VehicleGPSAggregateFactGroup.h

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/****************************************************************************
 *
 * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
 
#pragma once
 
#include "FactGroup.h"
#include <QtCore/QTimer>
#include <QtCore/QVector>
#include <QtCore/QMetaObject>
 
class VehicleGPSFactGroup;
 
class VehicleGPSAggregateFactGroup : public FactGroup
{
    Q_OBJECT
    Q_PROPERTY(Fact* spoofingState       READ spoofingState       CONSTANT)
    Q_PROPERTY(Fact* jammingState        READ jammingState        CONSTANT)
    Q_PROPERTY(Fact* authenticationState READ authenticationState CONSTANT)
    Q_PROPERTY(Fact* isStale             READ isStale             CONSTANT)
public:
    enum AuthState {
        AUTH_UNKNOWN = 0,
        AUTH_INITIALIZING = 1,
        AUTH_ERROR = 2,
        AUTH_OK = 3,
        AUTH_DISABLED = 4,
        AUTH_INVALID = -1
    };
 
    explicit VehicleGPSAggregateFactGroup(QObject *parent = nullptr);
 
    Fact* spoofingState()       { return &_spoofingStateFact; }
    Fact* jammingState()        { return &_jammingStateFact; }
    Fact* authenticationState() { return &_authenticationStateFact; }
    Fact* isStale()             { return &_isStaleFact; }
 
    void updateFromGps(VehicleGPSFactGroup* gps1, VehicleGPSFactGroup* gps2);
    void bindToGps(VehicleGPSFactGroup* gps1, VehicleGPSFactGroup* gps2);
 
private slots:
    void _updateAggregates();
    void _onIntegrityUpdated();
    void _onStaleTimeout();
 
private:
    static constexpr int GNSS_INTEGRITY_STALE_TIMEOUT_MS = 5000;
 
    static int  _mergeWorst(int a, int b);
    static int  _mergeAuthentication(int a, int b);
    static int  _valueOrInvalid(Fact* fact);
    void _clearConnections();
 
    VehicleGPSFactGroup* _gps1 = nullptr;
    VehicleGPSFactGroup* _gps2 = nullptr;
    QTimer _staleTimer;
    QVector<QMetaObject::Connection> _connections;
 
    Fact _spoofingStateFact = Fact(0, QStringLiteral("spoofingState"), FactMetaData::valueTypeUint8);
    Fact _jammingStateFact = Fact(0, QStringLiteral("jammingState"), FactMetaData::valueTypeUint8);
    Fact _authenticationStateFact = Fact(0, QStringLiteral("authenticationState"), FactMetaData::valueTypeUint8);
    Fact _isStaleFact = Fact(0, QStringLiteral("isStale"), FactMetaData::valueTypeBool);
};