SystemStatus - Add ephemeris detail info in Gnss Debug interface
Add ephemeris detail info in Gnss Debug interface. This new info also comes up in NMEA stings. Requires a new QMI_LOC interface that supports extended NMEA string TLV. Change-Id: I5dc566fb210c06a443ed6c27e064377851ce83a5 CRs-Fixed: 2024594
This commit is contained in:
Katz Yamada
parent
9d80214901
commit
3eef3d7a6c
8 changed files with 500 additions and 113 deletions
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@ -30,6 +30,9 @@ namespace implementation {
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using ::android::hardware::hidl_vec;
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#define GNSS_DEBUG_UNKNOWN_UTC_TIME (1483228800ULL) // 1/1/2017 00:00 GMT
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#define GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC (1.57783680E17) // 5 years in ns
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GnssDebug::GnssDebug(Gnss* gnss) : mGnss(gnss)
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{
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}
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@ -42,7 +45,7 @@ GnssDebug::GnssDebug(Gnss* gnss) : mGnss(gnss)
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*/
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Return<void> GnssDebug::getDebugData(getDebugData_cb _hidl_cb)
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{
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LOC_LOGI("GnssDebug - 0317a");
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LOC_LOGI("GnssDebug - 0426a");
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DebugData data = { };
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@ -57,35 +60,57 @@ Return<void> GnssDebug::getDebugData(getDebugData_cb _hidl_cb)
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mGnss->getGnssInterface()->getDebugReport(reports);
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// location block
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if (reports.mLocation.mValid) {
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data.position.valid = true;
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data.position.latitudeDegrees = reports.mLocation.mLocation.latitude;
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data.position.longitudeDegrees = reports.mLocation.mLocation.longitude;
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data.position.altitudeMeters = reports.mLocation.mLocation.altitude;
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data.position.speedMetersPerSec = (double)(reports.mLocation.mLocation.speed);
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data.position.bearingDegrees = (double)(reports.mLocation.mLocation.bearing);
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data.position.horizontalAccuracyMeters = (double)(reports.mLocation.mLocation.accuracy);
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data.position.verticalAccuracyMeters = reports.mLocation.verticalAccuracyMeters;
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data.position.speedAccuracyMetersPerSecond = reports.mLocation.speedAccuracyMetersPerSecond;
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data.position.bearingAccuracyDegrees = reports.mLocation.bearingAccuracyDegrees;
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LOC_LOGV("GnssDebug - lat=%f lon=%f", data.position.latitudeDegrees, data.position.longitudeDegrees);
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data.position.speedMetersPerSec =
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(double)(reports.mLocation.mLocation.speed);
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data.position.bearingDegrees =
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(double)(reports.mLocation.mLocation.bearing);
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data.position.horizontalAccuracyMeters =
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(double)(reports.mLocation.mLocation.accuracy);
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data.position.verticalAccuracyMeters =
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reports.mLocation.verticalAccuracyMeters;
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data.position.speedAccuracyMetersPerSecond =
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reports.mLocation.speedAccuracyMetersPerSecond;
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data.position.bearingAccuracyDegrees =
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reports.mLocation.bearingAccuracyDegrees;
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LOC_LOGI("GnssDebug - lat=%f lon=%f",
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data.position.latitudeDegrees, data.position.longitudeDegrees);
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timeval tv_now, tv_report;
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tv_report.tv_sec = reports.mLocation.mLocation.timestamp / 1000ULL;
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tv_report.tv_usec = (reports.mLocation.mLocation.timestamp % 1000ULL) * 1000ULL;
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tv_report.tv_usec =
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(reports.mLocation.mLocation.timestamp % 1000ULL) * 1000ULL;
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gettimeofday(&tv_now, NULL);
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data.position.ageSeconds =
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(tv_now.tv_sec - tv_report.tv_sec) + (float)((tv_now.tv_usec - tv_report.tv_usec)) / 1000000;
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(tv_now.tv_sec - tv_report.tv_sec) +
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(float)((tv_now.tv_usec - tv_report.tv_usec)) / 1000000;
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LOC_LOGV("GnssDebug - time now=%lld:%lld", tv_now.tv_sec, tv_now.tv_usec);
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LOC_LOGV("GnssDebug - time rep=%lld:%lld", tv_report.tv_sec, tv_report.tv_usec);
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LOC_LOGV("GnssDebug - age=%f", data.position.ageSeconds);
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LOC_LOGI("GnssDebug - time now=%lld:%lld", tv_now.tv_sec, tv_now.tv_usec);
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LOC_LOGI("GnssDebug - time rep=%lld:%lld",tv_report.tv_sec, tv_report.tv_usec);
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LOC_LOGI("GnssDebug - age=%f", data.position.ageSeconds);
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}
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else {
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data.position.valid = false;
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}
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// time block
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if (reports.mTime.mValid) {
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data.time.timeEstimate = reports.mTime.timeEstimate;
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data.time.timeUncertaintyNs = reports.mTime.timeUncertaintyNs;
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LOC_LOGV("GnssDebug - timeestimate=%lld", data.time.timeEstimate);
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data.time.frequencyUncertaintyNsPerSec =
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reports.mTime.frequencyUncertaintyNsPerSec;
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}
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else {
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data.time.timeEstimate = GNSS_DEBUG_UNKNOWN_UTC_TIME;
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data.time.timeUncertaintyNs = (float)(GNSS_DEBUG_UNKNOWN_UTC_TIME_UNC);
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data.time.frequencyUncertaintyNsPerSec = 0;
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}
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LOC_LOGI("GnssDebug - timeestimate=%lld", data.time.timeEstimate);
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// satellite data block
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SatelliteData s = { };
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@ -94,18 +119,31 @@ Return<void> GnssDebug::getDebugData(getDebugData_cb _hidl_cb)
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for (uint32_t i=0; i<reports.mSatelliteInfo.size(); i++) {
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memset(&s, 0, sizeof(s));
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s.svid = reports.mSatelliteInfo[i].svid;
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convertGnssConstellationType(reports.mSatelliteInfo[i].constellation, s.constellation);
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s.ephemerisType = SatelliteEphemerisType::NOT_AVAILABLE;
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s.ephemerisAgeSeconds = reports.mSatelliteInfo[i].ephemerisAgeSeconds;
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convertGnssConstellationType(
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reports.mSatelliteInfo[i].constellation, s.constellation);
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convertGnssEphemerisType(
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reports.mSatelliteInfo[i].mEphemerisType, s.ephemerisType);
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convertGnssEphemerisSource(
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reports.mSatelliteInfo[i].mEphemerisSource, s.ephemerisSource);
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convertGnssEphemerisHealth(
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reports.mSatelliteInfo[i].mEphemerisHealth, s.ephemerisHealth);
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s.ephemerisAgeSeconds =
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reports.mSatelliteInfo[i].ephemerisAgeSeconds;
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s.serverPredictionIsAvailable =
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reports.mSatelliteInfo[i].serverPredictionIsAvailable;
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s.serverPredictionAgeSeconds =
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reports.mSatelliteInfo[i].serverPredictionAgeSeconds;
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s_array.push_back(s);
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}
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data.satelliteDataArray = s_array;
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LOC_LOGV("GnssDebug - satellite=%d", data.satelliteDataArray.size());
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LOC_LOGI("GnssDebug - satellite=%d", data.satelliteDataArray.size());
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// callback HIDL with collected debug data
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_hidl_cb(data);
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LOC_LOGV("GnssDebug - done");
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LOC_LOGI("GnssDebug - done");
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return Void();
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}
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@ -87,12 +87,65 @@ void convertGnssConstellationType(GnssSvType& in, GnssConstellationType& out)
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case GNSS_SV_TYPE_GALILEO:
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out = GnssConstellationType::GALILEO;
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break;
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case GNSS_SV_TYPE_UNKNOWN:
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default:
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out = GnssConstellationType::UNKNOWN;
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break;
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}
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}
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void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out)
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{
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switch(in) {
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case GNSS_EPH_TYPE_EPHEMERIS:
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out = GnssDebug::SatelliteEphemerisType::EPHEMERIS;
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break;
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case GNSS_EPH_TYPE_ALMANAC:
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out = GnssDebug::SatelliteEphemerisType::ALMANAC_ONLY;
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break;
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case GNSS_EPH_TYPE_UNKNOWN:
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default:
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out = GnssDebug::SatelliteEphemerisType::NOT_AVAILABLE;
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break;
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}
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}
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void convertGnssEphemerisSource(GnssEphemerisSource& in, GnssDebug::SatelliteEphemerisSource& out)
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{
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switch(in) {
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case GNSS_EPH_SOURCE_DEMODULATED:
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out = GnssDebug::SatelliteEphemerisSource::DEMODULATED;
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break;
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case GNSS_EPH_SOURCE_SUPL_PROVIDED:
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out = GnssDebug::SatelliteEphemerisSource::SUPL_PROVIDED;
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break;
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case GNSS_EPH_SOURCE_OTHER_SERVER_PROVIDED:
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out = GnssDebug::SatelliteEphemerisSource::OTHER_SERVER_PROVIDED;
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break;
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case GNSS_EPH_SOURCE_LOCAL:
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case GNSS_EPH_SOURCE_UNKNOWN:
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default:
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out = GnssDebug::SatelliteEphemerisSource::OTHER;
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break;
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}
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}
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void convertGnssEphemerisHealth(GnssEphemerisHealth& in, GnssDebug::SatelliteEphemerisHealth& out)
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{
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switch(in) {
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case GNSS_EPH_HEALTH_GOOD:
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out = GnssDebug::SatelliteEphemerisHealth::GOOD;
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break;
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case GNSS_EPH_HEALTH_BAD:
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out = GnssDebug::SatelliteEphemerisHealth::BAD;
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break;
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case GNSS_EPH_HEALTH_UNKNOWN:
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default:
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out = GnssDebug::SatelliteEphemerisHealth::UNKNOWN;
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break;
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}
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}
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} // namespace implementation
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} // namespace V1_0
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} // namespace gnss
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@ -32,6 +32,7 @@
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#include <android/hardware/gnss/1.0/types.h>
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#include <LocationAPI.h>
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#include <GnssDebug.h>
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namespace android {
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namespace hardware {
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@ -41,6 +42,9 @@ namespace implementation {
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void convertGnssLocation(Location& in, GnssLocation& out);
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void convertGnssConstellationType(GnssSvType& in, GnssConstellationType& out);
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void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out);
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void convertGnssEphemerisSource(GnssEphemerisSource& in, GnssDebug::SatelliteEphemerisSource& out);
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void convertGnssEphemerisHealth(GnssEphemerisHealth& in, GnssDebug::SatelliteEphemerisHealth& out);
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} // namespace implementation
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} // namespace V1_0
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@ -113,6 +113,8 @@ public:
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double mAgcGlo; // x14
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double mAgcBds; // x15
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double mAgcGal; // x16
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int32_t mLeapSeconds;// x17
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int32_t mLeapSecUnc; // x18
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};
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// parser
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@ -144,7 +146,9 @@ private:
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eAgcGlo = 20,
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eAgcBds = 21,
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eAgcGal = 22,
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eMax = eRecErrorRecovery
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eLeapSeconds = 23,
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eLeapSecUnc = 24,
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eMax
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};
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SystemStatusPQWM1 mM1;
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@ -171,11 +175,14 @@ public:
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inline uint32_t getAgcBds() { return mM1.mAgcBds; }
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inline uint32_t getAgcGal() { return mM1.mAgcGal; }
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inline uint32_t getRecErrorRecovery() { return mM1.mRecErrorRecovery; }
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inline int32_t getLeapSeconds(){ return mM1.mLeapSeconds; }
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inline int32_t getLeapSecUnc() { return mM1.mLeapSecUnc; }
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SystemStatusPQWM1parser(const char *str_in, uint32_t len_in)
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: SystemStatusNmeaBase(str_in, len_in)
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{
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if (mField.size() < eMax) {
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LOC_LOGE("PQWM1parser - invalid size=%d", mField.size());
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return;
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}
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memset(&mM1, 0, sizeof(mM1));
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@ -201,6 +208,8 @@ public:
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mM1.mAgcGlo = atof(mField[eAgcGlo].c_str());
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mM1.mAgcBds = atof(mField[eAgcBds].c_str());
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mM1.mAgcGal = atof(mField[eAgcGal].c_str());
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mM1.mLeapSeconds = atoi(mField[eLeapSeconds].c_str());
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mM1.mLeapSecUnc = atoi(mField[eLeapSecUnc].c_str());
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}
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inline SystemStatusPQWM1& get() { return mM1;} //getparser
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@ -235,7 +244,7 @@ private:
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eEpiHepe = 6,
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eEpiAltUnc = 7,
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eEpiSrc = 8,
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eMax = eEpiSrc
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eMax
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};
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SystemStatusPQWP1 mP1;
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@ -292,7 +301,7 @@ private:
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eBestAlt = 4,
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eBestHepe = 5,
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eBestAltUnc = 6,
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eMax = eBestAltUnc
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eMax
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};
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SystemStatusPQWP2 mP2;
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@ -357,7 +366,7 @@ private:
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eBdsXtraValid = 10,
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eGalXtraValid = 11,
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eQzssXtraValid = 12,
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eMax = eQzssXtraValid
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eMax
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};
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SystemStatusPQWP3 mP3;
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@ -422,7 +431,7 @@ private:
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eBdsEpheValid = 4,
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eGalEpheValid = 5,
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eQzssEpheValid = 6,
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eMax = eQzssEpheValid
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eMax
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};
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SystemStatusPQWP4 mP4;
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@ -495,7 +504,7 @@ private:
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eBdsBadMask = 14,
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eGalBadMask = 15,
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eQzssBadMask = 16,
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eMax = eQzssBadMask
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eMax
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};
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SystemStatusPQWP5 mP5;
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@ -560,7 +569,7 @@ private:
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eTalker = 0,
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eUtcTime = 1,
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eFixInfoMask = 2,
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eMax = eFixInfoMask
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eMax
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};
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SystemStatusPQWP6 mP6;
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@ -580,6 +589,44 @@ public:
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inline SystemStatusPQWP6& get() { return mP6;}
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};
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/******************************************************************************
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SystemStatusPQWP7parser
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******************************************************************************/
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class SystemStatusPQWP7
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{
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public:
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SystemStatusNav mNav[SV_ALL_NUM];
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};
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class SystemStatusPQWP7parser : public SystemStatusNmeaBase
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{
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private:
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enum
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{
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eTalker = 0,
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eUtcTime = 1,
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eMax = 2 + SV_ALL_NUM*3
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};
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SystemStatusPQWP7 mP7;
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public:
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SystemStatusPQWP7parser(const char *str_in, uint32_t len_in)
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: SystemStatusNmeaBase(str_in, len_in)
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{
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if (mField.size() < eMax) {
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LOC_LOGE("PQWP7parser - invalid size=%d", mField.size());
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return;
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}
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for (uint32_t i=0; i<SV_ALL_NUM; i++) {
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mP7.mNav[i].mType = GnssEphemerisType(atoi(mField[i*3+2].c_str()));
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mP7.mNav[i].mSource = GnssEphemerisSource(atoi(mField[i*3+3].c_str()));
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mP7.mNav[i].mAgeSec = atoi(mField[i*3+4].c_str());
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}
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}
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inline SystemStatusPQWP7& get() { return mP7;}
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};
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/******************************************************************************
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SystemStatusPQWS1parser
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******************************************************************************/
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@ -599,7 +646,7 @@ private:
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eUtcTime = 1,
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eFixInfoMask = 2,
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eHepeLimit = 3,
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eMax = eHepeLimit
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eMax
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};
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SystemStatusPQWS1 mS1;
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@ -631,7 +678,9 @@ SystemStatusTimeAndClock::SystemStatusTimeAndClock(const SystemStatusPQWM1& nmea
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mTimeSource(nmea.mTimeSource),
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mTimeUnc(nmea.mTimeUnc),
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mClockFreqBias(nmea.mClockFreqBias),
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mClockFreqBiasUnc(nmea.mClockFreqBiasUnc)
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mClockFreqBiasUnc(nmea.mClockFreqBiasUnc),
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mLeapSeconds(nmea.mLeapSeconds),
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mLeapSecUnc(nmea.mLeapSecUnc)
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{
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}
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@ -643,7 +692,9 @@ bool SystemStatusTimeAndClock::equals(SystemStatusTimeAndClock& peer)
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(mTimeSource != peer.mTimeSource) ||
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(mTimeUnc != peer.mTimeUnc) ||
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(mClockFreqBias != peer.mClockFreqBias) ||
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(mClockFreqBiasUnc != peer.mClockFreqBiasUnc)) {
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(mClockFreqBiasUnc != peer.mClockFreqBiasUnc) ||
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(mLeapSeconds != peer.mLeapSeconds) ||
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(mLeapSecUnc != peer.mLeapSecUnc)) {
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return false;
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}
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return true;
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@ -651,7 +702,7 @@ bool SystemStatusTimeAndClock::equals(SystemStatusTimeAndClock& peer)
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void SystemStatusTimeAndClock::dump()
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{
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LOC_LOGV("TimeAndClock: u=%ld:%ld g=%d:%d v=%d s=%d u=%d b=%d bu=%d",
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LOC_LOGV("TimeAndClock: u=%ld:%ld g=%d:%d v=%d ts=%d tu=%d b=%d bu=%d ls=%d lu=%d",
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mUtcTime.tv_sec, mUtcTime.tv_nsec,
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mGpsWeek,
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mGpsTowMs,
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@ -659,7 +710,9 @@ void SystemStatusTimeAndClock::dump()
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mTimeSource,
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mTimeUnc,
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mClockFreqBias,
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mClockFreqBiasUnc);
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mClockFreqBiasUnc,
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mLeapSeconds,
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mLeapSecUnc);
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return;
|
||||
}
|
||||
|
||||
|
|
@ -1031,6 +1084,39 @@ void SystemStatusPdr::dump()
|
|||
return;
|
||||
}
|
||||
|
||||
/******************************************************************************
|
||||
SystemStatusNavData
|
||||
******************************************************************************/
|
||||
SystemStatusNavData::SystemStatusNavData(const SystemStatusPQWP7& nmea)
|
||||
{
|
||||
for (uint32_t i=0; i<SV_ALL_NUM; i++) {
|
||||
mNav[i] = nmea.mNav[i];
|
||||
}
|
||||
}
|
||||
|
||||
bool SystemStatusNavData::equals(SystemStatusNavData& peer)
|
||||
{
|
||||
for (uint32_t i=0; i<SV_ALL_NUM; i++) {
|
||||
if ((mNav[i].mType != peer.mNav[i].mType) ||
|
||||
(mNav[i].mSource != peer.mNav[i].mSource) ||
|
||||
(mNav[i].mAgeSec != peer.mNav[i].mAgeSec)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void SystemStatusNavData::dump()
|
||||
{
|
||||
LOC_LOGV("NavData: u=%ld:%ld",
|
||||
mUtcTime.tv_sec, mUtcTime.tv_nsec);
|
||||
for (uint32_t i=0; i<SV_ALL_NUM; i++) {
|
||||
LOC_LOGV("i=%d type=%d src=%d age=%d",
|
||||
i, mNav[i].mType, mNav[i].mSource, mNav[i].mAgeSec);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
/******************************************************************************
|
||||
SystemStatusPositionFailure
|
||||
******************************************************************************/
|
||||
|
|
@ -1101,6 +1187,8 @@ SystemStatus::SystemStatus()
|
|||
mCache.mEphemeris.clear();
|
||||
mCache.mSvHealth.clear();
|
||||
mCache.mPdr.clear();
|
||||
mCache.mNavData.clear();
|
||||
|
||||
mCache.mPositionFailure.clear();
|
||||
}
|
||||
|
||||
|
|
@ -1250,6 +1338,20 @@ bool SystemStatus::setPdr(const SystemStatusPQWP6& nmea)
|
|||
return true;
|
||||
}
|
||||
|
||||
bool SystemStatus::setNavData(const SystemStatusPQWP7& nmea)
|
||||
{
|
||||
SystemStatusNavData s(nmea);
|
||||
if (!mCache.mNavData.empty() && mCache.mNavData.back().equals(s)) {
|
||||
mCache.mNavData.back().mUtcReported = s.mUtcReported;
|
||||
} else {
|
||||
mCache.mNavData.push_back(s);
|
||||
if (mCache.mNavData.size() > maxNavData) {
|
||||
mCache.mNavData.erase(mCache.mNavData.begin());
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
/******************************************************************************
|
||||
SystemStatus - Sx functions
|
||||
******************************************************************************/
|
||||
|
|
@ -1283,6 +1385,7 @@ static uint32_t cnt_p3 = 0;
|
|||
static uint32_t cnt_p4 = 0;
|
||||
static uint32_t cnt_p5 = 0;
|
||||
static uint32_t cnt_p6 = 0;
|
||||
static uint32_t cnt_p7 = 0;
|
||||
static uint32_t cnt_s1 = 0;
|
||||
|
||||
bool SystemStatus::setNmeaString(const char *data, uint32_t len)
|
||||
|
|
@ -1293,7 +1396,7 @@ bool SystemStatus::setNmeaString(const char *data, uint32_t len)
|
|||
}
|
||||
|
||||
char buf[SystemStatusNmeaBase::NMEA_MAXSIZE + 1] = { 0 };
|
||||
strlcpy(buf, data, sizeof(buf));
|
||||
strlcpy(buf, data, (len < strlen(data))? len : strlen(data));
|
||||
|
||||
pthread_mutex_lock(&mMutexSystemStatus);
|
||||
|
||||
|
|
@ -1330,6 +1433,10 @@ bool SystemStatus::setNmeaString(const char *data, uint32_t len)
|
|||
ret = setPdr(SystemStatusPQWP6parser(buf, len).get());
|
||||
cnt_p6++;
|
||||
}
|
||||
else if (0 == strncmp(data, "$PQWP7", SystemStatusNmeaBase::NMEA_MINSIZE)) {
|
||||
ret = setNavData(SystemStatusPQWP7parser(buf, len).get());
|
||||
cnt_p7++;
|
||||
}
|
||||
else if (0 == strncmp(data, "$PQWS1", SystemStatusNmeaBase::NMEA_MINSIZE)) {
|
||||
ret = setPositionFailure(SystemStatusPQWS1parser(buf, len).get());
|
||||
cnt_s1++;
|
||||
|
|
@ -1338,7 +1445,7 @@ bool SystemStatus::setNmeaString(const char *data, uint32_t len)
|
|||
// do nothing
|
||||
}
|
||||
cnt++;
|
||||
LOC_LOGV("setNmeaString: cnt=%d M:%d 1:%d 2:%d 3:%d 4:%d 5:%d 6:%d S:%d",
|
||||
LOC_LOGV("setNmeaString: cnt=%d M:%d 1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 7:%d S:%d",
|
||||
cnt,
|
||||
cnt_m1,
|
||||
cnt_p1,
|
||||
|
|
@ -1347,6 +1454,7 @@ bool SystemStatus::setNmeaString(const char *data, uint32_t len)
|
|||
cnt_p4,
|
||||
cnt_p5,
|
||||
cnt_p6,
|
||||
cnt_p7,
|
||||
cnt_s1);
|
||||
|
||||
pthread_mutex_unlock(&mMutexSystemStatus);
|
||||
|
|
@ -1364,19 +1472,20 @@ bool SystemStatus::eventPosition(const UlpLocation& location,
|
|||
const GpsLocationExtended& locationEx)
|
||||
{
|
||||
SystemStatusLocation s(location, locationEx);
|
||||
if ((mCache.mLocation.empty()) || !mCache.mLocation.back().equals(s)) {
|
||||
if (!mCache.mLocation.empty() && mCache.mLocation.back().equals(s)) {
|
||||
mCache.mLocation.back().mUtcReported = s.mUtcReported;
|
||||
}
|
||||
else {
|
||||
mCache.mLocation.push_back(s);
|
||||
if (mCache.mLocation.size() > maxLocation) {
|
||||
mCache.mLocation.erase(mCache.mLocation.begin());
|
||||
}
|
||||
|
||||
}
|
||||
LOC_LOGV("eventPosition - lat=%f lon=%f alt=%f speed=%f",
|
||||
s.mLocation.gpsLocation.latitude,
|
||||
s.mLocation.gpsLocation.longitude,
|
||||
s.mLocation.gpsLocation.altitude,
|
||||
s.mLocation.gpsLocation.speed);
|
||||
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -1451,6 +1560,12 @@ bool SystemStatus::getReport(SystemStatusReports& report, bool isLatestOnly) con
|
|||
report.mPdr.push_back(mCache.mPdr.back());
|
||||
report.mPdr.back().dump();
|
||||
}
|
||||
report.mNavData.clear();
|
||||
if (mCache.mNavData.size() >= 1) {
|
||||
report.mNavData.push_back(mCache.mNavData.back());
|
||||
report.mNavData.back().dump();
|
||||
}
|
||||
|
||||
report.mPositionFailure.clear();
|
||||
if (mCache.mPositionFailure.size() >= 1) {
|
||||
report.mPositionFailure.push_back(mCache.mPositionFailure.back());
|
||||
|
|
@ -1472,6 +1587,8 @@ bool SystemStatus::getReport(SystemStatusReports& report, bool isLatestOnly) con
|
|||
report.mEphemeris.clear();
|
||||
report.mSvHealth.clear();
|
||||
report.mPdr.clear();
|
||||
report.mNavData.clear();
|
||||
|
||||
report.mPositionFailure.clear();
|
||||
report = mCache;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -33,12 +33,20 @@
|
|||
#include <vector>
|
||||
#include <gps_extended_c.h>
|
||||
|
||||
#define GPS_MIN (1)
|
||||
#define GPS_MIN (1) //1-32
|
||||
#define SBAS_MIN (33)
|
||||
#define GLO_MIN (65)
|
||||
#define BDS_MIN (201)
|
||||
#define QZSS_MIN (193)
|
||||
#define GAL_MIN (301)
|
||||
#define GLO_MIN (65) //65-88
|
||||
#define QZSS_MIN (193) //193-197
|
||||
#define BDS_MIN (201) //201-237
|
||||
#define GAL_MIN (301) //301-336
|
||||
|
||||
#define GPS_NUM (32)
|
||||
#define SBAS_NUM (32)
|
||||
#define GLO_NUM (24)
|
||||
#define QZSS_NUM (5)
|
||||
#define BDS_NUM (37)
|
||||
#define GAL_NUM (36)
|
||||
#define SV_ALL_NUM (GPS_NUM+GLO_NUM+QZSS_NUM+BDS_NUM+GAL_NUM) //=134
|
||||
|
||||
namespace loc_core
|
||||
{
|
||||
|
|
@ -87,6 +95,8 @@ public:
|
|||
int32_t mTimeUnc;
|
||||
int32_t mClockFreqBias;
|
||||
int32_t mClockFreqBiasUnc;
|
||||
int32_t mLeapSeconds;
|
||||
int32_t mLeapSecUnc;
|
||||
SystemStatusTimeAndClock(const SystemStatusPQWM1& nmea);
|
||||
bool equals(SystemStatusTimeAndClock& peer);
|
||||
void dump(void);
|
||||
|
|
@ -229,6 +239,23 @@ public:
|
|||
void dump(void);
|
||||
};
|
||||
|
||||
class SystemStatusPQWP7;
|
||||
struct SystemStatusNav
|
||||
{
|
||||
GnssEphemerisType mType;
|
||||
GnssEphemerisSource mSource;
|
||||
int32_t mAgeSec;
|
||||
};
|
||||
|
||||
class SystemStatusNavData : public SystemStatusItemBase
|
||||
{
|
||||
public:
|
||||
SystemStatusNav mNav[SV_ALL_NUM];
|
||||
SystemStatusNavData(const SystemStatusPQWP7& nmea);
|
||||
bool equals(SystemStatusNavData& peer);
|
||||
void dump(void);
|
||||
};
|
||||
|
||||
class SystemStatusPQWS1;
|
||||
class SystemStatusPositionFailure : public SystemStatusItemBase
|
||||
{
|
||||
|
|
@ -259,6 +286,8 @@ public:
|
|||
std::vector<SystemStatusEphemeris> mEphemeris;
|
||||
std::vector<SystemStatusSvHealth> mSvHealth;
|
||||
std::vector<SystemStatusPdr> mPdr;
|
||||
std::vector<SystemStatusNavData> mNavData;
|
||||
|
||||
std::vector<SystemStatusPositionFailure> mPositionFailure;
|
||||
};
|
||||
|
||||
|
|
@ -282,6 +311,8 @@ class SystemStatus
|
|||
static const uint32_t maxEphemeris = 5;
|
||||
static const uint32_t maxSvHealth = 5;
|
||||
static const uint32_t maxPdr = 5;
|
||||
static const uint32_t maxNavData = 5;
|
||||
|
||||
static const uint32_t maxPositionFailure = 5;
|
||||
|
||||
SystemStatusReports mCache;
|
||||
|
|
@ -299,6 +330,8 @@ class SystemStatus
|
|||
bool setEphemeris(const SystemStatusPQWP4& nmea);
|
||||
bool setSvHealth(const SystemStatusPQWP5& nmea);
|
||||
bool setPdr(const SystemStatusPQWP6& nmea);
|
||||
bool setNavData(const SystemStatusPQWP7& nmea);
|
||||
|
||||
bool setPositionFailure(const SystemStatusPQWS1& nmea);
|
||||
|
||||
public:
|
||||
|
|
|
|||
|
|
@ -2599,57 +2599,133 @@ void GnssAdapter::convertSatelliteInfo(std::vector<GnssDebugSatelliteInfo>& out,
|
|||
const GnssSvType& in_constellation,
|
||||
const SystemStatusReports& in)
|
||||
{
|
||||
GnssDebugSatelliteInfo s = {};
|
||||
uint64_t mask = 0ULL;
|
||||
float age = 0.0;
|
||||
uint64_t sv_mask = 0ULL;
|
||||
uint32_t svid_min = 0;
|
||||
uint32_t mask_size = 0;
|
||||
uint32_t svid_num = 0;
|
||||
uint32_t svid_idx = 0;
|
||||
|
||||
uint64_t eph_health_good_mask = 0ULL;
|
||||
uint64_t eph_health_bad_mask = 0ULL;
|
||||
uint64_t server_perdiction_available_mask = 0ULL;
|
||||
float server_perdiction_age = 0.0f;
|
||||
|
||||
// set constellationi based parameters
|
||||
switch (in_constellation) {
|
||||
case GNSS_SV_TYPE_GPS:
|
||||
svid_min = GPS_MIN;
|
||||
mask_size = 32;
|
||||
svid_num = GPS_NUM;
|
||||
svid_idx = 0;
|
||||
if (!in.mSvHealth.empty()) {
|
||||
eph_health_good_mask = in.mSvHealth.back().mGpsGoodMask;
|
||||
eph_health_bad_mask = in.mSvHealth.back().mGpsBadMask;
|
||||
}
|
||||
if (!in.mXtra.empty()) {
|
||||
server_perdiction_available_mask = in.mXtra.back().mGpsXtraValid;
|
||||
server_perdiction_age = (float)(in.mXtra.back().mGpsXtraAge);
|
||||
}
|
||||
break;
|
||||
case GNSS_SV_TYPE_GLONASS:
|
||||
svid_min = GLO_MIN;
|
||||
mask_size = 32;
|
||||
break;
|
||||
case GNSS_SV_TYPE_BEIDOU:
|
||||
svid_min = BDS_MIN;
|
||||
mask_size = 64;
|
||||
svid_num = GLO_NUM;
|
||||
svid_idx = GPS_NUM;
|
||||
if (!in.mSvHealth.empty()) {
|
||||
eph_health_good_mask = in.mSvHealth.back().mGloGoodMask;
|
||||
eph_health_bad_mask = in.mSvHealth.back().mGloBadMask;
|
||||
}
|
||||
if (!in.mXtra.empty()) {
|
||||
server_perdiction_available_mask = in.mXtra.back().mGloXtraValid;
|
||||
server_perdiction_age = (float)(in.mXtra.back().mGloXtraAge);
|
||||
}
|
||||
break;
|
||||
case GNSS_SV_TYPE_QZSS:
|
||||
svid_min = QZSS_MIN;
|
||||
mask_size = 32;
|
||||
svid_num = QZSS_NUM;
|
||||
svid_idx = GPS_NUM+GLO_NUM;
|
||||
if (!in.mSvHealth.empty()) {
|
||||
eph_health_good_mask = in.mSvHealth.back().mQzssGoodMask;
|
||||
eph_health_bad_mask = in.mSvHealth.back().mQzssBadMask;
|
||||
}
|
||||
if (!in.mXtra.empty()) {
|
||||
server_perdiction_available_mask = in.mXtra.back().mQzssXtraValid;
|
||||
server_perdiction_age = (float)(in.mXtra.back().mQzssXtraAge);
|
||||
}
|
||||
break;
|
||||
case GNSS_SV_TYPE_BEIDOU:
|
||||
svid_min = BDS_MIN;
|
||||
svid_num = BDS_NUM;
|
||||
svid_idx = GPS_NUM+GLO_NUM+QZSS_NUM;
|
||||
if (!in.mSvHealth.empty()) {
|
||||
eph_health_good_mask = in.mSvHealth.back().mBdsGoodMask;
|
||||
eph_health_bad_mask = in.mSvHealth.back().mBdsBadMask;
|
||||
}
|
||||
if (!in.mXtra.empty()) {
|
||||
server_perdiction_available_mask = in.mXtra.back().mBdsXtraValid;
|
||||
server_perdiction_age = (float)(in.mXtra.back().mBdsXtraAge);
|
||||
}
|
||||
break;
|
||||
case GNSS_SV_TYPE_GALILEO:
|
||||
svid_min = GAL_MIN;
|
||||
mask_size = 64;
|
||||
svid_num = GAL_NUM;
|
||||
svid_idx = GPS_NUM+GLO_NUM+QZSS_NUM+BDS_NUM;
|
||||
if (!in.mSvHealth.empty()) {
|
||||
eph_health_good_mask = in.mSvHealth.back().mGalGoodMask;
|
||||
eph_health_bad_mask = in.mSvHealth.back().mGalBadMask;
|
||||
}
|
||||
if (!in.mXtra.empty()) {
|
||||
server_perdiction_available_mask = in.mXtra.back().mGalXtraValid;
|
||||
server_perdiction_age = (float)(in.mXtra.back().mGalXtraAge);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
return;
|
||||
}
|
||||
|
||||
if(!in.mEphemeris.empty()) {
|
||||
mask = in.mEphemeris.back().mGpsEpheValid;
|
||||
if(!in.mXtra.empty()) {
|
||||
age = (float)(in.mXtra.back().mGpsXtraAge);
|
||||
}
|
||||
else {
|
||||
age = 0.0;
|
||||
}
|
||||
// extract each sv info from systemstatus report
|
||||
for(uint32_t i=0; i<svid_num; i++) {
|
||||
|
||||
for(uint32_t i=0; i<mask_size; i++) {
|
||||
if (0 != (mask & (1<<i))) {
|
||||
GnssDebugSatelliteInfo s = {};
|
||||
s.size = sizeof(s);
|
||||
s.svid = i + svid_min;
|
||||
s.constellation = in_constellation;
|
||||
s.ephemerisType = 0;
|
||||
s.ephemerisAgeSeconds = age;
|
||||
|
||||
if (!in.mNavData.empty()) {
|
||||
s.mEphemerisType = in.mNavData.back().mNav[svid_idx+i].mType;
|
||||
s.mEphemerisSource = in.mNavData.back().mNav[svid_idx+i].mSource;
|
||||
}
|
||||
else {
|
||||
s.mEphemerisType = GNSS_EPH_TYPE_UNKNOWN;
|
||||
s.mEphemerisSource = GNSS_EPH_SOURCE_UNKNOWN;
|
||||
}
|
||||
|
||||
sv_mask = 0x1ULL << i;
|
||||
if (eph_health_good_mask & sv_mask) {
|
||||
s.mEphemerisHealth = GNSS_EPH_HEALTH_GOOD;
|
||||
}
|
||||
else if (eph_health_bad_mask & sv_mask) {
|
||||
s.mEphemerisHealth = GNSS_EPH_HEALTH_BAD;
|
||||
}
|
||||
else {
|
||||
s.mEphemerisHealth = GNSS_EPH_HEALTH_UNKNOWN;
|
||||
}
|
||||
|
||||
if (!in.mNavData.empty()) {
|
||||
s.ephemerisAgeSeconds =
|
||||
(float)(in.mNavData.back().mNav[svid_idx+i].mAgeSec);
|
||||
}
|
||||
else {
|
||||
s.ephemerisAgeSeconds = 0.0f;
|
||||
}
|
||||
|
||||
if (server_perdiction_available_mask & sv_mask) {
|
||||
s.serverPredictionIsAvailable = true;
|
||||
}
|
||||
else {
|
||||
s.serverPredictionIsAvailable = false;
|
||||
}
|
||||
|
||||
s.serverPredictionAgeSeconds = server_perdiction_age;
|
||||
out.push_back(s);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
|
@ -2671,45 +2747,83 @@ bool GnssAdapter::getDebugReport(GnssDebugReport& r)
|
|||
// location block
|
||||
r.mLocation.size = sizeof(r.mLocation);
|
||||
if(!reports.mLocation.empty()) {
|
||||
r.mLocation.mLocation.latitude = reports.mLocation.back().mLocation.gpsLocation.latitude;
|
||||
r.mLocation.mLocation.longitude = reports.mLocation.back().mLocation.gpsLocation.longitude;
|
||||
r.mLocation.mLocation.altitude = reports.mLocation.back().mLocation.gpsLocation.altitude;
|
||||
r.mLocation.mLocation.speed = (double)(reports.mLocation.back().mLocation.gpsLocation.speed);
|
||||
r.mLocation.mLocation.bearing = (double)(reports.mLocation.back().mLocation.gpsLocation.bearing);
|
||||
r.mLocation.mLocation.accuracy = (double)(reports.mLocation.back().mLocation.gpsLocation.accuracy);
|
||||
r.mLocation.mValid = true;
|
||||
r.mLocation.mLocation.latitude =
|
||||
reports.mLocation.back().mLocation.gpsLocation.latitude;
|
||||
r.mLocation.mLocation.longitude =
|
||||
reports.mLocation.back().mLocation.gpsLocation.longitude;
|
||||
r.mLocation.mLocation.altitude =
|
||||
reports.mLocation.back().mLocation.gpsLocation.altitude;
|
||||
r.mLocation.mLocation.speed =
|
||||
(double)(reports.mLocation.back().mLocation.gpsLocation.speed);
|
||||
r.mLocation.mLocation.bearing =
|
||||
(double)(reports.mLocation.back().mLocation.gpsLocation.bearing);
|
||||
r.mLocation.mLocation.accuracy =
|
||||
(double)(reports.mLocation.back().mLocation.gpsLocation.accuracy);
|
||||
|
||||
r.mLocation.verticalAccuracyMeters = reports.mLocation.back().mLocationEx.vert_unc;
|
||||
r.mLocation.speedAccuracyMetersPerSecond = reports.mLocation.back().mLocationEx.speed_unc;
|
||||
r.mLocation.bearingAccuracyDegrees = reports.mLocation.back().mLocationEx.bearing_unc;
|
||||
r.mLocation.verticalAccuracyMeters =
|
||||
reports.mLocation.back().mLocationEx.vert_unc;
|
||||
r.mLocation.speedAccuracyMetersPerSecond =
|
||||
reports.mLocation.back().mLocationEx.speed_unc;
|
||||
r.mLocation.bearingAccuracyDegrees =
|
||||
reports.mLocation.back().mLocationEx.bearing_unc;
|
||||
|
||||
r.mLocation.mLocation.timestamp =
|
||||
reports.mLocation.back().mLocation.gpsLocation.timestamp;
|
||||
}
|
||||
else if(!reports.mBestPosition.empty()) {
|
||||
r.mLocation.mLocation.latitude = (double)(reports.mBestPosition.back().mBestLat);
|
||||
r.mLocation.mLocation.longitude = (double)(reports.mBestPosition.back().mBestLon);
|
||||
r.mLocation.mLocation.altitude = reports.mBestPosition.back().mBestAlt;
|
||||
r.mLocation.mValid = true;
|
||||
r.mLocation.mLocation.latitude =
|
||||
(double)(reports.mBestPosition.back().mBestLat);
|
||||
r.mLocation.mLocation.longitude =
|
||||
(double)(reports.mBestPosition.back().mBestLon);
|
||||
r.mLocation.mLocation.altitude =
|
||||
reports.mBestPosition.back().mBestAlt;
|
||||
|
||||
r.mLocation.mLocation.timestamp =
|
||||
reports.mBestPosition.back().mUtcReported.tv_sec * 1000ULL +
|
||||
reports.mBestPosition.back().mUtcReported.tv_nsec / 1000000ULL;
|
||||
}
|
||||
else {
|
||||
r.mLocation.mValid = false;
|
||||
}
|
||||
|
||||
if (r.mLocation.mValid) {
|
||||
LOC_LOGV("getDebugReport - lat=%f lon=%f alt=%f speed=%f",
|
||||
r.mLocation.mLocation.latitude,
|
||||
r.mLocation.mLocation.longitude,
|
||||
r.mLocation.mLocation.altitude,
|
||||
r.mLocation.mLocation.speed);
|
||||
}
|
||||
|
||||
// time block
|
||||
r.mTime.size = sizeof(r.mTime);
|
||||
if(!reports.mBestPosition.empty()) {
|
||||
r.mTime.timeEstimate = reports.mBestPosition.back().mUtcTime.tv_sec;
|
||||
}
|
||||
if(!reports.mTimeAndClock.empty()) {
|
||||
r.mTime.timeUncertaintyNs = (float)(reports.mTimeAndClock.back().mTimeUnc);
|
||||
r.mTime.mValid = true;
|
||||
r.mTime.timeEstimate =
|
||||
(((int64_t)(reports.mTimeAndClock.back().mGpsWeek)*7 +
|
||||
GNSS_UTC_TIME_OFFSET)*24*60*60 +
|
||||
(int64_t)(reports.mTimeAndClock.back().mLeapSeconds))*1000ULL +
|
||||
(int64_t)(reports.mTimeAndClock.back().mGpsTowMs);
|
||||
|
||||
r.mTime.timeUncertaintyNs =
|
||||
(float)((reports.mTimeAndClock.back().mTimeUnc +
|
||||
reports.mTimeAndClock.back().mLeapSecUnc)*1000);
|
||||
r.mTime.frequencyUncertaintyNsPerSec =
|
||||
(float)(reports.mTimeAndClock.back().mClockFreqBiasUnc);
|
||||
LOC_LOGV("getDebugReport - timeestimate=%ld", r.mTime.timeEstimate);
|
||||
}
|
||||
else {
|
||||
r.mTime.mValid = false;
|
||||
}
|
||||
LOC_LOGV("getDebugReport - timeestimate=%lld", r.mTime.timeEstimate);
|
||||
|
||||
// satellite info block
|
||||
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_GPS, reports);
|
||||
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_GLONASS, reports);
|
||||
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_BEIDOU, reports);
|
||||
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_QZSS, reports);
|
||||
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_BEIDOU, reports);
|
||||
convertSatelliteInfo(r.mSatelliteInfo, GNSS_SV_TYPE_GALILEO, reports);
|
||||
LOC_LOGV("getDebugReport - satellite=%d", r.mSatelliteInfo.size());
|
||||
LOC_LOGV("getDebugReport - satellite=%lu", r.mSatelliteInfo.size());
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@
|
|||
#define GNSS_NI_MESSAGE_ID_MAX 2048
|
||||
#define GNSS_SV_MAX 64
|
||||
#define GNSS_MEASUREMENTS_MAX 64
|
||||
#define GNSS_UTC_TIME_OFFSET (3657)
|
||||
|
||||
typedef enum {
|
||||
LOCATION_ERROR_SUCCESS = 0,
|
||||
|
|
@ -250,6 +251,26 @@ typedef enum {
|
|||
GNSS_SV_TYPE_GALILEO,
|
||||
} GnssSvType;
|
||||
|
||||
typedef enum {
|
||||
GNSS_EPH_TYPE_UNKNOWN = 0,
|
||||
GNSS_EPH_TYPE_EPHEMERIS,
|
||||
GNSS_EPH_TYPE_ALMANAC,
|
||||
} GnssEphemerisType;
|
||||
|
||||
typedef enum {
|
||||
GNSS_EPH_SOURCE_UNKNOWN = 0,
|
||||
GNSS_EPH_SOURCE_DEMODULATED,
|
||||
GNSS_EPH_SOURCE_SUPL_PROVIDED,
|
||||
GNSS_EPH_SOURCE_OTHER_SERVER_PROVIDED,
|
||||
GNSS_EPH_SOURCE_LOCAL,
|
||||
} GnssEphemerisSource;
|
||||
|
||||
typedef enum {
|
||||
GNSS_EPH_HEALTH_UNKNOWN = 0,
|
||||
GNSS_EPH_HEALTH_GOOD,
|
||||
GNSS_EPH_HEALTH_BAD,
|
||||
} GnssEphemerisHealth;
|
||||
|
||||
typedef uint16_t GnssSvOptionsMask;
|
||||
typedef enum {
|
||||
GNSS_SV_OPTIONS_HAS_EPHEMER_BIT = (1<<0),
|
||||
|
|
@ -558,6 +579,7 @@ typedef struct {
|
|||
|
||||
typedef struct {
|
||||
size_t size; // set to sizeof
|
||||
bool mValid;
|
||||
Location mLocation;
|
||||
double verticalAccuracyMeters;
|
||||
double speedAccuracyMetersPerSecond;
|
||||
|
|
@ -566,16 +588,22 @@ typedef struct {
|
|||
|
||||
typedef struct {
|
||||
size_t size; // set to sizeof
|
||||
bool mValid;
|
||||
int64_t timeEstimate;
|
||||
float timeUncertaintyNs;
|
||||
float frequencyUncertaintyNsPerSec;
|
||||
} GnssDebugTime;
|
||||
|
||||
typedef struct {
|
||||
size_t size; // set to sizeof
|
||||
uint32_t svid;
|
||||
GnssSvType constellation;
|
||||
uint32_t ephemerisType;
|
||||
GnssEphemerisType mEphemerisType;
|
||||
GnssEphemerisSource mEphemerisSource;
|
||||
GnssEphemerisHealth mEphemerisHealth;
|
||||
float ephemerisAgeSeconds;
|
||||
bool serverPredictionIsAvailable;
|
||||
float serverPredictionAgeSeconds;
|
||||
} GnssDebugSatelliteInfo;
|
||||
|
||||
typedef struct {
|
||||
|
|
|
|||
|
|
@ -44,7 +44,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
|
|||
std::vector<std::string> &nmeaArraystr);
|
||||
|
||||
#define DEBUG_NMEA_MINSIZE 6
|
||||
#define DEBUG_NMEA_MAXSIZE 256
|
||||
#define DEBUG_NMEA_MAXSIZE 4096
|
||||
inline bool loc_nmea_is_debug(const char* nmea, int length) {
|
||||
return ((nullptr != nmea) &&
|
||||
(length >= DEBUG_NMEA_MINSIZE) && (length <= DEBUG_NMEA_MAXSIZE) &&
|
||||
|
|
|
|||
Loading…
Reference in a new issue