GPSNMEAStream.h

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#pragma once
 
#include <chrono>
#include <cstdint>
#include <string_view>
 
#include "GPSProtocolEvent.h"
#include "GPSStreamDemux.h"
#include "NMEANavigationEpoch.h"
#include "NMEASatellites.h"
 
class GPSCommandChannel;
class GPSDecodeContext;
 
class GPSNMEAStream
{
public:
    enum class Navigation
    {
        StandardNMEA,
        ReceiverSpecific,
    };
 
    static constexpr GPSStreamConfig STREAM{.framers = GPSFrameKind::ASCIILine | GPSFrameKind::RTCM3,
                                            .enabled = GPSFrameKind::ASCIILine | GPSFrameKind::RTCM3};
 
    explicit GPSNMEAStream(Navigation navigation = Navigation::StandardNMEA);
 
    void reset(GPSStreamDemux& stream);
 
    void setRTCMEnabled(bool enabled) { _rtcmEnabled = enabled; }
 
    template <typename Vendor>
    GPSReceiveUpdates onFrame(const GPSFrame& frame, GPSDecodeContext& context, Vendor&& vendor)
    {
        if (frame.kind == GPSFrameKind::RTCM3) {
            return _decodeRTCM(frame, context);
        }
        if (frame.kind != GPSFrameKind::ASCIILine && frame.kind != GPSFrameKind::NMEASentence) {
            return {};
        }
        GPSReceiveUpdates updates = _decodeStandard(frame.text(), context);
        updates |= vendor(frame.text());
        return _finishLine(updates, context);
    }
 
    GPSReceiveUpdates onFrame(const GPSFrame& frame, GPSDecodeContext& context)
    {
        return onFrame(frame, context, [](std::string_view) { return GPSReceiveUpdates{}; });
    }
 
    void flush(GPSDecodeContext& context);
 
    [[nodiscard]] std::chrono::milliseconds limitReceiveTimeout(std::chrono::milliseconds timeout,
                                                                uint64_t nowUs) const;
 
    GPSReceiveUpdates receive(GPSCommandChannel& channel, std::chrono::milliseconds timeout) const;
 
    [[nodiscard]] GPSDecodedPosition& position() { return _position; }
 
private:
    GPSReceiveUpdates _decodeRTCM(const GPSFrame& frame, GPSDecodeContext& context);
 
    GPSReceiveUpdates _decodeStandard(std::string_view line, GPSDecodeContext& context);
 
    GPSReceiveUpdates _finishLine(GPSReceiveUpdates updates, GPSDecodeContext& context);
 
    void _queueSatellites(const NMEA::SatelliteEpoch& epoch);
    void _publishSatellites(GPSDecodeContext& context);
 
    GPSDecodedPosition _position;
    NMEA::SatelliteAssembler _satelliteAssembler;
    NMEA::SatelliteEpoch _pendingSatellites;
    NMEA::NavigationEpochAssembler _navigationAssembler;
    Navigation _navigation = Navigation::StandardNMEA;
    bool _rtcmEnabled = true;
};