FemtoPlan.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 Femto::Plan {
 
struct Command
{
    std::string_view line;
    std::string_view accepted;
};
 
inline constexpr std::chrono::milliseconds RESPONSE_TIMEOUT{200};
inline constexpr std::string_view REJECTED = "<ERROR";
 
inline constexpr unsigned BAUD = 115200;
inline constexpr std::array BAUD_RATES{BAUD};
 
inline constexpr Command VERSION{"VERSION\r\n", "<VERSION OK"};
 
inline constexpr std::array IDENTIFY{
    Command{"UNLOGALL THISPORT\r\n", "<UNLOGALL OK"},
    VERSION,
};
inline constexpr unsigned IDENTIFY_ROUNDS = 2;
 
inline constexpr Command GGA_OUTPUT{"LOG GPGGA 1 \r\n", "<LOG OK"};
inline constexpr unsigned AVERAGED_POSITION_QUALITY = 7;
 
inline constexpr std::array SURVEY_IN{
    Command{"POSAVE ON \r\n", "<POSAVE OK"},
    GGA_OUTPUT,
};
 
inline constexpr Command ELLIPSOID_HEIGHTS{"UNDULATION USER 0\r\n", "UNDULATION OK"};
 
inline constexpr std::string_view FIX_POSITION_ACCEPTED = "FIX OK";
 
inline constexpr std::array RTCM_OUTPUT{
    Command{"LOG RTCM 1\r\n", "<LOG OK"},
};
 
[[nodiscard]] GPSCommandSequence sequence(std::span<const Command> commands);
 
[[nodiscard]] GPSCommandSequence fixedBase(const GPSEllipsoidPosition& position);
 
}  // namespace Femto::Plan