64_t hlosQtimer5; +} GnssLatencyInfo; + #endif /* LOCATIONDATATYPES_H */ diff --git a/gps/location/location_interface.h b/gps/location/location_interface.h index 53b71415..01bbe459 100644 --- a/gps/location/location_interface.h +++ b/gps/location/location_interface.h @@ -109,6 +109,8 @@ struct GnssInterface { uint32_t (*gnssUpdateSecondaryBandConfig)(const GnssSvTypeConfig& secondaryBandConfig); uint32_t (*gnssGetSecondaryBandConfig)(); void (*resetNetworkInfo)(); + uint32_t (*configEngineRunState)(PositioningEngineMask engType, + LocEngineRunState engState); }; struct BatchingInterface { diff --git a/gps/utils/gps_extended_c.h b/gps/utils/gps_extended_c.h index 8e47ef77..8619ef82 100644 --- a/gps/utils/gps_extended_c.h +++ b/gps/utils/gps_extended_c.h @@ -415,8 +415,12 @@ typedef uint64_t GpsLocationExtendedFlags; #define GPS_LOCATION_EXTENDED_HAS_LLA_VRP_BASED 0x200000000000 /** GpsLocationExtended has the velocityVRPased. */ #define GPS_LOCATION_EXTENDED_HAS_ENU_VELOCITY_LLA_VRP_BASED 0x400000000000 +/** GpsLocationExtended has upperTriangleFullCovMatrix. */ #define GPS_LOCATION_EXTENDED_HAS_UPPER_TRIANGLE_FULL_COV_MATRIX 0x800000000000 +/** GpsLocationExtended has drSolutionStatusMask. */ #define GPS_LOCATION_EXTENDED_HAS_DR_SOLUTION_STATUS_MASK 0x1000000000000 +/** GpsLocationExtended has altitudeAssumed. */ +#define GPS_LOCATION_EXTENDED_HAS_ALTITUDE_ASSUMED 0x2000000000000 typedef uint32_t LocNavSolutionMask; /* Bitmask to specify whether SBAS ionospheric correction is used */ @@ -867,6 +871,12 @@ typedef struct { */ float upperTriangleFullCovMatrix[COV_MATRIX_SIZE]; DrSolutionStatusMask drSolutionStatusMask; + /** When this field is valid, it will indicates whether altitude + * is assumed or calculated. + * false: Altitude is calculated. + * true: Altitude is assumed; there may not be enough + * satellites to determine the precise altitude. */ + bool altitudeAssumed; } GpsLocationExtended; enum loc_sess_status { @@ -915,6 +925,7 @@ typedef uint32_t NmeaSentenceTypesMask; #define LOC_NMEA_MASK_GQGSV_V02 ((NmeaSentenceTypesMask)0x10000000) /**< Enable GQGSV type */ #define LOC_NMEA_MASK_GIGSV_V02 ((NmeaSentenceTypesMask)0x20000000) /**< Enable GIGSV type */ #define LOC_NMEA_MASK_GNDTM_V02 ((NmeaSentenceTypesMask)0x40000000) /**< Enable GNDTM type */ +#define LOC_NMEA_MASK_TAGBLOCK_V02 ((NmeaSentenceTypesMask)0x80000000) /**< Enable TAGBLOCK type */ // all bitmasks of general supported NMEA sentenses - debug is not part of this @@ -1009,6 +1020,7 @@ enum loc_api_adapter_event_index { LOC_API_ADAPTER_LOC_SYSTEM_INFO, // Location system info event LOC_API_ADAPTER_GNSS_NHZ_MEASUREMENT_REPORT, // GNSS SV nHz measurement report LOC_API_ADAPTER_EVENT_REPORT_INFO, // Event report info + LOC_API_ADAPTER_LATENCY_INFORMATION_REPORT, // Latency information report LOC_API_ADAPTER_EVENT_MAX }; @@ -1051,6 +1063,7 @@ enum loc_api_adapter_event_index { #define LOC_API_ADAPTER_BIT_LOC_SYSTEM_INFO (1ULL< &nmeaArraystr) + std::vector &nmeaArraystr, + bool isTagBlockGroupingEnabled) { if (!sentence || bufSize <= 0 || !sv_meta_p) { @@ -621,9 +628,14 @@ static uint32_t loc_nmea_generate_GSA(const GpsLocationExtended &locationExtende char* pMarker = sentence; int lengthRemaining = bufSize; int length = 0; + int lengthTagBlock = 0; uint32_t svUsedCount = 0; uint32_t svUsedList[64] = {0}; + uint32_t sentenceCount = 0; + uint32_t sentenceNumber = 1; + size_t svNumber = 1; + static uint32_t code = 1; char fixType = '\0'; @@ -642,77 +654,98 @@ static uint32_t loc_nmea_generate_GSA(const GpsLocationExtended &locationExtende mask = mask >> 1; } - if (svUsedCount == 0) - return 0; - - if (sv_meta_p->totalSvUsedCount == 0) - fixType = '1'; // no fix - else if (sv_meta_p->totalSvUsedCount <= 3) - fixType = '2'; // 2D fix - else - fixType = '3'; // 3D fix - - // Start printing the sentence - // Format: $--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v,s*cc - // a : Mode : A : Automatic, allowed to automatically switch 2D/3D - // x : Fixtype : 1 (no fix), 2 (2D fix), 3 (3D fix) - // xx : 12 SV ID - // p.p : Position DOP (Dilution of Precision) - // h.h : Horizontal DOP - // v.v : Vertical DOP - // s : GNSS System Id - // cc : Checksum value - length = snprintf(pMarker, lengthRemaining, "$%sGSA,A,%c,", talker, fixType); - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); + if (svUsedCount == 0) { return 0; + } else { + sentenceNumber = 1; + sentenceCount = svUsedCount / 12 + (svUsedCount % 12 != 0); + svNumber = 1; } - pMarker += length; - lengthRemaining -= length; - - // Add first 12 satellite IDs - for (uint8_t i = 0; i < 12; i++) - { - if (i < svUsedCount) - length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[i]); + while (sentenceNumber <= sentenceCount) { + pMarker = sentence; + lengthRemaining = bufSize; + if (svUsedCount > 12 && isTagBlockGroupingEnabled) { + lengthTagBlock = snprintf(pMarker, lengthRemaining, "\\g:%d-%d-%d", sentenceNumber, + sentenceCount, code); + if (MAX_TAG_BLOCK_GROUP_CODE == code) { + code = 1; + } + lengthTagBlock = loc_nmea_put_checksum(sentence, bufSize, true); + pMarker += lengthTagBlock; + lengthRemaining -= lengthTagBlock; + } + if (sv_meta_p->totalSvUsedCount == 0) + fixType = '1'; // no fix + else if (sv_meta_p->totalSvUsedCount <= 3) + fixType = '2'; // 2D fix else - length = snprintf(pMarker, lengthRemaining, ","); + fixType = '3'; // 3D fix - if (length < 0 || length >= lengthRemaining) - { + // Start printing the sentence + // Format: $--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v,s*cc + // a : Mode : A : Automatic, allowed to automatically switch 2D/3D + // x : Fixtype : 1 (no fix), 2 (2D fix), 3 (3D fix) + // xx : 12 SV ID + // p.p : Position DOP (Dilution of Precision) + // h.h : Horizontal DOP + // v.v : Vertical DOP + // s : GNSS System Id + // cc : Checksum value + length = snprintf(pMarker, lengthRemaining, "$%sGSA,A,%c,", talker, fixType); + if (length < 0 || length >= lengthRemaining) { LOC_LOGE("NMEA Error in string formatting"); return 0; } pMarker += length; lengthRemaining -= length; + + // Add 12 satellite IDs + for (uint8_t i = 0; i < 12; i++, svNumber++) + { + if (svNumber <= svUsedCount) + length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[svNumber - 1]); + else + length = snprintf(pMarker, lengthRemaining, ","); + + if (length < 0 || length >= lengthRemaining) { + LOC_LOGE("NMEA Error in string formatting"); + return 0; + } + pMarker += length; + lengthRemaining -= length; + } + + // Add the position/horizontal/vertical DOP values + if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) + { + length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f,", + locationExtended.pdop, + locationExtended.hdop, + locationExtended.vdop); + } + else + { // no dop + length = snprintf(pMarker, lengthRemaining, ",,,"); + } + pMarker += length; + lengthRemaining -= length; + + // system id + length = snprintf(pMarker, lengthRemaining, "%d", sv_meta_p->systemId); + pMarker += length; + lengthRemaining -= length; + + /* Sentence is ready, add checksum and broadcast */ + length = loc_nmea_put_checksum(sentence + lengthTagBlock, bufSize - lengthTagBlock, false); + nmeaArraystr.push_back(sentence); + sentenceNumber++; + if (!isTagBlockGroupingEnabled) { + break; + } } - - // Add the position/horizontal/vertical DOP values - if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) - { - length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f,", - locationExtended.pdop, - locationExtended.hdop, - locationExtended.vdop); + if (svUsedCount > 12 && isTagBlockGroupingEnabled) { + code++; } - else - { // no dop - length = snprintf(pMarker, lengthRemaining, ",,,"); - } - pMarker += length; - lengthRemaining -= length; - - // system id - length = snprintf(pMarker, lengthRemaining, "%d", sv_meta_p->systemId); - pMarker += length; - lengthRemaining -= length; - - /* Sentence is ready, add checksum and broadcast */ - length = loc_nmea_put_checksum(sentence, bufSize); - nmeaArraystr.push_back(sentence); - return svUsedCount; } @@ -862,7 +895,7 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify, pMarker += length; lengthRemaining -= length; - length = loc_nmea_put_checksum(sentence, bufSize); + length = loc_nmea_put_checksum(sentence, bufSize, false); nmeaArraystr.push_back(sentence); sentenceNumber++; @@ -971,7 +1004,7 @@ static void loc_nmea_generate_DTM(const LocLla &ref_lla, pMarker += length; lengthRemaining -= length; - length = loc_nmea_put_checksum(sentence, bufSize); + length = loc_nmea_put_checksum(sentence, bufSize, false); } /*=========================================================================== @@ -1287,7 +1320,8 @@ void loc_nmea_generate_pos(const UlpLocation &location, unsigned char generate_nmea, bool custom_gga_fix_quality, std::vector &nmeaArraystr, - int& indexOfGGA) + int& indexOfGGA, + bool isTagBlockGroupingEnabled) { ENTRY_LOG(); @@ -1368,7 +1402,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GPS, - GNSS_SIGNAL_GPS_L1CA, true), nmeaArraystr); + GNSS_SIGNAL_GPS_L1CA, true), nmeaArraystr, isTagBlockGroupingEnabled); if (count > 0) { svUsedCount += count; @@ -1382,7 +1416,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GLONASS, - GNSS_SIGNAL_GLONASS_G1, true), nmeaArraystr); + GNSS_SIGNAL_GLONASS_G1, true), nmeaArraystr, isTagBlockGroupingEnabled); if (count > 0) { svUsedCount += count; @@ -1396,7 +1430,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_GALILEO, - GNSS_SIGNAL_GALILEO_E1, true), nmeaArraystr); + GNSS_SIGNAL_GALILEO_E1, true), nmeaArraystr, isTagBlockGroupingEnabled); if (count > 0) { svUsedCount += count; @@ -1409,7 +1443,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, // ---------------------------- count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, - GNSS_SIGNAL_BEIDOU_B1I, true), nmeaArraystr); + GNSS_SIGNAL_BEIDOU_B1I, true), nmeaArraystr, isTagBlockGroupingEnabled); if (count > 0) { svUsedCount += count; @@ -1423,7 +1457,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, count = loc_nmea_generate_GSA(locationExtended, sentence, sizeof(sentence), loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_QZSS, - GNSS_SIGNAL_QZSS_L1CA, true), nmeaArraystr); + GNSS_SIGNAL_QZSS_L1CA, true), nmeaArraystr, isTagBlockGroupingEnabled); if (count > 0) { svUsedCount += count; @@ -1435,7 +1469,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, // in this case, generate an empty GSA sentence if (svUsedCount == 0) { strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,,", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); } @@ -1458,7 +1492,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, float magTrack = location.gpsLocation.bearing; if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV) { - float magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation; + magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation; if (magTrack < 0.0) magTrack += 360.0; else if (magTrack > 360.0) @@ -1502,7 +1536,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, length = snprintf(pMarker, lengthRemaining, "%c", vtgModeIndicator); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); memset(&ecef_w84, 0, sizeof(ecef_w84)); @@ -1706,7 +1740,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, // hardcode Navigation Status field to 'V' length = snprintf(pMarker, lengthRemaining, ",%c", 'V'); - length = loc_nmea_put_checksum(sentence_RMC, sizeof(sentence_RMC)); + length = loc_nmea_put_checksum(sentence_RMC, sizeof(sentence_RMC), false); // ------------------- // ------$--GNS------- @@ -1868,7 +1902,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, pMarker += length; lengthRemaining -= length; - length = loc_nmea_put_checksum(sentence_GNS, sizeof(sentence_GNS)); + length = loc_nmea_put_checksum(sentence_GNS, sizeof(sentence_GNS), false); // ------------------- // ------$--GGA------- @@ -2025,7 +2059,7 @@ void loc_nmea_generate_pos(const UlpLocation &location, lengthRemaining -= length; } - length = loc_nmea_put_checksum(sentence_GGA, sizeof(sentence_GGA)); + length = loc_nmea_put_checksum(sentence_GGA, sizeof(sentence_GGA), false); // ------$--DTM------- nmeaArraystr.push_back(sentence_DTM); @@ -2048,27 +2082,27 @@ void loc_nmea_generate_pos(const UlpLocation &location, //Send blank NMEA reports for non-final fixes else { strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,,", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); strlcpy(sentence, "$GPDTM,,,,,,,,", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N,V", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); strlcpy(sentence, "$GPGNS,,,,,,N,,,,,,,V", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); strlcpy(sentence, "$GPGGA,,,,,,0,,,,,,,,", sizeof(sentence)); - length = loc_nmea_put_checksum(sentence, sizeof(sentence)); + length = loc_nmea_put_checksum(sentence, sizeof(sentence), false); nmeaArraystr.push_back(sentence); } @@ -2151,6 +2185,14 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify, } else if (GNSS_SV_TYPE_BEIDOU == svNotify.gnssSvs[svOffset].type) { + // cache the used in fix mask, as it will be needed to send $PQGSA + // during the position report + if (GNSS_SV_OPTIONS_USED_IN_FIX_BIT == + (svNotify.gnssSvs[svOffset].gnssSvOptionsMask & + GNSS_SV_OPTIONS_USED_IN_FIX_BIT)) + { + setSvMask(sv_cache_info.bds_used_mask, svNotify.gnssSvs[svOffset].svId); + } if ((GNSS_SIGNAL_BEIDOU_B2AI == svNotify.gnssSvs[svOffset].gnssSignalTypeMask) || (GNSS_SIGNAL_BEIDOU_B2AQ == svNotify.gnssSvs[svOffset].gnssSignalTypeMask)) { sv_cache_info.bds_b2_count++; @@ -2267,6 +2309,7 @@ void loc_nmea_generate_sv(const GnssSvNotification &svNotify, // ----------------------------- // ------$GBGSV (BEIDOU:B1C)---- // ----------------------------- + loc_nmea_generate_GSV(svNotify, sentence, sizeof(sentence), loc_nmea_sv_meta_init(sv_meta, sv_cache_info, GNSS_SV_TYPE_BEIDOU, GNSS_SIGNAL_BEIDOU_B1C, false), nmeaArraystr); diff --git a/gps/utils/loc_nmea.h b/gps/utils/loc_nmea.h index ef99e0f1..2d98f428 100644 --- a/gps/utils/loc_nmea.h +++ b/gps/utils/loc_nmea.h @@ -81,7 +81,8 @@ void loc_nmea_generate_pos(const UlpLocation &location, unsigned char generate_nmea, bool custom_gga_fix_quality, std::vector &nmeaArraystr, - int& indexOfGGA); + int& indexOfGGA, + bool isTagBlockGroupingEnabled); #define DEBUG_NMEA_MINSIZE 6 #define DEBUG_NMEA_MAXSIZE 4096