driver/sensors: Support GNSS Geofence

Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

drivers/sensors/gnss_uorb.c

@@ -45,7 +45,8 @@
 #define GNSS_SATELLITE_IDX     1
 #define GNSS_MEASUREMENT_IDX   2
 #define GNSS_CLOCK_IDX         3
-#define GNSS_MAX_IDX           4
+#define GNSS_GEOFENCE          4
+#define GNSS_MAX_IDX           5
 
 #define GNSS_PARSE_BUFFERSIZE  256
 
@@ -655,6 +656,11 @@ static void gnss_push_event(FAR void *priv, FAR const void *data,
       lower = &upper->dev[GNSS_CLOCK_IDX].lower;
       lower->push_event(lower->priv, data, bytes);
     }
+  else if (type == SENSOR_TYPE_GNSS_GEOFENCE)
+    {
+      lower = &upper->dev[GNSS_GEOFENCE].lower;
+      lower->push_event(lower->priv, data, bytes);
+    }
 
   nxmutex_unlock(&upper->lock);
 }
@@ -760,6 +766,19 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
       goto gnss_clock_err;
     }
 
+  /* GNSS Geofence */
+
+  dev = &upper->dev[GNSS_GEOFENCE];
+  dev->lower.ops = &g_gnss_sensor_ops;
+  dev->lower.type = SENSOR_TYPE_GNSS_GEOFENCE;
+  dev->lower.nbuffer = nbuffer;
+  dev->upper = upper;
+  ret = sensor_register(&dev->lower, devno);
+  if (ret < 0)
+    {
+      goto gnss_geofence_err;
+    }
+
   ret = circbuf_init(&upper->buffer, NULL,
                      CONFIG_SENSORS_GNSS_RECV_BUFFERSIZE);
   if (ret < 0)
@@ -779,6 +798,8 @@ int gnss_register(FAR struct gnss_lowerhalf_s *lower, int devno,
 driver_err:
   circbuf_uninit(&upper->buffer);
 circ_err:
+  sensor_unregister(&upper->dev[GNSS_GEOFENCE].lower, devno);
+gnss_geofence_err:
   sensor_unregister(&upper->dev[GNSS_CLOCK_IDX].lower, devno);
 gnss_clock_err:
   sensor_unregister(&upper->dev[GNSS_MEASUREMENT_IDX].lower, devno);
@@ -816,6 +837,7 @@ void gnss_unregister(FAR struct gnss_lowerhalf_s *lower, int devno)
   sensor_unregister(&upper->dev[GNSS_SATELLITE_IDX].lower, devno);
   sensor_unregister(&upper->dev[GNSS_MEASUREMENT_IDX].lower, devno);
   sensor_unregister(&upper->dev[GNSS_CLOCK_IDX].lower, devno);
+  sensor_unregister(&upper->dev[GNSS_GEOFENCE].lower, devno);
   snprintf(path, PATH_MAX, GNSS_PATH_FMT, devno);
   unregister_driver(path);
   nxsem_destroy(&upper->buffersem);

drivers/sensors/sensor.c

@@ -195,6 +195,7 @@ static const struct sensor_meta_s g_sensor_meta[] =
   {sizeof(struct sensor_gnss_satellite),      "gnss_satellite"},
   {sizeof(struct sensor_gnss_measurement),    "gnss_measurement"},
   {sizeof(struct sensor_gnss_clock),          "gnss_clock"},
+  {sizeof(struct sensor_gnss_geofence_event), "gnss_geofence"},
 };
 
 static const struct file_operations g_sensor_fops =

include/nuttx/uorb.h

@@ -313,9 +313,13 @@
 
 #define SENSOR_TYPE_GNSS_CLOCK                      36
 
+/* GNSS Geofence */
+
+#define SENSOR_TYPE_GNSS_GEOFENCE                   37
+
 /* The total number of sensor */
 
-#define SENSOR_TYPE_COUNT                           37
+#define SENSOR_TYPE_COUNT                           38
 
 /* The additional sensor open flags */
 
@@ -376,6 +380,40 @@
 #define SENSOR_GNSS_MEASUREMENT_STATE_TOW_KNOWN               (1 << 14)
 #define SENSOR_GNSS_MEASUREMENT_STATE_GLO_TOD_KNOWN           (1 << 15)
 
+/* SENSOR_GNSS_GEOFENCE_TRANS_*:
+ * struct sensor_gnss_geofence_event -> transition
+ * Ref: android-14-release/hardware/libhardware/include/hardware/gnss-base.h
+ */
+
+#define SENSOR_GNSS_GEOFENCE_TRANS_ENTERED                    (1 << 0)
+#define SENSOR_GNSS_GEOFENCE_TRANS_EXITED                     (1 << 1)
+#define SENSOR_GNSS_GEOFENCE_TRANS_UNCERTAIN                  (1 << 2)
+
+/* SENSOR_GNSS_GEOFENCE_STATUS_*:
+ * struct sensor_gnss_geofence_event -> status
+ * Ref: android-14-release/hardware/libhardware/include/hardware/gnss-base.h
+ */
+
+#define SENSOR_GNSS_GEOFENCE_STATUS_UNAVAILABLE               (1 << 0)
+#define SENSOR_GNSS_GEOFENCE_STATUS_AVAILABLE                 (1 << 1)
+#define SENSOR_GNSS_GEOFENCE_STATUS_OPERATION_SUCCESS         (0)
+#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_TOO_MANY_GEOFENCES  (-100)
+#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_ID_EXISTS           (-101)
+#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_ID_UNKNOWN          (-102)
+#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_INVALID_TRANSITION  (-103)
+#define SENSOR_GNSS_GEOFENCE_STATUS_ERROR_GENERIC             (-149)
+
+/* SENSOR_GNSS_GEOFENCE_TYPE_*:
+ * `type` of `struct sensor_gnss_geofence_param` and
+ *           `struct sensor_gnss_geofence_event`
+ */
+#define SENSOR_GNSS_GEOFENCE_TYPE_TRANSITION                  (1 << 0)
+#define SENSOR_GNSS_GEOFENCE_TYPE_STATUS                      (1 << 1)
+#define SENSOR_GNSS_GEOFENCE_TYPE_ADD                         (1 << 2)
+#define SENSOR_GNSS_GEOFENCE_TYPE_REMOVE                      (1 << 3)
+#define SENSOR_GNSS_GEOFENCE_TYPE_PAUSE                       (1 << 4)
+#define SENSOR_GNSS_GEOFENCE_TYPE_RESUME                      (1 << 5)
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
@@ -925,4 +963,65 @@ struct sensor_gnss_measurement
   uint32_t snr;
 };
 
+/* GNSS Geofence parameters */
+
+struct sensor_gnss_geofence_param
+{
+  /* Type of events
+   * Available: see SENSOR_GNSS_GEOFENCE_TYPE_VALID_PARAM.
+   *
+   * Mandatory:
+   *   |Fields \ Type |ADD |REMOVE |PAUSE |RESUME |
+   *   |--------------|:--:|:-----:|:----:|:-----:|
+   *   |geofence_id   | v  |   v   |  v   |   v   |
+   *   |transition    | v  |       |      |   v   |
+   *   |latitude      | v  |       |      |       |
+   *   |longitude     | v  |       |      |       |
+   *   |radius_meters | v  |       |      |       |
+   */
+
+  int32_t            type;
+
+  int32_t            geofence_id;
+  float              latitude;
+  float              longitude;
+  float              radius_meters;
+
+  /* Which transitions to monitor.
+   * Available: see SENSOR_GNSS_GEOFENCE_TRANS_*.
+   */
+
+  int32_t            transition;
+};
+
+/* GNSS Geofence events */
+
+struct sensor_gnss_geofence_event
+{
+  /* Type of events
+   * Fields below are optional according to this `type`,
+   * Available: see SENSOR_GNSS_GEOFENCE_TYPE_VALID_EVENT.
+   *
+   * Mandatory:
+   *   |Fields \ Type |TRANSITION |STATUS |ADD |REMOVE |PAUSE |RESUME |
+   *   |--------------|:---------:|:-----:|:--:|:-----:|:----:|:-----:|
+   *   |geofence_id   |     v     |       | v  |    v  |   v  |   v   |
+   *   |transition    |     v     |       |    |       |      |       |
+   *   |location      |     v     |   v   |    |       |      |       |
+   *   |timestamp     |     v     |       |    |       |      |       |
+   *   |status        |           |   v   | v  |    v  |   v  |   v   |
+   */
+
+  int32_t            type;
+
+  int32_t            geofence_id; /* Id of the geofence. */
+  struct sensor_gnss location;    /* Location. */
+
+  /* Milliseconds when the transition was detected since January 1, 1970 */
+
+  int64_t            timestamp;
+  int32_t            status;      /* Status of Geofence operation/event. */
+  int32_t            transition;  /* See SENSOR_GNSS_GEOFENCE_TRANS_*. */
+};
+
 #endif /* __INCLUDE_NUTTX_SENSORS_SENSOR_H */