GPSReceiverWorker.h

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#pragma once
 
#include <chrono>
#include <cstdint>
#include <functional>
#include <memory>
 
#include <QtCore/QByteArray>
#include <QtCore/QDeadlineTimer>
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QThread>
 
#include "GPSCancellation.h"
#include "GPSClock.h"
#include "GPSConnectionErrors.h"
#include "GPSReceiverConfig.h"
#include "GPSReceiverReports.h"
#include "GPSType.h"
 
class GPSTransport;
 
class GPSReceiverWorker : public QObject
{
    Q_OBJECT
 
    friend class GPSReceiverWorkerTest;
    friend class GPSReceiverTest;
 
public:
    using TransportFactory = std::function<std::unique_ptr<GPSTransport>(GPSCancelToken)>;
 
    GPSReceiverWorker(TransportFactory transportFactory, GPSType type, const GPSReceiverConfig& config,
                      QObject* parent = nullptr, GPSClock clock = {});
    ~GPSReceiverWorker() override;
 
    // Virtual so the receiver suites' scripted worker can emit signals without a worker thread.
    virtual void start();
 
    virtual void stop();
 
    bool wait(QDeadlineTimer deadline = QDeadlineTimer(QDeadlineTimer::Forever));
 
    void setEndsWhenIdle(bool endsWhenIdle);
 
    static constexpr std::chrono::milliseconds RECEIVE_TIMEOUT{1200};
    static constexpr std::chrono::milliseconds USEFUL_DATA_TIMEOUT = 3 * RECEIVE_TIMEOUT;
 
signals:
    void satelliteInfoUpdated(const GPSSatelliteReport& message);
    void positionUpdated(const GPSPositionReport& report);
    void rtcmDataReceived(const QByteArray& message, qint64 receivedAtMs);
    void surveyInStatusUpdated(const GPSSurveyReport& report);
    void connectionError(GPSConnectionError error, const QString& detail = {});
    void receiverDetected(GPSType type);
    void inputProblem(GPSInputProblem problem);
    void receiverReady(const QString& identity = {});
    void finished();
 
private:
    void _runSession();
 
    std::unique_ptr<QThread> _thread;
    TransportFactory _transportFactory;
    GPSType _type;
    GPSCancelSource _cancelSource;
    bool _endsWhenIdle = true;
    GPSReceiverConfig _config{};
    GPSClock _clock;
};