GPSDriver.h

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#pragma once
 
#include "GPSType.h"
#include "satellite_info.h"
#include "sensor_gps.h"
 
#include <QtCore/QByteArray>
#include <QtCore/QMetaType>
 
#include <cstdint>
#include <functional>
#include <memory>
 
class GPSTransport;
class GPSBaseStationSupport;
 
struct GPSReceiverConfig
{
    bool useFixedBase = false;
    double surveyInAccMeters = 0.0;
    int surveyInDurationSecs = 0;
    double fixedBaseLatitude = 0.0;
    double fixedBaseLongitude = 0.0;
    float fixedBaseAltitudeMeters = 0.0f;
    float fixedBaseAccuracyMeters = 0.0f;
    float headingOffsetDeg = 5.0f;  // dual-antenna heading offset; consumed only by the Septentrio (SBF) driver
};
 
struct GPSSurveyInStatus
{
    double latitude = 0.0;
    double longitude = 0.0;
    float altitude = 0.0f;
    uint32_t meanAccuracyMM = 0;
    uint32_t durationSecs = 0;
    bool valid = false;
    bool active = false;
};
Q_DECLARE_METATYPE(GPSSurveyInStatus)
 
 
struct GPSDriverSinks
{
    std::function<void(const sensor_gps_s &)> onPosition;
    std::function<void(const satellite_info_s &)> onSatelliteInfo;
    std::function<void(const QByteArray &)> onRTCM;
    std::function<void(const GPSSurveyInStatus &)> onSurveyIn;
};
 
class GPSDriver
{
public:
    GPSDriver(GPSType type, GPSTransport &transport, const GPSReceiverConfig &config, GPSDriverSinks sinks);
    ~GPSDriver();
 
    GPSDriver(const GPSDriver &) = delete;
    GPSDriver &operator=(const GPSDriver &) = delete;
 
    bool configure();
 
    int receive(unsigned timeoutMs);
 
    int handleCallback(int type, void *data1, int data2);
 
private:
    GPSType _type;
    GPSTransport &_transport;
    GPSReceiverConfig _config;
    GPSDriverSinks _sinks;
 
    std::unique_ptr<GPSBaseStationSupport> _driver;
    sensor_gps_s _sensorGps{};
    satellite_info_s _satelliteInfo{};
};