1 /*
2 * Copyright (C) 2022 Huawei Device Co., Ltd.
3 * Licensed under the Apache License, Version 2.0 (the "License");
4 * you may not use this file except in compliance with the License.
5 * You may obtain a copy of the License at
6 *
7 * http://www.apache.org/licenses/LICENSE-2.0
8 *
9 * Unless required by applicable law or agreed to in writing, software
10 * distributed under the License is distributed on an "AS IS" BASIS,
11 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 * See the License for the specific language governing permissions and
13 * limitations under the License.
14 */
15
16 #include "fusion_controller.h"
17 #include "system_ability_definition.h"
18 #include "common_utils.h"
19 #include "constant_definition.h"
20 #include "location_log.h"
21 #include "hook_utils.h"
22 #ifdef FEATURE_NETWORK_SUPPORT
23 #include "network_ability_proxy.h"
24 #endif
25
26 namespace OHOS {
27 namespace Location {
28 const uint32_t FUSION_DEFAULT_FLAG = 0;
29 const uint32_t FUSION_BASE_FLAG = 1;
30 const uint32_t REPORT_FUSED_LOCATION_FLAG = FUSION_BASE_FLAG;
31
32 #ifdef FEATURE_NETWORK_SUPPORT
33 const uint32_t QUICK_FIX_FLAG = FUSION_BASE_FLAG << 1;
34 #endif
35 const long NANOS_PER_MILLI = 1000000L;
36 const long MAX_GNSS_LOCATION_COMPARISON_MS = 30 * MILLI_PER_SEC;
37 const long MAX_INDOOR_LOCATION_COMPARISON_MS = 5 * MILLI_PER_SEC;
38 const double MAX_INDOOR_LOCATION_SPEED = 3.0;
39
GetInstance()40 FusionController* FusionController::GetInstance()
41 {
42 static FusionController data;
43 return &data;
44 }
45
ActiveFusionStrategies(int type)46 void FusionController::ActiveFusionStrategies(int type)
47 {
48 if (needReset_) {
49 fusedFlag_ = FUSION_DEFAULT_FLAG;
50 needReset_ = false;
51 }
52 switch (type) {
53 case SCENE_NAVIGATION:
54 case SCENE_TRAJECTORY_TRACKING:
55 break;
56 case PRIORITY_FAST_FIRST_FIX:
57 fusedFlag_ = fusedFlag_ | REPORT_FUSED_LOCATION_FLAG;
58 break;
59 default:
60 break;
61 }
62 }
63
chooseBestLocation(const std::unique_ptr<Location> & location,const std::unique_ptr<Location> & lastFuseLocation)64 std::unique_ptr<Location> FusionController::chooseBestLocation(const std::unique_ptr<Location>& location,
65 const std::unique_ptr<Location>& lastFuseLocation)
66 {
67 if (location == nullptr) {
68 return nullptr;
69 }
70 if (lastFuseLocation == nullptr) {
71 return std::make_unique<Location>(*location);
72 }
73 if (location->GetLocationSourceType() == LocationSourceType::INDOOR_TYPE) {
74 if (CheckIfLastGnssLocationValid(location, std::make_unique<Location>(*lastFuseLocation)) &&
75 lastFuseLocation->GetSpeed() >= MAX_INDOOR_LOCATION_SPEED) {
76 return std::make_unique<Location>(*lastFuseLocation);
77 }
78 return std::make_unique<Location>(*location);
79 } else if (location->GetLocationSourceType() == LocationSourceType::GNSS_TYPE ||
80 location->GetLocationSourceType() == LocationSourceType::RTK_TYPE) {
81 if (location->GetSpeed() >= MAX_INDOOR_LOCATION_SPEED) {
82 return std::make_unique<Location>(*location);
83 }
84 if (CheckIfLastIndoorLocationValid(location, std::make_unique<Location>(*lastFuseLocation))) {
85 return std::make_unique<Location>(*lastFuseLocation);
86 }
87 } else if (location->GetLocationSourceType() == LocationSourceType::NETWORK_TYPE) {
88 if (CheckIfLastIndoorLocationValid(location, std::make_unique<Location>(*lastFuseLocation))) {
89 return std::make_unique<Location>(*lastFuseLocation);
90 } else if (CheckIfLastGnssLocationValid(location, std::make_unique<Location>(*lastFuseLocation))) {
91 return std::make_unique<Location>(*lastFuseLocation);
92 }
93 }
94 return std::make_unique<Location>(*location);
95 }
96
CheckIfLastIndoorLocationValid(const std::unique_ptr<Location> & location,const std::unique_ptr<Location> & lastFuseLocation)97 bool FusionController::CheckIfLastIndoorLocationValid(const std::unique_ptr<Location>& location,
98 const std::unique_ptr<Location>& lastFuseLocation)
99 {
100 if (lastFuseLocation->GetLocationSourceType() == LocationSourceType::INDOOR_TYPE &&
101 ((location->GetTimeSinceBoot() / NANOS_PER_MILLI -
102 lastFuseLocation->GetTimeSinceBoot() / NANOS_PER_MILLI) < MAX_INDOOR_LOCATION_COMPARISON_MS)) {
103 return true;
104 } else {
105 return false;
106 }
107 }
108
CheckIfLastGnssLocationValid(const std::unique_ptr<Location> & location,const std::unique_ptr<Location> & lastFuseLocation)109 bool FusionController::CheckIfLastGnssLocationValid(const std::unique_ptr<Location>& location,
110 const std::unique_ptr<Location>& lastFuseLocation)
111 {
112 if (lastFuseLocation->GetLocationSourceType() == LocationSourceType::GNSS_TYPE &&
113 ((location->GetTimeSinceBoot() / NANOS_PER_MILLI -
114 lastFuseLocation->GetTimeSinceBoot() / NANOS_PER_MILLI) < MAX_GNSS_LOCATION_COMPARISON_MS)) {
115 return true;
116 } else {
117 return false;
118 }
119 }
120
GetFuseLocation(const std::unique_ptr<Location> & location,const sptr<Location> & lastFuseLocation)121 std::unique_ptr<Location> FusionController::GetFuseLocation(const std::unique_ptr<Location>& location,
122 const sptr<Location>& lastFuseLocation)
123 {
124 LBSLOGD(FUSION_CONTROLLER, " GetFuseLocation enter");
125 auto bestLocation = chooseBestLocation(location, std::make_unique<Location>(*lastFuseLocation));
126 return std::make_unique<Location>(*bestLocation);
127 }
128 } // namespace Location
129 } // namespace OHOS