GPSReceiverConnector.h

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#pragma once
 
#include <cstdint>
#include <functional>
 
#include <QtCore/QString>
#include <QtCore/QStringList>
 
#include "GPSReceiverConfig.h"
#include "GPSReceiverDescriptor.h"
#include "GPSReceiverWorker.h"
#include "RTKSettings.h"
#ifndef QGC_NO_SERIAL_LINK
#include "SerialPortManager.h"
#endif
 
struct GPSReceiverConfiguration
{
    RTKSettings::ReceiverRole receiverRole = RTKSettings::ConfiguredBase;
    bool forwardReceiverRtcm = true;
    int baseReceiverManufacturer = GPS_AUTOMATIC_MANUFACTURER;
    RTKSettings::ConnectionType connectionType = RTKSettings::Serial;
    QString tcpHost;
    uint32_t tcpPort = 0;
    uint32_t udpPort = 0;
    QString serialDevice;
    uint32_t serialBaudRate = 0;
    GPSBaseStationConfig base;
    bool autoConnect = true;
    bool operator==(const GPSReceiverConfiguration&) const = default;
 
    [[nodiscard]] RTKSettings::ConnectionType effectiveConnectionType() const
    {
#ifdef QGC_NO_SERIAL_LINK
        return connectionType == RTKSettings::Udp ? RTKSettings::Udp : RTKSettings::Tcp;
#else
        return connectionType == RTKSettings::Tcp || connectionType == RTKSettings::Udp ? connectionType
                                                                                        : RTKSettings::Serial;
#endif
    }
 
    [[nodiscard]] bool sameConnection(const GPSReceiverConfiguration& other) const
    {
        return receiverRole == other.receiverRole && baseReceiverManufacturer == other.baseReceiverManufacturer &&
               base.mode.index() == other.base.mode.index() && connectionType == other.connectionType &&
               serialDevice == other.serialDevice && serialBaudRate == other.serialBaudRate &&
               tcpHost == other.tcpHost && tcpPort == other.tcpPort && udpPort == other.udpPort;
    }
};
 
using GPSReceiverWorkerFactory =
    std::function<GPSReceiverWorker*(GPSReceiverWorker::TransportFactory, GPSType, const GPSReceiverConfig&, QObject*)>;
 
#ifndef QGC_NO_SERIAL_LINK
using GPSSerialClaim = SerialPortManager::ReservationPtr;
#endif
 
class GPSReceiverConnector
{
public:
    virtual bool hasReceiver() const = 0;
    virtual void setConnectionError(const QString& message) = 0;
    virtual void endConnection(bool clearError) = 0;
    virtual bool connectTcp(const QString& host, quint16 port, GPSType type, bool allowPersistentChanges) = 0;
    virtual bool connectUdp(quint16 port, GPSType type) = 0;
#ifndef QGC_NO_SERIAL_LINK
    virtual bool connectSerial(const QString& device, GPSType type, uint32_t baudRate, bool allowPersistentChanges,
                               GPSSerialClaim claim) = 0;
    virtual bool serialPortAvailable(const QString& device) const = 0;
    virtual QStringList rtkReceiverPorts() const = 0;
    virtual GPSSerialClaim claimSerialPort(const QString& device) = 0;
#endif
 
protected:
    ~GPSReceiverConnector() = default;
};