NTRIPGgaProvider.h

Go to the documentation of this file.

#pragma once
 
#include <QtCore/QChronoTimer>
#include <QtCore/QHash>
#include <QtCore/QObject>
#include <QtCore/QPointer>
#include <QtCore/QString>
#include <QtPositioning/QGeoCoordinate>
#include <chrono>
#include <functional>
 
class Fact;
class FactGroup;
class NTRIPSettings;
class NTRIPTransport;
 
struct PositionResult
{
    QGeoCoordinate coordinate;
    QString source;
 
    bool isValid() const { return coordinate.isValid(); }
};
 
class NTRIPGgaProvider : public QObject
{
    Q_OBJECT
 
public:
    enum class PositionSource
    {
        Auto = 0,
        VehicleGPS = 1,
        VehicleEKF = 2,
        RTKBase = 3,
        GCSPosition = 4
    };
    Q_ENUM(PositionSource)
 
    
    static constexpr std::chrono::milliseconds kDefaultInterval{5000};
    static constexpr std::chrono::milliseconds kFastRetryInterval{1000};
 
    using PositionProvider = std::function<PositionResult()>;
 
    explicit NTRIPGgaProvider(QObject* parent = nullptr);
 
    void init(NTRIPSettings* settings);
 
    void start(NTRIPTransport* transport);
    void stop();
 
    QString currentSource() const { return _source; }
 
    void setPositionProvider(PositionSource source, PositionProvider provider);
 
    // Note: GGA sentence construction lives in NMEAUtils::makeGGA — call it
    // directly. The pass-through that used to live here was removed to keep
    // one source of truth for sentence encoding.
 
signals:
    void sourceChanged(const QString& source);
 
private:
    enum class RetryPhase
    {
        Fast,
        Normal
    };
 
    void _sendGGA();
    void _setRetryPhase(RetryPhase phase);
    void _ensureDefaultProviders();
    void _clearSource();
 
    PositionResult _getBestPosition() const;
 
    QPointer<NTRIPTransport> _transport;
    QChronoTimer _timer;
    QString _source;
    QHash<PositionSource, PositionProvider> _providers;
    RetryPhase _retryPhase = RetryPhase::Normal;
    int _fastRetryCount = 0;
    // Cached ntripSettings()->ntripGgaPositionSource(); refreshed via rawValueChanged
    // so we don't dereference SettingsManager on every GGA tick.
    PositionSource _cachedSource = PositionSource::Auto;
    // Cached ntripSettings()->ntripGgaIntervalSec() converted to ms; refreshed on
    // rawValueChanged so the hot path avoids SettingsManager dereference.
    std::chrono::milliseconds _normalInterval = kDefaultInterval;
};