GPSRtk.h

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#pragma once
 
#include <QtCore/QObject>
#include <QtCore/QString>
 
#include "satellite_info.h"
#include "sensor_gnss_relative.h"
#include "sensor_gps.h"
 
class GPSRTKFactGroup;
class FactGroup;
class RTCMMavlink;
class GPSProvider;
 
class GPSRtk : public QObject
{
    Q_OBJECT
 
public:
    explicit GPSRtk(QObject *parent = nullptr);
    ~GPSRtk();
 
    void connectGPS(const QString &device, QStringView gps_type);
    void disconnectGPS();
    bool connected() const;
    FactGroup *gpsRtkFactGroup();
 
private slots:
    void _satelliteInfoUpdate(const satellite_info_s &msg);
    void _sensorGnssRelativeUpdate(const sensor_gnss_relative_s &msg);
    void _sensorGpsUpdate(const sensor_gps_s &msg);
    void _onGPSConnect();
    void _onGPSDisconnect();
    void _onGPSSurveyInStatus(float duration, float accuracyMM, double latitude, double longitude, float altitude, bool valid, bool active);
 
private:
    GPSProvider *_gpsProvider = nullptr;
    RTCMMavlink *_rtcmMavlink = nullptr;
    GPSRTKFactGroup *_gpsRtkFactGroup = nullptr;
 
    std::atomic_bool _requestGpsStop = false;
 
    static constexpr uint32_t kGPSThreadDisconnectTimeout = 2000;
};