NTRIPGgaReporter.h

Go to the documentation of this file.

#pragma once
 
#include <chrono>
#include <functional>
#include <optional>
#include <tuple>
 
#include <QtCore/QHash>
#include <QtCore/QObject>
#include <QtCore/QPointer>
#include <QtCore/QString>
 
#include "GPSObservation.h"
#include "ScheduledTask.h"
 
class NTRIPTransport;
class RuntimeScheduler;
 
class NTRIPGgaReporter : public QObject
{
    Q_OBJECT
 
public:
    enum class PositionSource
    {
        Auto = 0,
        VehicleGPS = 1,
        VehicleEKF = 2,
        RTKReceiver = 3,
        GCSPosition = 4
    };
    Q_ENUM(PositionSource)
 
    
    static constexpr std::chrono::milliseconds DEFAULT_INTERVAL{5000};
    static constexpr std::chrono::milliseconds FAST_RETRY_INTERVAL{1000};
 
    using PositionProvider = std::function<std::optional<GPSObservation>()>;
 
    struct Configuration
    {
        PositionSource source = PositionSource::Auto;
        std::chrono::milliseconds interval = DEFAULT_INTERVAL;
        bool operator==(const Configuration&) const = default;
    };
 
    explicit NTRIPGgaReporter(QObject* parent = nullptr, RuntimeScheduler* scheduler = nullptr);
 
    void configure(const Configuration& configuration);
 
    void start(NTRIPTransport* transport);
    void stop();
 
    QString currentSource() const { return _source; }
 
    void setPositionProvider(PositionSource source, PositionProvider provider);
 
signals:
    void sourceChanged(const QString& source);
 
private:
    struct SelectedPosition
    {
        std::optional<GPSObservation> position;
        PositionSource source = PositionSource::Auto;
    };
 
    static QString _sourceLabel(PositionSource source);
 
    void _sendGGA();
    void _scheduleNextGGA();
    std::chrono::milliseconds _currentInterval() const;
    void _clearSource();
 
    SelectedPosition _getBestPosition(PositionSource requested) const;
    void _logSelection(PositionSource requested, const SelectedPosition& selection);
 
    QPointer<NTRIPTransport> _transport;
    RuntimeScheduler* const _scheduler;
    ScheduledTask _ggaTask;
    QString _source;
    QHash<PositionSource, PositionProvider> _providers;
    std::optional<std::tuple<PositionSource, PositionSource, bool>> _loggedSelection;
    bool _awaitingFirstGga = false;
    PositionSource _requestedSource = PositionSource::Auto;
    std::chrono::milliseconds _normalInterval = DEFAULT_INTERVAL;
};