GPSObservation.h

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#pragma once
 
#include <optional>
 
#include <QtPositioning/QGeoPositionInfo>
 
#include "GPSReceiverReports.h"
 
struct GPSEllipsoidPosition;
struct GPSNavigationValues;
 
enum class GPSAltitudeDatum
{
    Unknown = 0,
    MeanSeaLevel = 1,
    Ellipsoid = 2
};
 
struct GPSObservation
{
    using FixQuality = GPSFixQuality;
 
    enum class PositionUse
    {
        GroundStation,
        Motion,
        RemoteID,
        Gga
    };
 
    QGeoPositionInfo position;
    quint64 monotonicTimestampUs = 0;
    quint64 sessionId = 0;
    FixQuality fixQuality = FixQuality::Unknown;
    // Coordinates can outlive a valid navigation solution.
    std::optional<bool> receiverFixValid = std::nullopt;
 
    GPSAltitudeDatum altitudeDatum = GPSAltitudeDatum::Unknown;
    std::optional<int> satellitesUsed;
    std::optional<double> horizontalDop;
    std::optional<double> altitudeEllipsoidMeters;
 
    static GPSObservation fromNavigation(const GPSNavigationValues& navigation, quint64 receivedAtUs);
    static GPSObservation fromSurveyedPosition(const GPSEllipsoidPosition& position, double accuracyMeters,
                                               quint64 receivedAtUs);
    [[nodiscard]] static double accuracyFromDop(double dop);
 
    [[nodiscard]] std::optional<GPSObservation> projected(PositionUse use) const;
    [[nodiscard]] bool hasNavigationSolution() const;
    [[nodiscard]] bool usable() const;
    [[nodiscard]] QGeoCoordinate coordinate() const;
    [[nodiscard]] double heading() const;
};