PositionManager.h

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#pragma once
 
#include <QtCore/QDateTime>
#include <QtCore/QObject>
#include <QtPositioning/QGeoCoordinate>
#include <QtPositioning/QGeoPositionInfo>
#include <QtPositioning/QGeoPositionInfoSource>
#include <QtQmlIntegration/QtQmlIntegration>
 
class QNmeaPositionInfoSource;
class QGCCompass;
 
class QGCPositionManager : public QObject
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
 
    Q_PROPERTY(QGeoCoordinate gcsPosition                   READ gcsPosition                    NOTIFY gcsPositionChanged)
    Q_PROPERTY(qreal          gcsHeading                    READ gcsHeading                     NOTIFY gcsHeadingChanged)
    Q_PROPERTY(qreal          gcsPositionHorizontalAccuracy READ gcsPositionHorizontalAccuracy  NOTIFY gcsPositionHorizontalAccuracyChanged)
 
public:
    explicit QGCPositionManager(QObject *parent = nullptr);
    ~QGCPositionManager();
 
    static QGCPositionManager *instance();
 
    void init();
    QGeoCoordinate gcsPosition() const { return _gcsPosition; }
    qreal gcsHeading() const { return _gcsHeading; }
    qreal gcsPositionHorizontalAccuracy() const { return _gcsPositionHorizontalAccuracy; }
    QGeoPositionInfo geoPositionInfo() const { return _geoPositionInfo; }
    QGeoPositionInfoSource::Error gcsPositioningError() const { return _gcsPositioningError; }
 
    QDateTime gcsPositionTimestamp() const { return _gcsPositionTimestamp; }
 
    int updateInterval() const { return _updateInterval; }
 
    void setNmeaSourceDevice(QIODevice *device);
    void resetNmeaSourceDevice();
 
signals:
    void gcsPositionChanged(QGeoCoordinate gcsPosition);
    void gcsHeadingChanged(qreal gcsHeading);
    void positionInfoUpdated(QGeoPositionInfo update);
    void gcsPositionHorizontalAccuracyChanged(qreal gcsPositionHorizontalAccuracy);
 
private slots:
    void _positionUpdated(const QGeoPositionInfo &update);
    void _positionError(QGeoPositionInfoSource::Error gcsPositioningError);
 
private:
    enum QGCPositionSource {
        Simulated,
        InternalGPS,
        Log,
        NmeaGPS,
        ExternalGPS
    };
 
    void _setPositionSource(QGCPositionSource source);
    void _setupPositionSources();
    void _handlePermissionStatus(Qt::PermissionStatus permissionStatus);
    void _checkPermission();
    void _setGCSHeading(qreal newGCSHeading);
    void _setGCSPosition(const QGeoCoordinate &newGCSPosition);
 
    bool _usingPluginSource = false;
    int _updateInterval = 0;
 
    QGeoPositionInfo _geoPositionInfo;
    QGeoPositionInfoSource::Error  _gcsPositioningError = QGeoPositionInfoSource::NoError;
 
    QGeoCoordinate _gcsPosition;
    QDateTime _gcsPositionTimestamp;
    qreal _gcsHeading = qQNaN();
    qreal _gcsPositionHorizontalAccuracy = std::numeric_limits<qreal>::infinity();
    qreal _gcsPositionVerticalAccuracy = std::numeric_limits<qreal>::infinity();
    qreal _gcsPositionAccuracy = std::numeric_limits<qreal>::infinity();
    qreal _gcsDirectionAccuracy = std::numeric_limits<qreal>::infinity();
 
    QGeoPositionInfoSource *_currentSource = nullptr;
    QGeoPositionInfoSource *_defaultSource = nullptr;
    QNmeaPositionInfoSource *_nmeaSource = nullptr;
    QGeoPositionInfoSource *_simulatedSource = nullptr;
 
    QGCCompass *_compass = nullptr;
 
    static constexpr qreal kMinHorizonalAccuracyMeters = 100.;
    static constexpr qreal kMinVerticalAccuracyMeters = 10.;
    static constexpr qreal kMinDirectionAccuracyDegrees = 30.;
};