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209 lines
8.7 KiB
209 lines
8.7 KiB
/*
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* Copyright (C) 2019 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <Utils.h>
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#include "gtest/gtest.h"
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#include <cutils/properties.h>
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namespace android {
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namespace hardware {
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namespace gnss {
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namespace common {
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using GnssConstellationType_V1_0 = V1_0::GnssConstellationType;
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using GnssConstellationType_V2_0 = V2_0::GnssConstellationType;
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using V1_0::GnssLocationFlags;
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void Utils::checkLocation(const GnssLocation& location, bool check_speed,
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bool check_more_accuracies) {
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_LAT_LONG);
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_ALTITUDE);
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if (check_speed) {
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED);
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}
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_HORIZONTAL_ACCURACY);
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// New uncertainties available in O must be provided,
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// at least when paired with modern hardware (2017+)
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if (check_more_accuracies) {
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY);
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if (check_speed) {
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY);
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if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY);
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}
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}
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}
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EXPECT_GE(location.latitudeDegrees, -90.0);
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EXPECT_LE(location.latitudeDegrees, 90.0);
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EXPECT_GE(location.longitudeDegrees, -180.0);
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EXPECT_LE(location.longitudeDegrees, 180.0);
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EXPECT_GE(location.altitudeMeters, -1000.0);
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EXPECT_LE(location.altitudeMeters, 30000.0);
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if (check_speed) {
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EXPECT_GE(location.speedMetersPerSec, 0.0);
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EXPECT_LE(location.speedMetersPerSec, 5.0); // VTS tests are stationary.
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// Non-zero speeds must be reported with an associated bearing
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if (location.speedMetersPerSec > 0.0) {
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EXPECT_TRUE(location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING);
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}
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}
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/*
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* Tolerating some especially high values for accuracy estimate, in case of
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* first fix with especially poor geometry (happens occasionally)
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*/
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EXPECT_GT(location.horizontalAccuracyMeters, 0.0);
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EXPECT_LE(location.horizontalAccuracyMeters, 250.0);
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/*
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* Some devices may define bearing as -180 to +180, others as 0 to 360.
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* Both are okay & understandable.
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*/
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if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING) {
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EXPECT_GE(location.bearingDegrees, -180.0);
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EXPECT_LE(location.bearingDegrees, 360.0);
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}
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if (location.gnssLocationFlags & GnssLocationFlags::HAS_VERTICAL_ACCURACY) {
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EXPECT_GT(location.verticalAccuracyMeters, 0.0);
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EXPECT_LE(location.verticalAccuracyMeters, 500.0);
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}
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if (location.gnssLocationFlags & GnssLocationFlags::HAS_SPEED_ACCURACY) {
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EXPECT_GT(location.speedAccuracyMetersPerSecond, 0.0);
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EXPECT_LE(location.speedAccuracyMetersPerSecond, 50.0);
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}
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if (location.gnssLocationFlags & GnssLocationFlags::HAS_BEARING_ACCURACY) {
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EXPECT_GT(location.bearingAccuracyDegrees, 0.0);
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EXPECT_LE(location.bearingAccuracyDegrees, 360.0);
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}
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// Check timestamp > 1.48e12 (47 years in msec - 1970->2017+)
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EXPECT_GT(location.timestamp, 1.48e12);
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}
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const MeasurementCorrections_1_0 Utils::getMockMeasurementCorrections() {
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ReflectingPlane reflectingPlane = {
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.latitudeDegrees = 37.4220039,
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.longitudeDegrees = -122.0840991,
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.altitudeMeters = 250.35,
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.azimuthDegrees = 203.0,
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};
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SingleSatCorrection_V1_0 singleSatCorrection1 = {
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.singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY |
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GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH |
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GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC |
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GnssSingleSatCorrectionFlags::HAS_REFLECTING_PLANE,
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.constellation = GnssConstellationType_V1_0::GPS,
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.svid = 12,
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.carrierFrequencyHz = 1.59975e+09,
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.probSatIsLos = 0.50001,
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.excessPathLengthMeters = 137.4802,
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.excessPathLengthUncertaintyMeters = 25.5,
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.reflectingPlane = reflectingPlane,
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};
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SingleSatCorrection_V1_0 singleSatCorrection2 = {
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.singleSatCorrectionFlags = GnssSingleSatCorrectionFlags::HAS_SAT_IS_LOS_PROBABILITY |
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GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH |
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GnssSingleSatCorrectionFlags::HAS_EXCESS_PATH_LENGTH_UNC,
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.constellation = GnssConstellationType_V1_0::GPS,
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.svid = 9,
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.carrierFrequencyHz = 1.59975e+09,
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.probSatIsLos = 0.873,
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.excessPathLengthMeters = 26.294,
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.excessPathLengthUncertaintyMeters = 10.0,
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};
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hidl_vec<SingleSatCorrection_V1_0> singleSatCorrections = {singleSatCorrection1,
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singleSatCorrection2};
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MeasurementCorrections_1_0 mockCorrections = {
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.latitudeDegrees = 37.4219999,
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.longitudeDegrees = -122.0840575,
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.altitudeMeters = 30.60062531,
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.horizontalPositionUncertaintyMeters = 9.23542,
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.verticalPositionUncertaintyMeters = 15.02341,
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.toaGpsNanosecondsOfWeek = 2935633453L,
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.satCorrections = singleSatCorrections,
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};
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return mockCorrections;
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}
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const MeasurementCorrections_1_1 Utils::getMockMeasurementCorrections_1_1() {
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MeasurementCorrections_1_0 mockCorrections_1_0 = getMockMeasurementCorrections();
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SingleSatCorrection_V1_1 singleSatCorrection1 = {
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.v1_0 = mockCorrections_1_0.satCorrections[0],
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.constellation = GnssConstellationType_V2_0::IRNSS,
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};
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SingleSatCorrection_V1_1 singleSatCorrection2 = {
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.v1_0 = mockCorrections_1_0.satCorrections[1],
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.constellation = GnssConstellationType_V2_0::IRNSS,
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};
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mockCorrections_1_0.satCorrections[0].constellation = GnssConstellationType_V1_0::UNKNOWN;
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mockCorrections_1_0.satCorrections[1].constellation = GnssConstellationType_V1_0::UNKNOWN;
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hidl_vec<SingleSatCorrection_V1_1> singleSatCorrections = {singleSatCorrection1,
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singleSatCorrection2};
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MeasurementCorrections_1_1 mockCorrections_1_1 = {
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.v1_0 = mockCorrections_1_0,
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.hasEnvironmentBearing = true,
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.environmentBearingDegrees = 45.0,
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.environmentBearingUncertaintyDegrees = 4.0,
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.satCorrections = singleSatCorrections,
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};
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return mockCorrections_1_1;
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}
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/*
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* MapConstellationType:
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* Given a GnssConstellationType_2_0 type constellation, maps to its equivalent
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* GnssConstellationType_1_0 type constellation. For constellations that do not have
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* an equivalent value, maps to GnssConstellationType_1_0::UNKNOWN
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*/
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GnssConstellationType_1_0 Utils::mapConstellationType(GnssConstellationType_2_0 constellation) {
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switch (constellation) {
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case GnssConstellationType_2_0::GPS:
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return GnssConstellationType_1_0::GPS;
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case GnssConstellationType_2_0::SBAS:
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return GnssConstellationType_1_0::SBAS;
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case GnssConstellationType_2_0::GLONASS:
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return GnssConstellationType_1_0::GLONASS;
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case GnssConstellationType_2_0::QZSS:
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return GnssConstellationType_1_0::QZSS;
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case GnssConstellationType_2_0::BEIDOU:
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return GnssConstellationType_1_0::BEIDOU;
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case GnssConstellationType_2_0::GALILEO:
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return GnssConstellationType_1_0::GALILEO;
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default:
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return GnssConstellationType_1_0::UNKNOWN;
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}
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}
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bool Utils::isAutomotiveDevice() {
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char buffer[PROPERTY_VALUE_MAX] = {0};
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property_get("ro.hardware.type", buffer, "");
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return strncmp(buffer, "automotive", PROPERTY_VALUE_MAX) == 0;
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}
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} // namespace common
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} // namespace gnss
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} // namespace hardware
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} // namespace android
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