sdm660-common: Import GPS HAL from LA.UM.8.2.r1-06500-sdm660.0

"LA.UM.8.2.r1-06500-sdm660.0"

Change-Id: Ib46ee24d1e05e749fe0b7f178142a01bdb090e57

gps/android/1.0/location_api/GnssAPIClient.cpp

@@ -540,7 +540,7 @@ static void convertGnssSvStatus(GnssSvNotification& in, IGnssCallback::GnssSvSta
     }
     for (size_t i = 0; i < out.numSvs; i++) {
         IGnssCallback::GnssSvInfo& info = out.gnssSvList[i];
-        info.svid = in.gnssSvs[i].svId;
+        convertGnssSvid(in.gnssSvs[i], info.svid);
         convertGnssConstellationType(in.gnssSvs[i].type, info.constellation);
         info.cN0Dbhz = in.gnssSvs[i].cN0Dbhz;
         info.elevationDegrees = in.gnssSvs[i].elevation;

gps/android/1.0/location_api/LocationUtil.cpp

@@ -147,6 +147,64 @@ void convertGnssConstellationType(GnssSvType& in, GnssConstellationType& out)
     }
 }
 
+void convertGnssSvid(GnssSv& in, int16_t& out)
+{
+    switch(in.type){
+        case GNSS_SV_TYPE_GPS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_SBAS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_GLONASS:
+            out = in.svId - GLO_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_QZSS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_BEIDOU:
+            out = in.svId - BDS_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_GALILEO:
+            out = in.svId - GAL_SV_PRN_MIN + 1;
+            break;
+        default:
+            out = in.svId;
+            break;
+    }
+}
+
+void convertGnssSvid(GnssMeasurementsData& in, int16_t& out)
+{
+    switch (in.svType) {
+        case GNSS_SV_TYPE_GPS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_SBAS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_GLONASS:
+            if (in.svId != 255) { // OSN is known
+                out = in.svId - GLO_SV_PRN_MIN + 1;
+            } else { // OSN is not known, report FCN
+                out = in.gloFrequency + 92;
+            }
+            break;
+        case GNSS_SV_TYPE_QZSS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_BEIDOU:
+            out = in.svId - BDS_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_GALILEO:
+            out = in.svId - GAL_SV_PRN_MIN + 1;
+            break;
+        default:
+            out = in.svId;
+            break;
+    }
+}
+
 void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out)
 {
     switch(in) {

gps/android/1.0/location_api/LocationUtil.h

@@ -43,6 +43,8 @@ namespace implementation {
 void convertGnssLocation(Location& in, V1_0::GnssLocation& out);
 void convertGnssLocation(const V1_0::GnssLocation& in, Location& out);
 void convertGnssConstellationType(GnssSvType& in, V1_0::GnssConstellationType& out);
+void convertGnssSvid(GnssSv& in, int16_t& out);
+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);

gps/android/1.0/location_api/MeasurementAPIClient.cpp

@@ -163,7 +163,7 @@ static void convertGnssMeasurement(GnssMeasurementsData& in,
         out.flags |= IGnssMeasurementCallback::GnssMeasurementFlags::HAS_CARRIER_PHASE_UNCERTAINTY;
     if (in.flags & GNSS_MEASUREMENTS_DATA_AUTOMATIC_GAIN_CONTROL_BIT)
         out.flags |= IGnssMeasurementCallback::GnssMeasurementFlags::HAS_AUTOMATIC_GAIN_CONTROL;
-    out.svid = in.svId;
+    convertGnssSvid(in, out.svid);
     convertGnssConstellationType(in.svType, out.constellation);
     out.timeOffsetNs = in.timeOffsetNs;
     if (in.stateMask & GNSS_MEASUREMENTS_STATE_CODE_LOCK_BIT)

gps/android/1.1/Gnss.cpp

@@ -379,7 +379,7 @@ Return<bool> Gnss::setCallback_1_1(const sp<V1_1::IGnssCallback>& callback) {
         OdcpiRequestCallback cb = [this](const OdcpiRequestInfo& odcpiRequest) {
             odcpiRequestCb(odcpiRequest);
         };
-        gnssInterface->odcpiInit(cb);
+        gnssInterface->odcpiInit(cb, OdcpiPrioritytype::ODCPI_HANDLER_PRIORITY_LOW);
     }
     return setCallback(callback);
 }
@@ -429,6 +429,9 @@ Return<bool> Gnss::injectBestLocation(const GnssLocation& gnssLocation) {
 
 void Gnss::odcpiRequestCb(const OdcpiRequestInfo& request) {
     ENTRY_LOG_CALLFLOW();
+    if (ODCPI_REQUEST_TYPE_STOP == request.type) {
+        return;
+    }
     if (mGnssCbIface_1_1 != nullptr) {
         // For emergency mode, request DBH (Device based hybrid) location
         // Mark Independent from GNSS flag to false.

gps/android/1.1/location_api/GnssAPIClient.cpp

@@ -540,7 +540,7 @@ static void convertGnssSvStatus(GnssSvNotification& in, IGnssCallback::GnssSvSta
     }
     for (size_t i = 0; i < out.numSvs; i++) {
         IGnssCallback::GnssSvInfo& info = out.gnssSvList[i];
-        info.svid = in.gnssSvs[i].svId;
+        convertGnssSvid(in.gnssSvs[i], info.svid);
         convertGnssConstellationType(in.gnssSvs[i].type, info.constellation);
         info.cN0Dbhz = in.gnssSvs[i].cN0Dbhz;
         info.elevationDegrees = in.gnssSvs[i].elevation;

gps/android/1.1/location_api/LocationUtil.cpp

@@ -147,6 +147,64 @@ void convertGnssConstellationType(GnssSvType& in, GnssConstellationType& out)
     }
 }
 
+void convertGnssSvid(GnssSv& in, int16_t& out)
+{
+    switch(in.type){
+        case GNSS_SV_TYPE_GPS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_SBAS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_GLONASS:
+            out = in.svId - GLO_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_QZSS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_BEIDOU:
+            out = in.svId - BDS_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_GALILEO:
+            out = in.svId - GAL_SV_PRN_MIN + 1;
+            break;
+        default:
+            out = in.svId;
+            break;
+    }
+}
+
+void convertGnssSvid(GnssMeasurementsData& in, int16_t& out)
+{
+    switch (in.svType) {
+        case GNSS_SV_TYPE_GPS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_SBAS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_GLONASS:
+            if (in.svId != 255) { // OSN is known
+                out = in.svId - GLO_SV_PRN_MIN + 1;
+            } else { // OSN is not known, report FCN
+                out = in.gloFrequency + 92;
+            }
+            break;
+        case GNSS_SV_TYPE_QZSS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_BEIDOU:
+            out = in.svId - BDS_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_GALILEO:
+            out = in.svId - GAL_SV_PRN_MIN + 1;
+            break;
+        default:
+            out = in.svId;
+            break;
+    }
+}
+
 void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out)
 {
     switch(in) {

gps/android/1.1/location_api/LocationUtil.h

@@ -43,6 +43,8 @@ namespace implementation {
 void convertGnssLocation(Location& in, V1_0::GnssLocation& out);
 void convertGnssLocation(const V1_0::GnssLocation& in, Location& out);
 void convertGnssConstellationType(GnssSvType& in, V1_0::GnssConstellationType& out);
+void convertGnssSvid(GnssSv& in, int16_t& out);
+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);

gps/android/1.1/location_api/MeasurementAPIClient.cpp

@@ -197,7 +197,7 @@ static void convertGnssMeasurement(GnssMeasurementsData& in,
         out.flags |= IGnssMeasurementCallback::GnssMeasurementFlags::HAS_CARRIER_PHASE_UNCERTAINTY;
     if (in.flags & GNSS_MEASUREMENTS_DATA_AUTOMATIC_GAIN_CONTROL_BIT)
         out.flags |= IGnssMeasurementCallback::GnssMeasurementFlags::HAS_AUTOMATIC_GAIN_CONTROL;
-    out.svid = in.svId;
+    convertGnssSvid(in, out.svid);
     convertGnssConstellationType(in.svType, out.constellation);
     out.timeOffsetNs = in.timeOffsetNs;
     if (in.stateMask & GNSS_MEASUREMENTS_STATE_CODE_LOCK_BIT)

gps/android/2.0/Gnss.cpp

@@ -445,7 +445,7 @@ Return<bool> Gnss::setCallback_1_1(const sp<V1_1::IGnssCallback>& callback) {
         OdcpiRequestCallback cb = [this](const OdcpiRequestInfo& odcpiRequest) {
             odcpiRequestCb(odcpiRequest);
         };
-        gnssInterface->odcpiInit(cb);
+        gnssInterface->odcpiInit(cb, OdcpiPrioritytype::ODCPI_HANDLER_PRIORITY_LOW);
     }
 
     GnssAPIClient* api = getApi();
@@ -508,6 +508,9 @@ Return<bool> Gnss::injectBestLocation(const GnssLocation& gnssLocation) {
 void Gnss::odcpiRequestCb(const OdcpiRequestInfo& request) {
     ENTRY_LOG_CALLFLOW();
 
+    if (ODCPI_REQUEST_TYPE_STOP == request.type) {
+        return;
+    }
     if (mGnssCbIface_2_0 != nullptr) {
         // For emergency mode, request DBH (Device based hybrid) location
         // Mark Independent from GNSS flag to false.
@@ -575,7 +578,7 @@ Return<bool> Gnss::setCallback_2_0(const sp<V2_0::IGnssCallback>& callback) {
         OdcpiRequestCallback cb = [this](const OdcpiRequestInfo& odcpiRequest) {
             odcpiRequestCb(odcpiRequest);
         };
-        gnssInterface->odcpiInit(cb);
+        gnssInterface->odcpiInit(cb, OdcpiPrioritytype::ODCPI_HANDLER_PRIORITY_LOW);
     }
 
     GnssAPIClient* api = getApi();

gps/android/2.0/android.hardware.gnss@2.0-service-qti.xml

@@ -29,6 +29,7 @@ IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <hal format="hidl">
         <name>android.hardware.gnss</name>
         <transport>hwbinder</transport>
+        <fqname>@1.0::IGnss/gnss_vendor</fqname>
         <fqname>@1.1::IGnss/default</fqname>
         <fqname>@2.0::IGnss/default</fqname>
     </hal>

gps/android/2.0/location_api/GnssAPIClient.cpp

@@ -678,7 +678,7 @@ static void convertGnssSvStatus(GnssSvNotification& in, V1_0::IGnssCallback::Gns
         out.numSvs = static_cast<uint32_t>(V1_0::GnssMax::SVS_COUNT);
     }
     for (size_t i = 0; i < out.numSvs; i++) {
-        out.gnssSvList[i].svid = in.gnssSvs[i].svId;
+        convertGnssSvid(in.gnssSvs[i], out.gnssSvList[i].svid);
         convertGnssConstellationType(in.gnssSvs[i].type, out.gnssSvList[i].constellation);
         out.gnssSvList[i].cN0Dbhz = in.gnssSvs[i].cN0Dbhz;
         out.gnssSvList[i].elevationDegrees = in.gnssSvs[i].elevation;
@@ -701,7 +701,7 @@ static void convertGnssSvStatus(GnssSvNotification& in,
 {
     out.resize(in.count);
     for (size_t i = 0; i < in.count; i++) {
-        out[i].v1_0.svid = in.gnssSvs[i].svId;
+        convertGnssSvid(in.gnssSvs[i], out[i].v1_0.svid);
         out[i].v1_0.cN0Dbhz = in.gnssSvs[i].cN0Dbhz;
         out[i].v1_0.elevationDegrees = in.gnssSvs[i].elevation;
         out[i].v1_0.azimuthDegrees = in.gnssSvs[i].azimuth;

gps/android/2.0/location_api/LocationUtil.cpp

@@ -30,6 +30,7 @@
 #include <LocationUtil.h>
 #include <log_util.h>
 #include <inttypes.h>
+#include <gps_extended_c.h>
 
 namespace android {
 namespace hardware {
@@ -136,12 +137,17 @@ void convertGnssLocation(Location& in, V2_0::GnssLocation& out)
         if (currentTimeNanos >= locationTimeNanos) {
             int64_t ageTimeNanos = currentTimeNanos - locationTimeNanos;
             LOC_LOGD("%s]: ageTimeNanos:%" PRIi64 ")", __FUNCTION__, ageTimeNanos);
-            if (ageTimeNanos >= 0 && ageTimeNanos <= sinceBootTimeNanos) {
+            // the max trusted propagation time 30s for ageTimeNanos to avoid user setting
+            //wrong time, it will affect elapsedRealtimeNanos
+            if (ageTimeNanos >= 0 && ageTimeNanos <= 30000000000) {
                 out.elapsedRealtime.flags |= ElapsedRealtimeFlags::HAS_TIMESTAMP_NS;
                 out.elapsedRealtime.timestampNs = sinceBootTimeNanos - ageTimeNanos;
                 out.elapsedRealtime.flags |= 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
-                out.elapsedRealtime.timeUncertaintyNs = 1000000;
+                //verify if user change the sys time
+                out.elapsedRealtime.timeUncertaintyNs =
+                        std::max((int64_t)abs(currentTimeNanos - locationTimeNanos),
+                                 (int64_t)100000000);
                 LOC_LOGD("%s]: timestampNs:%" PRIi64 ")",
                         __FUNCTION__, out.elapsedRealtime.timestampNs);
             }
@@ -256,6 +262,64 @@ void convertGnssConstellationType(GnssSvType& in, V2_0::GnssConstellationType& o
     }
 }
 
+void convertGnssSvid(GnssSv& in, int16_t& out)
+{
+    switch (in.type) {
+        case GNSS_SV_TYPE_GPS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_SBAS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_GLONASS:
+            out = in.svId - GLO_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_QZSS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_BEIDOU:
+            out = in.svId - BDS_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_GALILEO:
+            out = in.svId - GAL_SV_PRN_MIN + 1;
+            break;
+        default:
+            out = in.svId;
+            break;
+    }
+}
+
+void convertGnssSvid(GnssMeasurementsData& in, int16_t& out)
+{
+    switch (in.svType) {
+        case GNSS_SV_TYPE_GPS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_SBAS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_GLONASS:
+            if (in.svId != 255) { // OSN is known
+                out = in.svId - GLO_SV_PRN_MIN + 1;
+            } else { // OSN is not known, report FCN
+                out = in.gloFrequency + 92;
+            }
+            break;
+        case GNSS_SV_TYPE_QZSS:
+            out = in.svId;
+            break;
+        case GNSS_SV_TYPE_BEIDOU:
+            out = in.svId - BDS_SV_PRN_MIN + 1;
+            break;
+        case GNSS_SV_TYPE_GALILEO:
+            out = in.svId - GAL_SV_PRN_MIN + 1;
+            break;
+        default:
+            out = in.svId;
+            break;
+    }
+}
+
 void convertGnssEphemerisType(GnssEphemerisType& in, GnssDebug::SatelliteEphemerisType& out)
 {
     switch(in) {

gps/android/2.0/location_api/LocationUtil.h

@@ -46,6 +46,8 @@ void convertGnssLocation(const V1_0::GnssLocation& in, Location& out);
 void convertGnssLocation(const V2_0::GnssLocation& in, Location& out);
 void convertGnssConstellationType(GnssSvType& in, V1_0::GnssConstellationType& out);
 void convertGnssConstellationType(GnssSvType& in, V2_0::GnssConstellationType& out);
+void convertGnssSvid(GnssSv& in, int16_t& out);
+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);

gps/android/2.0/location_api/MeasurementAPIClient.cpp

@@ -231,7 +231,7 @@ static void convertGnssMeasurement(GnssMeasurementsData& in,
         out.flags |= IGnssMeasurementCallback::GnssMeasurementFlags::HAS_CARRIER_PHASE_UNCERTAINTY;
     if (in.flags & GNSS_MEASUREMENTS_DATA_AUTOMATIC_GAIN_CONTROL_BIT)
         out.flags |= IGnssMeasurementCallback::GnssMeasurementFlags::HAS_AUTOMATIC_GAIN_CONTROL;
-    out.svid = in.svId;
+    convertGnssSvid(in, out.svid);
     convertGnssConstellationType(in.svType, out.constellation);
     out.timeOffsetNs = in.timeOffsetNs;
     if (in.stateMask & GNSS_MEASUREMENTS_STATE_CODE_LOCK_BIT)

gps/android/2.0/service.cpp

@@ -73,6 +73,11 @@ int main() {
     #else
             ALOGE("LOC_HIDL_VERSION not defined.");
     #endif
+        } else {
+            status = registerPassthroughServiceImplementation<IGnss>("gnss_vendor");
+            if (status != OK) {
+                ALOGE("Error while registering gnss_vendor service: %d", status);
+            }
         }
 
         joinRpcThreadpool();

gps/android/utils/battery_listener.cpp

@@ -1,5 +1,5 @@
 /*
-* Copyright (c) 2019, The Linux Foundation. All rights reserved.
+* Copyright (c) 2019-2020, The Linux Foundation. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
@@ -183,7 +183,7 @@ BatteryListenerImpl::~BatteryListenerImpl()
     {
         std::lock_guard<std::mutex> _l(mLock);
         if (mHealth != NULL)
-            mHealth->unlinkToDeath(this);
+            mHealth->unregisterCallback(this);
             auto r = mHealth->unlinkToDeath(this);
             if (!r.isOk() || r == false) {
                 LOC_LOGe("Transaction error in unregister to HealthHAL death: %s",
@@ -206,6 +206,8 @@ void BatteryListenerImpl::serviceDied(uint64_t cookie __unused,
         LOC_LOGi("health service died, reinit");
         mDone = true;
     }
+    mHealth = NULL;
+    mCond.notify_one();
     mThread->join();
     std::lock_guard<std::mutex> _l(mLock);
     init();

gps/core/ContextBase.cpp

@@ -1,4 +1,4 @@
-/* Copyright (c) 2011-2014,2016-2017 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2011-2014,2016-2017,2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -30,7 +30,6 @@
 #define LOG_TAG "LocSvc_CtxBase"
 
 #include <dlfcn.h>
-#include <cutils/sched_policy.h>
 #include <unistd.h>
 #include <ContextBase.h>
 #include <msg_q.h>

gps/core/LocAdapterBase.cpp

@@ -1,4 +1,4 @@
-/* Copyright (c) 2011-2014, 2016-2019 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2011-2014, 2016-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -185,6 +185,10 @@ DEFAULT_IMPL()
 void LocAdapterBase::reportGnssSvTypeConfigEvent(const GnssSvTypeConfig& /*config*/)
 DEFAULT_IMPL()
 
+void LocAdapterBase::reportGnssConfigEvent(uint32_t,  /* session id*/
+            const GnssConfig& /*gnssConfig*/)
+DEFAULT_IMPL()
+
 bool LocAdapterBase::
     requestOdcpiEvent(OdcpiRequestInfo& /*request*/)
 DEFAULT_IMPL(false)

gps/core/LocAdapterBase.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2011-2014, 2016-2019 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2011-2014, 2016-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -206,6 +206,7 @@ public:
             GpsLocationExtended &location_extended, LocPosTechMask tech_mask);
     virtual void reportGnssSvIdConfigEvent(const GnssSvIdConfig& config);
     virtual void reportGnssSvTypeConfigEvent(const GnssSvTypeConfig& config);
+    virtual void reportGnssConfigEvent(uint32_t sessionId, const GnssConfig& gnssConfig);
     virtual bool requestOdcpiEvent(OdcpiRequestInfo& request);
     virtual bool reportGnssEngEnergyConsumedEvent(uint64_t energyConsumedSinceFirstBoot);
     virtual bool reportDeleteAidingDataEvent(GnssAidingData &aidingData);

gps/core/LocApiBase.cpp

@@ -1,4 +1,4 @@
-/* Copyright (c) 2011-2014, 2016-2019 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2011-2014, 2016-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -415,19 +415,17 @@ void LocApiBase::reportSv(GnssSvNotification& svNotify)
             svNotify.gnssSvs[i].type = GNSS_SV_TYPE_UNKNOWN;
         }
         // Display what we report to clients
-        uint16_t displaySvId = GNSS_SV_TYPE_QZSS == svNotify.gnssSvs[i].type ?
+        LOC_LOGV("   %03zu: %*s  %02d    %f    %f    %f    %f    0x%02X 0x%2X",
-                               svNotify.gnssSvs[i].svId + QZSS_SV_PRN_MIN - 1 :
-                               svNotify.gnssSvs[i].svId;
-        LOC_LOGV("   %03zu: %*s  %02d    %f    %f    %f    %f    0x%02X",
             i,
             13,
             constellationString[svNotify.gnssSvs[i].type],
-            displaySvId,
+            svNotify.gnssSvs[i].svId,
             svNotify.gnssSvs[i].cN0Dbhz,
             svNotify.gnssSvs[i].elevation,
             svNotify.gnssSvs[i].azimuth,
             svNotify.gnssSvs[i].carrierFrequencyHz,
-            svNotify.gnssSvs[i].gnssSvOptionsMask);
+            svNotify.gnssSvs[i].gnssSvOptionsMask,
+            svNotify.gnssSvs[i].gnssSignalTypeMask);
     }
     // loop through adapters, and deliver to all adapters.
     TO_ALL_LOCADAPTERS(
@@ -593,6 +591,11 @@ void LocApiBase::handleBatchStatusEvent(BatchingStatus batchStatus)
     TO_ALL_LOCADAPTERS(mLocAdapters[i]->reportBatchStatusChangeEvent(batchStatus));
 }
 
+void LocApiBase::reportGnssConfig(uint32_t sessionId, const GnssConfig& gnssConfig)
+{
+    // loop through adapters, and deliver to the first handling adapter.
+    TO_ALL_LOCADAPTERS(mLocAdapters[i]->reportGnssConfigEvent(sessionId, gnssConfig));
+}
 
 enum loc_api_adapter_err LocApiBase::
    open(LOC_API_ADAPTER_EVENT_MASK_T /*mask*/)
@@ -879,4 +882,14 @@ DEFAULT_IMPL()
 void LocApiBase::updateSystemPowerState(PowerStateType /*powerState*/)
 DEFAULT_IMPL()
 
+void LocApiBase::
+    configRobustLocation(bool /*enabled*/,
+                         bool /*enableForE911*/,
+                         LocApiResponse* /*adapterResponse*/)
+DEFAULT_IMPL()
+
+void LocApiBase::
+    getRobustLocationConfig(uint32_t sessionId, LocApiResponse* /*adapterResponse*/)
+DEFAULT_IMPL()
+
 } // namespace loc_core

gps/core/LocApiBase.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2011-2014, 2016-2019 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2011-2014, 2016-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -195,6 +195,7 @@ public:
     void reportDeleteAidingDataEvent(GnssAidingData& aidingData);
     void reportKlobucharIonoModel(GnssKlobucharIonoModel& ionoModel);
     void reportGnssAdditionalSystemInfo(GnssAdditionalSystemInfo& additionalSystemInfo);
+    void reportGnssConfig(uint32_t sessionId, const GnssConfig& gnssConfig);
     void sendNfwNotification(GnssNfwNotification& notification);
 
     void geofenceBreach(size_t count, uint32_t* hwIds, Location& location,
@@ -318,6 +319,9 @@ public:
     void updateNmeaMask(uint32_t mask);
 
     virtual void updateSystemPowerState(PowerStateType systemPowerState);
+    virtual void configRobustLocation(bool enable, bool enableForE911,
+                                      LocApiResponse* adapterResponse=nullptr);
+    virtual void getRobustLocationConfig(uint32_t sessionId, LocApiResponse* adapterResponse);
 };
 
 typedef LocApiBase* (getLocApi_t)(LOC_API_ADAPTER_EVENT_MASK_T exMask,

gps/core/Makefile.am

@@ -40,6 +40,10 @@ libloc_core_la_c_sources = \
            SystemStatusOsObserver.cpp \
            SystemStatus.cpp
 
+if USE_EXTERNAL_AP
+AM_CFLAGS += -DFEATURE_EXTERNAL_AP
+endif
+
 library_includedir = $(pkgincludedir)
 
 library_include_HEADERS = $(libloc_core_la_h_sources)

gps/core/SystemStatusOsObserver.cpp

@@ -38,7 +38,7 @@ namespace loc_core
 {
 template <typename CINT, typename COUT>
 COUT SystemStatusOsObserver::containerTransfer(CINT& inContainer) {
-    COUT outContainer(0);
+    COUT outContainer = {};
     for (auto item : inContainer) {
         outContainer.insert(outContainer.begin(), item);
     }
@@ -67,6 +67,7 @@ void SystemStatusOsObserver::setSubscriptionObj(IDataItemSubscription* subscript
         inline SetSubsObj(ObserverContext& context, IDataItemSubscription* subscriptionObj) :
                 mContext(context), mSubsObj(subscriptionObj) {}
         void proc() const {
+            LOC_LOGi("SetSubsObj::enter");
             mContext.mSubscriptionObj = mSubsObj;
 
             if (!mContext.mSSObserver->mDataItemToClients.empty()) {
@@ -76,6 +77,7 @@ void SystemStatusOsObserver::setSubscriptionObj(IDataItemSubscription* subscript
                 mContext.mSubscriptionObj->subscribe(dis, mContext.mSSObserver);
                 mContext.mSubscriptionObj->requestData(dis, mContext.mSSObserver);
             }
+            LOC_LOGi("SetSubsObj::exit");
         }
     };
 
@@ -101,7 +103,7 @@ void SystemStatusOsObserver::subscribe(const list<DataItemId>& l, IDataItemObser
                 mToRequestData(requestData) {}
 
         void proc() const {
-            unordered_set<DataItemId> dataItemsToSubscribe(0);
+            unordered_set<DataItemId> dataItemsToSubscribe = {};
             mParent->mDataItemToClients.add(mDataItemSet, {mClient}, &dataItemsToSubscribe);
             mParent->mClientToDataItems.add(mClient, mDataItemSet);
 
@@ -147,8 +149,8 @@ void SystemStatusOsObserver::updateSubscription(
                 mDataItemSet(containerTransfer<list<DataItemId>, unordered_set<DataItemId>>(l)) {}
 
         void proc() const {
-            unordered_set<DataItemId> dataItemsToSubscribe(0);
+            unordered_set<DataItemId> dataItemsToSubscribe = {};
-            unordered_set<DataItemId> dataItemsToUnsubscribe(0);
+            unordered_set<DataItemId> dataItemsToUnsubscribe = {};
             unordered_set<IDataItemObserver*> clients({mClient});
             // below removes clients from all entries keyed with the return of the
             // mClientToDataItems.update() call. If leaving an empty set of clients as the
@@ -219,11 +221,11 @@ void SystemStatusOsObserver::unsubscribe(
                 mDataItemSet(containerTransfer<list<DataItemId>, unordered_set<DataItemId>>(l)) {}
 
         void proc() const {
-            unordered_set<DataItemId> dataItemsUnusedByClient(0);
+            unordered_set<DataItemId> dataItemsUnusedByClient = {};
-            unordered_set<IDataItemObserver*> clientToRemove(0);
+            unordered_set<IDataItemObserver*> clientToRemove = {};
+            unordered_set<DataItemId> dataItemsToUnsubscribe = {};
             mParent->mClientToDataItems.trimOrRemove({mClient}, mDataItemSet,  &clientToRemove,
                                                      &dataItemsUnusedByClient);
-            unordered_set<DataItemId> dataItemsToUnsubscribe(0);
             mParent->mDataItemToClients.trimOrRemove(dataItemsUnusedByClient, {mClient},
                                                      &dataItemsToUnsubscribe, nullptr);
 
@@ -259,6 +261,7 @@ void SystemStatusOsObserver::unsubscribeAll(IDataItemObserver* client)
 
         void proc() const {
             unordered_set<DataItemId> diByClient = mParent->mClientToDataItems.getValSet(mClient);
+
             if (!diByClient.empty()) {
                 unordered_set<DataItemId> dataItemsToUnsubscribe;
                 mParent->mClientToDataItems.remove(mClient);
@@ -308,7 +311,7 @@ void SystemStatusOsObserver::notify(const list<IDataItemCore*>& dlist)
         void proc() const {
             // Update Cache with received data items and prepare
             // list of data items to be sent.
-            unordered_set<DataItemId> dataItemIdsToBeSent(0);
+            unordered_set<DataItemId> dataItemIdsToBeSent = {};
             for (auto item : mDiVec) {
                 if (mParent->updateCache(item)) {
                     dataItemIdsToBeSent.insert(item->getId());
@@ -316,7 +319,7 @@ void SystemStatusOsObserver::notify(const list<IDataItemCore*>& dlist)
             }
 
             // Send data item to all subscribed clients
-            unordered_set<IDataItemObserver*> clientSet(0);
+            unordered_set<IDataItemObserver*> clientSet = {};
             for (auto each : dataItemIdsToBeSent) {
                 auto clients = mParent->mDataItemToClients.getValSetPtr(each);
                 if (nullptr != clients) {
@@ -459,8 +462,9 @@ bool SystemStatusOsObserver::connectBackhaul()
                     mFwkActionReqObj(fwkActReq) {}
             virtual ~HandleConnectBackhaul() {}
             void proc() const {
-                LOC_LOGD("HandleConnectBackhaul");
+                LOC_LOGi("HandleConnectBackhaul::enter");
                 mFwkActionReqObj->connectBackhaul();
+                LOC_LOGi("HandleConnectBackhaul::exit");
             }
             IFrameworkActionReq* mFwkActionReqObj;
         };
@@ -488,8 +492,9 @@ bool SystemStatusOsObserver::disconnectBackhaul()
                     mFwkActionReqObj(fwkActReq) {}
             virtual ~HandleDisconnectBackhaul() {}
             void proc() const {
-                LOC_LOGD("HandleDisconnectBackhaul");
+                LOC_LOGi("HandleDisconnectBackhaul::enter");
                 mFwkActionReqObj->disconnectBackhaul();
+                LOC_LOGi("HandleDisconnectBackhaul::exit");
             }
             IFrameworkActionReq* mFwkActionReqObj;
         };
@@ -518,7 +523,7 @@ void SystemStatusOsObserver::sendCachedDataItems(
     } else {
         string clientName;
         to->getName(clientName);
-        list<IDataItemCore*> dataItems(0);
+        list<IDataItemCore*> dataItems = {};
 
         for (auto each : s) {
             auto citer = mDataItemCache.find(each);

gps/core/configure.ac

@@ -86,6 +86,19 @@ fi
 
 AM_CONDITIONAL(USE_FEATURE_AUTOMOTIVE, test "x${with_auto_feature}" = "xyes")
 
+# External AP
+AC_ARG_WITH([external_ap],
+    AC_HELP_STRING([--with-external_ap=@<:@dir@:>@],
+        [Using External Application Processor]),
+    [],
+    with_external_ap=no)
+
+if test "x$with_external_ap" != "xno"; then
+    CPPFLAGS="${CPPFLAGS} -DFEATURE_EXTERNAL_AP"
+fi
+
+AM_CONDITIONAL(USE_EXTERNAL_AP, test "x${with_external_ap}" = "xyes")
+
 AC_CONFIG_FILES([ \
         Makefile \
         loc-core.pc \

gps/gnss/GnssAdapter.cpp

@@ -1,4 +1,4 @@
-/* Copyright (c) 2017-2019, The Linux Foundation. All rights reserved.
+/* Copyright (c) 2017-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -87,6 +87,7 @@ GnssAdapter::GnssAdapter() :
     mOdcpiRequestActive(false),
     mOdcpiTimer(this),
     mOdcpiRequest(),
+    mCallbackPriority(OdcpiPrioritytype::ODCPI_HANDLER_PRIORITY_LOW),
     mSystemStatus(SystemStatus::getInstance(mMsgTask)),
     mServerUrl(":"),
     mXtraObserver(mSystemStatus->getOsObserver(), mMsgTask),
@@ -526,6 +527,11 @@ GnssAdapter::convertLocationInfo(GnssLocationInfoNotification& out,
         out.flags |= GNSS_LOCATION_INFO_OUTPUT_ENG_MASK_BIT;
         out.locOutputEngMask = locationExtended.locOutputEngMask;
     }
+
+    if (GPS_LOCATION_EXTENDED_HAS_CONFORMITY_INDEX & locationExtended.flags) {
+        out.flags |= GNSS_LOCATION_INFO_CONFORMITY_INDEX_BIT;
+        out.conformityIndex = locationExtended.conformityIndex;
+    }
 }
 
 
@@ -853,6 +859,13 @@ GnssAdapter::setConfig()
         mLocApi->setPositionAssistedClockEstimatorMode(
                 mLocConfigInfo.paceConfigInfo.enable);
 
+        // we do not support control robust location from gps.conf
+        if (mLocConfigInfo.robustLocationConfigInfo.isValid == true) {
+            mLocApi->configRobustLocation(
+                    mLocConfigInfo.robustLocationConfigInfo.enable,
+                    mLocConfigInfo.robustLocationConfigInfo.enableFor911);
+        }
+
         if (sapConf.GYRO_BIAS_RANDOM_WALK_VALID ||
             sapConf.ACCEL_RANDOM_WALK_SPECTRAL_DENSITY_VALID ||
             sapConf.ANGLE_RANDOM_WALK_SPECTRAL_DENSITY_VALID ||
@@ -1298,9 +1311,10 @@ void
 GnssAdapter::gnssSvIdConfigUpdate()
 {
     LOC_LOGd("blacklist bds 0x%" PRIx64 ", glo 0x%" PRIx64
-            ", qzss 0x%" PRIx64 ", gal 0x%" PRIx64,
+            ", qzss 0x%" PRIx64 ", gal 0x%" PRIx64 ", sbas 0x%" PRIx64,
             mGnssSvIdConfig.bdsBlacklistSvMask, mGnssSvIdConfig.gloBlacklistSvMask,
-            mGnssSvIdConfig.qzssBlacklistSvMask, mGnssSvIdConfig.galBlacklistSvMask);
+            mGnssSvIdConfig.qzssBlacklistSvMask, mGnssSvIdConfig.galBlacklistSvMask,
+            mGnssSvIdConfig.sbasBlacklistSvMask);
 
     // Now set required blacklisted SVs
     mLocApi->setBlacklistSv(mGnssSvIdConfig);
@@ -1323,9 +1337,10 @@ LocationError
 GnssAdapter::gnssSvIdConfigUpdateSync()
 {
     LOC_LOGd("blacklist bds 0x%" PRIx64 ", glo 0x%" PRIx64
-            ", qzss 0x%" PRIx64 ", gal 0x%" PRIx64,
+            ", qzss 0x%" PRIx64 ", gal 0x%" PRIx64 ", sbas 0x%" PRIx64,
             mGnssSvIdConfig.bdsBlacklistSvMask, mGnssSvIdConfig.gloBlacklistSvMask,
-            mGnssSvIdConfig.qzssBlacklistSvMask, mGnssSvIdConfig.galBlacklistSvMask);
+            mGnssSvIdConfig.qzssBlacklistSvMask, mGnssSvIdConfig.galBlacklistSvMask,
+            mGnssSvIdConfig.sbasBlacklistSvMask);
 
     // Now set required blacklisted SVs
     return mLocApi->setBlacklistSvSync(mGnssSvIdConfig);
@@ -1479,6 +1494,19 @@ GnssAdapter::gnssGetConfigCommand(GnssConfigFlagsMask configMask) {
                     errs[index++] = LOCATION_ERROR_NOT_SUPPORTED;
                 }
             }
+            if (mConfigMask & GNSS_CONFIG_FLAGS_ROBUST_LOCATION_BIT) {
+                uint32_t sessionId = *(mIds+index);
+                 LocApiResponse* locApiResponse =
+                        new LocApiResponse(*mAdapter.getContext(),
+                                           [this, sessionId] (LocationError err) {
+                                           mAdapter.reportResponse(err, sessionId);});
+                if (!locApiResponse) {
+                    LOC_LOGe("memory alloc failed");
+                    mAdapter.reportResponse(LOCATION_ERROR_GENERAL_FAILURE, sessionId);
+                } else {
+                   mApi.getRobustLocationConfig(sessionId, locApiResponse);
+                }
+            }
 
             mAdapter.reportResponse(index, errs, mIds);
             delete[] errs;
@@ -1508,12 +1536,14 @@ GnssAdapter::convertToGnssSvIdConfig(
         config.bdsBlacklistSvMask = 0;
         config.qzssBlacklistSvMask = 0;
         config.galBlacklistSvMask = 0;
+        config.sbasBlacklistSvMask = 0;
         retVal = true;
     } else {
         // Parse the vector and convert SV IDs to mask values
         for (GnssSvIdSource source : blacklistedSvIds) {
             uint64_t* svMaskPtr = NULL;
             GnssSvId initialSvId = 0;
+            uint16_t svIndexOffset = 0;
             switch(source.constellation) {
             case GNSS_SV_TYPE_GLONASS:
                 svMaskPtr = &config.gloBlacklistSvMask;
@@ -1531,6 +1561,28 @@ GnssAdapter::convertToGnssSvIdConfig(
                 svMaskPtr = &config.galBlacklistSvMask;
                 initialSvId = GNSS_SV_CONFIG_GAL_INITIAL_SV_ID;
                 break;
+            case GNSS_SV_TYPE_SBAS:
+                // SBAS does not support enable/disable whole constellation
+                // so do not set up svTypeMask for SBAS
+                svMaskPtr = &config.sbasBlacklistSvMask;
+                // SBAS currently has two ranges
+                // range of SV id: 120 to 158 and 183 to 191
+                if (0 == source.svId) {
+                    LOC_LOGd("blacklist all SBAS SV");
+                } else if (source.svId >= GNSS_SV_CONFIG_SBAS_INITIAL2_SV_ID) {
+                    // handle SV id in range of 183 to 191
+                    initialSvId = GNSS_SV_CONFIG_SBAS_INITIAL2_SV_ID;
+                    svIndexOffset = GNSS_SV_CONFIG_SBAS_INITIAL_SV_LENGTH;
+                } else if ((source.svId >= GNSS_SV_CONFIG_SBAS_INITIAL_SV_ID) &&
+                           (source.svId < (GNSS_SV_CONFIG_SBAS_INITIAL_SV_ID +
+                                           GNSS_SV_CONFIG_SBAS_INITIAL_SV_LENGTH))){
+                        // handle SV id in range of 120 to 158
+                        initialSvId = GNSS_SV_CONFIG_SBAS_INITIAL_SV_ID;
+                    } else {
+                        LOC_LOGe("invalid SBAS sv id %d", source.svId);
+                        svMaskPtr = nullptr;
+                    }
+                    break;
             default:
                 break;
             }
@@ -1545,7 +1597,8 @@ GnssAdapter::convertToGnssSvIdConfig(
                     LOC_LOGe("Invalid sv id %d for sv type %d",
                             source.svId, source.constellation);
                 } else {
-                    *svMaskPtr |= (1ULL << (source.svId - initialSvId));
+                    uint32_t shiftCnt = source.svId + svIndexOffset - initialSvId;
+                    *svMaskPtr |= (1ULL << shiftCnt);
                 }
             }
         }
@@ -1554,41 +1607,49 @@ GnssAdapter::convertToGnssSvIdConfig(
         if (0 != config.gloBlacklistSvMask ||
                 0 != config.bdsBlacklistSvMask ||
                 0 != config.galBlacklistSvMask ||
-                0 != config.qzssBlacklistSvMask) {
+                0 != config.qzssBlacklistSvMask ||
+                0 != config.sbasBlacklistSvMask) {
             retVal = true;
         }
     }
 
+    LOC_LOGd("blacklist bds 0x%" PRIx64 ", glo 0x%" PRIx64
+            ", qzss 0x%" PRIx64 ", gal 0x%" PRIx64 ", sbas 0x%" PRIx64,
+            config.bdsBlacklistSvMask, config.gloBlacklistSvMask,
+            config.qzssBlacklistSvMask, config.galBlacklistSvMask,
+            config.sbasBlacklistSvMask);
+
     return retVal;
 }
 
 void GnssAdapter::convertFromGnssSvIdConfig(
-        const GnssSvIdConfig& svConfig, GnssConfig& config)
+        const GnssSvIdConfig& svConfig, std::vector<GnssSvIdSource>& blacklistedSvIds)
 {
     // Convert blacklisted SV mask values to vectors
     if (svConfig.bdsBlacklistSvMask) {
         convertGnssSvIdMaskToList(
-                svConfig.bdsBlacklistSvMask, config.blacklistedSvIds,
+                svConfig.bdsBlacklistSvMask, blacklistedSvIds,
                 GNSS_SV_CONFIG_BDS_INITIAL_SV_ID, GNSS_SV_TYPE_BEIDOU);
-        config.flags |= GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT;
     }
     if (svConfig.galBlacklistSvMask) {
         convertGnssSvIdMaskToList(
-                svConfig.galBlacklistSvMask, config.blacklistedSvIds,
+                svConfig.galBlacklistSvMask, blacklistedSvIds,
                 GNSS_SV_CONFIG_GAL_INITIAL_SV_ID, GNSS_SV_TYPE_GALILEO);
-        config.flags |= GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT;
     }
     if (svConfig.gloBlacklistSvMask) {
         convertGnssSvIdMaskToList(
-                svConfig.gloBlacklistSvMask, config.blacklistedSvIds,
+                svConfig.gloBlacklistSvMask, blacklistedSvIds,
                 GNSS_SV_CONFIG_GLO_INITIAL_SV_ID, GNSS_SV_TYPE_GLONASS);
-        config.flags |= GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT;
     }
     if (svConfig.qzssBlacklistSvMask) {
         convertGnssSvIdMaskToList(
-                svConfig.qzssBlacklistSvMask, config.blacklistedSvIds,
+                svConfig.qzssBlacklistSvMask, blacklistedSvIds,
                 GNSS_SV_CONFIG_QZSS_INITIAL_SV_ID, GNSS_SV_TYPE_QZSS);
-        config.flags |= GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT;
+    }
+    if (svConfig.sbasBlacklistSvMask) {
+        convertGnssSvIdMaskToList(
+                svConfig.sbasBlacklistSvMask, blacklistedSvIds,
+                GNSS_SV_CONFIG_SBAS_INITIAL_SV_ID, GNSS_SV_TYPE_SBAS);
     }
 }
 
@@ -1602,6 +1663,7 @@ void GnssAdapter::convertGnssSvIdMaskToList(
 
     // SV ID 0 => All SV IDs in mask
     if (GNSS_SV_CONFIG_ALL_BITS_ENABLED_MASK == svIdMask) {
+        LOC_LOGd("blacklist all SVs in constellation %d", source.constellation);
         source.svId = 0;
         svIds.push_back(source);
         return;
@@ -1612,6 +1674,18 @@ void GnssAdapter::convertGnssSvIdMaskToList(
     while (svIdMask > 0) {
         if (svIdMask & 0x1) {
             source.svId = bitNumber + initialSvId;
+            // SBAS has two ranges:
+            // SBAS - SV 120 to 158, maps to 0 to 38
+            //        SV 183 to 191, maps to 39 to 47
+            // #define GNSS_SV_CONFIG_SBAS_INITIAL_SV_ID     120
+            // #define GNSS_SV_CONFIG_SBAS_INITIAL_SV_LENGTH 39
+            // #define GNSS_SV_CONFIG_SBAS_INITIAL2_SV_ID    183
+            if (svType == GNSS_SV_TYPE_SBAS) {
+                if (bitNumber >= GNSS_SV_CONFIG_SBAS_INITIAL_SV_LENGTH) {
+                    source.svId = bitNumber - GNSS_SV_CONFIG_SBAS_INITIAL_SV_LENGTH +
+                                  GNSS_SV_CONFIG_SBAS_INITIAL2_SV_ID;
+                }
+            }
             svIds.push_back(source);
         }
         bitNumber++;
@@ -1645,12 +1719,18 @@ void GnssAdapter::reportGnssSvIdConfig(const GnssSvIdConfig& svIdConfig)
     // Invoke control clients config callback
     if (nullptr != mControlCallbacks.gnssConfigCb &&
             svIdConfig.size == sizeof(GnssSvIdConfig)) {
-        convertFromGnssSvIdConfig(svIdConfig, config);
+
-        LOC_LOGd("blacklist bds 0x%" PRIx64 ", glo 0x%" PRIx64
+        convertFromGnssSvIdConfig(svIdConfig, config.blacklistedSvIds);
-                ", qzss 0x%" PRIx64 ", gal 0x%" PRIx64,
+        if (config.blacklistedSvIds.size() > 0) {
+            config.flags |= GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT;
+        }
+        LOC_LOGd("blacklist bds 0x%" PRIx64 ", glo 0x%" PRIx64 ", "
+                 "qzss 0x%" PRIx64 ", gal 0x%" PRIx64 ", sbas 0x%" PRIx64,
                  svIdConfig.bdsBlacklistSvMask, svIdConfig.gloBlacklistSvMask,
-                svIdConfig.qzssBlacklistSvMask, svIdConfig.galBlacklistSvMask);
+                 svIdConfig.qzssBlacklistSvMask, svIdConfig.galBlacklistSvMask,
-        mControlCallbacks.gnssConfigCb(config);
+                 svIdConfig.sbasBlacklistSvMask);
+        // use 0 session id to indicate that receiver does not yet care about session id
+        mControlCallbacks.gnssConfigCb(0, config);
     } else {
         LOC_LOGe("Failed to report, size %d", (uint32_t)config.size);
     }
@@ -1711,6 +1791,12 @@ GnssAdapter::gnssSvTypeConfigUpdate(bool sendReset)
              mGnssSvTypeConfig.size, mGnssSvTypeConfig.blacklistedSvTypesMask,
              mGnssSvTypeConfig.enabledSvTypesMask, sendReset);
 
+    LOC_LOGd("blacklist bds 0x%" PRIx64 ", glo 0x%" PRIx64
+            ", qzss 0x%" PRIx64 ", gal 0x%" PRIx64 ", sbas 0x%" PRIx64,
+            mGnssSvIdConfig.bdsBlacklistSvMask, mGnssSvIdConfig.gloBlacklistSvMask,
+            mGnssSvIdConfig.qzssBlacklistSvMask, mGnssSvIdConfig.galBlacklistSvMask,
+            mGnssSvIdConfig.sbasBlacklistSvMask);
+
     if (mGnssSvTypeConfig.size == sizeof(mGnssSvTypeConfig)) {
 
         if (sendReset) {
@@ -2097,8 +2183,6 @@ GnssAdapter::addClientCommand(LocationAPI* client, const LocationCallbacks& call
         inline virtual void proc() const {
             // check whether we need to notify client of cached location system info
             mAdapter.notifyClientOfCachedLocationSystemInfo(mClient, mCallbacks);
-            // check whether we need to request sv poly for the registered client
-            mAdapter.requestSvPolyForClient(mClient, mCallbacks);
             mAdapter.saveClient(mClient, mCallbacks);
         }
     };
@@ -2159,9 +2243,6 @@ GnssAdapter::updateClientsEventMask()
         if (it->second.gnssMeasurementsCb != nullptr) {
             mask |= LOC_API_ADAPTER_BIT_GNSS_MEASUREMENT;
         }
-        if (it->second.gnssSvPolynomialCb != nullptr) {
-            mask |= LOC_API_ADAPTER_BIT_GNSS_SV_POLYNOMIAL_REPORT;
-        }
         if (it->second.gnssDataCb != nullptr) {
             mask |= LOC_API_ADAPTER_BIT_PARSED_POSITION_REPORT;
             mask |= LOC_API_ADAPTER_BIT_NMEA_1HZ_REPORT;
@@ -2228,7 +2309,8 @@ GnssAdapter::handleEngineUpEvent()
             mAdapter.gnssSvIdConfigUpdate();
             mAdapter.gnssSvTypeConfigUpdate();
             mAdapter.updateSystemPowerState(mAdapter.getSystemPowerState());
-            mAdapter.restartSessions();
+            // restart sessions
+            mAdapter.restartSessions(true);
             for (auto msg: mAdapter.mPendingMsgs) {
                 mAdapter.sendMsg(msg);
             }
@@ -2241,12 +2323,14 @@ GnssAdapter::handleEngineUpEvent()
 }
 
 void
-GnssAdapter::restartSessions()
+GnssAdapter::restartSessions(bool modemSSR)
 {
-    LOC_LOGD("%s]: ", __func__);
+    LOC_LOGi(":enter");
 
+    if (modemSSR) {
         // odcpi session is no longer active after restart
         mOdcpiRequestActive = false;
+    }
 
     // SPE will be restarted now, so set this variable to false.
     mSPEAlreadyRunningAtHighestInterval = false;
@@ -2261,6 +2345,20 @@ GnssAdapter::restartSessions()
     }
 }
 
+// suspend all on-going sessions
+void
+GnssAdapter::suspendSessions()
+{
+    LOC_LOGi(":enter");
+
+    if (!mTimeBasedTrackingSessions.empty()) {
+        // inform engine hub that GNSS session has stopped
+        mEngHubProxy->gnssStopFix();
+        mLocApi->stopFix(nullptr);
+        mSPEAlreadyRunningAtHighestInterval = false;
+    }
+}
+
 void GnssAdapter::checkAndRestartTimeBasedSession()
 {
     LOC_LOGD("%s]: ", __func__);
@@ -2345,8 +2443,7 @@ GnssAdapter::hasCallbacksToStartTracking(LocationAPI* client)
     auto it = mClientData.find(client);
     if (it != mClientData.end()) {
         if (it->second.trackingCb || it->second.gnssLocationInfoCb ||
-            it->second.engineLocationsInfoCb || it->second.gnssMeasurementsCb ||
+            it->second.engineLocationsInfoCb || it->second.gnssMeasurementsCb) {
-            it->second.gnssSvPolynomialCb) {
             allowed = true;
         } else {
             LOC_LOGi("missing right callback to start tracking")
@@ -3404,15 +3501,21 @@ GnssAdapter::reportPosition(const UlpLocation& ulpLocation,
                 }
             }
 
-            // if PACE is enabled and engine hub is running and the fix is from sensor,
+            // if PACE is enabled
-            // e.g.: DRE, inject DRE fix to modem
+            if ((true == mLocConfigInfo.paceConfigInfo.isValid) &&
-            if ((true == mLocConfigInfo.paceConfigInfo.isValid &&
+                    (true == mLocConfigInfo.paceConfigInfo.enable)) {
-                 true == mLocConfigInfo.paceConfigInfo.enable) &&
+                // If fix has sensor contribution, and it is fused fix with DRE engine
-                (true == initEngHubProxy()) && (LOC_POS_TECH_MASK_SENSORS & techMask)) {
+                // contributing to the fix, inject to modem
+                if ((LOC_POS_TECH_MASK_SENSORS & techMask) &&
+                        (locationInfo.flags & GNSS_LOCATION_INFO_OUTPUT_ENG_TYPE_BIT) &&
+                        (locationInfo.locOutputEngType == LOC_OUTPUT_ENGINE_FUSED) &&
+                        (locationInfo.flags & GNSS_LOCATION_INFO_OUTPUT_ENG_MASK_BIT) &&
+                        (locationInfo.locOutputEngMask & DEAD_RECKONING_ENGINE)) {
                     mLocApi->injectPosition(locationInfo, false);
                 }
             }
         }
+    }
 
     if (NMEA_PROVIDER_AP == ContextBase::mGps_conf.NMEA_PROVIDER &&
         !mTimeBasedTrackingSessions.empty()) {
@@ -3618,10 +3721,6 @@ GnssAdapter::reportSv(GnssSvNotification& svNotify)
                         svUsedIdMask = mGnssSvIdUsedInPosition.qzss_sv_used_ids_mask;
                     }
                 }
-                // QZSS SV id's need to reported as it is to framework, since
-                // framework expects it as it is. See GnssStatus.java.
-                // SV id passed to here by LocApi is 1-based.
-                svNotify.gnssSvs[i].svId += (QZSS_SV_PRN_MIN - 1);
                 break;
             case GNSS_SV_TYPE_NAVIC:
                 if (mGnssSvIdUsedInPosAvail) {
@@ -4095,53 +4194,11 @@ GnssAdapter::reportGnssMeasurementData(const GnssMeasurementsNotification& measu
     }
 }
 
-void
-GnssAdapter::requestSvPolyForClient(LocationAPI* client, const LocationCallbacks& callbacks) {
-    if (callbacks.gnssSvPolynomialCb) {
-        LocationCallbacks oldCallbacks = getClientCallbacks(client);
-        if (!oldCallbacks.gnssSvPolynomialCb) {
-            LOC_LOGd("request sv poly");
-            GnssAidingDataSvMask svDataMask = GNSS_AIDING_DATA_SV_POLY_BIT;
-            mLocApi->requestForAidingData(svDataMask);
-        }
-    }
-}
-
-void
-GnssAdapter::reportSvPolynomial(const GnssSvPolynomial &svPolynomial)
-{
-    for (auto it=mClientData.begin(); it != mClientData.end(); ++it) {
-        if (nullptr != it->second.gnssSvPolynomialCb) {
-            it->second.gnssSvPolynomialCb(svPolynomial);
-        }
-    }
-}
-
 void
 GnssAdapter::reportSvPolynomialEvent(GnssSvPolynomial &svPolynomial)
 {
     LOC_LOGD("%s]: ", __func__);
-
-    // report SV poly to engine hub to dispatch to engine plugins
     mEngHubProxy->gnssReportSvPolynomial(svPolynomial);
-
-    // report SV poly to registered client
-    struct MsgReportGnssSvPolynomial : public LocMsg {
-        GnssAdapter& mAdapter;
-        GnssSvPolynomial mGnssSvPolynomialNotify;
-        inline MsgReportGnssSvPolynomial(GnssAdapter& adapter,
-                                         const GnssSvPolynomial& svPoly) :
-                LocMsg(),
-                mAdapter(adapter),
-                mGnssSvPolynomialNotify(svPoly) {
-        }
-
-        inline virtual void proc() const {
-            mAdapter.reportSvPolynomial(mGnssSvPolynomialNotify);
-        }
-    };
-
-    sendMsg(new MsgReportGnssSvPolynomial(*this, svPolynomial));
 }
 
 void
@@ -4208,8 +4265,12 @@ void GnssAdapter::requestOdcpi(const OdcpiRequestInfo& request)
         // the request is being stopped, but allow timer to expire first
         // before stopping the timer just in case more ODCPI requests come
         // to avoid spamming more odcpi requests to the framework
-        } else {
+        } else if (ODCPI_REQUEST_TYPE_STOP == request.type) {
+            LOC_LOGd("request: type %d, isEmergency %d", request.type, request.isEmergencyMode);
+            mOdcpiRequestCb(request);
             mOdcpiRequestActive = false;
+        } else {
+            LOC_LOGE("Invalid ODCPI request type..");
         }
     } else {
         LOC_LOGw("ODCPI request not supported");
@@ -4238,31 +4299,38 @@ bool GnssAdapter::reportGnssAdditionalSystemInfoEvent(
     return true;
 }
 
-void GnssAdapter::initOdcpiCommand(const OdcpiRequestCallback& callback)
+void GnssAdapter::initOdcpiCommand(const OdcpiRequestCallback& callback,
+            OdcpiPrioritytype priority)
 {
     struct MsgInitOdcpi : public LocMsg {
         GnssAdapter& mAdapter;
         OdcpiRequestCallback mOdcpiCb;
+        OdcpiPrioritytype mPriority;
         inline MsgInitOdcpi(GnssAdapter& adapter,
-                const OdcpiRequestCallback& callback) :
+                const OdcpiRequestCallback& callback,
+                OdcpiPrioritytype priority) :
                 LocMsg(),
                 mAdapter(adapter),
-                mOdcpiCb(callback) {}
+                mOdcpiCb(callback), mPriority(priority){}
         inline virtual void proc() const {
-            mAdapter.initOdcpi(mOdcpiCb);
+            mAdapter.initOdcpi(mOdcpiCb, mPriority);
         }
     };
 
-    sendMsg(new MsgInitOdcpi(*this, callback));
+    sendMsg(new MsgInitOdcpi(*this, callback, priority));
 }
 
-void GnssAdapter::initOdcpi(const OdcpiRequestCallback& callback)
+void GnssAdapter::initOdcpi(const OdcpiRequestCallback& callback,
+            OdcpiPrioritytype priority)
 {
+    LOC_LOGd("In priority: %d, Curr priority: %d", priority, mCallbackPriority);
+    if (priority >= mCallbackPriority) {
         mOdcpiRequestCb = callback;
-
+        mCallbackPriority = priority;
         /* Register for WIFI request */
         updateEvtMask(LOC_API_ADAPTER_BIT_REQUEST_WIFI,
                 LOC_REGISTRATION_MASK_ENABLED);
+    }
 }
 
 void GnssAdapter::injectOdcpiCommand(const Location& location)
@@ -5263,6 +5331,8 @@ GnssAdapter::updateSvConfig(uint32_t         sessionId,
 
     mGnssSvTypeConfig = svTypeConfig;
     mGnssSvIdConfig   = svIdConfig;
+    mBlacklistedSvIds.clear();
+    convertFromGnssSvIdConfig(svIdConfig, mBlacklistedSvIds);
 
     // Send blacklist info
     mLocApi->setBlacklistSv(mGnssSvIdConfig);
@@ -5317,6 +5387,17 @@ uint32_t GnssAdapter::gnssUpdateSvConfigCommand(
 void
 GnssAdapter::resetSvConfig(uint32_t sessionId) {
 
+    // Clear blacklisting
+    memset(&mGnssSvIdConfig, 0, sizeof(GnssSvIdConfig));
+    mGnssSvIdConfig.size = sizeof(mGnssSvIdConfig);
+    mBlacklistedSvIds.clear();
+    gnssSvIdConfigUpdate();
+
+    // Reset constellation config, including mGnssSvTypeConfig
+    // when size is set to 0, upon subsequent modem restart, sv type
+    // config will not be sent down to modem
+    gnssSetSvTypeConfig({sizeof(GnssSvTypeConfig), 0, 0});
+
     LocApiResponse* locApiResponse = nullptr;
     if (sessionId != 0) {
         locApiResponse =
@@ -5393,6 +5474,91 @@ GnssAdapter::configLeverArmCommand(const LeverArmConfigInfo& configInfo) {
     return sessionId;
 }
 
+
+void
+GnssAdapter::configRobustLocation(uint32_t sessionId,
+                                  bool enable, bool enableForE911) {
+
+    mLocConfigInfo.robustLocationConfigInfo.isValid = true;
+    mLocConfigInfo.robustLocationConfigInfo.enable = enable;
+    mLocConfigInfo.robustLocationConfigInfo.enableFor911 = enableForE911;
+
+    // suspend all tracking sessions so modem can take the E911 configure
+    suspendSessions();
+
+    LocApiResponse* locApiResponse = nullptr;
+    if (sessionId != 0) {
+        locApiResponse =
+                new LocApiResponse(*getContext(),
+                                   [this, sessionId] (LocationError err) {
+                                   reportResponse(err, sessionId);});
+        if (!locApiResponse) {
+            LOC_LOGe("memory alloc failed");
+        }
+    }
+    mLocApi->configRobustLocation(enable, enableForE911, locApiResponse);
+
+    // resume all tracking sessions after the E911 configure
+    restartSessions(false);
+}
+
+uint32_t GnssAdapter::configRobustLocationCommand(
+        bool enable, bool enableForE911) {
+
+    // generated session id will be none-zero
+    uint32_t sessionId = generateSessionId();
+    LOC_LOGd("session id %u", sessionId);
+
+    struct MsgConfigRobustLocation : public LocMsg {
+        GnssAdapter&     mAdapter;
+        uint32_t         mSessionId;
+        bool             mEnable;
+        bool             mEnableForE911;
+
+        inline MsgConfigRobustLocation(GnssAdapter& adapter,
+                                uint32_t sessionId,
+                                bool     enable,
+                                bool     enableForE911) :
+            LocMsg(),
+            mAdapter(adapter),
+            mSessionId(sessionId),
+            mEnable(enable),
+            mEnableForE911(enableForE911) {}
+        inline virtual void proc() const {
+            mAdapter.configRobustLocation(mSessionId, mEnable, mEnableForE911);
+        }
+    };
+
+    sendMsg(new MsgConfigRobustLocation(*this, sessionId, enable, enableForE911));
+    return sessionId;
+}
+
+void GnssAdapter::reportGnssConfigEvent(uint32_t sessionId, const GnssConfig& gnssConfig)
+{
+    struct MsgReportGnssConfig : public LocMsg {
+        GnssAdapter& mAdapter;
+        uint32_t     mSessionId;
+        mutable GnssConfig   mGnssConfig;
+        inline MsgReportGnssConfig(GnssAdapter& adapter,
+                                   uint32_t sessionId,
+                                   const GnssConfig& gnssConfig) :
+            LocMsg(),
+            mAdapter(adapter),
+            mSessionId(sessionId),
+            mGnssConfig(gnssConfig) {}
+        inline virtual void proc() const {
+            // Invoke control clients config callback
+            if (nullptr != mAdapter.mControlCallbacks.gnssConfigCb) {
+                mAdapter.mControlCallbacks.gnssConfigCb(mSessionId, mGnssConfig);
+            } else {
+                LOC_LOGe("Failed to report, callback not registered");
+            }
+        }
+    };
+
+    sendMsg(new MsgReportGnssConfig(*this, sessionId, gnssConfig));
+}
+
 /* ==== Eng Hub Proxy ================================================================= */
 /* ======== UTILITIES ================================================================= */
 void

gps/gnss/GnssAdapter.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2017-2019, The Linux Foundation. All rights reserved.
+/* Copyright (c) 2017-2020, The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -134,9 +134,16 @@ typedef struct {
     bool enable;
 } PaceConfigInfo;
 
+typedef struct {
+    bool isValid;
+    bool enable;
+    bool enableFor911;
+} RobustLocationConfigInfo;
+
 typedef struct {
     TuncConfigInfo tuncConfigInfo;
     PaceConfigInfo paceConfigInfo;
+    RobustLocationConfigInfo robustLocationConfigInfo;
 } LocIntegrationConfigInfo;
 
 using namespace loc_core;
@@ -196,6 +203,7 @@ class GnssAdapter : public LocAdapterBase {
     /* ==== ODCPI ========================================================================== */
     OdcpiRequestCallback mOdcpiRequestCb;
     bool mOdcpiRequestActive;
+    OdcpiPrioritytype mCallbackPriority;
     OdcpiTimer mOdcpiTimer;
     OdcpiRequestInfo mOdcpiRequest;
     void odcpiTimerExpire();
@@ -229,7 +237,7 @@ class GnssAdapter : public LocAdapterBase {
                                  int totalSvCntInThisConstellation);
 
     /* ======== UTILITIES ================================================================== */
-    inline void initOdcpi(const OdcpiRequestCallback& callback);
+    inline void initOdcpi(const OdcpiRequestCallback& callback, OdcpiPrioritytype priority);
     inline void injectOdcpi(const Location& location);
     static bool isFlpClient(LocationCallbacks& locationCallbacks);
 
@@ -248,8 +256,9 @@ public:
     /* ======== EVENTS ====(Called from QMI Thread)========================================= */
     virtual void handleEngineUpEvent();
     /* ======== UTILITIES ================================================================== */
-    void restartSessions();
+    void restartSessions(bool modemSSR = false);
     void checkAndRestartTimeBasedSession();
+    void suspendSessions();
 
     /* ==== CLIENT ========================================================================= */
     /* ======== COMMANDS ====(Called from Client Thread)==================================== */
@@ -295,6 +304,7 @@ public:
                         const GnssSvIdConfig& svIdConfig);
     void resetSvConfig(uint32_t sessionId);
     void configLeverArm(uint32_t sessionId, const LeverArmConfigInfo& configInfo);
+    void configRobustLocation(uint32_t sessionId, bool enable, bool enableForE911);
 
     /* ==== NI ============================================================================= */
     /* ======== COMMANDS ====(Called from Client Thread)==================================== */
@@ -362,10 +372,11 @@ public:
                                        const GnssSvIdConfig& svIdConfig);
     uint32_t gnssResetSvConfigCommand();
     uint32_t configLeverArmCommand(const LeverArmConfigInfo& configInfo);
+    uint32_t configRobustLocationCommand(bool enable, bool enableForE911);
 
     /* ========= ODCPI ===================================================================== */
     /* ======== COMMANDS ====(Called from Client Thread)==================================== */
-    void initOdcpiCommand(const OdcpiRequestCallback& callback);
+    void initOdcpiCommand(const OdcpiRequestCallback& callback, OdcpiPrioritytype priority);
     void injectOdcpiCommand(const Location& location);
     /* ======== RESPONSES ================================================================== */
     void reportResponse(LocationError err, uint32_t sessionId);
@@ -404,6 +415,7 @@ public:
     virtual void reportSvEphemerisEvent(GnssSvEphemerisReport & svEphemeris);
     virtual void reportGnssSvIdConfigEvent(const GnssSvIdConfig& config);
     virtual void reportGnssSvTypeConfigEvent(const GnssSvTypeConfig& config);
+    virtual void reportGnssConfigEvent(uint32_t sessionId, const GnssConfig& gnssConfig);
     virtual bool reportGnssEngEnergyConsumedEvent(uint64_t energyConsumedSinceFirstBoot);
     virtual void reportLocationSystemInfoEvent(const LocationSystemInfo& locationSystemInfo);
 
@@ -452,8 +464,7 @@ public:
 
     void updateSystemPowerState(PowerStateType systemPowerState);
     void reportSvPolynomial(const GnssSvPolynomial &svPolynomial);
-    void requestSvPolyForClient(LocationAPI* client,
+
-                                const LocationCallbacks& callbacks);
 
 
     /*======== GNSSDEBUG ================================================================*/
@@ -483,7 +494,7 @@ public:
     static bool convertToGnssSvIdConfig(
             const std::vector<GnssSvIdSource>& blacklistedSvIds, GnssSvIdConfig& config);
     static void convertFromGnssSvIdConfig(
-            const GnssSvIdConfig& svConfig, GnssConfig& config);
+            const GnssSvIdConfig& svConfig, std::vector<GnssSvIdSource>& blacklistedSvIds);
     static void convertGnssSvIdMaskToList(
             uint64_t svIdMask, std::vector<GnssSvIdSource>& svIds,
             GnssSvId initialSvId, GnssSvType svType);

gps/gnss/location_gnss.cpp

@@ -1,4 +1,4 @@
-/* Copyright (c) 2017-2019, The Linux Foundation. All rights reserved.
+/* Copyright (c) 2017-2020, The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -73,7 +73,7 @@ static void enableNfwLocationAccess(bool enable);
 static void nfwInit(const NfwCbInfo& cbInfo);
 static void getPowerStateChanges(void* powerStateCb);
 
-static void odcpiInit(const OdcpiRequestCallback& callback);
+static void odcpiInit(const OdcpiRequestCallback& callback, OdcpiPrioritytype priority);
 static void odcpiInject(const Location& location);
 
 static void blockCPI(double latitude, double longitude, float accuracy,
@@ -87,6 +87,7 @@ static uint32_t gnssUpdateSvConfig(const GnssSvTypeConfig& svTypeConfig,
                                    const GnssSvIdConfig& svIdConfig);
 static uint32_t gnssResetSvConfig();
 static uint32_t configLeverArm(const LeverArmConfigInfo& configInfo);
+static uint32_t configRobustLocation(bool enable, bool enableForE911);
 
 static const GnssInterface gGnssInterface = {
     sizeof(GnssInterface),
@@ -132,6 +133,7 @@ static const GnssInterface gGnssInterface = {
     gnssUpdateSvConfig,
     gnssResetSvConfig,
     configLeverArm,
+    configRobustLocation,
 };
 
 #ifndef DEBUG_X86
@@ -140,6 +142,7 @@ extern "C" const GnssInterface* getGnssInterface()
 const GnssInterface* getGnssInterface()
 #endif // DEBUG_X86
 {
+   gGnssInterface.initialize();
    return &gGnssInterface;
 }
 
@@ -346,10 +349,10 @@ static void updateConnectionStatus(bool connected, int8_t type,
     }
 }
 
-static void odcpiInit(const OdcpiRequestCallback& callback)
+static void odcpiInit(const OdcpiRequestCallback& callback, OdcpiPrioritytype priority)
 {
     if (NULL != gGnssAdapter) {
-        gGnssAdapter->initOdcpiCommand(callback);
+        gGnssAdapter->initOdcpiCommand(callback, priority);
     }
 }
 
@@ -453,3 +456,11 @@ static uint32_t configLeverArm(const LeverArmConfigInfo& configInfo){
         return 0;
     }
 }
+
+static uint32_t configRobustLocation(bool enable, bool enableForE911){
+    if (NULL != gGnssAdapter) {
+        return gGnssAdapter->configRobustLocationCommand(enable, enableForE911);
+    } else {
+        return 0;
+    }
+}

gps/location/ILocationAPI.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2018 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2018-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -302,6 +302,27 @@ public:
                 LOCATION_ERROR_INVALID_PARAMETER if any parameters are invalid
     */
     virtual uint32_t configLeverArm(const LeverArmConfigInfo& configInfo) = 0;
+
+        /** @brief
+        Configure the robust location setting.
+
+        @param
+        enable: true to enable robust location and false to disable
+        robust location.
+
+        @param
+        enableForE911: true to enable robust location when device is on
+        E911 session and false to disable on E911 session.
+        This parameter is only valid if robust location is enabled.
+
+        @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 configRobustLocation(bool enable, bool enableForE911) = 0;
 };
 
 #endif /* ILOCATIONAPI_H */

gps/location/LocationAPI.cpp

@@ -87,7 +87,7 @@ static bool isGnssClient(LocationCallbacks& locationCallbacks)
             locationCallbacks.gnssLocationInfoCb != nullptr ||
             locationCallbacks.engineLocationsInfoCb != nullptr ||
             locationCallbacks.gnssMeasurementsCb != nullptr ||
-            locationCallbacks.gnssSvPolynomialCb != nullptr);
+            locationCallbacks.locationSystemInfoCb != nullptr);
 }
 
 static bool isBatchingClient(LocationCallbacks& locationCallbacks)
@@ -796,3 +796,17 @@ uint32_t LocationControlAPI::configLeverArm(const LeverArmConfigInfo& configInfo
     pthread_mutex_unlock(&gDataMutex);
     return id;
 }
+
+uint32_t LocationControlAPI::configRobustLocation(bool enable, bool enableForE911) {
+    uint32_t id = 0;
+    pthread_mutex_lock(&gDataMutex);
+
+    if (gData.gnssInterface != NULL) {
+        id = gData.gnssInterface->configRobustLocation(enable, enableForE911);
+    } else {
+        LOC_LOGe("No gnss interface available for Location Control API");
+    }
+
+    pthread_mutex_unlock(&gDataMutex);
+    return id;
+}

gps/location/LocationAPI.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2017-2018 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2017-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -374,6 +374,27 @@ public:
                 LOCATION_ERROR_INVALID_PARAMETER if any parameters are invalid
     */
     virtual uint32_t configLeverArm(const LeverArmConfigInfo& configInfo) override;
+
+    /** @brief
+        Configure the robust location setting.
+
+        @param
+        enable: true to enable robust location and false to disable
+        robust location.
+
+        @param
+        enableForE911: true to enable robust location when device is
+        on E911 session and false to disable on E911 session.
+        This parameter is only valid if robust location is enabled.
+
+        @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 configRobustLocation(bool enable, bool enableForE911) override;
 };
 
 #endif /* LOCATIONAPI_H */

gps/location/LocationDataTypes.h

@@ -177,6 +177,7 @@ typedef enum {
     GNSS_LOCATION_INFO_CALIBRATION_STATUS_BIT           = (1<<26), // valid sensor cal status
     GNSS_LOCATION_INFO_OUTPUT_ENG_TYPE_BIT              = (1<<27), // valid output engine type
     GNSS_LOCATION_INFO_OUTPUT_ENG_MASK_BIT              = (1<<28), // valid output engine mask
+    GNSS_LOCATION_INFO_CONFORMITY_INDEX_BIT             = (1<<29), // valid conformity index
 } GnssLocationInfoFlagBits;
 
 typedef enum {
@@ -318,6 +319,7 @@ typedef enum {
     GNSS_CONFIG_FLAGS_SUPL_MODE_BIT                        = (1<<9),
     GNSS_CONFIG_FLAGS_BLACKLISTED_SV_IDS_BIT               = (1<<10),
     GNSS_CONFIG_FLAGS_EMERGENCY_EXTENSION_SECONDS_BIT      = (1<<11),
+    GNSS_CONFIG_FLAGS_ROBUST_LOCATION_BIT                  = (1<<12),
 } GnssConfigFlagsBits;
 
 typedef enum {
@@ -1044,6 +1046,11 @@ typedef struct {
     // when loc output eng type is set to fused, this field
     // indicates the set of engines contribute to the fix.
     PositioningEngineMask locOutputEngMask;
+    /* When robust location is enabled, this field
+     * will how well the various input data considered for
+     * navigation solution conform to expectations.
+     * Range: 0 (least conforming) to 1 (most conforming) */
+    float conformityIndex;
 } GnssLocationInfoNotification;
 
 typedef struct {
@@ -1148,6 +1155,7 @@ typedef struct {
     double agcLevelDb;
     GnssMeasurementsCodeType codeType;
     char otherCodeTypeName[GNSS_MAX_NAME_LENGTH];
+    int16_t gloFrequency;
 } GnssMeasurementsData;
 
 typedef struct {
@@ -1192,80 +1200,6 @@ typedef struct {
     GnssMeasurementsClock clock; // clock
 } GnssMeasurementsNotification;
 
-#define GNSS_SV_POLY_VELOCITY_COEF_MAX_SIZE         12
-#define GNSS_SV_POLY_XYZ_0_TH_ORDER_COEFF_MAX_SIZE  3
-#define GNSS_SV_POLY_XYZ_N_TH_ORDER_COEFF_MAX_SIZE  9
-#define GNSS_SV_POLY_SV_CLKBIAS_COEFF_MAX_SIZE      4
-
-typedef uint16_t GnssSvPolyStatusMask;
-#define GNSS_SV_POLY_SRC_ALM_CORR_V02 ((GnssSvPolyStatusMask)0x01)
-#define GNSS_SV_POLY_GLO_STR4_V02 ((GnssSvPolyStatusMask)0x02)
-#define GNSS_SV_POLY_DELETE_V02 ((GnssSvPolyStatusMask)0x04)
-#define GNSS_SV_POLY_SRC_GAL_FNAV_OR_INAV_V02 ((GnssSvPolyStatusMask)0x08)
-typedef uint16_t GnssSvPolyStatusMaskValidity;
-#define GNSS_SV_POLY_SRC_ALM_CORR_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x01)
-#define GNSS_SV_POLY_GLO_STR4_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x02)
-#define GNSS_SV_POLY_DELETE_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x04)
-#define GNSS_SV_POLY_SRC_GAL_FNAV_OR_INAV_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x08)
-
-typedef struct {
-    uint32_t      size;
-    uint16_t     gnssSvId;
-    /* GPS: 1-32, GLO: 65-96, 0: Invalid,
-       SBAS: 120-151, BDS:201-237,GAL:301 to 336
-       All others are reserved
-    */
-    int8_t      freqNum;
-    /* Freq index, only valid if u_SysInd is GLO */
-
-    GnssSvPolyStatusMaskValidity svPolyStatusMaskValidity;
-    GnssSvPolyStatusMask         svPolyStatusMask;
-
-    uint32_t    is_valid;
-
-    uint16_t     iode;
-    /* Ephemeris reference time
-       GPS:Issue of Data Ephemeris used [unitless].
-       GLO: Tb 7-bit, refer to ICD02
-    */
-    double      T0;
-    /* Reference time for polynominal calculations
-       GPS: Secs in week.
-       GLO: Full secs since Jan/01/96
-    */
-    double      polyCoeffXYZ0[GNSS_SV_POLY_XYZ_0_TH_ORDER_COEFF_MAX_SIZE];
-    /* C0X, C0Y, C0Z */
-    double      polyCoefXYZN[GNSS_SV_POLY_XYZ_N_TH_ORDER_COEFF_MAX_SIZE];
-    /* C1X, C2X ... C2Z, C3Z */
-    float       polyCoefOther[GNSS_SV_POLY_SV_CLKBIAS_COEFF_MAX_SIZE];
-    /* C0T, C1T, C2T, C3T */
-    float       svPosUnc;       /* SV position uncertainty [m]. */
-    float       ionoDelay;    /* Ionospheric delay at d_T0 [m]. */
-    float       ionoDot;      /* Iono delay rate [m/s].  */
-    float       sbasIonoDelay;/* SBAS Ionospheric delay at d_T0 [m]. */
-    float       sbasIonoDot;  /* SBAS Iono delay rate [m/s].  */
-    float       tropoDelay;   /* Tropospheric delay [m]. */
-    float       elevation;    /* Elevation [rad] at d_T0 */
-    float       elevationDot;      /* Elevation rate [rad/s] */
-    float       elevationUnc;      /* SV elevation [rad] uncertainty */
-    double      velCoef[GNSS_SV_POLY_VELOCITY_COEF_MAX_SIZE];
-    /* Coefficients of velocity poly */
-    uint32_t    enhancedIOD;    /*  Enhanced Reference Time */
-    float gpsIscL1ca;
-    float gpsIscL2c;
-    float gpsIscL5I5;
-    float gpsIscL5Q5;
-    float gpsTgd;
-    float gloTgdG1G2;
-    float bdsTgdB1;
-    float bdsTgdB2;
-    float bdsTgdB2a;
-    float bdsIscB2a;
-    float galBgdE1E5a;
-    float galBgdE1E5b;
-    float navicTgdL5;
-} GnssSvPolynomial;
-
 typedef uint32_t GnssSvId;
 
 struct GnssSvIdSource{
@@ -1308,6 +1242,32 @@ typedef struct {
     uint64_t sbasBlacklistSvMask;
 } GnssSvIdConfig;
 
+// Specify the valid mask for robust location configure that
+//  will be returned via LocConfigGetMinGpsWeekCb when invoking
+//  getRobustLocationConfig. */
+enum GnssConfigRobustLocationValidMask {
+    // GnssConfigRobustLocation has valid enabled field.
+    GNSS_CONFIG_ROBUST_LOCATION_ENABLED_VALID_BIT          = (1<<0),
+    // GnssConfigRobustLocation has valid enabledForE911 field.
+    GNSS_CONFIG_ROBUST_LOCATION_ENABLED_FOR_E911_VALID_BIT = (1<<1),
+};
+
+// specify the robust location configuration used by modem GNSS engine
+struct GnssConfigRobustLocation {
+   GnssConfigRobustLocationValidMask validMask;
+   bool enabled;
+   bool enabledForE911;
+
+   inline bool equals(const GnssConfigRobustLocation& config) const {
+        if (config.validMask == validMask &&
+            config.enabled == enabled &&
+            config.enabledForE911 == enabledForE911) {
+            return true;
+        }
+        return false;
+    }
+};
+
 struct GnssConfig{
     uint32_t size;  // set to sizeof(GnssConfig)
     GnssConfigFlagsMask flags; // bitwise OR of GnssConfigFlagsBits to mark which params are valid
@@ -1323,6 +1283,7 @@ struct GnssConfig{
     GnssConfigSuplModeMask suplModeMask; //bitwise OR of GnssConfigSuplModeBits
     std::vector<GnssSvIdSource> blacklistedSvIds;
     uint32_t emergencyExtensionSeconds;
+    GnssConfigRobustLocation robustLocationConfig;
 
     inline bool equals(const GnssConfig& config) {
         if (flags == config.flags &&
@@ -1337,7 +1298,8 @@ struct GnssConfig{
                 suplEmergencyServices == config.suplEmergencyServices &&
                 suplModeMask == config.suplModeMask  &&
                 blacklistedSvIds == config.blacklistedSvIds &&
-                emergencyExtensionSeconds == config.emergencyExtensionSeconds) {
+                emergencyExtensionSeconds == config.emergencyExtensionSeconds &&
+                robustLocationConfig.equals(config.robustLocationConfig)) {
             return true;
         }
         return false;
@@ -1608,17 +1570,10 @@ typedef std::function<void(
     GnssMeasurementsNotification gnssMeasurementsNotification
 )> gnssMeasurementsCallback;
 
-/* Gives GNSS SV poly information, optional can be NULL
-    gnssSvPolyCallback is called only during a tracking session
-    broadcasted to all clients that registers for the poly */
-typedef std::function<void(
-    GnssSvPolynomial gnssSvPolynomialNotification
-)> gnssSvPolynomialCallback;
-
-
 /* Provides the current GNSS configuration to the client */
 typedef std::function<void(
-    GnssConfig& config
+    uint32_t session_id,
+    const GnssConfig& config
 )> gnssConfigCallback;
 
 /* LocationSystemInfoCb is for receiving rare occuring location
@@ -1656,7 +1611,6 @@ typedef struct {
     batchingStatusCallback batchingStatusCb;         // optional
     locationSystemInfoCallback locationSystemInfoCb; // optional
     engineLocationsInfoCallback engineLocationsInfoCb;     // optional
-    gnssSvPolynomialCallback gnssSvPolynomialCb;       // optional
 } LocationCallbacks;
 
 #endif /* LOCATIONDATATYPES_H */

gps/location/Makefile.am

@@ -11,6 +11,10 @@ liblocation_api_la_SOURCES = \
     LocationAPI.cpp \
     LocationAPIClientBase.cpp
 
+if USE_EXTERNAL_AP
+AM_CFLAGS += -DFEATURE_EXTERNAL_AP
+endif
+
 if USE_GLIB
 liblocation_api_la_CFLAGS = -DUSE_GLIB $(AM_CFLAGS) @GLIB_CFLAGS@
 liblocation_api_la_LDFLAGS = -lstdc++ -Wl,-z,defs -lpthread @GLIB_LIBS@ -shared -version-info 1:0:0

gps/location/configure.ac

@@ -74,6 +74,19 @@ fi
 
 AM_CONDITIONAL(USE_GLIB, test "x${with_glib}" = "xyes")
 
+# External AP
+AC_ARG_WITH([external_ap],
+    AC_HELP_STRING([--with-external_ap=@<:@dir@:>@],
+        [Using External Application Processor]),
+    [],
+    with_external_ap=no)
+
+if test "x$with_external_ap" != "xno"; then
+    CPPFLAGS="${CPPFLAGS} -DFEATURE_EXTERNAL_AP"
+fi
+
+AM_CONDITIONAL(USE_EXTERNAL_AP, test "x${with_external_ap}" = "xyes")
+
 AC_CONFIG_FILES([ \
         Makefile \
         location-api.pc \

gps/location/location_interface.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2017-2019 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2017-2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -78,7 +78,7 @@ struct GnssInterface {
     void (*getDebugReport)(GnssDebugReport& report);
     void (*updateConnectionStatus)(bool connected, int8_t type, bool roaming,
                                    NetworkHandle networkHandle);
-    void (*odcpiInit)(const OdcpiRequestCallback& callback);
+    void (*odcpiInit)(const OdcpiRequestCallback& callback, OdcpiPrioritytype priority);
     void (*odcpiInject)(const Location& location);
     void (*blockCPI)(double latitude, double longitude, float accuracy,
                      int blockDurationMsec, double latLonDiffThreshold);
@@ -95,6 +95,7 @@ struct GnssInterface {
                                    const GnssSvIdConfig& svIdConfig);
     uint32_t (*gnssResetSvConfig)();
     uint32_t (*configLeverArm)(const LeverArmConfigInfo& configInfo);
+    uint32_t (*configRobustLocation)(bool enable, bool enableForE911);
 };
 
 struct BatchingInterface {

gps/pla/oe/loc_pla.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2014, The Linux Foundation. All rights reserved.
+/* Copyright (c) 2014, 2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -37,6 +37,22 @@
 #include <sys/time.h>
 #include <time.h>
 
+#if defined(__GNUC__) && defined(__GNUC_PREREQ)
+#if __GNUC_PREREQ(6,0)
+    #pragma message "GNU C version is above 6"
+#else
+    #pragma message "GNU C version is less than 6"
+    #define NO_UNORDERED_SET_OR_MAP
+#endif
+#endif
+
+// use set/map instead of unordered_set/unordered_map for
+// older GCC versions
+#ifdef NO_UNORDERED_SET_OR_MAP
+#define unordered_set set
+#define unordered_map map
+#endif
+
 inline int64_t sysTimeMillis(int clock)
 {
     struct timespec ts;
@@ -61,6 +77,8 @@ extern "C" {
 #include <cutils/properties.h>
 #include <cutils/threads.h>
 #include <cutils/sched_policy.h>
+#else
+#define set_sched_policy(a, b)
 #endif /* FEATURE_EXTERNAL_AP */
 #include <pthread.h>
 #include <sys/time.h>

gps/utils/LocUnorderedSetMap.h

@@ -1,4 +1,4 @@
-/* Copyright (c) 2015, 2017 The Linux Foundation. All rights reserved.
+/* Copyright (c) 2015, 2017, 2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -30,8 +30,15 @@
 #define __LOC_UNORDERDED_SETMAP_H__
 
 #include <algorithm>
-#include <unordered_set>
+#include <loc_pla.h>
-#include <unordered_map>
+
+#ifdef NO_UNORDERED_SET_OR_MAP
+    #include <set>
+    #include <map>
+#else
+    #include <unordered_set>
+    #include <unordered_map>
+#endif
 
 using std::unordered_set;
 using std::unordered_map;
@@ -55,7 +62,7 @@ inline static void trimSet(unordered_set<T>& fromSet, const unordered_set<T>& rV
 // *s1* and *s2* will be left with the intersect removed from them.
 template <typename T>
 static unordered_set<T> removeAndReturnInterset(unordered_set<T>& s1, unordered_set<T>& s2) {
-    unordered_set<T> common(0);
+    unordered_set<T> common = {};
     for (auto b = s2.begin(); b != s2.end(); b++) {
         auto a = find(s1.begin(), s1.end(), *b);
         if (a != s1.end()) {
@@ -73,7 +80,6 @@ template <typename KEY, typename VAL>
 class LocUnorderedSetMap {
     unordered_map<KEY, unordered_set<VAL>> mMap;
 
-
     // Trim the VALs pointed to by *iter*, with everything that also exist in *rVals*.
     // If the set becomes empty, remove the map entry. *goneVals*, if not null, records
     // the trimmed VALs.
@@ -89,7 +95,9 @@ class LocUnorderedSetMap {
 
 public:
     inline LocUnorderedSetMap() {}
-    inline LocUnorderedSetMap(size_t size) : mMap(size) {}
+    inline LocUnorderedSetMap(size_t size) : LocUnorderedSetMap() {
+        mMap.get_allocator().allocate(size);
+    }
 
     inline bool empty() { return mMap.empty(); }
 
@@ -104,12 +112,12 @@ public:
     // If the entry is not in the map, an empty set will be returned.
     inline unordered_set<VAL> getValSet(const KEY& key) {
         auto entry = mMap.find(key);
-        return (entry != mMap.end()) ? entry->second : unordered_set<VAL>(0);
+        return (entry != mMap.end()) ? entry->second : unordered_set<VAL>{};
     }
 
     // This gets all the KEYs from the map
     inline unordered_set<KEY> getKeys() {
-        unordered_set<KEY> keys(0);
+        unordered_set<KEY> keys = {};
         for (auto entry : mMap) {
             keys.insert(entry.first);
         }
@@ -128,6 +136,7 @@ public:
                              unordered_set<KEY>* goneKeys, unordered_set<VAL>* goneVals) {
         trimOrRemove(keys, rVals, goneKeys, goneVals);
     }
+
     inline void trimOrRemove(unordered_set<KEY>& keys, const unordered_set<VAL>& rVals,
                              unordered_set<KEY>* goneKeys, unordered_set<VAL>* goneVals) {
         for (auto key : keys) {
@@ -161,6 +170,7 @@ public:
                     unordered_set<KEY>* newKeys) {
         add(keys, newVals, newKeys);
     }
+
     inline void add(const unordered_set<KEY>& keys, const unordered_set<VAL>& newVals,
                     unordered_set<KEY>* newKeys) {
         for (auto key : keys) {
@@ -174,8 +184,7 @@ public:
     // in effect removed from the keyed VAL set in the map entry.
     // This call would also remove those same VALs from *newVals*.
     inline unordered_set<VAL> update(const KEY& key, unordered_set<VAL>& newVals) {
-        unordered_set<VAL> goneVals(0);
+        unordered_set<VAL> goneVals = {};
-
         if (newVals.empty()) {
             mMap.erase(key);
         } else {

gps/utils/MsgTask.cpp

@@ -1,4 +1,4 @@
-/* Copyright (c) 2011-2013, 2015, 2017The Linux Foundation. All rights reserved.
+/* Copyright (c) 2011-2013, 2015, 2017, 2020 The Linux Foundation. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are
@@ -83,10 +83,8 @@ void MsgTask::sendMsg(const LocMsg* msg) const {
 }
 
 void MsgTask::prerun() {
-#ifndef FEATURE_EXTERNAL_AP
     // make sure we do not run in background scheduling group
      set_sched_policy(gettid(), SP_FOREGROUND);
-#endif /* FEATURE_EXTERNAL_AP */
 }
 
 bool MsgTask::run() {

gps/utils/gps_extended_c.h

@@ -401,6 +401,9 @@ typedef uint64_t GpsLocationExtendedFlags;
 #define GPS_LOCATION_EXTENDED_HAS_DGNSS_REF_STATION_ID         0x40000000000
 /** GpsLocationExtended has dgnss data age */
 #define GPS_LOCATION_EXTENDED_HAS_DGNSS_DATA_AGE               0x80000000000
+ /** GpsLocationExtended has the conformityIndex computed from
+  *  robust location feature. */
+#define GPS_LOCATION_EXTENDED_HAS_CONFORMITY_INDEX             0x100000000000
 
 typedef uint32_t LocNavSolutionMask;
 /* Bitmask to specify whether SBAS ionospheric correction is used  */
@@ -619,6 +622,17 @@ typedef uint16_t GnssMeasUsageInfoValidityMask;
 #define GNSS_CARRIER_PHASE_RESIDUAL_VALID       ((GnssMeasUsageInfoValidityMask)0x00000004ul)
 #define GNSS_CARRIER_PHASE_AMBIGUITY_TYPE_VALID ((GnssMeasUsageInfoValidityMask)0x00000008ul)
 
+typedef uint16_t GnssSvPolyStatusMask;
+#define GNSS_SV_POLY_SRC_ALM_CORR_V02 ((GnssSvPolyStatusMask)0x01)
+#define GNSS_SV_POLY_GLO_STR4_V02 ((GnssSvPolyStatusMask)0x02)
+#define GNSS_SV_POLY_DELETE_V02 ((GnssSvPolyStatusMask)0x04)
+#define GNSS_SV_POLY_SRC_GAL_FNAV_OR_INAV_V02 ((GnssSvPolyStatusMask)0x08)
+typedef uint16_t GnssSvPolyStatusMaskValidity;
+#define GNSS_SV_POLY_SRC_ALM_CORR_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x01)
+#define GNSS_SV_POLY_GLO_STR4_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x02)
+#define GNSS_SV_POLY_DELETE_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x04)
+#define GNSS_SV_POLY_SRC_GAL_FNAV_OR_INAV_VALID_V02 ((GnssSvPolyStatusMaskValidity)0x08)
+
 
 typedef struct {
     /** Specifies GNSS signal type
@@ -797,6 +811,12 @@ typedef struct {
 
     /**  If DGNSS is used, DGNSS data age in milli-seconds  */
     uint32_t dgnssDataAgeMsec;
+
+    /* When robust location is enabled, this field
+     * will how well the various input data considered for
+     * navigation solution conform to expectations.
+     * Range: 0 (least conforming) to 1 (most conforming) */
+    float conformityIndex;
 } GpsLocationExtended;
 
 enum loc_sess_status {
@@ -1005,9 +1025,14 @@ typedef uint32_t LOC_GPS_LOCK_MASK;
 #define isGpsLockAll(lock) (((lock) & ((LOC_GPS_LOCK_MASK)3)) == 3)
 
 /*++ ***********************************************
-**  Satellite Measurement Structure definitions
+**  Satellite Measurement and Satellite Polynomial
+**  structure definitions
 **  ***********************************************
 --*/
+#define GNSS_SV_POLY_VELOCITY_COEF_MAX_SIZE         12
+#define GNSS_SV_POLY_XYZ_0_TH_ORDER_COEFF_MAX_SIZE  3
+#define GNSS_SV_POLY_XYZ_N_TH_ORDER_COEFF_MAX_SIZE  9
+#define GNSS_SV_POLY_SV_CLKBIAS_COEFF_MAX_SIZE      4
 /** Max number of GNSS SV measurement */
 #define GNSS_LOC_SV_MEAS_LIST_MAX_SIZE              128
 
@@ -1564,7 +1589,66 @@ typedef enum
 
    GNSS_SV_POLY_GLO_STR4                = 0x40
    /**< GLONASS String 4 has been received */
-}Gnss_SvPolyStatusMaskType;
+} Gnss_SvPolyStatusMaskType;
+
+
+typedef struct {
+    uint32_t      size;
+    uint16_t     gnssSvId;
+    /** Unique SV Identifier.
+     *  For SV Range of supported constellation, please refer to the
+     *  comment section of gnssSvId in GpsMeasUsageInfo.
+    */
+    int8_t      freqNum;
+    /** Freq index, only valid if u_SysInd is GLO */
+
+    GnssSvPolyStatusMaskValidity svPolyStatusMaskValidity;
+    GnssSvPolyStatusMask         svPolyStatusMask;
+
+    uint32_t    is_valid;
+
+    uint16_t     iode;
+    /* Ephemeris reference time
+       GPS:Issue of Data Ephemeris used [unitless].
+       GLO: Tb 7-bit, refer to ICD02
+    */
+    double      T0;
+    /* Reference time for polynominal calculations
+       GPS: Secs in week.
+       GLO: Full secs since Jan/01/96
+    */
+    double      polyCoeffXYZ0[GNSS_SV_POLY_XYZ_0_TH_ORDER_COEFF_MAX_SIZE];
+    /* C0X, C0Y, C0Z */
+    double      polyCoefXYZN[GNSS_SV_POLY_XYZ_N_TH_ORDER_COEFF_MAX_SIZE];
+    /* C1X, C2X ... C2Z, C3Z */
+    float       polyCoefOther[GNSS_SV_POLY_SV_CLKBIAS_COEFF_MAX_SIZE];
+    /* C0T, C1T, C2T, C3T */
+    float       svPosUnc;       /* SV position uncertainty [m]. */
+    float       ionoDelay;    /* Ionospheric delay at d_T0 [m]. */
+    float       ionoDot;      /* Iono delay rate [m/s].  */
+    float       sbasIonoDelay;/* SBAS Ionospheric delay at d_T0 [m]. */
+    float       sbasIonoDot;  /* SBAS Iono delay rate [m/s].  */
+    float       tropoDelay;   /* Tropospheric delay [m]. */
+    float       elevation;    /* Elevation [rad] at d_T0 */
+    float       elevationDot;      /* Elevation rate [rad/s] */
+    float       elevationUnc;      /* SV elevation [rad] uncertainty */
+    double      velCoef[GNSS_SV_POLY_VELOCITY_COEF_MAX_SIZE];
+    /* Coefficients of velocity poly */
+    uint32_t    enhancedIOD;    /*  Enhanced Reference Time */
+    float gpsIscL1ca;
+    float gpsIscL2c;
+    float gpsIscL5I5;
+    float gpsIscL5Q5;
+    float gpsTgd;
+    float gloTgdG1G2;
+    float bdsTgdB1;
+    float bdsTgdB2;
+    float bdsTgdB2a;
+    float bdsIscB2a;
+    float galBgdE1E5a;
+    float galBgdE1E5b;
+    float navicTgdL5;
+} GnssSvPolynomial;
 
 typedef enum {
     GNSS_EPH_ACTION_UPDATE_SRC_UNKNOWN_V02 = 0, /**<Update ephemeris. Source of ephemeris is unknown  */
@@ -2173,6 +2257,12 @@ struct OdcpiRequestInfo {
 /* Callback to send ODCPI request to framework */
 typedef std::function<void(const OdcpiRequestInfo& request)> OdcpiRequestCallback;
 
+/* ODCPI callback priorities*/
+enum OdcpiPrioritytype {
+    ODCPI_HANDLER_PRIORITY_LOW,
+    ODCPI_HANDLER_PRIORITY_HIGH
+};
+
 /*
  * Callback with AGNSS(IpV4) status information.
  *

gps/utils/loc_nmea.cpp

@@ -36,7 +36,9 @@
 #include <loc_cfg.h>
 
 #define GLONASS_SV_ID_OFFSET 64
-#define QZSS_SV_ID_OFFSET    (-192)
+#define QZSS_SV_ID_OFFSET    (192)
+#define BDS_SV_ID_OFFSET     (200)
+#define GALILEO_SV_ID_OFFSET (300)
 #define MAX_SV_COUNT_SUPPORTED_IN_ONE_CONSTELLATION  64
 #define MAX_SATELLITES_IN_USE 12
 #define MSEC_IN_ONE_WEEK      604800000ULL
@@ -429,6 +431,8 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
             sv_meta.talker[0] = 'G';
             sv_meta.talker[1] = 'A';
             sv_meta.mask = sv_cache_info.gal_used_mask;
+            // GALILEO SV ids are from 301-336, So keep svIdOffset 300
+            sv_meta.svIdOffset = GALILEO_SV_ID_OFFSET;
             sv_meta.systemId = SYSTEM_ID_GALILEO;
             if (GNSS_SIGNAL_GALILEO_E1 == signalType) {
                 sv_meta.svCount = sv_cache_info.gal_e1_count;
@@ -440,7 +444,7 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
             sv_meta.talker[0] = 'G';
             sv_meta.talker[1] = 'Q';
             sv_meta.mask = sv_cache_info.qzss_used_mask;
-            // QZSS SV ids are from 193-199. So keep svIdOffset -192
+            // QZSS SV ids are from 193-197. So keep svIdOffset 192
             sv_meta.svIdOffset = QZSS_SV_ID_OFFSET;
             sv_meta.systemId = SYSTEM_ID_QZSS;
             if (GNSS_SIGNAL_QZSS_L1CA == signalType) {
@@ -453,7 +457,8 @@ static loc_nmea_sv_meta* loc_nmea_sv_meta_init(loc_nmea_sv_meta& sv_meta,
             sv_meta.talker[0] = 'G';
             sv_meta.talker[1] = 'B';
             sv_meta.mask = sv_cache_info.bds_used_mask;
-            // BDS SV ids are from 201-235. So keep svIdOffset 0
+            // BDS SV ids are from 201-237. So keep svIdOffset 200
+            sv_meta.svIdOffset = BDS_SV_ID_OFFSET;
             sv_meta.systemId = SYSTEM_ID_BDS;
             if (GNSS_SIGNAL_BEIDOU_B1I == signalType) {
                 sv_meta.svCount = sv_cache_info.bds_b1_count;
@@ -724,6 +729,9 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify,
         return;
     }
 
+    if (GNSS_SV_TYPE_GLONASS == sv_meta_p->svType) {
+        svIdOffset = 0;
+    }
     svNumber = 1;
     sentenceNumber = 1;
     sentenceCount = svCount / 4 + (svCount % 4 != 0);
@@ -782,13 +790,8 @@ static void loc_nmea_generate_GSV(const GnssSvNotification &svNotify,
             if (sv_meta_p->svType == svNotify.gnssSvs[svNumber - 1].type &&
                     sv_meta_p->signalId == convert_signalType_to_signalId(signalType))
             {
-                uint16_t svId = svNotify.gnssSvs[svNumber - 1].svId;
+                length = snprintf(pMarker, lengthRemaining, ",%02d,%02d,%03d,",
-                // For QZSS we adjusted SV id's in GnssAdapter, we need to re-adjust here
+                        svNotify.gnssSvs[svNumber - 1].svId - svIdOffset,
-                if (GNSS_SV_TYPE_QZSS == svNotify.gnssSvs[svNumber - 1].type) {
-                    svId = svId - (QZSS_SV_PRN_MIN - 1);
-                }
-                length = snprintf(pMarker, lengthRemaining,",%02d,%02d,%03d,",
-                        svId + svIdOffset,
                         (int)(0.5 + svNotify.gnssSvs[svNumber - 1].elevation), //float to int
                         (int)(0.5 + svNotify.gnssSvs[svNumber - 1].azimuth)); //float to int
 

sdm660.mk

@@ -250,6 +250,7 @@ PRODUCT_PACKAGES += \
 
 # GPS Config
 PRODUCT_COPY_FILES += \
+    $(COMMON_PATH)/gps/etc/apdr.conf:$(TARGET_COPY_OUT_VENDOR)/etc/apdr.conf \
     $(COMMON_PATH)/gps/etc/flp.conf:$(TARGET_COPY_OUT_VENDOR)/etc/flp.conf \
     $(COMMON_PATH)/gps/etc/gps.conf:$(TARGET_COPY_OUT_VENDOR)/etc/gps.conf \
     $(COMMON_PATH)/gps/etc/izat.conf:$(TARGET_COPY_OUT_VENDOR)/etc/izat.conf \