AshtechPlan.h

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#pragma once
 
#include <array>
#include <chrono>
#include <span>
#include <string_view>
 
#include <QtCore/QByteArray>
 
#include "GPSCommand.h"
 
struct GPSEllipsoidPosition;
 
namespace Ashtech::Plan {
 
struct Setting
{
    std::string_view command;
    bool required = true;
};
 
inline constexpr std::chrono::milliseconds RESPONSE_TIMEOUT{200};
 
inline constexpr std::array BAUD_RATES{9600u, 38400u, 19200u, 57600u, 115200u};
inline constexpr std::string_view PORT_QUERY = "$PASHQ,PRT";
inline constexpr unsigned PORT_QUERY_ATTEMPTS = 2;
 
inline constexpr unsigned LINK_BAUD = 115200;
inline constexpr std::string_view LINK_SPEED = "$PASHS,SPD,{port},9";
inline constexpr std::chrono::milliseconds LINK_SPEED_SETTLE{200};
inline constexpr unsigned PORT_QUERY_ATTEMPTS_AT_LINK_BAUD = 10;
 
inline constexpr std::string_view BOARD_QUERY = "$PASHQ,RID";
inline constexpr std::string_view BASE_BOARD = "MB2";
 
inline constexpr std::array OUTPUTS{
    Setting{"$PASHS,POP,20", false},                  // internal update rate 20 Hz
    Setting{"$PASHS,SNS,SOL", false},
    Setting{"$PASHS,NME,ALL,{port},OFF", false},      // all NMEA and NMEA-like messages off
    Setting{"$PASHS,ATM,ALL,{port},OFF", false},      // all ATOM messages off
    Setting{"$PASHS,OUT,{port},ON", false},           // periodic output on
    Setting{"$PASHS,NME,ZDA,{port},ON,3", false},     // date and time every 3 s
    Setting{"$PASHS,NME,GST,{port},ON,3", false},     // position accuracy every 3 s
    Setting{"$PASHS,NME,POS,{port},ON,0.05", false},  // position and velocity at 20 Hz (option W; 50 Hz needs 8)
    Setting{"$PASHS,NME,GSV,{port},ON,1", false},     // satellites in view every second
};
 
inline constexpr std::array STATION{
    Setting{"$PASHS,ANP,OWN,TRM55971.00"},  // antenna name (arbitrary)
    Setting{"$PASHS,STI,0001"},             // base station ID
};
 
inline constexpr std::array RTCM_OUTPUTS{
    Setting{"$PASHS,NME,POS,{port},ON,0.2"},  // position output reduced to 5 Hz
    Setting{"$PASHS,RT3,1074,{port},ON,1"},   // GPS observations
    Setting{"$PASHS,RT3,1084,{port},ON,1"},   // GLONASS observations
    Setting{"$PASHS,RT3,1094,{port},ON,1"},   // Galileo observations
    Setting{"$PASHS,RT3,1114,{port},ON,1"},   // QZSS observations
    Setting{"$PASHS,RT3,1124,{port},ON,1"},   // BeiDou observations
    Setting{"$PASHS,RT3,1006,{port},ON,1"},   // static position
    Setting{"$PASHS,RT3,1033,{port},ON,31"},  // antenna and receiver name
    Setting{"$PASHS,RT3,1013,{port},ON,1"},   // system parameters
    Setting{"$PASHS,RT3,1029,{port},ON,1"},   // ASCII message
    Setting{"$PASHS,RT3,1230,{port},ON"},     // GLONASS code-phase biases
    // The u-blox base messages; possibly redundant for these receivers.
    Setting{"$PASHS,RT3,1005,{port},ON,1"},
    Setting{"$PASHS,RT3,1077,{port},ON,1"},
    Setting{"$PASHS,RT3,1087,{port},ON,1"},
};
 
[[nodiscard]] GPSCommandOutcome rejection(std::string_view reply);
 
[[nodiscard]] GPSCommandOutcome acknowledgement(std::string_view reply);
 
[[nodiscard]] QByteArray line(std::string_view command);
 
[[nodiscard]] QByteArray line(std::string_view command, char port);
 
[[nodiscard]] QByteArray surveyStart(std::chrono::seconds duration);
 
[[nodiscard]] QByteArray fixedPosition(const GPSEllipsoidPosition& position);
 
[[nodiscard]] GPSCommandSequence::Command fixedPositionCommand(const GPSEllipsoidPosition& position);
 
[[nodiscard]] GPSCommandSequence sequence(std::span<const Setting> settings, char port);
 
}  // namespace Ashtech::Plan