RTCMMavlink.h

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#pragma once
 
#include <QtCore/QByteArray>
#include <QtCore/QList>
#include <QtCore/QObject>
#include <atomic>
#include <cstdint>
 
#include "DataRateTracker.h"
 
typedef struct __mavlink_gps_rtcm_data_t mavlink_gps_rtcm_data_t;
 
struct GpsRtcmPacket
{
    uint8_t flags = 0;
    QByteArray data;  // 0..kFragmentLen bytes
};
 
class RTCMMavlink : public QObject
{
    Q_OBJECT
    Q_PROPERTY(quint64 totalBytesSent READ totalBytesSent NOTIFY bandwidthChanged)
    Q_PROPERTY(double bandwidthKBps READ bandwidthKBps NOTIFY bandwidthChanged)
 
public:
    static constexpr qsizetype kFragmentLen = 180;
    static constexpr qsizetype kMaxFragments = 4;
    static constexpr qsizetype kMaxAssembledLen = kFragmentLen * kMaxFragments;
 
    RTCMMavlink(QObject* parent = nullptr);
    ~RTCMMavlink();
 
    quint64 totalBytesSent() const { return _rateTracker.totalBytes(); }
 
    double bandwidthKBps() const { return _rateTracker.kBps(); }
 
    struct PackResult
    {
        QList<GpsRtcmPacket> packets;
        uint8_t nextSequenceId = 0;
    };
 
    static PackResult pack(QByteArrayView data, uint8_t sequenceId);
 
public slots:
    void RTCMDataUpdate(QByteArrayView data);
 
public:
    void sendSimulatedData(const std::atomic_bool& requestStop);
 
signals:
    void bandwidthChanged();
 
private:
    static void _sendMessageOnAllLinks(const mavlink_gps_rtcm_data_t& data);
    static uint8_t _makeFlags(bool fragmented, uint8_t fragmentId, uint8_t sequenceId);
 
    uint8_t _sequenceId = 0;
    DataRateTracker _rateTracker;
};