UBXEpochAssembler.h

Go to the documentation of this file.

#pragma once
 
#include <array>
#include <chrono>
#include <cstdint>
#include <optional>
 
#include "GPSProtocolEvent.h"
 
class GPSDecodeContext;
 
namespace UBX {
 
class EpochAssembler
{
public:
    static constexpr std::chrono::microseconds MAX_AGE = std::chrono::milliseconds(200);
 
    struct Epoch
    {
        uint32_t tow = 0;
        uint64_t receipt = 0;
        GPSDecodedPosition position;
        bool hasPvt = false;
        bool highPrecision = false;
    };
 
    Epoch* find(uint32_t tow, GPSDecodeContext& context);
 
    void expire(GPSDecodeContext& context);
 
    void end(uint32_t tow, GPSDecodeContext& context);
 
private:
    void _orderOldestFirst();
    void _finish(std::optional<Epoch>& epoch, GPSDecodeContext& context);
 
    std::array<std::optional<Epoch>, 2> _epochs;
    std::optional<uint32_t> _lastPublished;
};
 
}  // namespace UBX