NTRIPVehicleGgaSource.h

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#pragma once
 
#include <optional>
 
#include <QtCore/QMetaObject>
#include <QtCore/QObject>
#include <QtCore/qnumeric.h>
#include <QtPositioning/QGeoCoordinate>
#include <QtPositioning/QGeoPositionInfo>
 
#include "GPSObservation.h"
 
class NTRIPManager;
class RuntimeScheduler;
class Vehicle;
 
class NTRIPVehicleGgaSource : public QObject
{
    Q_OBJECT
 
public:
    explicit NTRIPVehicleGgaSource(RuntimeScheduler* scheduler, QObject* parent = nullptr);
 
    void attach(NTRIPManager* ntrip);
    void setVehicle(Vehicle* vehicle);
 
    std::optional<GPSObservation> gpsObservation() const;
    std::optional<GPSObservation> estimateObservation() const;
 
private:
    struct GpsReport
    {
        QGeoPositionInfo position;
        int fixType = 0;
        double horizontalDop = qQNaN();
        quint64 receivedAtUs = 0;
    };
 
    struct EstimateReport
    {
        QGeoCoordinate coordinate;
        quint64 receivedAtUs = 0;
    };
 
    bool _fresh(quint64 receivedAtUs) const;
 
    RuntimeScheduler* const _scheduler;
    std::optional<GpsReport> _gps;
    std::optional<EstimateReport> _estimate;
    QMetaObject::Connection _gpsConnection;
    QMetaObject::Connection _messageConnection;
};