QuectelPlan.h

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#pragma once
 
#include <array>
#include <chrono>
#include <span>
#include <string_view>
 
#include <QtCore/QByteArray>
#include <QtCore/QByteArrayView>
 
#include "GPSCommand.h"
#include "GPSProtocolMath.h"
#include "GPSReceiverConfig.h"
 
namespace Quectel::Plan {
 
inline constexpr std::chrono::milliseconds COMMAND_TIMEOUT{1000};
inline constexpr std::chrono::milliseconds CONFIGURATION_TIMEOUT{45000};
inline constexpr std::array BAUD_RATES{460800u, 115200u, 230400u, 921600u, 57600u, 9600u};
 
inline constexpr std::string_view IDENTIFY = "PQTMVERNO";
inline constexpr std::string_view QUALIFIED_FIRMWARE = "LG290P03";
 
inline constexpr std::string_view READ_ROLE = "PQTMCFGRCVRMODE,R";
inline constexpr unsigned BASE_ROLE = 2;
inline constexpr std::string_view WRITE_BASE_ROLE = "PQTMCFGRCVRMODE,W,2";
 
inline constexpr std::string_view READ_FIX_RATE = "PQTMCFGFIXRATE,R";
inline constexpr unsigned FIX_INTERVAL_MS = 1000;
 
inline constexpr std::string_view READ_BASE = "PQTMCFGSVIN,R";
inline constexpr std::chrono::hours MAXIMUM_SURVEY_DURATION{24};
inline constexpr double MAXIMUM_SURVEY_ACCURACY_METERS = 1000;
inline constexpr std::string_view RESTART_SURVEY = "PQTMCFGSVIN,W";
inline constexpr std::string_view FIXED_BASE_LABEL = "PQTMCFGSVIN,W (fixed position)";
inline constexpr std::string_view RESTART_SURVEY_LABEL = "PQTMCFGSVIN,W (survey restart)";
 
inline constexpr std::string_view SAVE = "PQTMSAVEPAR";
inline constexpr std::chrono::milliseconds SAVE_TIMEOUT{5000};
 
inline constexpr std::string_view RESTART = "PQTMSRR";
inline constexpr std::chrono::milliseconds RESTART_TIMEOUT{8000};
inline constexpr std::chrono::milliseconds RESTART_POLL{200};
inline constexpr std::chrono::milliseconds RESTART_IDENTIFY_TIMEOUT{700};
 
struct MessageRate
{
    std::string_view message;
    unsigned rate = 1;
    std::string_view version{};
};
 
inline constexpr std::array BASE_OUTPUT{
    MessageRate{.message = "PQTMSVINSTATUS", .version = "1"},
    MessageRate{.message = "RTCM3-1005"},
    MessageRate{.message = "RTCM3-107X", .version = "0"},
};
 
inline constexpr std::array NMEA_OUTPUT{
    MessageRate{.message = "GGA"},
    MessageRate{.message = "GST"},
    MessageRate{.message = "GSA"},
    MessageRate{.message = "GSV"},
};
 
[[nodiscard]] QByteArray writeBase(const GPSBaseStationConfig::Mode& mode, const GPSProtocolMath::Ecef& position,
                                   bool distanceField);
 
[[nodiscard]] GPSCommandSequence::Command command(QByteArrayView body, GPSTextMatcher reply,
                                                  std::chrono::milliseconds timeout = COMMAND_TIMEOUT);
 
[[nodiscard]] GPSTextMatcher acknowledgement(QByteArrayView body);
 
[[nodiscard]] GPSCommandSequence messageRates(std::span<const MessageRate> rates);
 
}  // namespace Quectel::Plan